9 citations · 20 across the 8 of their papers we have counts for
8 papers
D-GVIO: A Buffer-Driven and Efficient Decentralized GNSS-Visual-Inertial State Estimator for Multi-Agent Systems
Yarong Luo, Wentao Lu, Chi Guo +1
Cooperative localization is essential for swarm applications like collaborative exploration and search-and-rescue missions. However, maintaining real-time capability, robustness, a…
Equivariant Filter for Tightly Coupled LiDAR-Inertial Odometry
Anbo Tao, Yarong Luo, Chunxi Xia +2
Pose estimation is a crucial problem in simultaneous localization and mapping (SLAM). However, developing a robust and consistent state estimator remains a significant challenge, a…
Log-linear Error State Model Derivation without Approximation for INS
Lubin Chang, Yarong Luo
Through assembling the navigation parameters as matrix Lie group state, the corresponding inertial navigation system (INS) kinematic model possesses a group-affine property. The Li…
The Unified Mathematical Framework for IMU Preintegration in Inertial-Aided Navigation System
Yarong Luo, Yang Liu, Chi Guo +1
This paper proposes a unified mathematical framework for inertial measurement unit (IMU) preintegration in inertial-aided navigation system in different frames under different moti…
Equivariant Filtering Framework for Inertial-Integrated Navigation
Yarong Luo, Chi Guo, Jingnan Liu
This paper proposes a equivariant filtering (EqF) framework for the inertial-integrated state estimation problem. As the kinematic system of the inertial-integrated navigation can…
based Extended Kalman Filtering and Smoothing Framework for Inertial-Integrated Navigation
Yarong Luo, Chi Guo, Shengyong You +2
This paper proposes an based extended Kalman filtering (EKF) framework for the inertial-integrated state estimation problem. The error representation using the straight d…
Kalman Filter from the Mutual Information Perspective
Yarong Luo, Jianlang Hu, Chi Guo
Kalman filter is a best linear unbiased state estimator. It is also comprehensible from the point view of the Bayesian estimation. However, this note gives a detailed derivation of…
The Geometry and Kinematics of the Matrix Lie Group
Yarong Luo, Mengyuan Wang, Chi Guo
Currently state estimation is very important for the robotics, and the uncertainty representation based Lie group is natural for the state estimation problem. It is necessary to ex…