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cs.RO2026
Consistent Distributed Invariant EKF SLAM with Point and Object Features
Mengya Xu, Xianjia Yu, Ha Sier +2
Multi-robot SLAM allows robots to improve their estimates by exchanging map information, but repeated exchanges create unknown correlations between local estimators. Covariance int…
cs.RO2026
P-POSEMEM: Projective Semantic Memory for Consistent Language Grounding under Pose-Graph Rewrites
Ha Sier, Ali Salmasi, Mengya Xu +5
A robot following language instructions needs its semantic memory to keep naming the same physical object while the SLAM pose graph underneath is optimized, loop-closed and compres…
cs.RO2026
SAFEVPR: Patch-Based Verification with Empirical FDR Control for Cross-Condition Sequence Visual Place Recognition
Ha Sier, Jiaqiang Zhang, Zhuo Zou +2
Sequence-based visual place recognition (VPR) for loop closure and robot relocalization must decide whether the retrieved top-1 candidate should be accepted. Conformal calibration…