12 citations · 12 across the 8 of their papers we have counts for
8 papers
Equivariant Filter Transformations for Consistent and Efficient Visual--Inertial Navigation
Chungeng Tian, Fenghua He, Ning Hao
This paper presents an equivariant filter (EqF) transformation approach for visual--inertial navigation. By establishing analytical links between EqFs with different symmetries, th…
CLIDD: Cross-Layer Independent Deformable Description for Efficient and Discriminative Local Feature Representation
Haodi Yao, Fenghua He, Ning Hao +1
Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires des…
Unobservable Subspace Evolution and Alignment for Consistent Visual-Inertial Navigation
Chungeng Tian, Fenghua He, Ning Hao
The inconsistency issue in the Visual-Inertial Navigation System (VINS) is a long-standing and fundamental challenge. While existing studies primarily attribute the inconsistency t…
T-ESKF: Transformed Error-State Kalman Filter for Consistent Visual-Inertial Navigation
Chungeng Tian, Ning Hao, Fenghua He
This paper presents a novel approach to address the inconsistency problem caused by observability mismatch in visual-inertial navigation systems (VINS). The key idea involves apply…
EdgePoint2: Compact Descriptors for Superior Efficiency and Accuracy
Haodi Yao, Fenghua He, Ning Hao +1
The field of keypoint extraction, which is essential for vision applications like Structure from Motion (SfM) and Simultaneous Localization and Mapping (SLAM), has evolved from rel…
A Transformation-based Consistent Estimation Framework: Analysis, Design and Applications
Ning Hao, Chungeng Tian, Fenghua He
In this paper, we investigate the inconsistency problem arising from observability mismatch that frequently occurs in nonlinear systems such as multi-robot cooperative localization…
Consistent Distributed Cooperative Localization: A Coordinate Transformation Approach
Chungeng Tian, Ning Hao, Fenghua He +1
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting…
KD-EKF: A Consistent Cooperative Localization Estimator Based on Kalman Decomposition
Ning Hao, Fenghua He, Chungeng Tian +2
In this paper, we revisit the inconsistency problem of EKF-based cooperative localization (CL) from the perspective of system decomposition. By transforming the linearized system u…