Cover Image

Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Song, Baoshan, Giamou, Matthew, Yan, Penggao, Xia, Chunxi, Hsu, Li-Ta
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Online IMU-odometer Calibration using GNSS Measurements for Autonomous Ground Vehicle Localization
by: Song, Baoshan, et al.
Published: (2025)

Two stage GNSS outlier detection for factor graph optimization based GNSS-RTK/INS/odometer fusion
by: Song, Baoshan, et al.
Published: (2025)

A Decentralized LiDAR-SLAM System with Certifiably Optimal Pose Graph Optimization
by: Song, Baoshan, et al.
Published: (2026)

Improved GNSS Positioning in Urban Environments Using a Logistic Error Model
by: Li, Zhengdao, et al.
Published: (2026)

An Efficient Detector for Faulty GNSS Measurements Detection With Non-Gaussian Noises
by: Yan, Penggao, et al.
Published: (2025)

Certifiably Optimal Doppler Positioning using Opportunistic LEO Satellites
by: Song, Baoshan, et al.
Published: (2025)

Degeneration of Sliding-Window Factor Graph Optimization into Iterated Extended Kalman Filtering
by: Song, Baoshan, et al.
Published: (2025)

CredibleDFGO: Differentiable Factor Graph Optimization with Credibility Supervision
by: Qian, Liang, et al.
Published: (2026)

Logistic-aided Huber M-estimator for robust GNSS positioning
by: Li, Zhengdao, et al.
Published: (2026)

Towards Optimal Beacon Placement for Range-Aided Localization
by: Sequeira, Ethan, et al.
Published: (2024)

Trajectory Smoothing Using GNSS/PDR Integration Via Factor Graph Optimization in Urban Canyons
by: Zhong, Yihan, et al.
Published: (2022)

SF-Loc: A Visual Mapping and Geo-Localization System based on Sparse Visual Structure Frames
by: Zhou, Yuxuan, et al.
Published: (2024)

Cauchy-Gaussian Overbound for Heavy-tailed GNSS Measurement Errors
by: Li, Zhengdao, et al.
Published: (2026)

Improving GNSS Positioning in Challenging Urban Areas by Digital Twin Database Correction
by: Lian, Jiarong, et al.
Published: (2024)

MASt3R-Fusion: Integrating Feed-Forward Visual Model with IMU, GNSS for High-Functionality SLAM
by: Zhou, Yuxuan, et al.
Published: (2025)

OASIS: Optimal Arrangements for Sensing in SLAM
by: Kaveti, Pushyami, et al.
Published: (2023)

Generative Graphical Inverse Kinematics
by: Limoyo, Oliver, et al.
Published: (2022)

Jackknife ARAIM: Efficient GNSS Integrity Monitoring for Simultaneous Faults under Non-Gaussian Errors
by: Yan, Penggao, et al.
Published: (2025)

Equivariant Filter for Tightly Coupled LiDAR-Inertial Odometry
by: Tao, Anbo, et al.
Published: (2024)

A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration
by: Wise, Emmett, et al.
Published: (2025)

TCAFF: Temporal Consistency for Robot Frame Alignment
by: Peterson, Mason B., et al.
Published: (2024)

Tightly Joined Positioning and Control Model for Unmanned Aerial Vehicles Based on Factor Graph Optimization
by: Yang, Peiwen, et al.
Published: (2024)

Safe and Smooth: Certified Continuous-Time Range-Only Localization
by: Dümbgen, Frederike, et al.
Published: (2022)

Certifiable Mutual Localization and Trajectory Planning for Bearing-Based Robot Swarm
by: Wang, Yingjian, et al.
Published: (2024)

Credible Uncertainty Quantification under Noise and System Model Mismatch
by: Yan, Penggao, et al.
Published: (2025)

Toward Certifying Maps for Safe Registration-based Localization Under Adverse Conditions
by: Laconte, Johann, et al.
Published: (2023)

Certified Gradient-Based Contact-Rich Manipulation via Smoothing-Error Reachable Tubes
by: Li, Wei-Chen, et al.
Published: (2026)

FRAPPE: Infusing World Modeling into Generalist Policies via Multiple Future Representation Alignment
by: Zhao, Han, et al.
Published: (2026)

PALM: Enhanced Generalizability for Local Visuomotor Policies via Perception Alignment
by: Wang, Ruiyu, et al.
Published: (2026)

Scalable Aerial GNSS Localization for Marine Robots
by: Wen, Shuo, et al.
Published: (2025)

AC-LIO: Towards Asymptotic Compensation for Distortion in LiDAR-Inertial Odometry via Selective Intra-Frame Smoothing
by: Zhang, Tianxiang, et al.
Published: (2024)

Safe and Optimal Variable Impedance Control via Certified Reinforcement Learning
by: Kumar, Shreyas, et al.
Published: (2025)

GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization
by: Zhang, Haoming, et al.
Published: (2023)

Enhanced INS/GNSS State Estimation using GNSS-Based Acceleration Measurements
by: Versano, Gal, et al.
Published: (2026)

Single Actuator Undulation Soft-bodied Robots Using A Precompressed Variable Thickness Flexible Beam
by: Ta, Tung D.
Published: (2024)

LiDAR, GNSS and IMU Sensor Fine Alignment through Dynamic Time Warping to Construct 3D City Maps
by: Wang, Haitian, et al.
Published: (2025)

Hierarchical Equivariant Policy via Frame Transfer
by: Zhao, Haibo, et al.
Published: (2025)

Embracing Events and Frames with Hierarchical Feature Refinement Network for Object Detection
by: Cao, Hu, et al.
Published: (2024)

Certifiably Safe Manipulation of Deformable Linear Objects via Joint Shape and Tension Prediction
by: Zhang, Yiting, et al.
Published: (2025)

Incorporating GNSS Information with LIDAR-Inertial Odometry for Accurate Land-Vehicle Localization
by: Cheng, Jintao, et al.
Published: (2025)