CLOi-Mapper: Consistent, Lightweight, Robust, and Incremental Mapper With Embedded Systems for Commercial Robot Services - DongKi Noh; Hyungtae Lim; Gyuho Eoh; Duckyu Choi; Jeongsik Choi; Hyunjun Lim; SeungMin Baek; Hyun Myung (IEEE Robotics and Automation Letters, 2024)