将视觉SLAM与3D场景图结合，让地图更懂语义、更好理解。

Current Visual Simultaneous Localization and Mapping (VSLAM) systems often struggle to create maps that are both semantically rich and easily interpretable. While incorporating semantic scene knowledge aids in building richer maps with contextual associations among mapped objects, representing them in structured formats, such as scene graphs, has not been widely addressed, resulting in complex map comprehension and limited scalability. This paper introduces vS-Graphs, a novel real-time VSLAM framework that integrates vision-based scene understanding with map reconstruction and comprehensible graph-based representation. The framework infers structural elements (i.e., rooms and floors) from detected building components (i.e., walls and ground surfaces) and incorporates them into optimizable 3D scene graphs. This solution enhances the reconstructed map's semantic richness, comprehensibility, and localization accuracy. Extensive experiments on standard benchmarks and real-world datasets demonstrate that vS-Graphs achieves an average of 15.22% accuracy gain across all tested datasets compared to state-of-the-art VSLAM methods. Furthermore, the proposed framework achieves environment-driven semantic entity detection accuracy comparable to that of precise LiDAR-based frameworks, using only visual features. The code is publicly available at https://github.com/snt-arg/visual_sgraphs and is actively being improved. Moreover, a web page containing more media and evaluation outcomes is available on https://snt-arg.github.io/vsgraphs-results/.