Move First, Commit Later: Selective LiDAR-to-BIM Global Initialization by Verifying Proposals Against Competing Explanations
Global LiDAR-to-BIM initialization requires placing a robot in a building model without a starting pose. This work presents Move First, Commit Later, a selective layer that uses registration evidence to decide whether to commit to an anchor. It aggregates top-1 consensus across multiple submaps and uses topology as a feasibility gate, yielding typed decisions (COMMIT, DEFER, AMBIGUOUS($ au$)) that are reversible by motion.