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cs.RO2025
Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
Devansh R. Agrawal, Taekyung Kim, Rajiv Govindjee +4
Accurate perception, state estimation and mapping are essential for safe robotic navigation as planners and controllers rely on these components for safety-critical decisions. Howe…
cs.RO2024
Online and Certifiably Correct Visual Odometry and Mapping
Devansh R Agrawal, Rajiv Govindjee, Jiangbo Yu +2
This paper proposes two new algorithms for certified perception in safety-critical robotic applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camer…