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Reading the Room: Scale-ambiguous Sparse Semantic VSLAM Map Registration to Floor Plans of Partially Built Environments

Reading the Room (RR) proposes a global-local method for registering scale-ambiguous sparse semantic VSLAM maps to floor plans of partially built environments. Its core is a single robust, differentiable, class-balanced semantic-geometric energy function that runs through the entire pipeline. Evaluated on 33 sequences from 3 construction sites, it improves mean absolute trajectory error by 4.5 times over the strongest baseline in the general unconstrained setting, rising to 7.6 times when anchor correspondences are provided.

Part of the event: Proposes Reading the Room semantic VSLAM map registration method

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