{"id":"https://openalex.org/W7162690800","doi":"https://doi.org/10.48550/arxiv.2605.28172","title":"Provably Guaranteed Polytopic Uncertainty Quantification for SLAM","display_name":"Provably Guaranteed Polytopic Uncertainty Quantification for SLAM","publication_year":2026,"publication_date":"2026-05-27","ids":{"openalex":"https://openalex.org/W7162690800","doi":"https://doi.org/10.48550/arxiv.2605.28172"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.28172","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.28172","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.28172","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037538275","display_name":"Guangyang Zeng","orcid":"https://orcid.org/0000-0002-3093-3982"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Guangyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137302354","display_name":"Yulong Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Yulong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137213677","display_name":"Yuan Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Yuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018235285","display_name":"Lingpeng Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Lingpeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102997128","display_name":"Haoying Li","orcid":"https://orcid.org/0000-0003-4810-5859"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Haoying","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137215086","display_name":"Guodong Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Guodong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137306819","display_name":"Junfeng Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Junfeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9771000146865845,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9771000146865845,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10531","display_name":"Advanced Vision and Imaging","score":0.006899999920278788,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.002199999988079071,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/uncertainty-quantification","display_name":"Uncertainty quantification","score":0.7972000241279602},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49630001187324524},{"id":"https://openalex.org/keywords/polytope","display_name":"Polytope","score":0.48069998621940613},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.47749999165534973},{"id":"https://openalex.org/keywords/measurement-uncertainty","display_name":"Measurement uncertainty","score":0.4675000011920929},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4569000005722046},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.40860000252723694},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4009999930858612}],"concepts":[{"id":"https://openalex.org/C32230216","wikidata":"https://www.wikidata.org/wiki/Q7882499","display_name":"Uncertainty quantification","level":2,"score":0.7972000241279602},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5789999961853027},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49630001187324524},{"id":"https://openalex.org/C145691206","wikidata":"https://www.wikidata.org/wiki/Q747980","display_name":"Polytope","level":2,"score":0.48069998621940613},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.47749999165534973},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.4675000011920929},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4569000005722046},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4375},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.40860000252723694},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4009999930858612},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3921000063419342},{"id":"https://openalex.org/C2778865114","wikidata":"https://www.wikidata.org/wiki/Q7882489","display_name":"Uncertain data","level":2,"score":0.37770000100135803},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3736000061035156},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.37059998512268066},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.3513999879360199},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35019999742507935},{"id":"https://openalex.org/C177803969","wikidata":"https://www.wikidata.org/wiki/Q29205","display_name":"Uncertainty analysis","level":2,"score":0.3301999866962433},{"id":"https://openalex.org/C123614077","wikidata":"https://www.wikidata.org/wiki/Q1364905","display_name":"Propagation of uncertainty","level":2,"score":0.29670000076293945},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2903999984264374},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26649999618530273},{"id":"https://openalex.org/C111498074","wikidata":"https://www.wikidata.org/wiki/Q173326","display_name":"Formal verification","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.25679999589920044},{"id":"https://openalex.org/C3018263672","wikidata":"https://www.wikidata.org/wiki/Q1296251","display_name":"Efficient algorithm","level":2,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.28172","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.28172","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.28172","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.28172","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.4585535526275635,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"safety-critical":[1],"robotics":[2],"applications,":[3],"guaranteed":[4,44],"and":[5,68,98,111,137,149],"practical":[6,121,150],"uncertainty":[7,76,81,106,130],"quantification":[8],"(UQ)":[9],"in":[10],"perception":[11],"is":[12,154],"vital.":[13],"Many":[14],"existing":[15],"works":[16],"either":[17],"offer":[18],"no":[19],"formal":[20],"containment":[21],"guarantee,":[22],"rely":[23],"on":[24,31],"restrictive":[25],"modeling":[26],"assumptions,":[27],"or":[28],"focus":[29],"only":[30],"pose":[32,66,69,116],"estimation":[33],"rather":[34],"than":[35],"a":[36,74,112],"complete":[37],"SLAM":[38],"pipeline.":[39],"This":[40],"paper":[41],"presents":[42],"provably":[43,93],"UQ":[45,57,60,64],"algorithms":[46,52,143],"for":[47,61,65],"3D-3D":[48],"landmark-based":[49],"SLAM.":[50],"The":[51,152],"consist":[53],"of":[54,115],"three":[55],"basic":[56],"modules:":[58],"forward":[59],"mapping,":[62],"backward":[63],"tracking,":[67],"compound.":[70],"Each":[71],"module":[72],"produces":[73],"certified":[75],"set;":[77],"when":[78],"the":[79,85,95,141],"input":[80],"bounds":[82],"are":[83],"deterministic,":[84],"output":[86],"sets":[87],"inherit":[88],"deterministic":[89],"guarantees,":[90],"i.e.,":[91],"they":[92],"contain":[94],"true":[96],"poses":[97],"landmarks.":[99],"Specifically,":[100],"we":[101,123],"use":[102],"polytopes":[103],"to":[104,127],"represent":[105],"sets,":[107],"enabling":[108],"tractable":[109],"computations":[110],"unified":[113],"treatment":[114],"uncertainty.":[117],"To":[118],"enhance":[119],"algorithms'":[120],"usability,":[122],"incorporate":[124],"conformal":[125],"prediction":[126],"calibrate":[128],"measurement":[129],"from":[131],"data":[132],"with":[133],"prescribed":[134],"probability.":[135],"Simulations":[136],"experiments":[138],"demonstrate":[139],"that":[140],"proposed":[142],"provide":[144],"both":[145],"strong":[146],"theoretical":[147],"guarantees":[148],"usability.":[151],"code":[153],"open-sourced":[155],"at":[156],"https://github.com/LIAS-CUHKSZ/Polytopic-SLAM-Uncertainty-Quantification.":[157]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-29T00:00:00"}
