{"id":"https://openalex.org/W7128621148","doi":"https://doi.org/10.48550/arxiv.2602.10032","title":"Perception with Guarantees: Certified Pose Estimation via Reachability Analysis","display_name":"Perception with Guarantees: Certified Pose Estimation via Reachability Analysis","publication_year":2026,"publication_date":"2026-02-10","ids":{"openalex":"https://openalex.org/W7128621148","doi":"https://doi.org/10.48550/arxiv.2602.10032"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2602.10032","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.10032","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2602.10032","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102710294","display_name":"Tobias Ladner","orcid":"https://orcid.org/0000-0002-4556-8308"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ladner, Tobias","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125662018","display_name":"Yasser Shoukry","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shoukry, Yasser","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5109375322","display_name":"Althoff Matthias","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Althoff, Matthias","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102710294"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.24310000240802765,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.24310000240802765,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.16500000655651093,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.1379999965429306,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.8432999849319458},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.826200008392334},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.6830000281333923},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.5216000080108643},{"id":"https://openalex.org/keywords/certification","display_name":"Certification","score":0.5144000053405762},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4075999855995178},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.37209999561309814}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.8432999849319458},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.826200008392334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7080000042915344},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.6830000281333923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6786999702453613},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5821999907493591},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.5216000080108643},{"id":"https://openalex.org/C46304622","wikidata":"https://www.wikidata.org/wiki/Q374814","display_name":"Certification","level":2,"score":0.5144000053405762},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4075999855995178},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39309999346733093},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.37209999561309814},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.31360000371932983},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3100000023841858},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.29179999232292175},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.2775999903678894},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C2777669093","wikidata":"https://www.wikidata.org/wiki/Q17141570","display_name":"Reachability problem","level":3,"score":0.26460000872612},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.26330000162124634},{"id":"https://openalex.org/C111498074","wikidata":"https://www.wikidata.org/wiki/Q173326","display_name":"Formal verification","level":2,"score":0.257999986410141},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2602.10032","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.10032","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2602.10032","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.10032","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Agents":[0],"in":[1,43,59,81,127],"cyber-physical":[2],"systems":[3],"are":[4],"increasingly":[5],"entrusted":[6],"with":[7],"safety-critical":[8,44],"tasks.":[9],"Ensuring":[10],"safety":[11,57],"of":[12,32],"these":[13],"agents":[14,126],"often":[15],"requires":[16],"localizing":[17],"the":[18,60,99],"pose":[19,79],"for":[20],"subsequent":[21],"actions.":[22],"Pose":[23],"estimates":[24],"can,":[25],"e.g.,":[26],"be":[27,69],"obtained":[28],"from":[29,84,108],"various":[30],"combinations":[31],"lidar":[33],"sensors,":[34],"cameras,":[35],"and":[36,63,88,111,123,130],"external":[37,64],"services":[38,65],"such":[39],"as":[40],"GPS.":[41],"Crucially,":[42],"domains,":[45],"a":[46,77,85,89],"rough":[47],"estimate":[48],"is":[49,94,102],"insufficient":[50],"to":[51],"formally":[52,97],"determine":[53],"safety,":[54],"i.e.,":[55],"guaranteeing":[56],"even":[58],"worst-case":[61],"scenario,":[62],"might":[66],"additionally":[67],"not":[68],"trustworthy.":[70],"We":[71],"address":[72],"this":[73],"problem":[74],"by":[75,96,104],"presenting":[76],"certified":[78],"estimation":[80],"3D":[82],"solely":[83],"camera":[86],"image":[87],"well-known":[90],"target":[91],"geometry.":[92],"This":[93],"realized":[95],"bounding":[98],"pose,":[100],"which":[101],"computed":[103],"leveraging":[105],"recent":[106],"results":[107],"reachability":[109],"analysis":[110],"formal":[112],"neural":[113],"network":[114],"verification.":[115],"Our":[116],"experiments":[117],"demonstrate":[118],"that":[119],"our":[120],"approach":[121],"efficiently":[122],"accurately":[124],"localizes":[125],"both":[128],"synthetic":[129],"real-world":[131],"experiments.":[132]},"counts_by_year":[],"updated_date":"2026-02-12T06:17:30.163165","created_date":"2026-02-12T00:00:00"}
