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) Product of Gaussians.: N1(x)N2(x) =N(m 1;m 2, S1+S2)N(x;m, S),(15) whereS= (S −1 1 +S −1 2 )−1 andm=S(S −1 1 m1 +S −1 2 m2)
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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.