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About this paper
Yunus Talha Erzurumlu, Niklas Trekel, Saurabh Gupta, Nico Koltermann, Olga Vysotska, Jens Behley, Louis Wiesmann, Cyrill Stachniss
The authors present a method for registering a new visit to an earlier map despite scene changes and sparse cross-session matches. It verifies candidate map ties, filters them for agreement with the visit’s trajectory, refines accepted anchors, and combines them with within-session motion. In 15 tested experiments, it achieves 94.4% recall within 1 m, versus 65.3% for independent localization; this does not cover all recordings.
Summary by alphaXiv.
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