Paper Citation Record · LEDGER

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization

As of 16 August 2026, this Paper Citation Record lists 40 of 40 outbound references and 1 inbound Pith citation observation for arXiv:2508.16731.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2508.16731 v2

Coverage vector

measured 40 of 40 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-05T17:16:03.561753Z

measured 41 of 41 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-15T06:32:42.880941+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-07-10T02:19:53.978233Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: pith, observed 2026-07-10T02:26:43.049941Z

Reference resolution

40 of 40 outbound references displayed

verified exact2
verified fuzzy35
unresolved3
parse uncertain0
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External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 0f841c26-f3a1-4d91-9dad-9e4f01fe64bb · outbound

This paper cites Towards collabo- rative simultaneous localization and mapping: a survey of the current research landscape,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Towards collabo- rative simultaneous localization and mapping: a survey of the current research landscape,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:08.934509Z

Source-reported events for the cited work

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Observation cd23cd53-b7cb-47b5-9eab-af430ebdaaeb · outbound

This paper cites Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:08.914862Z

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No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 3506fbfd-4b43-4e26-9b48-86757c7b26c7 · outbound

This paper cites Fast iterative alignment of pose graphs with poor initial estimates,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Fast iterative alignment of pose graphs with poor initial estimates,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:08.886577Z

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Observation 34a3b5ec-f3df-44c2-8ba1-7850a68bbacd · outbound

This paper cites From angular manifolds to the integer lattice: Guaranteed orientation estimation with application to pose graph optimization,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization From angular manifolds to the integer lattice: Guaranteed orientation estimation with application to pose graph optimization,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:08.859983Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation e8c3aee3-3cf9-4d83-8100-08edcb7bd8bf · outbound

This paper cites Initialization techniques for 3D SLAM: A survey on rotation estimation and its use in pose graph optimization,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Initialization techniques for 3D SLAM: A survey on rotation estimation and its use in pose graph optimization,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:08.838262Z

Source-reported events for the cited work

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Observation 2ef06800-3d35-48ac-a9a7-f1bd54cf83c7 · outbound

This paper cites A fast and accurate approximation for planar pose graph optimization,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization A fast and accurate approximation for planar pose graph optimization,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:08.818729Z

Source-reported events for the cited work

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Observation 75f3d57b-3f76-4692-ae98-5e0c25dafc53 · outbound

This paper cites SE-Sync: A certifiably correct algorithm for synchronization over the special euclidean group,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization SE-Sync: A certifiably correct algorithm for synchronization over the special euclidean group,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:08.797036Z

Source-reported events for the cited work

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Observation bd119962-93d8-48b7-bfc8-f52f5527f38c · outbound

This paper cites iMCB-PGO: Incremental minimum cycle basis construction and application to online pose graph optimization,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization iMCB-PGO: Incremental minimum cycle basis construction and application to online pose graph optimization,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:08.674679Z

Source-reported events for the cited work

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Observation cb750b1f-1245-474e-849a-5671b6ecc067 · outbound

This paper cites SuperNoV A: Algorithm-hardware co-design for resource-aware slam,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization SuperNoV A: Algorithm-hardware co-design for resource-aware slam,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:08.378206Z

Source-reported events for the cited work

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Observation d938918e-ab94-4e9a-9e34-41833be47ff9 · outbound

This paper cites Exactly sparse memory efficient SLAM using the multi-block alternating direction method of multipliers,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Exactly sparse memory efficient SLAM using the multi-block alternating direction method of multipliers,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:08.167237Z

Source-reported events for the cited work

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Observation 44deeee4-51bc-4e36-978b-ff1039ee377b · outbound

This paper cites GeoD: Consensus-based Geodesic Distributed Pose Graph Optimization.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization GeoD: Consensus-based Geodesic Distributed Pose Graph Optimization

Reference 11

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Source-reported events for the cited work

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Observation 8403c824-20d7-4f7e-915c-dcbbe6dabde9 · outbound

This paper cites Distributed certifiably correct pose-graph optimization,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Distributed certifiably correct pose-graph optimization,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:07.974531Z

Source-reported events for the cited work

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Observation b39264e0-77b6-43d6-9f6a-87e18110fb66 · outbound

This paper cites Asynchronous and parallel distributed pose graph optimization,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Asynchronous and parallel distributed pose graph optimization,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:07.670299Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 2aa4fb12-b21c-490b-8bc5-6264a6527f32 · outbound

This paper cites Localized and incremental probabilistic inference for large-scale networked dynamical systems,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Localized and incremental probabilistic inference for large-scale networked dynamical systems,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:07.466372Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation cedd1b20-cd72-4f11-af42-b82e3a5ca34b · outbound

This paper cites Majorization minimization methods for distributed pose graph optimization,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Majorization minimization methods for distributed pose graph optimization,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:07.215458Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 53462799-60b1-4a12-a8c1-08e031a2aa84 · outbound

This paper cites Asynchronous distributed smoothing and mapping via on-manifold consensus ADMM,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Asynchronous distributed smoothing and mapping via on-manifold consensus ADMM,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:06.996000Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 215f9665-b7a5-4ed1-8b43-961eb4f9170a · outbound

This paper cites Lidar odometry survey: recent advancements and remaining challenges,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Lidar odometry survey: recent advancements and remaining challenges,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:06.833544Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation af427fcc-38ca-455d-b377-19abd9db2929 · outbound

This paper cites DDF-SAM 2.0: Consistent distributed smoothing and mapping,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization DDF-SAM 2.0: Consistent distributed smoothing and mapping,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:06.658044Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 98c3c0d3-d998-4125-b32a-1504f17e5cd2 · outbound

This paper cites Distributed mapping with privacy and communication constraints: Lightweight algorithms and object-based models,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Distributed mapping with privacy and communication constraints: Lightweight algorithms and object-based models,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:06.493770Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation f0cabeae-f68d-4922-9659-3b1c6ab134c9 · outbound

This paper cites A robot web for distributed many-device localization,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization A robot web for distributed many-device localization,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:06.322463Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 7505f6c3-329d-42d7-9776-114dc4cb2cfe · outbound

This paper cites iMESA: Incremental distributed optimiza- tion for collaborative simultaneous localization and mapping,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization iMESA: Incremental distributed optimiza- tion for collaborative simultaneous localization and mapping,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:06.160084Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation f195626b-5c93-4fdf-a0f6-d46bbdc66698 · outbound

This paper cites Hyperion–a fast, versatile symbolic gaussian belief propagation framework for continuous-time SLAM,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Hyperion–a fast, versatile symbolic gaussian belief propagation framework for continuous-time SLAM,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:05.997826Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation af00ce6d-30e9-4074-a452-261bbf43dd7a · outbound

This paper cites G2o: A general framework for graph optimization,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization G2o: A general framework for graph optimization,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:05.837346Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 4948d3c2-d3c7-4942-a14e-d0caae90d386 · outbound

This paper cites Nonlinear constraint network optimization for efficient map learning,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Nonlinear constraint network optimization for efficient map learning,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:05.716996Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation cd7b4f9a-5820-4d48-9bd7-d203971de238 · outbound

This paper cites GRACO: A multimodal dataset for ground and aerial cooperative localization and mapping,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization GRACO: A multimodal dataset for ground and aerial cooperative localization and mapping,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:05.560815Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation abf8d541-89f3-4cdb-a4ac-d0f75a6b6f8b · outbound

This paper cites Resilient and distributed multi-robot visual SLAM: Datasets, experiments, and lessons learned,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Resilient and distributed multi-robot visual SLAM: Datasets, experiments, and lessons learned,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:05.422233Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation b531040f-24c3-4436-a79b-934a5a0868ba · outbound

This paper cites S3E: A multi-robot multimodal dataset for collaborative SLAM,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization S3E: A multi-robot multimodal dataset for collaborative SLAM,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:05.286665Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation b1e0ffdb-ce9d-43f0-800a-ab7f9c859e43 · outbound

This paper cites DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot SLAM in Multi-session Environments.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot SLAM in Multi-session Environments

Reference 28

Resolution: verified exact; local_arxiv, observed 2026-08-05T17:16:03.978931Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 0ecd2a78-5710-4b29-8c5c-403e16405630 · outbound

This paper cites CoPeD – advancing multi-robot collaborative perception: A comprehensive dataset in real-world environments,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization CoPeD – advancing multi-robot collaborative perception: A comprehensive dataset in real-world environments,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:05.191312Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 1ca94b40-f3f7-4dec-a24d-e5738de6201a · outbound

This paper cites CU-Multi: A Dataset for Multi-Robot Data Association.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization CU-Multi: A Dataset for Multi-Robot Data Association

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-05T17:16:02.878617Z

Source-reported events for the cited work

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Observation 0aacc7bc-a368-408f-b6a2-6ba1087df090 · outbound

This paper cites The UTIAS multi-robot cooperative localization and mapping dataset,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization The UTIAS multi-robot cooperative localization and mapping dataset,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:05.054006Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation c9d0071d-db58-42bf-941b-5650d176781a · outbound

This paper cites LAMP 2.0: A robust multi-robot SLAM system for operation in challenging large-scale underground environments,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization LAMP 2.0: A robust multi-robot SLAM system for operation in challenging large-scale underground environments,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:04.932356Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 5029fa1b-2c27-4eeb-b7ba-efc937a4484b · outbound

This paper cites MCD: Diverse large-scale multi-campus dataset for robot perception,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization MCD: Diverse large-scale multi-campus dataset for robot perception,

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:04.766104Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 98fb3496-88a8-4992-8353-306cca82ef53 · outbound

This paper cites A Comprehensive Evaluation of LiDAR Odometry Techniques.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization A Comprehensive Evaluation of LiDAR Odometry Techniques

Reference 34

Resolution: verified exact; local_arxiv, observed 2026-08-05T17:16:03.780157Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation aafbaf61-4da1-41f6-9966-a0950a1ad0f5 · outbound

This paper cites LOAM: Lidar odometry and mapping in real- time.,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization LOAM: Lidar odometry and mapping in real- time.,

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:04.640405Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation bfc06287-984b-409d-8cea-1cb9b9f85975 · outbound

This paper cites Scan context: Egocentric spatial descriptor for place recognition within 3d point cloud map,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Scan context: Egocentric spatial descriptor for place recognition within 3d point cloud map,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:04.511279Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 730b2af9-be45-4d78-a363-068b6a5de586 · outbound

This paper cites KISS-Matcher: Fast and robust point cloud registration revisited,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization KISS-Matcher: Fast and robust point cloud registration revisited,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:04.369347Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation 6f30a2b7-9f00-4673-bcc6-434b38497be2 · outbound

This paper cites Multi-robot decentralized collabo- rative SLAM in planetary analogue environments: Dataset, challenges, and lessons learned,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization Multi-robot decentralized collabo- rative SLAM in planetary analogue environments: Dataset, challenges, and lessons learned,

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:04.227773Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Observation a7973330-6b7b-46e8-9cce-b2a768f44cb3 · outbound

This paper cites A micro Lie theory for state estimation in robotics.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization A micro Lie theory for state estimation in robotics

Reference 39

Resolution: unresolved; no resolver link, observed 2026-08-05T17:16:03.465521Z

Source-reported events for the cited work

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Observation eb948430-ffc1-4ce2-993b-5aab655f4618 · outbound

This paper cites An accurate closed-form estimate of ICP’s covariance,.

COSMO-Bench: A Benchmark for Collaborative SLAM Optimization An accurate closed-form estimate of ICP’s covariance,

Reference 40

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T17:16:04.112991Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.

Pith citing papers

Observation 127d7225-1bab-40ca-bef5-e1d54c8a5307 · inbound

Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups cites this paper.

Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups COSMO-Bench: A Benchmark for Collaborative SLAM Optimization

Reference 177

Resolution: verified exact; local_arxiv, observed 2026-07-10T02:26:43.051456Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.