# LT-Exosense: A Vision-centric Multi-session Mapping System for Lifelong Safe Navigation of Exoskeletons

arXiv: https://arxiv.org/abs/2510.22164 · HTML: https://mlsanity.com/paper/2510.22164/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 17 of its 40 references that are in the map.
- First posted on arXiv 25 Oct 2025.

## Builds on (most cited first, 17 of 17)

- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation](https://mlsanity.com/paper/2403.06341/) (2024)
- [Elevation Mapping for Locomotion and Navigation using GPU](https://mlsanity.com/paper/2204.12876/) (2022)
- [maplab: An Open Framework for Research in Visual-inertial Mapping and Localization](https://mlsanity.com/paper/1711.10250/) (2017)
- [Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understanding](https://mlsanity.com/paper/2309.15065/) (2023)
- [maplab 2.0 -- A Modular and Multi-Modal Mapping Framework](https://mlsanity.com/paper/2212.00654/) (2022)
- [Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution](https://mlsanity.com/paper/1911.03098/) (2019)
- [Dynablox: Real-time Detection of Diverse Dynamic Objects in Complex Environments](https://mlsanity.com/paper/2304.10049/) (2023)
- [Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure](https://mlsanity.com/paper/2001.10249/) (2020)
- [DUFOMap: Efficient Dynamic Awareness Mapping](https://mlsanity.com/paper/2403.01449/) (2024)
- [BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps](https://mlsanity.com/paper/2405.07283/) (2024)
- [Multi-Session Visual SLAM for Illumination Invariant Re-Localization in Indoor Environments](https://mlsanity.com/paper/2103.03827/) (2021)
- [LiSTA: Geometric Object-Based Change Detection in Cluttered Environments](https://mlsanity.com/paper/2403.02175/) (2024)
- [Long-Term Online Multi-Session Graph-Based SPLAM with Memory Management](https://mlsanity.com/paper/2301.00050/) (2022)
- [Exosense: A Vision-Based Scene Understanding System For Exoskeletons](https://mlsanity.com/paper/2403.14320/) (2024)
- [AutoInspect: Towards Long-Term Autonomous Industrial Inspection](https://mlsanity.com/paper/2404.12785/) (2024)

## Abstract (arXiv)

Self-balancing exoskeletons offer a promising mobility solution for individuals with lower-limb disabilities. For reliable long-term operation, these exoskeletons require a perception system that is effective in changing environments. In this work, we introduce LT-Exosense, a vision-centric, multi-session mapping system designed to support long-term (semi)-autonomous navigation for exoskeleton users. LT-Exosense extends single-session mapping capabilities by incrementally fusing spatial knowledge across multiple sessions, detecting environmental changes, and updating a persistent global map. This representation enables intelligent path planning, which can adapt to newly observed obstacles and can recover previous routes when obstructions are removed. We validate LT-Exosense through several real-world experiments, demonstrating a scalable multi-session map that achieves an average point-to-point error below 5 cm when compared to ground-truth laser scans. We also illustrate the potential application of adaptive path planning in dynamically changing indoor environments.