{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/lt-mapper-a-modular-framework-for-lidar-based","title":"LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping","arxiv_id":"2107.07712","date":"2021-07-16","proceeding":null,"authors":["Giseop Kim","Ayoung Kim"],"abstract":"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. Our change management scheme preserves efficacy in both memory and computation costs, providing automatic object segregation from a large-scale point cloud map. We verify the framework's reliability and applicability even under permanent year-level variation, through extensive real-world experiments with multiple temporal gaps (from day to year).","url_abs":"https://arxiv.org/abs/2107.07712v1","url_pdf":"https://arxiv.org/pdf/2107.07712v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"lt-mapper-a-modular-framework-for-lidar-based","repo_url":"https://github.com/gisbi-kim/lt-mapper","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}