LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping
Giseop Kim,Ayoung Kim,Giseop Kim,Ayoung Kim
Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and readily available LiDAR-based lifelong mapping for urban sites. This is achieved by dividing the problem into successive subproblems: multi-session SLAM (MSS), high/low dynamic change detection, and positive/negative change...
