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cs.RO2026
Information-Preserving Continuous Occupancy Mapping with Variance-Weighted Submap Joining
Zhuhua Bai, Yingyu Wang, Liang Zhao +1
Large-scale SLAM remains challenging due to accumulated trajectory drift and the increasing computational cost of maintaining global consistency. Submap joining alleviates these is…
cs.RO2025
Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map
Yingyu Wang, Liang Zhao, Shoudong Huang
Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly o…
cs.RO2025
Grid-based Submap Joining: An Efficient Algorithm for Simultaneously Optimizing Global Occupancy Map and Local Submap Frames
Yingyu Wang, Liang Zhao, Shoudong Huang
Optimizing robot poses and the map simultaneously has been shown to provide more accurate SLAM results. However, for non-feature based SLAM approaches, directly optimizing all the…