3 papers
cs.RO2025
Robust Online Calibration for UWB-Aided Visual-Inertial Navigation with Bias Correction
Yizhi Zhou, Jie Xu, Jiawei Xia +3
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning…
cs.RO2025
CVIRO: A Consistent and Tightly-Coupled Visual-Inertial-Ranging Odometry on Lie Groups
Yizhi Zhou, Ziwei Kang, Jiawei Xia +1
Ultra Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWBaided VIO syste…
cs.RO2024
Distributed Invariant Kalman Filter for Cooperative Localization using Matrix Lie Groups
Yizhi Zhou, Yufan Liu, Pengxiang Zhu +1
This paper studies the problem of Cooperative Localization (CL) for multi-robot systems, where a group of mobile robots jointly localize themselves by using measurements from onboa…