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math.OC2023
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…
cs.RO2023
SIM-Sync: From Certifiably Optimal Synchronization over the 3D Similarity Group to Scene Reconstruction with Learned Depth
Xihang Yu, Heng Yang
This paper presents SIM-Sync, a certifiably optimal algorithm that estimates camera trajectory and 3D scene structure directly from multiview image keypoints. SIM-Sync fills the ga…