3 papers
cs.RO2026
Provably Guaranteed Polytopic Uncertainty Quantification for SLAM
Guangyang Zeng, Yulong Gao, Yuan Shen +4
In safety-critical robotics applications, guaranteed and practical uncertainty quantification (UQ) in perception is vital. Many existing works either offer no formal containment gu…
cs.RO2025
GeVI-SLAM: Gravity-Enhanced Stereo Visua Inertial SLAM for Underwater Robots
Yuan Shen, Yuze Hong, Guangyang Zeng +4
Accurate visual inertial simultaneous localization and mapping (VI SLAM) for underwater robots remains a significant challenge due to frequent visual degeneracy and insufficient in…
cs.RO2025
Bias-Eliminated PnP for Stereo Visual Odometry: Provably Consistent and Large-Scale Localization
Guangyang Zeng, Yuan Shen, Ziyang Hong +4
In this paper, we first present a bias-eliminated weighted (Bias-Eli-W) perspective-n-point (PnP) estimator for stereo visual odometry (VO) with provable consistency. Specifically,…