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The GSF represents the filtering density as a finite mixture p(xt−1 |z 1:t−1, u1:t−2) = Kt−1X k=1 w(k) t−1 N xt−1;µ (k) t−1,Σ (k) t−1 , withw (k) t−1 ≥0and P k w(k) t−1 = 1

Preliminaries, Notation:Letx t ∈R n be the (locally Euclidean) state with motion, measurement models xt =f t(xt−1, ut−1) +q t, q t ∼ N(0, Q t), zt =h t(xt) +r t, r t ∼ N(0, R

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Change-Robust Online Spatial-Semantic Topological Mapping

cs.RO · 2026-05-04 · unverdicted · novelty 6.0

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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  • Change-Robust Online Spatial-Semantic Topological Mapping cs.RO · 2026-05-04 · unverdicted · none · ref 46

    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.