# Long-term Large-scale Mapping and Localization Using maplab

arXiv: https://arxiv.org/abs/1805.10994 · HTML: https://mlsanity.com/paper/1805.10994/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 May 2018.

## Built on by (most cited first, 1 of 1)

- [Mobile Mapping Mesh Change Detection and Update](https://mlsanity.com/paper/2303.07182/) (2023)

## Abstract (arXiv)

This paper discusses a large-scale and long-term mapping and localization scenario using the maplab open-source framework. We present a brief overview of the specific algorithms in the system that enable building a consistent map from multiple sessions. We then demonstrate that such a map can be reused even a few months later for efficient 6-DoF localization and also new trajectories can be registered within the existing 3D model. The datasets presented in this paper are made publicly available.