{"paper":{"title":"Towards Ubiquitous Mapping and Localization for Dynamic Indoor Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Abderraouf Benali, Halim Djerroud, Nico Steyn, Olivier Rabreau, Patrick Bonnin","submitted_at":"2026-05-18T13:28:23Z","abstract_excerpt":"We present UbiSLAM, an innovative solution for real-time mapping and localization in dynamic indoor environments. By deploying a network of fixed RGB-D\n  cameras strategically throughout the workspace, UbiSLAM addresses limitations commonly encountered in traditional SLAM systems, such as sensitivity to\n  environmental changes and reliance on mobile unit sensors. This fixed-sensor approach enables real-time, comprehensive mapping, enhancing the localization\n  accuracy and responsiveness of robots operating within the environment. The centralized map generated by UbiSLAM is continuously updated"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.18385","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.18385/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"cited_work_retraction","ran_at":"2026-05-19T23:52:20.533565Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"citation_quote_validity","ran_at":"2026-05-19T23:50:04.091812Z","status":"skipped","version":"0.1.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T23:33:29.763510Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"external_links","ran_at":"2026-05-19T23:31:45.748085Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T23:21:58.752472Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"c4d1428c462a826e134058c63b64845635c58e5506ec164a9f529ca80d79010f"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}