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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/vjg9e6boga2zeey9wrfnoqhmi
- Original: https://arxiv.org/abs/2610.29647

## Summary

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.