{"id":"https://openalex.org/W7117969769","doi":"https://doi.org/10.48550/arxiv.2512.24384","title":"Geometric Multi-Session Map Merging with Learned Local Descriptors","display_name":"Geometric Multi-Session Map Merging with Learned Local Descriptors","publication_year":2025,"publication_date":"2025-12-30","ids":{"openalex":"https://openalex.org/W7117969769","doi":"https://doi.org/10.48550/arxiv.2512.24384"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2512.24384","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.24384","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2512.24384","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5121755873","display_name":"Yanlong Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Yanlong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110393105","display_name":"N Joshi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joshi, Nakul S.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109819575","display_name":"Christa S. Robison","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Robison, Christa S.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073742006","display_name":"Philip R. Osteen","orcid":"https://orcid.org/0000-0001-8266-9848"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Osteen, Philip R.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5079219281","display_name":"Brett T. Lopez","orcid":"https://orcid.org/0000-0001-5366-911X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lopez, Brett T.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8009999990463257,"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":0.8009999990463257,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.07069999724626541,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12292","display_name":"Graph Theory and Algorithms","score":0.019999999552965164,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6420999765396118},{"id":"https://openalex.org/keywords/discriminative-model","display_name":"Discriminative model","score":0.6158000230789185},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.45899999141693115},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.45509999990463257},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.43790000677108765},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.3878999948501587},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.3165000081062317}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6937999725341797},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6420999765396118},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6189000010490417},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.6158000230789185},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5042999982833862},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.45899999141693115},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.45509999990463257},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.43790000677108765},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3878999948501587},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3165000081062317},{"id":"https://openalex.org/C2986492983","wikidata":"https://www.wikidata.org/wiki/Q861092","display_name":"Image matching","level":3,"score":0.3070000112056732},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3010999858379364},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C136520226","wikidata":"https://www.wikidata.org/wiki/Q302814","display_name":"Geometric data analysis","level":2,"score":0.2784999907016754},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2736999988555908},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2531000077724457},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2512.24384","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.24384","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2512.24384","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.24384","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.780056357383728}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Multi-session":[0],"map":[1,28,104],"merging":[2,29,105],"is":[3],"crucial":[4],"for":[5,23,57],"extended":[6],"autonomous":[7],"operations":[8],"in":[9,77,116],"large-scale":[10,24],"environments.":[11,97],"In":[12],"this":[13],"paper,":[14],"we":[15,70],"present":[16],"GMLD,":[17],"a":[18,45,49],"learning-based":[19],"local":[20],"descriptor":[21],"framework":[22,43,85],"multi-session":[25],"point":[26],"cloud":[27],"that":[30],"systematically":[31],"aligns":[32],"maps":[33],"collected":[34],"across":[35],"different":[36],"sessions":[37],"with":[38,106],"overlapping":[39],"regions.":[40],"The":[41,98],"proposed":[42],"employs":[44],"keypoint-aware":[46],"encoder":[47],"and":[48,61,102,109,121],"plane-based":[50],"geometric":[51],"transformer":[52],"to":[53],"extract":[54],"discriminative":[55],"features":[56,112],"loop":[58,118],"closure":[59,119],"detection":[60,120],"relative":[62,122],"pose":[63,123],"estimation.":[64,124],"To":[65],"further":[66],"improve":[67],"global":[68],"consistency,":[69],"include":[71],"inter-session":[72],"scan":[73],"matching":[74],"cost":[75],"factors":[76],"the":[78,87,110],"factor-graph":[79],"optimization":[80],"stage.":[81],"We":[82],"evaluate":[83],"our":[84],"on":[86],"public":[88],"datasets,":[89],"as":[90,92],"well":[91],"self-collected":[93],"data":[94],"from":[95],"diverse":[96],"results":[99],"show":[100],"accurate":[101],"robust":[103],"low":[107],"error,":[108],"learned":[111],"deliver":[113],"strong":[114],"performance":[115],"both":[117]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-01-02T00:00:00"}