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