arxivcs.RO2026-07-16
OASIS-Map: Object-Level Change Detection in Multi-Session Mapping using Semantic Correspondence Matching
Haedam Oh, Yifu Tao, Nived Chebrolu, Maurice Fallon
Map representations which are consistent across repeated visits to a real-world semi-static environment are very useful for long-term robotic inspection. In such settings, the scene may evolve while the robot is absent, with objects appearing, disappearing, moving, or being repla…