Perception with Guarantees: Certified Pose Estimation via Reachability Analysis

ArXi:2602.10032v2 Announce Type: replace Agents in cyber-physical systems are increasingly entrusted with safety-critical tasks. Ensuring safety of these agents often requires localizing the pose for subsequent actions. Pose estimates can, e.g., be obtained from various combinations of lidar sensors, cameras, and external services such as GPS. Crucially, in safety-critical domains, a rough estimate is insufficient to formally determine safety, i.e., guaranteeing safety even in the worst-case scenario, and external services might. additionally. not be trustworthy.