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20242026
most citedLiDAR Inertial Odometry And Mapping Using Learned Registration-Relevant Features

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cs.RO2025

Geometric Multi-Session Map Merging with Learned Local Descriptors

Yanlong Ma, Nakul S. Joshi, Christa S. Robison +2

Multi-session map merging is crucial for extended autonomous operations in large-scale environments. In this paper, we present GMLD, a learning-based local descriptor framework for…

cs.RO2025

OptMap: Geometric Map Distillation via Submodular Maximization

David Thorne, Nathan Chan, Christa S. Robison +2

Autonomous robots rely on geometric maps to inform a diverse set of perception and decision-making algorithms. As autonomy requires reasoning and planning on multiple scales, each…