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Mosaic Zonotope Shadow Matching for Risk-Aware Autonomous Localization in Harsh Urban Environments
We extend our prior work to propose Mosaic Zonotope Shadow Matching (MZSM) that employs a classifier-agnostic polytope mosaic architecture to provide risk-awareness and certifiable guarantees on urban positioning.
Robust GPS-Vision Localization via Integrity-Driven Landmark Attention
We apply set union to formulate a p-Zonotopic cost that represents the size of position bounds based on landmark inclusion/exclusion.
SLAM-based Integrity Monitoring Using GPS and Fish-eye Camera
We perform graph optimization using the sequential data of GPS pseudoranges, pixel intensities, vehicle dynamics, and satellite ephemeris to simultaneously localize the vehicle as well as the landmarks, namely GPS satellites and key image pixels in the world frame.
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