SLAM with MTT: theory and initial results [mobile robot localisation]. - Guoquan Huang 001; Ahmad B. Rad; Yiu-Kwong Wong; Ying-Leung Ip (RAM, 2004)

Heterogeneous multisensor fusion for mapping dynamic environments. - Guoquan Huang 001; Ahmad B. Rad; Yiu-Kwong Wong; Ying-Leung Ip (Adv. Robotics, 2007)

A Comparative Study of Three Mapping Methodologies. - Xinzheng Zhang 001; Ahmad B. Rad; Yiu-Kwong Wong; Guoquan Huang 001; Ying-Leung Ip; K. M. Chow (J. Intell. Robotic Syst., 2007)

Analysis and improvement of the consistency of extended Kalman filter based SLAM. - Guoquan P. Huang 001; Anastasios I. Mourikis; Stergios I. Roumeliotis (ICRA, 2008)

A First-Estimates Jacobian EKF for Improving SLAM Consistency. - Guoquan P. Huang 001; Anastasios I. Mourikis; Stergios I. Roumeliotis (ISER, 2008)

On the complexity and consistency of UKF-based SLAM. - Guoquan P. Huang 001; Anastasios I. Mourikis; Stergios I. Roumeliotis (ICRA, 2009)

On the consistency of multi-robot cooperative localization. - Guoquan P. Huang 001; Nikolas Trawny; Anastasios I. Mourikis; Stergios I. Roumeliotis (Robotics: Science and Systems, 2009)

A bank of maximum a posteriori estimators for single-sensor range-only target tracking. - Guoquan Paul Huang 001; Ke X. Zhou; Nikolas Trawny; Stergios I. Roumeliotis (ACC, 2010)

Observability-based Rules for Designing Consistent EKF SLAM Estimators. - Guoquan P. Huang 001; Anastasios I. Mourikis; Stergios I. Roumeliotis (Int. J. Robotics Res., 2010)

Bearing-only target tracking using a bank of MAP estimators. - Guoquan P. Huang 001; Ke X. Zhou; Nikolas Trawny; Stergios I. Roumeliotis (ICRA, 2011)

An observability-constrained sliding window filter for SLAM. - Guoquan P. Huang 001; Anastasios I. Mourikis; Stergios I. Roumeliotis (IROS, 2011)

Observability-based consistent EKF estimators for multi-robot cooperative localization. - Guoquan P. Huang 001; Nikolas Trawny; Anastasios I. Mourikis; Stergios I. Roumeliotis (Auton. Robots, 2011)

On filter consistency of discrete-time nonlinear systems with partial-state measurements. - Guoquan P. Huang 001; Stergios I. Roumeliotis (ACC, 2013)

Consistent sparsification for graph optimization. - Guoquan Huang 001; Michael Kaess; John J. Leonard (ECMR, 2013)

Unscented iSAM: A consistent incremental solution to cooperative localization and target tracking. - Guoquan Huang 001; Robert Truax; Michael Kaess; John J. Leonard (ECMR, 2013)

Analytically-selected multi-hypothesis incremental MAP estimation. - Guoquan Huang 001; Michael Kaess; John J. Leonard; Stergios I. Roumeliotis (ICASSP, 2013)

Analytically-guided-sampling particle filter applied to range-only target tracking. - Guoquan P. Huang 001; Stergios I. Roumeliotis (ICRA, 2013)

A Quadratic-Complexity Observability-Constrained Unscented Kalman Filter for SLAM. - Guoquan P. Huang 001; Anastasios I. Mourikis; Stergios I. Roumeliotis (IEEE Trans. Robotics, 2013)

Towards consistent visual-inertial navigation. - Guoquan Huang 001; Michael Kaess; John J. Leonard (ICRA, 2014)

Inference over heterogeneous finite-/infinite-dimensional systems using factor graphs and Gaussian processes. - David M. Rosen; Guoquan Huang 001; John J. Leonard (ICRA, 2014)

Optimized visibility motion planning for target tracking and localization. - Hongchuan Wei; Wenjie Lu; Pingping Zhu; Guoquan Huang 001; John J. Leonard; Silvia Ferrari (IROS, 2014)

An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation. - Yasir Latif; Guoquan Huang 001; John J. Leonard; José Neira (Robotics: Science and Systems, 2014)

Communication-constrained multi-AUV cooperative SLAM. - Liam Paull; Guoquan Huang 001; Mae L. Seto; John J. Leonard (ICRA, 2015)

Location utility-based map reduction. - Ted J. Steiner; Guoquan Huang 001; John J. Leonard (ICRA, 2015)

Optimal-State-Constraint EKF for Visual-Inertial Navigation. - Guoquan Huang 001; Kevin Eckenhoff; John J. Leonard (ISRR (1), 2015)

Consistent unscented incremental smoothing for multi-robot cooperative target tracking. - Guoquan Huang 001; Michael Kaess; John J. Leonard (Robotics Auton. Syst., 2015)

A Bank of Maximum A Posteriori (MAP) Estimators for Target Tracking. - Guoquan Huang 001; Ke X. Zhou; Nikolas Trawny; Stergios I. Roumeliotis (IEEE Trans. Robotics, 2015)

Unsupervised trajectory compression. - Padraig Corcoran; Peter Mooney; Guoquan Huang 001 (ICRA, 2016)

A unified resource-constrained framework for graph SLAM. - Liam Paull; Guoquan Huang 001; John J. Leonard (ICRA, 2016)

Decoupled, consistent node removal and edge sparsification for graph-based SLAM. - Kevin Eckenhoff; Liam Paull; Guoquan Huang 001 (IROS, 2016)

High-Accuracy Preintegration for Visual-Inertial Navigation. - Kevin Eckenhoff; Patrick Geneva; Guoquan Huang 001 (WAFR, 2016)

An optimal data association method based on the minimum weighted bipartite perfect matching. - Xinzheng Zhang 001; Ahmad B. Rad; Guoquan Huang 001; Yiu-Kwong Wong (Auton. Robots, 2016)

Gyro-aided camera-odometer online calibration and localization. - Dongxuan Li; Kevin Eckenhoff; Kanzhi Wu; Yue Wang 020; Rong Xiong; Guoquan Huang 001 (ACC, 2017)

Direct visual-inertial navigation with analytical preintegration. - Kevin Eckenhoff; Patrick Geneva; Guoquan Huang 001 (ICRA, 2017)

Acoustic-inertial underwater navigation. - Yulin Yang; Guoquan Huang 001 (ICRA, 2017)

Null-space-based marginalization: Analysis and algorithm. - Yulin Yang; James Maley; Guoquan Huang 001 (IROS, 2017)

Robust visual SLAM with point and line features. - Xingxing Zuo 001; Xiaojia Xie; Yong Liu 007; Guoquan Huang 001 (IROS, 2017)

Map-Based Localization Under Adversarial Attacks. - Yulin Yang; Guoquan Huang 001 (ISRR, 2017)

Particle filtering with analytically guided sampling. - Guoquan Huang 001 (Adv. Robotics, 2017)

Sparse optimization for robust and efficient loop closing. - Yasir Latif; Guoquan Huang 001; John J. Leonard; José Neira (Robotics Auton. Syst., 2017)

Towards consistent filtering for discrete-time partially-observable nonlinear systems. - Guoquan Huang 001 (Syst. Control. Lett., 2017)

Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization. - Patrick Geneva; Kevin Eckenhoff; Guoquan Huang 001 (ICRA, 2018)

Aided Inertial Navigation with Geometric Features: Observability Analysis. - Yulin Yang; Guoquan Huang 001 (ICRA, 2018)

LIPS: LiDAR-Inertial 3D Plane SLAM. - Patrick Geneva; Kevin Eckenhoff; Yulin Yang; Guoquan Huang 001 (IROS, 2018)

Unit Quaternion-Based Parameterization for Point Features in Visual Navigation. - James Maley; Guoquan Huang 001 (IROS, 2018)

Lightweight Unsupervised Deep Loop Closure. - Nate Merrill; Guoquan Huang 001 (Robotics: Science and Systems, 2018)

Sequence-based sparse optimization methods for long-term loop closure detection in visual SLAM. - Fei Han 002; Hua Wang 007; Guoquan Huang 001; Hao Zhang 011 (Auton. Robots, 2018)

Continuous Preintegration Theory for Graph-based Visual-Inertial Navigation. - Kevin Eckenhoff; Patrick Geneva; Guoquan Huang 001 (CoRR, 2018)

Visual-Inertial Target Tracking and Motion Planning for UAV-based Radiation Detection. - Indrajeet Yadav; Kevin Eckenhoff; Guoquan Huang 001; Herbert G. Tanner (CoRR, 2018)

An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM. - Patrick Geneva; James Maley; Guoquan Huang 001 (CVPR, 2019)

Multi-Camera Visual-Inertial Navigation with Online Intrinsic and Extrinsic Calibration. - Kevin Eckenhoff; Patrick Geneva; Jesse Bloecker; Guoquan Huang 001 (ICRA, 2019)

Sensor-Failure-Resilient Multi-IMU Visual-Inertial Navigation. - Kevin Eckenhoff; Patrick Geneva; Guoquan Huang 001 (ICRA, 2019)

A Linear-Complexity EKF for Visual-Inertial Navigation with Loop Closures. - Patrick Geneva; Kevin Eckenhoff; Guoquan Huang 001 (ICRA, 2019)

Visual-Inertial Navigation: A Concise Review. - Guoquan Huang 001 (ICRA, 2019)

Tightly-Coupled Aided Inertial Navigation with Point and Plane Features. - Yulin Yang; Patrick Geneva; Xingxing Zuo 001; Kevin Eckenhoff; Yong Liu 007; Guoquan Huang 001 (ICRA, 2019)

Aided Inertial Navigation: Unified Feature Representations and Observability Analysis. - Yulin Yang; Guoquan Huang 001 (ICRA, 2019)

CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure. - Nathaniel Merrill; Guoquan Huang 001 (IROS, 2019)

Visual-Inertial Odometry with Point and Line Features. - Yulin Yang; Patrick Geneva; Kevin Eckenhoff; Guoquan Huang 001 (IROS, 2019)

LIC-Fusion: LiDAR-Inertial-Camera Odometry. - Xingxing Zuo 001; Patrick Geneva; Woosik Lee 003; Yong Liu 007; Guoquan Huang 001 (IROS, 2019)

Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints. - Xingxing Zuo 001; Mingming Zhang 008; Yiming Chen 001; Yong Liu 007; Guoquan Huang 001; Mingyang Li (ISRR, 2019)

Closed-form preintegration methods for graph-based visual-inertial navigation. - Kevin Eckenhoff; Patrick Geneva; Guoquan Huang 001 (Int. J. Robotics Res., 2019)

Tightly-Coupled Visual-Inertial Localization and 3-D Rigid-Body Target Tracking. - Kevin Eckenhoff; Yulin Yang; Patrick Geneva; Guoquan Huang 001 (IEEE Robotics Autom. Lett., 2019)

Degenerate Motion Analysis for Aided INS With Online Spatial and Temporal Sensor Calibration. - Yulin Yang; Patrick Geneva; Kevin Eckenhoff; Guoquan Huang 001 (IEEE Robotics Autom. Lett., 2019)

Visual-Inertial Localization With Prior LiDAR Map Constraints. - Xingxing Zuo 001; Patrick Geneva; Yulin Yang; Wenlong Ye; Yong Liu 007; Guoquan Huang 001 (IEEE Robotics Autom. Lett., 2019)

Observability Analysis of Aided INS With Heterogeneous Features of Points, Lines, and Planes. - Yulin Yang; Guoquan Huang 001 (IEEE Trans. Robotics, 2019)

Intermittent GPS-aided VIO: Online Initialization and Calibration. - Woosik Lee 003; Kevin Eckenhoff; Patrick Geneva; Guoquan Huang 001 (ICRA, 2020)

Schmidt-EKF-based Visual-Inertial Moving Object Tracking. - Kevin Eckenhoff; Patrick Geneva; Nathaniel Merrill; Guoquan Huang 001 (ICRA, 2020)

OpenVINS: A Research Platform for Visual-Inertial Estimation. - Patrick Geneva; Kevin Eckenhoff; Woosik Lee 003; Yulin Yang; Guoquan Huang 001 (ICRA, 2020)

Analytic Combined IMU Integration (ACI2) For Visual Inertial Navigation. - Yulin Yang; Benzun Pious Wisely Babu; Chuchu Chen; Guoquan Huang 001; Liu Ren (ICRA, 2020)

Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization. - Patrick Geneva; Nathaniel Merrill; Yulin Yang; Chuchu Chen; Woosik Lee 003; Guoquan Huang 001 (IROS, 2020)

Visual-Inertial-Wheel Odometry with Online Calibration. - Woosik Lee 003; Kevin Eckenhoff; Yulin Yang; Patrick Geneva; Guoquan Huang 001 (IROS, 2020)

LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking. - Xingxing Zuo 001; Yulin Yang; Patrick Geneva; Jiajun Lv; Yong Liu 007; Guoquan Huang 001; Marc Pollefeys (IROS, 2020)

Motion Planning and Visual-Inertial Target Tracking for UAV-based Radiation Detection. - Indrajeet Yadav; Kevin Eckenhoff; Guoquan Huang 001; Herbert G. Tanner (MED, 2020)

Online IMU Intrinsic Calibration: Is It Necessary? - Yulin Yang; Patrick Geneva; Xingxing Zuo 001; Guoquan Huang 001 (Robotics: Science and Systems, 2020)

Kinematics Based Visual Localization for Skid-Steering Robots: Algorithm and Theory. - Xingxing Zuo 001; Mingming Zhang 008; Yiming Chen 001; Guoquan Huang 001; Yong Liu 007; Mingyang Li (CoRR, 2020)

Multimodal localization: Stereo over LiDAR map. - Xingxing Zuo 001; Wenlong Ye; Yulin Yang; Renjie Zheng; Teresa A. Vidal-Calleja; Guoquan Huang 001; Yong Liu 007 (J. Field Robotics, 2020)

Efficient Multi-sensor Aided Inertial Navigation with Online Calibration. - Woosik Lee 003; Yulin Yang; Guoquan Huang 001 (ICRA, 2021)

Markov Parallel Tracking and Mapping for Probabilistic SLAM. - Zheng Huai; Guoquan Huang 001 (ICRA, 2021)

Robust Monocular Visual-Inertial Depth Completion for Embedded Systems. - Nathaniel Merrill; Patrick Geneva; Guoquan Huang 001 (ICRA, 2021)

Cooperative Visual-Inertial Odometry. - Pengxiang Zhu; Yulin Yang; Wei Ren 001; Guoquan Huang 001 (ICRA, 2021)

CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth. - Xingxing Zuo 001; Nathaniel Merrill; Wei Li 190; Yong Liu 007; Marc Pollefeys; Guoquan Huang 001 (ICRA, 2021)

Distributed Visual-Inertial Cooperative Localization. - Pengxiang Zhu; Patrick Geneva; Wei Ren 001; Guoquan Huang 001 (IROS, 2021)

Observation Contribution Theory for Pose Estimation Accuracy. - Zeyu Wan; Yu Zhang 018; Bin He; Zhuofan Cui; Weichen Dai 001; Lipu Zhou; Guoquan Huang 001 (CoRR, 2021)

MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System. - Kevin Eckenhoff; Patrick Geneva; Guoquan Huang 001 (IEEE Trans. Robotics, 2021)

Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation. - Nathaniel Merrill; Yuliang Guo; Xingxing Zuo 001; Xinyu Huang 001; Stefan Leutenegger; Xi Peng; Liu Ren; Guoquan Huang 001 (CVPR, 2022)

Tightly-coupled GNSS-aided Visual-Inertial Localization. - Woosik Lee 003; Patrick Geneva; Yulin Yang; Guoquan Huang 001 (ICRA, 2022)

FEJ2: A Consistent Visual-Inertial State Estimator Design. - Chuchu Chen; Yulin Yang; Patrick Geneva; Guoquan Huang 001 (ICRA, 2022)

Map-based Visual-Inertial Localization: A Numerical Study. - Patrick Geneva; Guoquan Huang 001 (ICRA, 2022)

Visual-Inertial-Aided Online MAV System Identification. - Chuchu Chen; Yulin Yang; Patrick Geneva; Woosik Lee 003; Guoquan Huang 001 (IROS, 2022)

Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy. - Yulin Yang; Patrick Geneva; Xingxing Zuo 001; Guoquan Huang 001 (CoRR, 2022)

General Place Recognition Survey: Towards the Real-world Autonomy Age. - Peng Yin 001; Shiqi Zhao; Ivan Cisneros; Abulikemu Abuduweili; Guoquan Huang 001; Michael J. Milford; Changliu Liu; Howie Choset; Sebastian A. Scherer (CoRR, 2022)

Robocentric visual-inertial odometry. - Zheng Huai; Guoquan Huang 001 (Int. J. Robotics Res., 2022)

Square-Root Robocentric Visual-Inertial Odometry With Online Spatiotemporal Calibration. - Zheng Huai; Guoquan Huang 001 (IEEE Robotics Autom. Lett., 2022)

Decoupled Right Invariant Error States for Consistent Visual-Inertial Navigation. - Yulin Yang; Chuchu Chen; Woosik Lee 003; Guoquan P. Huang 001 (IEEE Robotics Autom. Lett., 2022)

$ mathcal {PLC}$-LiSLAM: LiDAR SLAM With Planes, Lines, and Cylinders. - Lipu Zhou; Guoquan Huang 001; Yinian Mao; Jincheng Yu; Shengze Wang 002; Michael Kaess (IEEE Robotics Autom. Lett., 2022)

Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems. - Jiajun Lv; Xingxing Zuo 001; Kewei Hu; Jinhong Xu; Guoquan Huang 001; Yong Liu 007 (IEEE Trans. Robotics, 2022)

Monocular Visual-Inertial Odometry with Planar Regularities. - Chuchu Chen; Patrick Geneva; Yuxiang Peng; Woosik Lee 003; Guoquan Huang 001 (ICRA, 2023)

Optimization-Based VINS: Consistency, Marginalization, and FEJ. - Chuchu Chen; Patrick Geneva; Yuxiang Peng; Woosik Lee 003; Guoquan Huang 001 (IROS, 2023)

Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth. - Nathaniel W. Merrill; Patrick Geneva; Saimouli Katragadda; Chuchu Chen; Guoquan Huang 001 (Robotics: Science and Systems, 2023)

MINS: Efficient and Robust Multisensor-aided Inertial Navigation System. - Woosik Lee 003; Patrick Geneva; Chuchu Chen; Guoquan Huang 001 (CoRR, 2023)

Online Self-Calibration for Visual-Inertial Navigation: Models, Analysis, and Degeneracy. - Yulin Yang; Patrick Geneva; Xingxing Zuo 001; Guoquan Huang 001 (IEEE Trans. Robotics, 2023)

A Pediatric Motor Training Environment Based on Human-Swarm Interactions. - Georgia R. Kouvoutsakis; Kleio Baxevani; Jesus Antonio Orozco; Herbert G. Tanner; Panagiotis Artemiadis 001; James C. Galloway; Guoquan Huang 001; Elena Kokkoni (ICDL, 2024)

Degenerate Motions of Multisensor Fusion-based Navigation. - Woosik Lee 003; Chuchu Chen; Guoquan Huang 001 (ICRA, 2024)

Fast and Consistent Covariance Recovery for Sliding-window Optimization-based VINS. - Chuchu Chen; Yuxiang Peng; Guoquan Huang 001 (ICRA, 2024)

NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System. - Saimouli Katragadda; Woosik Lee 003; Yuxiang Peng; Patrick Geneva; Chuchu Chen; Chao Guo; Mingyang Li; Guoquan Huang 001 (ICRA, 2024)

Ultrafast Square-Root Filter-based VINS. - Yuxiang Peng; Chuchu Chen; Guoquan Huang 001 (ICRA, 2024)

Quantized Visual-Inertial Odometry. - Yuxiang Peng; Chuchu Chen; Guoquan Huang 001 (ICRA, 2024)

Online Determination of Legged Kinematics. - Chinmay Burgul; Woosik Lee 003; Patrick Geneva; Guoquan Huang 001 (IROS, 2024)

Flexible and Topological Consistent Local Replanning for Multirotors. - Dong Wang; Hongkai Ye; Neng Pan; Jinxin Huang; Bangyan Zhang; Yinian Mao; Guoquan Huang 001; Chao Xu 001; Fei Gao 011 (IROS, 2024)

General Place Recognition Survey: Towards Real-World Autonomy. - Peng Yin 001; Jianhao Jiao; Shiqi Zhao; Lingyun Xu; Guoquan Huang 001; Howie Choset; Sebastian A. Scherer; Jianda Han (CoRR, 2024)

Visual-Inertial SLAM as Simple as A, B, VINS. - Nathaniel Merrill; Guoquan Huang 001 (CoRR, 2024)

Multi-visual-inertial system: Analysis, calibration, and estimation. - Yulin Yang; Patrick Geneva; Guoquan Huang 001 (Int. J. Robotics Res., 2024)

A Consistent Parallel Estimation Framework for Visual-Inertial SLAM. - Zheng Huai; Guoquan Huang 001 (IEEE Trans. Robotics, 2024)

Visual-Based Kinematics and Pose Estimation for Skid-Steering Robots. - Xingxing Zuo 001; Mingming Zhang 008; Mengmeng Wang 005; Yiming Chen 001; Guoquan Huang 001; Yong Liu 007; Mingyang Li (IEEE Trans Autom. Sci. Eng., 2024)

AerialVL: A Dataset, Baseline and Algorithm Framework for Aerial-Based Visual Localization With Reference Map. - Mengfan He; Chao Chen 035; Jiacheng Liu 008; Chunyu Li; Xu Lyu; Guoquan Huang 001; Ziyang Meng 001 (IEEE Robotics Autom. Lett., 2024)

General Place Recognition Survey: Toward Real-World Autonomy. - Peng Yin 001; Jianhao Jiao; Shiqi Zhao; Lingyun Xu; Guoquan Huang 001; Howie Choset; Sebastian A. Scherer; Jianda Han (IEEE Trans. Robotics, 2025)

Online Language Splatting. - Saimouli Katragadda; Cho-Ying Wu; Yuliang Guo; Xinyu Huang 001; Guoquan Huang 001; Liu Ren (CoRR, 2025)

Learning IMU Bias with Diffusion Model. - Shenghao Zhou; Saimouli Katragadda; Guoquan Huang 001 (CoRR, 2025)