{"paper":{"title":"FUSE: A Framework for Unified State Estimation in Robotic SLAM Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Honglin Chen, Jiangtao Li, Shengbo Eben Li, Tao Zhang, Wei Wu, Wenhan Cao, Yao Lyu","submitted_at":"2026-05-18T08:36:04Z","abstract_excerpt":"Tightly coupled SLAM formulations under mixed-rate sensing often bind temporal processing, local geometric association, estimator formulation, and map-update policy into method-specific designs. Such binding makes it difficult to vary one design choice without re-engineering the rest of the state-estimation process. This paper presents FUSE, a framework for unified state estimation in robotic SLAM systems. FUSE organizes the state-estimation interface around observation ingestion, propagation, update, and state query, and uses this interface to separate temporal processing, residual-ready loca"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.18047","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.18047/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-19T23:41:59.293110Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T23:33:35.488577Z","status":"skipped","version":"1.0.0","findings_count":0}],"snapshot_sha256":"0b807f11eb0ac52fffbc16a4179e4da88391dde17ff93cd0c761389d8b6e98cb"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}