Volatility-Aware Semantic Pose-Graph SLAM for Repetitive, Dynamic Warehouse Aisles

Abstract

Paper II of the Onboard volume. Warehouses break classical SLAM through geometric repetition (identical aisles alias into false loop closures) and volatility (inventory churns hourly). This work models landmark permanence as an inferred latent state that evolves over time and space — a spatio-temporal permanence field — so the factor graph trusts structural anchors over transient stock, and validates loop closures against bay-level semantic-topological signatures rather than single-landmark geometry. Weighting becomes a consequence of estimated structural reliability, not a fixed semantic lookup. Full paper linked once it completes review.