1. Step 0. Multi-session Data Acquisition
1.1. Step 1: Sensor System Setup and Target Sites Selection
1.2. Step 2: Multiple Runs and Data Logging
1.3. Step 3: 6D SE(3) Ground-truth Creation
1.4. Step 4: Dataset Release and Maintenance / Chap. A
2. Step 1. Multi-session Map Construction
2.1. Multi-session SLAM
2.1.1. Step 1: Single-session SLAM
2.1.1.1. Step 1: Odometry
2.1.1.2. Step 2: Loop detection (intra-session place recognition) / Chap 3
2.1.1.2.1. Req: Light-weight and Fast
2.1.1.2.2. Req: Transformation invariance
2.1.1.2.3. Req: Robust
2.1.1.2.4. Req: Versatile
2.1.1.3. Step 3: Robust back-ends for single-session
2.1.1.4. Step 4: Pose-graph Optimization
2.1.2. Step 2: Global Localization (inter-session place recognition) / Chap 3, 5
2.1.2.1. Req: Time invariance (i.e., less affected by structural changes)
2.1.3. Step 3: Robust back-ends for multi-session
3. Step 2. Multi-session Map Management
3.1. Step 1: Map Pre-Cleaning
3.1.1. Step: Removing High Dynamic Points / Chap 4
3.1.1.1. Req: Under Pose Uncertainty
3.2. Step 2: Managing Changes
3.2.1. Step 1: Change Detection / Chap 4, 5
3.2.1.1. Req: Under Pose Uncertainty
3.2.2. Step 2: Change Update / Chap 5
3.2.2.1. Req: Efficient
3.2.3. Step 3: Change Analysis / Chap 5
3.2.3.1. Req: 3D Shape and Ephemerality