SLAM: Structured and Localized Analytic Manifold Adaptation for Lifelong VPR

• URL: http://arxiv.org/abs/2607.04764v1
• Date: Mon, 06 Jul 2026 07:57:26 GMT
• Title: SLAM: Structured and Localized Analytic Manifold Adaptation for Lifelong VPR
• Abstract summary: We propose SLAM, a Structured and Localized Analytic Manifold adaptation framework.<n>Our framework unifies uncertainty-aware smoothing via Unscented transformation, topological space partitioning through a Gaussian Mixture Model (GMM)<n> Exhaustive ablation studies demonstrate that while the synergistic combination of uncertainty smoothing and localized mapping achieves the state-of-the-art nominal accuracy of 27.5%, the full deployment of the $H_infty$ bound does not require an architectural split.
• Score: 0.6882042556551609
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Visual Place Recognition (VPR) in lifelong deployment requires continuous adaptation to new environments without catastrophic forgetting. In this paper, we propose SLAM, a Structured and Localized Analytic Manifold adaptation framework. Our framework elegantly unifies uncertainty-aware smoothing via Unscented transformation, topological space partitioning through a Gaussian Mixture Model (GMM), and $H_\infty$ robust bound optimization into a singular, unified closed-form analytical recursion. Exhaustive ablation studies demonstrate that while the synergistic combination of uncertainty smoothing and localized mapping (U+G configuration) achieves the state-of-the-art nominal accuracy of 27.5%, the full deployment of the $H_\infty$ bound does not require an architectural split; rather, it introduces a mathematically guaranteed minimax robust bound. This formulation enables the system to seamlessly modulate the intrinsic trade-off between nominal placement precision and worst-case disturbance attenuation through a single regularization parameter.

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