Move First, Commit Later: Selective LiDAR-to-BIM Global Initialization via Sequential Consensus with Symmetry-Aware Abstention

Yujie Zhang, Yuxuan Guo, Jiashuo Zheng +3

Global LiDAR-to-BIM initialization must place a robot within an as-designed building model without a prior pose. In repetitive interiors, the principal failure mode is not low-conf…