000162366 001__ 162366 000162366 005__ 20251017144644.0 000162366 0247_ $$2doi$$a10.1109/LRA.2025.3582108 000162366 0248_ $$2sideral$$a144947 000162366 037__ $$aART-2025-144947 000162366 041__ $$aeng 000162366 100__ $$aShaheer, Muhammad 000162366 245__ $$aTightly Coupled SLAM With Imprecise Architectural Plans 000162366 260__ $$c2025 000162366 5060_ $$aAccess copy available to the general public$$fUnrestricted 000162366 5203_ $$aRobots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global localization in real-world environments, they typically overlook a critical challenge: the “as-planned” architectural designs frequently deviate from the “as-built” real-world environments. To address this gap, we present a novel algorithm that tightly couples LIDAR-based simultaneous localization and mapping with architectural plans in the presence of deviations. Our method utilizes a multi-layered semantic representation to not only localize the robot, but also to estimate global alignment and structural deviations between “as-planned” and “as-built” environments in real-time. To validate our approach, we performed experiments in simulated and real datasets demonstrating robustness to structural deviations up to 35 cm and 15∘. On average, our method achieves 43% less localization error than baselines in simulated environments, while in real environments, the “as-built” 3D maps show 7% lower average alignment error. 000162366 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es 000162366 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000162366 700__ $$aMillan-Romera, Jose Andres 000162366 700__ $$aBavle, Hriday 000162366 700__ $$aGiberna, Marco 000162366 700__ $$aSanchez-Lopez, Jose Luis 000162366 700__ $$0(orcid)0000-0003-1368-1151$$aCivera, Javier$$uUniversidad de Zaragoza 000162366 700__ $$aVoos, Holger 000162366 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000162366 773__ $$g10, 8 (2025), 8019-8026$$pIEEE Robot. autom. let.$$tIEEE Robotics and Automation Letters$$x2377-3766 000162366 8564_ $$s3316629$$uhttps://zaguan.unizar.es/record/162366/files/texto_completo.pdf$$yVersión publicada 000162366 8564_ $$s3680366$$uhttps://zaguan.unizar.es/record/162366/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000162366 909CO $$ooai:zaguan.unizar.es:162366$$particulos$$pdriver 000162366 951__ $$a2025-10-17-14:33:16 000162366 980__ $$aARTICLE