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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
Loop Closure via Maximal Cliques in 3D LiDAR-Based SLAM
Javier Laserna, Saurabh Gupta, Oscar Martinez Mozos +2
Reliable loop closure detection remains a critical challenge in 3D LiDAR-based SLAM, especially under sensor noise, environmental ambiguity, and viewpoint variation conditions. RAN…