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| Hauptverfasser: | , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2512.07775 |
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| _version_ | 1866917487603351552 |
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| author | Thorne, David Chan, Nathan Robison, Christa S. Osteen, Philip R. Lopez, Brett T. |
| author_facet | Thorne, David Chan, Nathan Robison, Christa S. Osteen, Philip R. Lopez, Brett T. |
| contents | Autonomous robots rely on geometric maps to inform a diverse set of perception and decision-making algorithms. As autonomy requires reasoning and planning on multiple scales, each algorithm may require a different map for optimal performance. LiDAR sensors generate an abundance of geometric data (up to 50 MB per second) to satisfy these diverse requirements. However, the point-based operations required to process perception data are both memory and computationally expensive. Such operations can be bypassed via learned representations that encode similarity, but selecting informative, size-constrained maps remains an NP-hard combinatorial problem. In this work we present OptMap: a geometric map distillation algorithm which achieves online, application-specific map generation via multiple theoretical and algorithmic innovations. A central feature is the maximization of set functions that exhibit diminishing returns, i.e., submodularity, using polynomial-time algorithms with provably near-optimal solutions. We formulate a novel submodular reward function which quantifies informativeness, reduces input set sizes, and minimizes solution bias. Further, we propose a dynamically reordered streaming submodular algorithm which improves empirical solution quality and addresses input order bias via an online approximation of the value of all scans. Testing was conducted on open-source and custom datasets with an emphasis on long-duration mapping sessions, highlighting OptMap's minimal computation requirements. OptMap's practical value is then illustrated through its application to online geometric change detection. Open-source ROS1 and ROS2 packages are available and can be used alongside any LiDAR odometry algorithm. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_07775 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | OptMap: Geometric Map Distillation via Submodular Maximization Thorne, David Chan, Nathan Robison, Christa S. Osteen, Philip R. Lopez, Brett T. Robotics Autonomous robots rely on geometric maps to inform a diverse set of perception and decision-making algorithms. As autonomy requires reasoning and planning on multiple scales, each algorithm may require a different map for optimal performance. LiDAR sensors generate an abundance of geometric data (up to 50 MB per second) to satisfy these diverse requirements. However, the point-based operations required to process perception data are both memory and computationally expensive. Such operations can be bypassed via learned representations that encode similarity, but selecting informative, size-constrained maps remains an NP-hard combinatorial problem. In this work we present OptMap: a geometric map distillation algorithm which achieves online, application-specific map generation via multiple theoretical and algorithmic innovations. A central feature is the maximization of set functions that exhibit diminishing returns, i.e., submodularity, using polynomial-time algorithms with provably near-optimal solutions. We formulate a novel submodular reward function which quantifies informativeness, reduces input set sizes, and minimizes solution bias. Further, we propose a dynamically reordered streaming submodular algorithm which improves empirical solution quality and addresses input order bias via an online approximation of the value of all scans. Testing was conducted on open-source and custom datasets with an emphasis on long-duration mapping sessions, highlighting OptMap's minimal computation requirements. OptMap's practical value is then illustrated through its application to online geometric change detection. Open-source ROS1 and ROS2 packages are available and can be used alongside any LiDAR odometry algorithm. |
| title | OptMap: Geometric Map Distillation via Submodular Maximization |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.07775 |