82 citations · 203 across the 23 of their papers we have counts for
5 papers · 1 filter
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…