Preprint
Sep 2026
Chain-SLAM: Globally Consistent Backend for Multi-Session LiDAR SLAM via Chained Loop Closure
Maintaining consistency over long spatial and temporal horizons remains a fundamental challenge in large-scale LiDAR SLAM, particularly when integrating maps collected across multiple sessions. We present Chain-SLAM, a LiDAR SLAM backend enabling online multi-session map alignment and reuse with global consistency at l...
Zhi-Heng Li, Xinhao Liu, Jue-Xiao Zhang et al.
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