@article{rtmaprealtimerecursivemappingwithchanged,
  title = {RTMap: Real-Time Recursive Mapping with Change Detection and Localization},
  author = {Yuheng Du and Sheng Yang and Lingxuan Wang and Zhenghua Hou and Chengying Cai and Zhitao Tan and Mingxia Chen and Shi-Sheng Huang and Qiang Li},
  year = {2025},
  eprint = {2507.00980},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2507.00980},
}