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.
CAT-SLAM: Probabilistic localisation and mapping us- ing a continuous appearance-based trajectory.The In- ternational Journal of Robotics Research (IJRR), 31(4): 429–451
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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.