Correct-by-Construction Vision-based Pose Estimation using Geometric Generative Models

arXiv:2601.17556 · cs.RO · Submitted 2026-01-24 · Read on arXiv

cs.RO

Submitted: 2026-01-24

Updated: 2026-09-19

Terminology

• Verification — 25× in this paper · explained in 2 episodes
• Generative Model — 8× in this paper · explained in 2 episodes
• Robustness — 8× in this paper · explained in 5 episodes
• Abstraction — 6× in this paper · explained in 1 episode
• Geometric Generative Model — 5× in this paper
• Formal Verification — 4× in this paper · explained in 2 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Generative Models — 3× in this paper · explained in 3 episodes
• American Control Conference — 2× in this paper
• Conformal Prediction — 2× in this paper · explained in 5 episodes
• Core — 2× in this paper · explained in 2 episodes
• Quantization — 2× in this paper · explained in 12 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Target Coordinate Frame — 2× in this paper
• Adam — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Camera Coordinate Frame — 1× in this paper
• Formal Methods — 1× in this paper · explained in 3 episodes
• Hybrid System — 1× in this paper · explained in 2 episodes
• IEEE Conference on Decision and Control — 1× in this paper
• Pixel Coordinate Frame — 1× in this paper
• SMT solver — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Two-Stage Framework — 1× in this paper · explained in 2 episodes
• Verifier — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Deterministic World Models for Closed-loop Reachability Analysis of End-to-End Vision-based Control
• Refining Perception Contracts: Case Studies in Vision-based Safe Auto-landing
• Enforcing safety for vision-based controllers via Control Barrier Functions and Neural Radiance Fields

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