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Small-Increment Approximation:If∆T t = exp(ξ t)with ∥ξt∥ ≪1, then Ad∆T −1 t =I−ad(ξ t) +O(∥ξ t∥2), the transported covariance expands as Ad∆T −1 t ΣAd⊤ ∆T −1 t = Σ−ad(ξ t)Σ−Σ a

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cs.RO 1

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2026 1

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UNVERDICTED 1

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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 58

    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.