3 citations · 8 across the 8 of their papers we have counts for
8 papers
GUIDE: Goal-Initialized Directional Understanding for End-to-End Legged Navigation
Liang Wang, Jin Jin, KanZhong Yao +6
End-to-end reinforcement learning (RL) has shown strong potential for legged robot navigation, yet existing approaches commonly rely on continuously updated robot-to-goal states fr…
DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs
Yibin Wu, Jian Kuang, Shahram Khorshidi +4
Robust and accurate proprioceptive state estimation of the main body is crucial for legged robots to execute tasks in extreme environments where exteroceptive sensors, such as LiDA…
Wheel-GINS: A GNSS/INS Integrated Navigation System with a Wheel-mounted IMU
Yibin Wu, Jian Kuang, Xiaoji Niu +3
A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the whee…
LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters
Yibin Wu, Tiziano Guadagnino, Louis Wiesmann +3
Odometry estimation is crucial for every autonomous system requiring navigation in an unknown environment. In modern mobile robots, 3D LiDAR-inertial systems are often used for thi…
Wheel-SLAM: Simultaneous Localization and Terrain Mapping Using One Wheel-mounted IMU
Yibin Wu, Jian Kuang, Xiaoji Niu +3
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they ca…
Wheel-INS2: Multiple MEMS IMU-based Dead Reckoning System for Wheeled Robots with Evaluation of Different IMU Configurations
Yibin Wu, Jian Kuang, Xiaoji Niu
A reliable self-contained navigation system is essential for autonomous vehicles. Based on our previous study on Wheel-INS \cite{niu2019}, a wheel-mounted inertial measurement unit…
A Comparison of Three Measurement Models for the Wheel-mounted MEMS IMU-based Dead Reckoning System
Yibin Wu, Xiaoji Niu, Jian Kuang
A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which odometer-aided inertial n…
Wheel-INS: A Wheel-mounted MEMS IMU-based Dead Reckoning System
Xiaoji Niu, Yibin Wu, Jian Kuang
To improve the accuracy and robustness of the inertial navigation systems (INS) for wheeled robots without adding additional component cost, we propose Wheel-INS, a complete dead r…