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This work was partially supported by DGA_FSE T73_23R, the EU project MASTERMINE (HORIZON-CL4-2022-RESILIENCE-01, Grant ID: 101091895), and by by project UNDERAIBOT (CPP2022-009792) funded by MICIU/AEI/10.13039/501100011033 and European Union (NextGenerationEU/PRTR).*Corresponding author.Lorenzo Montano-Oliván, Julio A. Placed, and María T. Lázaro are with the Instituto Tecnológico de Aragón (ITA), María de Luna 7, Zaragoza, Spain (e-mail: {lmontano, jplaced, mtlazaro}@ita.es).Luis Montano is with the Instituto de Investigación en Ingeniería de Aragón (I3A), Universidad de Zaragoza, María de Luna 1, Zaragoza, Spain (e-mail: montano@unizar.es)
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Stop blindly running SLAM: this multi-session framework intelligently triggers mapping and loop closure based on pose-graph topology, improving map consistency without unnecessary computation.
