vS-Graphs Tools

This repository contains tools Docker setups for working with vS-Graphs. Each tool provides a pre-configured workspace with the necessary dependencies, ROS versions, and utilities.

📦 Available Tools

I. 🦊 Voxblox Bridge Tool

It helps you to integrate voxblox in vS-Graphs for free-space cluster detection used in recognizing structural elements (e.g., rooms). The tool works by providing a tool (vox2ros) for ROS1-Noetic (Voxblox) → ROS2-Foxy (Bridge) → ROS2-Jazzy (vS-Graphs). Read more about it in this directory

📎 Related Repositories

• 🔧 vS-Graphs
• 🎞️ Scene Segmentor (ROS2 Jazzy)

📚 Citation

@article{tourani2025vsgraphs,
  title={vS-Graphs: Integrating Visual SLAM and Situational Graphs through Multi-level Scene Understanding},
  author={Tourani, Ali and Ejaz, Saad and Bavle, Hriday and Morilla-Cabello, David and Sanchez-Lopez, Jose Luis and Voos, Holger},
  journal={arXiv preprint arXiv:2503.01783},
  year={2025},
  doi={https://doi.org/10.48550/arXiv.2503.01783}
}

🔑 License

This project is licensed under the GPL-3.0 license - see the LICENSE for more details.