{"id":"https://openalex.org/W7123361119","doi":"https://doi.org/10.1109/lra.2026.3653311","title":"ProbPer-LiLo: Probabilistic Persistency Modeling for Life-Long Mapping","display_name":"ProbPer-LiLo: Probabilistic Persistency Modeling for Life-Long Mapping","publication_year":2026,"publication_date":"2026-01-12","ids":{"openalex":"https://openalex.org/W7123361119","doi":"https://doi.org/10.1109/lra.2026.3653311"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3653311","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653311","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2026.3653311","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Waqas Ali","orcid":"https://orcid.org/0000-0001-5100-160X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Waqas Ali","raw_affiliation_strings":["Division of Robotics, Perception, and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-5100-160X","affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception, and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007243355","display_name":"Yixi Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yixi Cai","raw_affiliation_strings":["Division of Robotics, Perception, and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-0321-1164","affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception, and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["Division of Robotics, Perception, and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-1170-7162","affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception, and Learning (RPL), KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":null,"display_name":"Thien-Minh Nguyen","orcid":"https://orcid.org/0000-0003-1315-0967"},"institutions":[{"id":"https://openalex.org/I165143802","display_name":"The University of Queensland","ror":"https://ror.org/00rqy9422","country_code":"AU","type":"education","lineage":["https://openalex.org/I165143802"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thien-Minh Nguyen","raw_affiliation_strings":["School of Mechanical and Mining Engineering (SMME), The University of Queensland, Brisbane, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0003-1315-0967","affiliations":[{"raw_affiliation_string":"School of Mechanical and Mining Engineering (SMME), The University of Queensland, Brisbane, QLD, Australia","institution_ids":["https://openalex.org/I165143802"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05156785,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"3","first_page":"2530","last_page":"2537"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7906000018119812,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7906000018119812,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.05490000173449516,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.01850000023841858,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7648000121116638},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5722000002861023},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5224999785423279},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4952999949455261},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.48399999737739563},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.46239998936653137},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.40799999237060547},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.3334999978542328}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7648000121116638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7383999824523926},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5722000002861023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5361999869346619},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5224999785423279},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4952999949455261},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.48399999737739563},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.46239998936653137},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.40799999237060547},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3959999978542328},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.3334999978542328},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3246999979019165},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.32350000739097595},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3181000053882599},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.3070000112056732},{"id":"https://openalex.org/C203595873","wikidata":"https://www.wikidata.org/wiki/Q25389927","display_name":"Change detection","level":2,"score":0.30399999022483826},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.28760001063346863},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.2718000113964081}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3653311","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653311","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2026.3653311","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653311","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.428629070520401,"display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W2077193177","https://openalex.org/W2137813581","https://openalex.org/W2153121825","https://openalex.org/W2163468753","https://openalex.org/W2412846155","https://openalex.org/W2890792164","https://openalex.org/W2947864346","https://openalex.org/W3003455978","https://openalex.org/W3015248322","https://openalex.org/W3130044230","https://openalex.org/W3130635958","https://openalex.org/W3133309409","https://openalex.org/W3186380594","https://openalex.org/W4210423514","https://openalex.org/W4285110186","https://openalex.org/W4293738259","https://openalex.org/W4312418574","https://openalex.org/W4312629830","https://openalex.org/W4312979941","https://openalex.org/W4313590817","https://openalex.org/W4321014138","https://openalex.org/W4321194448","https://openalex.org/W4385430744","https://openalex.org/W4394744378","https://openalex.org/W4394746389","https://openalex.org/W4397026402","https://openalex.org/W4399849446","https://openalex.org/W4401415719","https://openalex.org/W4404576863","https://openalex.org/W4405785343","https://openalex.org/W4405800357","https://openalex.org/W4406947749","https://openalex.org/W4408254147","https://openalex.org/W4413917520","https://openalex.org/W4416749743"],"related_works":[],"abstract_inverted_index":{"3D":[0,37,51,89],"mapping":[1,43,68],"is":[2,22,59,73,151,188],"vital":[3],"for":[4,146],"a":[5,13,34,42,66,125,130,169],"broad":[6],"range":[7],"of":[8,18,33,81,87,121,176,190,204],"applications":[9],"that":[10,45],"rely":[11],"on":[12,75,153],"consistent":[14],"and":[15,29,48,84,102,107,156,161,182,219],"accurate":[16],"representation":[17],"the":[19,31,50,54,57,79,85,88,94,99,104,108,119,165,177,205],"environment.":[20],"Change":[21],"an":[23,174],"ever-persistent":[24],"force":[25],"in":[26,56,196,208],"our":[27,213],"world":[28],"with":[30,53],"evolution":[32],"scene":[35,58],"its":[36],"map":[38,71,147,157],"becomes":[39],"outdated.":[40],"Thus,":[41],"framework":[44,69],"can":[46,215],"adapt":[47],"refine":[49],"maps":[52,139],"changes":[55],"necessary.":[60],"In":[61],"this":[62,134],"paper,":[63],"we":[64,97,123,136,167],"propose":[65,124],"lifelong":[67,171],"where":[70],"maintenance":[72],"based":[74,152],"two":[76],"objectives":[77],"including":[78],"preservation":[80],"static":[82,95,138],"structures":[83],"refinement":[86,150],"map.":[90],"To":[91],"preserve":[92],"only":[93],"structures,":[96],"classify":[98],"object's":[100],"state":[101,120,203],"remove":[103],"dynamic":[105,198],"objects":[106,112,194],"quasi-static":[109,193],"objects,":[110,122],"i.e.,":[111],"which":[113,143],"temporarily":[114],"appear":[115],"static.":[116],"For":[117,164],"classifying":[118],"discrete":[126],"probabilistic":[127],"solution":[128],"utilizing":[129],"factor":[131],"graph.":[132],"Using":[133],"classification,":[135],"generate":[137],"from":[140,180],"multiple":[141],"sessions":[142],"are":[144],"used":[145],"refinement.":[148],"The":[149,185],"change":[154],"detection":[155],"update,":[158],"leveraging":[159],"semantic":[160],"geometric":[162],"information.":[163],"evaluation,":[166],"collect":[168],"multi-campus":[170],"dataset":[172],"as":[173],"extension":[175],"MCD":[178],"datasets":[179],"KTH":[181],"NTU":[183],"campuses.":[184],"proposed":[186],"approach":[187,214],"capable":[189],"accurately":[191],"detecting":[192],"even":[195],"highly":[197],"environments.":[199,211],"Our":[200],"system":[201],"demonstrates":[202],"art":[206],"performance":[207],"large":[209],"scale":[210],"Furthermore,":[212],"handle":[216],"both":[217],"SLAM-generated":[218],"survey-grade":[220],"maps.":[221]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-01-14T00:00:00"}
