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Calibrated Keyframe-Segment Selection for Descriptor-Agnostic LiDAR Loop Closure in Repetitive Environments
False LiDAR loop closures can distort pose graphs in repetitive environments, where one query may match several distant places. Genuine revisits, unlike many perceptual aliases, tend to remain consistent across neighboring keyframes. We present Query-Calibrated Segmental Admission (QCSA), a loop-can
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