LiDAR Situational Graphs (S-Graphs)

Software
Navigation and mapping
Library

A ROS2 package that builds real-time four-layered hierarchical factor graphs of indoor scenes from 3D LiDAR, covering keyframes, walls, rooms and floors.

Made by Automation and Robotics Research Group (ARG).

Source on GitHub: github.com/snt-arg/lidar_situational_graphs (opens in a new tab). Facts read at commit 35dd356 (opens in a new tab).

Licenses

Code: GPL-3.0-only (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (GPL-3.0-only) at commit 35dd356 (opens in a new tab), on 22 Oct 2026.
Commercial use: Yes

Copyleft: Modified source must be published.

What it does

Builds a scene graph in real time from 3D LiDAR with keyframes registering robot poses.
Maps wall planes and constrains them with wall-room or wall-room factors in a rooms layer.
Groups rooms into floors, supporting single or multi-floor scenes.
Supports extra graph constraints including GPS, IMU gravity vector and IMU orientation from a magnetic sensor.
Has been tested mostly with Ouster OS-1 and Velodyne VLP16 sensors in structured indoor environments.

Written by Robotheca from the project's README (opens in a new tab) at commit 35dd356.

Getting started

Difficulty: Advanced
Hardware it needs, as the project states it: No computer or GPU requirements are stated.
How to start: The project's website (opens in a new tab)

Maintenance

Status: Maintained: a commit in the last 12 months
Newest commit: 6 Jul 2026 on feature/multi_floor
Latest release: None published on GitHub

Checked on GitHub on 22 Oct 2026.

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.