4 papers
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…
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…
Distributed Estimation for a 3-D Moving Target in Quaternion Space with Unknown Correlation
Yizhi Zhou, Xufan Liu, Xuan Wang
For distributed estimations in a sensor network, the consistency and accuracy of an estimator are greatly affected by the unknown correlations between individual estimates. An inco…
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…