Tong Guo Yes, there has been significant research into incorporating prior knowledge of object and space sizes into SLAM (Simultaneous Localization and Mapping). This approach, often referred to as "semantic SLAM" or "knowledge-informed SLAM," leverages prior information about the environment to enhance the robustness and accuracy of SLAM systems.

The idea is to input predefined information about objects or spaces, such as their dimensions or spatial relationships, into the SLAM framework to constrain or refine the map-building and localization process. For example:

If you're interested, I can point you to specific papers or frameworks that explore this topic further.