Direct fixed-weight solver for free-support Wasserstein medians relocates atoms using OT barycentric projections and inverse-distance weights, achieving monotone descent on smoothed objectives with fewer subproblems than nested Weiszfeld baselines.
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CROSS replaces globally consistent metric maps with a pose-aware topological graph of RGB-D keyframes and maintains a bounded Gaussian-mixture belief over poses via sequential hypothesis testing in SE(3) to achieve change-robust spatial-semantic mapping and navigation.
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Fast Computation of Free-Support Wasserstein Medians
Direct fixed-weight solver for free-support Wasserstein medians relocates atoms using OT barycentric projections and inverse-distance weights, achieving monotone descent on smoothed objectives with fewer subproblems than nested Weiszfeld baselines.
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Change-Robust Online Spatial-Semantic Topological Mapping
CROSS replaces globally consistent metric maps with a pose-aware topological graph of RGB-D keyframes and maintains a bounded Gaussian-mixture belief over poses via sequential hypothesis testing in SE(3) to achieve change-robust spatial-semantic mapping and navigation.