82 citations · 203 across the 23 of their papers we have counts for
23 papers
Multi-Visual-Inertial System: Analysis, Calibration and Estimation
Yulin Yang, Patrick Geneva, Guoquan Huang
In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial…
General Place Recognition Survey: Towards the Real-world Autonomy Age
Peng Yin, Shiqi Zhao, Ivan Cisneros +6
Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The…
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems
Jiajun Lv, Xingxing Zuo, Kewei Hu +3
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a nove…
Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation
Nathaniel Merrill, Yuliang Guo, Xingxing Zuo +5
We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our know…
Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy
Yulin Yang, Patrick Geneva, Xingxing Zuo +1
In this paper, we study in-depth the problem of online self-calibration for robust and accurate visual-inertial state estimation. In particular, we first perform a complete observa…
Enhance Accuracy: Sensitivity and Uncertainty Theory in LiDAR Odometry and Mapping
Zeyu Wan, Yu Zhang, Bin He +4
Currently, the improvement of LiDAR poses estimation accuracy is an urgent need for mobile robots. Research indicates that diverse LiDAR points have different influences on the acc…
Distributed Visual-Inertial Cooperative Localization
Pengxiang Zhu, Patrick Geneva, Wei Ren +1
In this paper we present a consistent and distributed state estimator for multi-robot cooperative localization (CL) which efficiently fuses environmental features and loop-closure…
CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth
Xingxing Zuo, Nathaniel Merrill, Wei Li +3
In this work, we present a lightweight, tightly-coupled deep depth network and visual-inertial odometry (VIO) system, which can provide accurate state estimates and dense depth map…
LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking
Xingxing Zuo, Yulin Yang, Patrick Geneva +4
Multi-sensor fusion of multi-modal measurements from commodity inertial, visual and LiDAR sensors to provide robust and accurate 6DOF pose estimation holds great potential in robot…
MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System
Kevin Eckenhoff, Patrick Geneva, Guoquan Huang
As cameras and inertial sensors are becoming ubiquitous in mobile devices and robots, it holds great potential to design visual-inertial navigation systems (VINS) for efficient ver…
Visual-based Kinematics and Pose Estimation for Skid-Steering Robots
Xingxing Zuo, Mingming Zhang, Mengmeng Wang +4
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significa…
Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints
Xingxing Zuo, Mingming Zhang, Yiming Chen +3
While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic…
LIC-Fusion: LiDAR-Inertial-Camera Odometry
Xingxing Zuo, Patrick Geneva, Woosik Lee +2
This paper presents a tightly-coupled multi-sensor fusion algorithm termed LiDAR-inertial-camera fusion (LIC-Fusion), which efficiently fuses IMU measurements, sparse visual featur…
CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure
Nathaniel Merrill, Guoquan Huang
Traditional attempts for loop closure detection typically use hand-crafted features, relying on geometric and visual information only, whereas more modern approaches tend to use se…
Visual-Inertial Navigation: A Concise Review
Guoquan Huang
As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems (VINS) have prevailed in a wide range of applications from mobile augmented reality to ae…
An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM
Patrick Geneva, James Maley, Guoquan Huang
It holds great implications for practical applications to enable centimeter-accuracy positioning for mobile and wearable sensor systems. In this paper, we propose a novel, high-pre…
Lightweight Unsupervised Deep Loop Closure
Nate Merrill, Guoquan Huang
Robust efficient loop closure detection is essential for large-scale real-time SLAM. In this paper, we propose a novel unsupervised deep neural network architecture of a feature em…
Visual-Inertial Target Tracking and Motion Planning for UAV-based Radiation Detection
Indrajeet Yadav, Kevin Eckenhoff, Guoquan Huang +1
This paper addresses the problem of detecting radioactive material in transit using an UAV of minimal sensing capability, where the objective is to classify the target's radioactiv…
Observability Analysis of Aided INS with Heterogeneous Features of Points, Lines and Planes
Yulin Yang, Guoquan Huang
In this paper, we perform a thorough observability analysis for linearized inertial navigation systems (INS) aided by exteroceptive range and/or bearing sensors (such as cameras, L…
Robocentric Visual-Inertial Odometry
Zheng Huai, Guoquan Huang
In this paper, we propose a novel robocentric formulation of the visual-inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, light…
Closed-form Preintegration Methods for Graph-based Visual-Inertial Navigation
Kevin Eckenhoff, Patrick Geneva, Guoquan Huang
In this paper we propose a new analytical preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors).Rather…
Robust Visual SLAM with Point and Line Features
Xingxing Zuo, Xiaojia Xie, Yong Liu +1
In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of ste…
Sparse Optimization for Robust and Efficient Loop Closing
Yasir Latif, Guoquan Huang, John Leonard +1
It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation.A key insight explored in this work is that the loop-closing event inhere…