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The interplay between magnetism and electronic band topology enriches topological phases and has promising applications. However, the role of topology in magnetic fluctuations has been elusive. Here, we report evidence for topology stabilized magnetism above the magnetic transition temperature in magnetic Weyl semimetal candidate CeAlGe. Electrical transport, thermal transport, resonant elastic X-ray scattering, and dilatometry consistently indicate the presence of locally correlated magnetism within a narrow temperature window well above the thermodynamic magnetic transition temperature. The wavevector of this short-range order is consistent with the nesting condition of topological Weyl nodes, suggesting that it arises from the interaction between magnetic fluctuations and the emergent Weyl fermions. Effective field theory shows that this topology stabilized order is wavevector dependent and can be stabilized when the interband Weyl fermion scattering is dominant. Our work highlights the role of electronic band topology in stabilizing magnetic order even in the classically disordered regime.

 

Visual place recognition is essential for large-scale simultaneous localization and mapping (SLAM). Long-term robot operations across different time of the days, months, and seasons introduce new challenges from significant environment appearance variations. In this paper, we propose a novel method to learn a location representation that can integrate the semantic landmarks of a place with its holistic representation. To promote the robustness of our new model against the drastic appearance variations due to long-term visual changes, we formulate our objective to use non-squared ℓ2-norm distances, which leads to a difficult optimization problem that minimizes the ratio of the ℓ2,1-norms of matrices. To solve our objective, we derive a new efficient iterative algorithm, whose convergence is rigorously guaranteed by theory. In addition, because our solution is strictly orthogonal, the learned location representations can have better place recognition capabilities. We evaluate the proposed method using two large-scale benchmark data sets, the CMU-VL and Nordland data sets. Experimental results have validated the effectiveness of our new method in long-term visual place recognition applications.