2 papers
cs.RO2024
CLOSURE: Fast Quantification of Pose Uncertainty Sets
Yihuai Gao, Yukai Tang, Han Qi +1
We investigate uncertainty quantification of 6D pose estimation from learned noisy measurements (e.g. keypoints and pose hypotheses). Assuming unknown-but-bounded measurement noise…
math.OC2024
Uncertainty Quantification of Set-Membership Estimation in Control and Perception: Revisiting the Minimum Enclosing Ellipsoid
Yukai Tang, Jean-Bernard Lasserre, Heng Yang
Set-membership estimation (SME) outputs a set estimator that guarantees to cover the groundtruth. Such sets are, however, defined by (many) abstract (and potentially nonconvex) con…