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SEAM: Submap-Anchored Evidence for Lifelong LiDAR Mapping under Trajectory Deformation

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

We propose SEAM, a LiDAR-based lifelong mapping framework. Instead of relying on a single anchor spanning the entire session, SEAM generates evidence based on a trajectory optimized with submap-level anchors, and performs dynamic object removal and change detection. Through submap-level reprojection, the generated evidence remains usable even if the trajectory is subsequently modified by a new session, eliminating the need to recompute the entire process from scratch. SEAM suppresses geometrically unreliable inter-session loop edges using a DOP-based confidence measure. Suppressing unreliable

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