82 citations · 115 across the 10 of their papers we have counts for
10 papers
MINS: Efficient and Robust Multisensor-aided Inertial Navigation System
Woosik Lee, Patrick Geneva, Chuchu Chen +1
Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience t…
NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System
Saimouli Katragadda, Woosik Lee, Yuxiang Peng +5
Achieving efficient and consistent localization a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffers from sub-optimal viewpoints due to…
Multi-Visual-Inertial System: Analysis, Calibration and Estimation
Yulin Yang, Patrick Geneva, Guoquan Huang
In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial…
Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy
Yulin Yang, Patrick Geneva, Xingxing Zuo +1
In this paper, we study in-depth the problem of online self-calibration for robust and accurate visual-inertial state estimation. In particular, we first perform a complete observa…
Distributed Visual-Inertial Cooperative Localization
Pengxiang Zhu, Patrick Geneva, Wei Ren +1
In this paper we present a consistent and distributed state estimator for multi-robot cooperative localization (CL) which efficiently fuses environmental features and loop-closure…
LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking
Xingxing Zuo, Yulin Yang, Patrick Geneva +4
Multi-sensor fusion of multi-modal measurements from commodity inertial, visual and LiDAR sensors to provide robust and accurate 6DOF pose estimation holds great potential in robot…