  This paper discusses a large-scale and long-term mapping and localization
scenario using the maplab open-source framework. We present a brief overview of
the specific algorithms in the system that enable building a consistent map
from multiple sessions. We then demonstrate that such a map can be reused even
a few months later for efficient 6-DoF localization and also new trajectories
can be registered within the existing 3D model. The datasets presented in this
paper are made publicly available.
