# GAN-SLAM: Real-Time GAN Aided Floor Plan Creation Through SLAM

arXiv: https://arxiv.org/abs/2504.19653 · HTML: https://mlsanity.com/paper/2504.19653/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 8 of its 25 references that are in the map.
- First posted on arXiv 28 Apr 2025.

## Builds on (most cited first, 8 of 8)

- [Image-to-Image Translation with Conditional Adversarial Networks](https://mlsanity.com/paper/1611.07004/) (2016)
- [Contrastive Learning for Unpaired Image-to-Image Translation](https://mlsanity.com/paper/2007.15651/) (2020)
- [Style Transfer by Relaxed Optimal Transport and Self-Similarity](https://mlsanity.com/paper/1904.12785/) (2019)
- [RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation](https://mlsanity.com/paper/2403.06341/) (2024)
- [QS-Attn: Query-Selected Attention for Contrastive Learning in I2I Translation](https://mlsanity.com/paper/2203.08483/) (2022)
- [Direct LiDAR Odometry: Fast Localization with Dense Point Clouds](https://mlsanity.com/paper/2110.00605/) (2021)
- [HouseExpo: A Large-scale 2D Indoor Layout Dataset for Learning-based Algorithms on Mobile Robots](https://mlsanity.com/paper/1903.09845/) (2019)
- [Understanding why SLAM algorithms fail in modern indoor environments](https://mlsanity.com/paper/2305.05313/) (2023)

## Abstract (arXiv)

SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion, leading to inaccuracies in mapping quality, particularly in 2D representations such as Occupancy Grid Maps. These errors can significantly degrade map quality, hindering the effectiveness of specific downstream tasks such as floor plan creation. To address this challenge, we introduce our novel 'GAN-SLAM', a new SLAM approach that leverages Generative Adversarial Networks to clean and complete occupancy grids during the SLAM process, reducing the impact of noise and inaccuracies introduced on the output map. We adapt and integrate accurate pose estimation techniques typically used for 3D SLAM into a 2D form. This enables the quality improvement 3D LiDAR-odometry has seen in recent years to be effective for 2D representations. Our results demonstrate substantial improvements in map fidelity and quality, with minimal noise and errors, affirming the effectiveness of GAN-SLAM for real-world mapping applications within large-scale complex environments. We validate our approach on real-world data operating in real-time, and on famous examples of 2D maps. The improved quality of the output map enables new downstream tasks, such as floor plan drafting, further enhancing the capabilities of autonomous systems. Our novel approach to SLAM offers a significant step forward in the field, improving the usability for SLAM in mapping-based tasks, and offers insight into the usage of GANs for OGM error correction.