5 papers · 1 filter
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…
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,…
BESTAnP: Bi-Step Efficient and Statistically Optimal Estimator for Acoustic-n-Point Problem
Wenliang Sheng, Hongxu Zhao, Lingpeng Chen +6
We consider the acoustic-n-point (AnP) problem, which estimates the pose of a 2D forward-looking sonar (FLS) according to n 3D-2D point correspondences. We explore the nature of th…