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.
A comprehensive survey of visual slam algorithms.Robotics, 11(1):24, 2022
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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.