7 papers
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…
Spatiotemporal Calibration of Doppler Velocity Logs for Underwater Robots
Hongxu Zhao, Guangyang Zeng, Yunling Shao +2
The calibration of extrinsic parameters and clock offsets between sensors for high-accuracy performance in underwater SLAM systems remains insufficiently explored. Existing methods…
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…
Consistent and Optimal Solution to Camera Motion Estimation
Guangyang Zeng, Qingcheng Zeng, Xinghan Li +4
Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from…
RSS-Based Localization: Ensuring Consistency and Asymptotic Efficiency
Shenghua Hu, Guangyang Zeng, Wenchao Xue +3
We study the problem of signal source localization using received signal strength measurements. We begin by presenting verifiable geometric conditions for sensor deployment that en…
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,…