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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, providing robots\n  with an accurate global view, which improves navigation, minimizes collisions, and facilitates smoother human-robot interactions in shared spaces. Beyond its\n  advantages, UbiSLAM faces challenges, particularly in ensuring complete spatial coverage and managing blind spots, which necessitate data integration from\n  the robots ","title":"Towards Ubiquitous Mapping and Localization for Dynamic Indoor Environments","url":"https://arxiv.org/abs/2605.18385","vendor":"arxiv_cs_ai"},"summary":"arXiv:2605.18385v1 Announce Type: cross \nAbstract: 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, providing robots\n  with an accurate global view, which improves navigation, minimizes collisions, and facilitates smoother human-robot interactions in shared spaces. Beyond its\n  advantages, UbiSLAM faces challenges, particularly in ensuring complete spatial coverage and managing blind spots, which necessitate data integration from\n  the robots ","title":"Towards Ubiquitous Mapping and Localization for Dynamic Indoor Environments","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-19T04:43:36Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.18385"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:9e821b6b4225fcc37003be9b60a432355a2d19916ab7f9813b3d0ee1bc42ef202e3049f40c1cc29ab3e5a1d0d197eefc4433171f7e564b5d275e9535dda89100","signer":"crovia.substrate","subject":{"observed_at":"2026-05-19T04:43:36Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.18385"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"b92dc1d7edbc1a9c6660c242c8aaf7754ee2c8b51509845f73f8b4ea34943a05","leaf_index":142862,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"3b26fcb57afebb24581281226c75c34e2eeaf81e367c7ad73ba72edc371f6122","side":"right"},{"sibling":"430b924361e7b246c47601af6a6a04a6dcd81e7b12c538a0105c7ce1f7ac00fd","side":"left"},{"sibling":"9e1ed9fa400c0aaf482dad86e861ec8022c1ff5a4662839940bffe9b081005b2","side":"left"},{"sibling":"78c0c64b3058847aa87f7488f63da9a827fa56c4df8a4df1b5cd0bef1a548061","side":"left"},{"sibling":"7160fd84a78ed3c3647ea9a424c3c59140f5dd1152930ca074198a6b5c832d1b","side":"right"},{"sibling":"afd50efa83633dbaee3b5de99c58ef6479c4933e17e5df99ac143f1e8439eaaa","side":"right"},{"sibling":"c466124262bd46a41785de86678b14ed91a6b09a779d20c70a0a867deb50d5d6","side":"right"},{"sibling":"1d2edc28d27d4c312510482f7321ca401bdfe21a8e83916a1ba677f0ea4fcd2b","side":"right"},{"sibling":"78a19962a2f444f055541381645626e3d4e1c8c7c2811bf54eeb89100f89f5b2","side":"right"},{"sibling":"db97141c585f6a1e6bebe92b3ea300ea0f38a2321ca286d85850b11b2dd162a6","side":"left"},{"sibling":"202f1bead178ef3785968d50d3d188264a95192a077654c331612e04a34cbfbe","side":"left"},{"sibling":"72249c8c8b068386e35d16f4bd0bbeb9ba820ca217ef0f0d28396c9fe493f5f0","side":"left"},{"sibling":"ea64599340f7ffdf17ad0cbc1d9401ef8870a347e3847bdc106d06b1673df09c","side":"right"},{"sibling":"8f4c0fbe56b6c010fbb8c782ebcd478079bb3f991d8704e2534209a075d9163c","side":"left"},{"sibling":"4db1f363729507e27a60851cf6ed334d7b9acdef194ed7d419aba4d2bd367a4a","side":"right"},{"sibling":"a86ee18c45e7fcc408b6007eaece05aa75b2d9ae30252e9e878462b4dffbef7b","side":"right"},{"sibling":"1d18e7663d43ccff0122ecc7ee12645bb16afb607b218e81b1ea2408f863cb78","side":"right"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":143302,"merkle_root":"999156d40a7c61d9ddd52b7338f3cbda3e68f53bace070c7b616ea194e23b123","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260519T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-19T05:37:30Z","sig_algorithm":"ed25519","signature":"b1a252cc66ff32bed1d10dd88a6b2a200e3856d3dbcfcc4ee55e02e00f3d548e854ed9c544704b222bd5d315492c4a935ba2d90d727c585a67899b0ad602fc05","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_b852c508e2edb22e26ca690ee41ab3de33ab5ce0f8083ab9a70d2d7d95b88573"}}