Author

Zhi-Heng Li

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Preprint Sep 2026

Chain-SLAM: Globally Consistent Backend for Multi-Session LiDAR SLAM via Chained Loop Closure

Maintaining consistency over long spatial and temporal horizons remains a fundamental challenge in large-scale LiDAR SLAM, particularly when integrating maps collected across multiple sessions. We present Chain-SLAM, a LiDAR SLAM backend enabling online multi-session map alignment and reuse with global consistency at l...

Zhi-Heng Li, Xinhao Liu, Jue-Xiao Zhang et al. · 0 citations

Open access Jul 2026

SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation

This work presents SuperMap, a 4D spatio-temporal mapping framework for language-guided navigation that integrates high-frequency geometric SLAM with asynchronous open-vocabulary perception and releases the full system as open-source to provide the community with a deployable baseline for open-vocabulary spatio-tempora...

Shibo Zhao, Guofei Chen, Honghao Zhu et al. · Robotics · 2 citations