Write-Safe Flow Field Mapping under Ambiguous Onboard Sensing and Localization Drift

arXiv:2607.27713v1 Announce Type: new Abstract: Mobile robots can infer local flow structure from onboard sensing, but a locally plausible estimate is not always safe to write into a global map. Similar flow structures may produce ambiguous observations, while localization drift causes predicted patches to be written at incorrect locations. Repeated misregistered updates then accumulate into persistent ghost structures. We address this failure mode with a map-reference-aware conservative fusion ...