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cs.RO2026
Consistent and Efficient MSCKF-based LiDAR-Inertial Odometry with Inferred Cluster-to-Plane Constraints for UAVs
Jinwen Zhu, Xudong Zhao, Fangcheng Zhu +4
Robust and accurate navigation is critical for Unmanned Aerial Vehicles (UAVs) especially for those with stringent Size, Weight, and Power (SWaP) constraints. However, most state-o…
cs.RO2025
Robust 4D Radar-aided Inertial Navigation for Aerial Vehicles
Jinwen Zhu, Jun Hu, Xudong Zhao +3
While LiDAR and cameras are becoming ubiquitous for unmanned aerial vehicles (UAVs) but can be ineffective in challenging environments, 4D millimeter-wave (MMW) radars that can pro…
cs.RO2024
Square-Root Inverse Filter-based GNSS-Visual-Inertial Navigation
Jun Hu, Xiaoming Lang, Feng Zhang +2
While Global Navigation Satellite System (GNSS) is often used to provide global positioning if available, its intermittency and/or inaccuracy calls for fusion with other sensors. I…