2 papers
cs.RO2026
Improving Map Consistency in Graph-Based LiDAR SLAM Through Information-Aware Odometry and Retroactive Loop Closure
Saurabh Gupta, Niklas Trekel, Louis Wiesmann +1
High-quality maps are fundamental for robotics tasks such as navigation and planning. Although modern graph-based LiDAR SLAM systems achieve good trajectory accuracies, a low traje…
cs.RO2026
Efficiently Closing Loops in LiDAR-Based SLAM Using Point Cloud Density Maps
Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch +3
Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose…