CARD: A Proof-Carrying Certificate-to-Action Interface for Relative-Measurement Graphs
Summary
- We present CARD, a proof-carrying certificate-to-action interface for relative-measurement graphs that separates semantic motion from witness repair.
- The lifted-fiber formulation characterizes when projected and proof-carrying costs coincide and delivers an exact useful-service law.
- A study of 404 Full16 cases from 20 airborne survey sorties shows reference-consistent causal-navigation transforms with low median discrepancies.
- Public downstream evaluation on 11 KITTI, EuRoC, and TUM SLAM cases shows optimizer wall-time ratios of 1.128x-67.65x for random versus CARD graph interventions.
Why it matters
CARD bridges mathematical geometric certificates and physical robotic execution, improving graph computation efficiency and providing reliable service guarantees for SLAM and navigation systems.