3 citations · 7 across the 9 of their papers we have counts for
10 papers
MomentBA: Second-order Spatial Moments for Anisotropic Correspondence Uncertainty in Differentiable Bundle Adjustment
Yuqing Wang, Xiaoji Niu, Yan Wang +3
Most existing visual odometry (VO) systems treat feature correspondences as deterministic measurements or assign uniform uncertainty, ignoring the inherent localization ambiguity o…
DINS-IO: Learned Inertial Odometry via Differentiable INS Consistency
Hao Qiao, Yan Wang, Jian Kuang +1
The training of learned inertial odometry depends on dense, high-precision position ground truth from motion capture, visual-inertial odometry or SLAM, which is costly and hard to…
MoE-Based Learned Inertial Odometry for Bicycle Localization
Hao Qiao, Yan Wang, Shuo Yang +3
GNSS suffers from multipath errors in urban canyons, making reliable bicycle localization difficult. Hand-crafted inertial alternatives, such as cycling dead reckoning and nonholon…
MSCEKF-MIO: Magnetic-Inertial Odometry Based on Multi-State Constraint Extended Kalman Filter
Jiazhu Li, Jian Kuang, Xiaoji Niu
To overcome the limitation of existing indoor odometry technologies which often cannot simultaneously meet requirements for accuracy cost-effectiveness, and robustness-this paper p…
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…
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…