LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping

Understand

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 management.
• The proposed method leverages MSS and handles potential trajectory error; thus, good initial alignment is not required for change detection.