17 citations · 35 across the 17 of their papers we have counts for
17 papers
IMU Propagation as Preintegration
Jianzhu Huai
IMU preintegration is widely used in factor-graph-based visual--inertial, lidar--inertial, and radar--inertial state estimation, yet it is often treated as a specialized implementa…
RAMBA: 4D Radar Mapping by Bundle Adjustment
Jianzhu Huai, Yiwen Chen, Binliang Wang
4D radar is increasingly attractive for robotic mapping because it provides range, azimuth, elevation, and Doppler measurements while remaining robust in adverse visibility conditi…
A Low-Cost Portable Lidar-based Mobile Mapping System on an Android Smartphone
Jianzhu Huai, Yuxin Shao, Yujia Zhang +1
The rapid advancement of the metaverse, digital twins, and robotics underscores the demand for low-cost, portable mapping systems for reality capture. Current mobile solutions, suc…
SNAIL Radar: A large-scale diverse benchmark for evaluating 4D-radar-based SLAM
Jianzhu Huai, Binliang Wang, Yuan Zhuang +3
4D radars are increasingly favored for odometry and mapping of autonomous systems due to their robustness in harsh weather and dynamic environments. Existing datasets, however, oft…
Tightly-Coupled VLP/INS Integrated Navigation by Inclination Estimation and Blockage Handling
Xiao Sun, Yuan Zhuang, Xiansheng Yang +3
Visible Light Positioning (VLP) has emerged as a promising technology capable of delivering indoor localization with high accuracy. In VLP systems that use Photodiodes (PDs) as lig…
3D-SeqMOS: A Novel Sequential 3D Moving Object Segmentation in Autonomous Driving
Qipeng Li, Yuan Zhuang, Yiwen Chen +5
For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. B…
A Quick Guide for the Iterated Extended Kalman Filter on Manifolds
Jianzhu Huai, Xiang Gao
The extended Kalman filter (EKF) is a common state estimation method for discrete nonlinear systems. It recursively executes the propagation step as time goes by and the update ste…
Geometric Wide-Angle Camera Calibration: A Review and Comparative Study
Jianzhu Huai, Yuan Zhuang, Yuxin Shao +4
Wide-angle cameras are widely used in photogrammetry and autonomous systems which rely on the accurate metric measurements derived from images. To find the geometric relationship b…
4D iRIOM: 4D Imaging Radar Inertial Odometry and Mapping
Yuan Zhuang, Binliang Wang, Jianzhu Huai +1
Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal da…
NOCT: Nonlinear Observability with Constraints and Time Offset
Jianzhu Huai, Yukai Lin, Yujia Zhang
Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observabilit…
Observability Analysis and Keyframe-Based Filtering for Visual Inertial Odometry with Full Self-Calibration
Jianzhu Huai, Yukai Lin, Yuan Zhuang +2
Camera-IMU (Inertial Measurement Unit) sensor fusion has been extensively studied in recent decades. Numerous observability analysis and fusion schemes for motion estimation with s…
Continuous-Time Spatiotemporal Calibration of a Rolling Shutter Camera-IMU System
Jianzhu Huai, Yuan Zhuang, Qicheng Yuan +1
The rolling shutter (RS) mechanism is widely used by consumer-grade cameras, which are essential parts in smartphones and autonomous vehicles. The RS effect leads to image distorti…
Consistent Right-Invariant Fixed-Lag Smoother with Application to Visual Inertial SLAM
Jianzhu Huai, Yukai Lin, Yuan Zhuang +1
State estimation problems without absolute position measurements routinely arise in navigation of unmanned aerial vehicles, autonomous ground vehicles, etc., whose proper operation…
A Versatile Keyframe-Based Structureless Filter for Visual Inertial Odometry
Jianzhu Huai, Yukai Lin, Charles Toth +2
Motion estimation by fusing data from at least a camera and an Inertial Measurement Unit (IMU) enables many applications in robotics. However, among the multitude of Visual Inertia…
Marginal Covariance of Parameters in New Observations
Jianzhu Huai
We have observed a common problem of solving for the marginal covariance of parameters introduced in new observations. This problem arises in several situations, including augmenti…
The Mobile AR Sensor Logger for Android and iOS Devices
Jianzhu Huai, Yujia Zhang, Alper Yilmaz
In recent years, commodity mobile devices equipped with cameras and inertial measurement units (IMUs) have attracted much research and design effort for augmented reality (AR) and…
Segway DRIVE Benchmark: Place Recognition and SLAM Data Collected by A Fleet of Delivery Robots
Jianzhu Huai, Yusen Qin, Fumin Pang +1
Visual place recognition and simultaneous localization and mapping (SLAM) have recently begun to be used in real-world autonomous navigation tasks like food delivery. Existing data…