Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A General Framework for Lifelong Localization and Mapping in Changing
  Environment   The environment of most real-world scenarios such as malls and supermarkets
changes at all times. A pre-built map that does not account for these changes
becomes out-of-date easily. Therefore, it is necessary to have an up-to-date
model of the environment to facilitate long-term operation of a robot. To this
end, this paper presents a general lifelong simultaneous localization and
mapping (SLAM) framework. Our framework uses a multiple session map
representation, and exploits an efficient map updating strategy that includes
map building, pose graph refinement and sparsification. To mitigate the
unbounded increase of memory usage, we propose a map-trimming method based on
the Chow-Liu maximum-mutual-information spanning tree. The proposed SLAM
framework has been comprehensively validated by over a month of robot
deployment in real supermarket environment. Furthermore, we release the dataset
collected from the indoor and outdoor changing environment with the hope to
accelerate lifelong SLAM research in the community. Our dataset is available at
https://github.com/sanduan168/lifelong-SLAM-dataset.

11
The categories of this paper are: hep-lat
14
The categories of this paper are: math-ph
12
The categories of this paper are: nucl-th
4
The categories of this paper are: cond-mat
5
The categories of this paper are: gr-qc
31
The categories of this paper are: ao-sci
7
The categories of this paper are: hep-th
0
The categories of this paper are: hep-ph
6
The categories of this paper are: astro-ph
28
The categories of this paper are: alg-geom
23
The categories of this paper are: solv-int
24
The categories of this paper are: dg-ga
29
The categories of this paper are: funct-an
15
The categories of this paper are: nucl-ex
26
The categories of this paper are: bayes-an
36
The categories of this paper are: cmp-lg