@article{Xie_2025, title={PGTI: Pose-Graph Topological Integrity for Map Quality Assessment in SLAM}, volume={14}, ISSN={2218-6581}, url={http://dx.doi.org/10.3390/robotics14120189}, DOI={10.3390/robotics14120189}, number={12}, journal={Robotics}, publisher={MDPI AG}, author={Xie, Shuxiang and Sakurada, Ken and Ishikawa, Ryoichi and Onishi, Masaki and Oishi, Takeshi}, year={2025}, month=Dec, pages={189} }