Guoquan Huang

CoRR, 2023

Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Optimization-Based VINS: Consistency, Marginalization, and FEJ.

[BibT_eX]

[DOI]

IROS, 2023

Monocular Visual-Inertial Odometry with Planar Regularities.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2022

$\mathcal {PLC}$-LiSLAM: LiDAR SLAM With Planes, Lines, and Cylinders.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Decoupled Right Invariant Error States for Consistent Visual-Inertial Navigation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Square-Root Robocentric Visual-Inertial Odometry With Online Spatiotemporal Calibration.

[BibT_eX]

[DOI]

Zheng Huai

IEEE Robotics Autom. Lett., 2022

Robocentric visual-inertial odometry.

[BibT_eX]

[DOI]

Zheng Huai

Int. J. Robotics Res., 2022

General Place Recognition Survey: Towards the Real-world Autonomy Age.

[BibT_eX]

[DOI]

CoRR, 2022

Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy.

[BibT_eX]

[DOI]

CoRR, 2022

Visual-Inertial-Aided Online MAV System Identification.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Map-based Visual-Inertial Localization: A Numerical Study.

[BibT_eX]

[DOI]

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

FEJ2: A Consistent Visual-Inertial State Estimator Design.

[BibT_eX]

[DOI]

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Tightly-coupled GNSS-aided Visual-Inertial Localization.

[BibT_eX]

[DOI]

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation.

[BibT_eX]

[DOI]

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2022

2021

MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2021

Observation Contribution Theory for Pose Estimation Accuracy.

[BibT_eX]

[DOI]

CoRR, 2021

Distributed Visual-Inertial Cooperative Localization.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Cooperative Visual-Inertial Odometry.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Robust Monocular Visual-Inertial Depth Completion for Embedded Systems.

[BibT_eX]

[DOI]

Nathaniel Merrill

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Markov Parallel Tracking and Mapping for Probabilistic SLAM.

[BibT_eX]

[DOI]

Zheng Huai

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Efficient Multi-sensor Aided Inertial Navigation with Online Calibration.

[BibT_eX]

[DOI]

Woosik Lee

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020

Multimodal localization: Stereo over LiDAR map.

[BibT_eX]

[DOI]

Teresa A. Vidal-Calleja

Yong Liu

J. Field Robotics, 2020

Kinematics Based Visual Localization for Skid-Steering Robots: Algorithm and Theory.

[BibT_eX]

[DOI]

CoRR, 2020

Online IMU Intrinsic Calibration: Is It Necessary?

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XVI, 2020

Motion Planning and Visual-Inertial Target Tracking for UAV-based Radiation Detection.

[BibT_eX]

[DOI]

Proceedings of the 28th Mediterranean Conference on Control and Automation, 2020

LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Visual-Inertial-Wheel Odometry with Online Calibration.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Analytic Combined IMU Integration (ACI<sup>2</sup>) For Visual Inertial Navigation.

[BibT_eX]

[DOI]

Benzun Pious Wisely Babu

Chuchu Chen

Liu Ren

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

OpenVINS: A Research Platform for Visual-Inertial Estimation.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Schmidt-EKF-based Visual-Inertial Moving Object Tracking.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Intermittent GPS-aided VIO: Online Initialization and Calibration.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Observability Analysis of Aided INS With Heterogeneous Features of Points, Lines, and Planes.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2019

Visual-Inertial Localization With Prior LiDAR Map Constraints.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Degenerate Motion Analysis for Aided INS With Online Spatial and Temporal Sensor Calibration.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Tightly-Coupled Visual-Inertial Localization and 3-D Rigid-Body Target Tracking.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Closed-form preintegration methods for graph-based visual-inertial navigation.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2019

Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, 2019

LIC-Fusion: LiDAR-Inertial-Camera Odometry.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Visual-Inertial Odometry with Point and Line Features.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure.

[BibT_eX]

[DOI]

Nathaniel Merrill

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Aided Inertial Navigation: Unified Feature Representations and Observability Analysis.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Tightly-Coupled Aided Inertial Navigation with Point and Plane Features.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Visual-Inertial Navigation: A Concise Review.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

A Linear-Complexity EKF for Visual-Inertial Navigation with Loop Closures.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Sensor-Failure-Resilient Multi-IMU Visual-Inertial Navigation.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Multi-Camera Visual-Inertial Navigation with Online Intrinsic and Extrinsic Calibration.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM.

[BibT_eX]

[DOI]

James Maley

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2019

2018

Visual-Inertial Target Tracking and Motion Planning for UAV-based Radiation Detection.

[BibT_eX]

[DOI]

CoRR, 2018

Continuous Preintegration Theory for Graph-based Visual-Inertial Navigation.

[BibT_eX]

[DOI]

CoRR, 2018

Sequence-based sparse optimization methods for long-term loop closure detection in visual SLAM.

[BibT_eX]

[DOI]

Auton. Robots, 2018

Lightweight Unsupervised Deep Loop Closure.

[BibT_eX]

[DOI]

Nate Merrill

Proceedings of the Robotics: Science and Systems XIV, 2018

Unit Quaternion-Based Parameterization for Point Features in Visual Navigation.

[BibT_eX]

[DOI]

James Maley

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

LIPS: LiDAR-Inertial 3D Plane SLAM.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Aided Inertial Navigation with Geometric Features: Observability Analysis.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017

Towards consistent filtering for discrete-time partially-observable nonlinear systems.

[BibT_eX]

[DOI]

Syst. Control. Lett., 2017

Sparse optimization for robust and efficient loop closing.

[BibT_eX]

[DOI]

Robotics Auton. Syst., 2017

Particle filtering with analytically guided sampling.

[BibT_eX]

[DOI]

Adv. Robotics, 2017

Map-Based Localization Under Adversarial Attacks.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, The 18th International Symposium, 2017

Robust visual SLAM with point and line features.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Null-space-based marginalization: Analysis and algorithm.

[BibT_eX]

[DOI]

James Maley

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Acoustic-inertial underwater navigation.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Direct visual-inertial navigation with analytical preintegration.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Gyro-aided camera-odometer online calibration and localization.

[BibT_eX]

[DOI]

Proceedings of the 2017 American Control Conference, 2017

2016

An optimal data association method based on the minimum weighted bipartite perfect matching.

[BibT_eX]

[DOI]

Auton. Robots, 2016

High-Accuracy Preintegration for Visual-Inertial Navigation.

[BibT_eX]

[DOI]

Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Decoupled, consistent node removal and edge sparsification for graph-based SLAM.

[BibT_eX]

[DOI]

Liam Paull

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

A unified resource-constrained framework for graph SLAM.

[BibT_eX]

[DOI]

Liam Paull

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Unsupervised trajectory compression.

[BibT_eX]

[DOI]

Padraig Corcoran

Peter Mooney

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015

A Bank of Maximum A Posteriori (MAP) Estimators for Target Tracking.

[BibT_eX]

[DOI]

Ke X. Zhou

IEEE Trans. Robotics, 2015

Consistent unscented incremental smoothing for multi-robot cooperative target tracking.

[BibT_eX]

[DOI]

Robotics Auton. Syst., 2015

Optimal-State-Constraint EKF for Visual-Inertial Navigation.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, 2015

Location utility-based map reduction.

[BibT_eX]

[DOI]

Ted J. Steiner

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Communication-constrained multi-AUV cooperative SLAM.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems X, 2014

Optimized visibility motion planning for target tracking and localization.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Inference over heterogeneous finite-/infinite-dimensional systems using factor graphs and Gaussian processes.

[BibT_eX]

[DOI]

David M. Rosen

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Towards consistent visual-inertial navigation.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013

A Quadratic-Complexity Observability-Constrained Unscented Kalman Filter for SLAM.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2013

Analytically-guided-sampling particle filter applied to range-only target tracking.

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Analytically-selected multi-hypothesis incremental MAP estimation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Acoustics, 2013

Unscented iSAM: A consistent incremental solution to cooperative localization and target tracking.

[BibT_eX]

[DOI]

Proceedings of the 2013 European Conference on Mobile Robots, 2013

Consistent sparsification for graph optimization.

[BibT_eX]

[DOI]

Proceedings of the 2013 European Conference on Mobile Robots, 2013

On filter consistency of discrete-time nonlinear systems with partial-state measurements.

[BibT_eX]

[DOI]

Proceedings of the American Control Conference, 2013

2011

Observability-based consistent EKF estimators for multi-robot cooperative localization.

[BibT_eX]

[DOI]

Auton. Robots, 2011

An observability-constrained sliding window filter for SLAM.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Bearing-only target tracking using a bank of MAP estimators.

[BibT_eX]

[DOI]

Ke X. Zhou

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010

Observability-based Rules for Designing Consistent EKF SLAM Estimators.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2010

A bank of maximum a posteriori estimators for single-sensor range-only target tracking.

[BibT_eX]

[DOI]

Guoquan Paul Huang

Ke X. Zhou

Proceedings of the American Control Conference, 2010

2009

On the consistency of multi-robot cooperative localization.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems V, University of Washington, Seattle, USA, June 28, 2009

On the complexity and consistency of UKF-based SLAM.

[BibT_eX]

[DOI]

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2008

A First-Estimates Jacobian EKF for Improving SLAM Consistency.

[BibT_eX]

[DOI]

Proceedings of the Experimental Robotics, The Eleventh International Symposium, 2008

Analysis and improvement of the consistency of extended Kalman filter based SLAM.

[BibT_eX]

[DOI]