162366 20251017144644.0 doi 10.1109/LRA.2025.3582108 sideral 144947 ART-2025-144947 eng Shaheer, Muhammad Tightly Coupled SLAM With Imprecise Architectural Plans 2025 Access copy available to the general public Unrestricted Robots 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. info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Millan-Romera, Jose Andres Bavle, Hriday Giberna, Marco Sanchez-Lopez, Jose Luis Civera, Javier Universidad de Zaragoza (orcid)0000-0003-1368-1151 Voos, Holger 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 10, 8 (2025), 8019-8026 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 3316629 http://zaguan.unizar.es/record/162366/files/texto_completo.pdf Versión publicada 3680366 http://zaguan.unizar.es/record/162366/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:162366 articulos driver 2025-10-17-14:33:16 ARTICLE