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Map-centric SLAM utilizes elasticity as a means of loop closure. This approach reduces the cost of loop closure while still provides large-scale fusion-based dense maps, when compared to the trajectory-centric SLAM approaches. In this paper, we present a novel framework for 3D LiDAR-based map-centric SLAM. Having the advantages of a map-centric approach, our method exhibits new features to overcome the shortcomings of existing systems, associated with multi-modal sensor fusion and LiDAR motionarXiv:2008.02274v1 fatcat:m26c7qbg7favtkzk2o7hd2emdy