, Enhancing Long-Term Consistency of Object-Oriented Semantic Maps in Robotics.

This paper proposes , a method for building object-oriented semantic maps that remain consistent in the long-term operation of mobile robots. Among the different challenges that compromise this aim, focuses on two of the more relevant ones: preventing duplicate instances of objects (instance duplication) and handling dynamic scenes. The former refers to creating multiple instances of the same physical object in the map, usually as a consequence of partial views or occlusions.