A robot can keep its local obstacle map certified-correct under odometry drift by deflating the claimed-free region using the incremental pose covariance, proven for SFC polytopes and ESDFs.
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Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift
A robot can keep its local obstacle map certified-correct under odometry drift by deflating the claimed-free region using the incremental pose covariance, proven for SFC polytopes and ESDFs.