Publications

Journal Articles

  1. Guoquan Huang, “Particle Filtering with Analytically Guided Sampling,” Advanced Robotics, vol. 31, no. 17, pp. 932-945, September 2017.
    [BibTeX] [URL]

    
    @Article{Huang2017AR,
      Title                    = {Particle Filtering with Analytically Guided Sampling},
      Author                   = {Guoquan Huang},
      Journal                  = {Advanced Robotics},
      Year                     = {2017},
    
      Month                    = sep,
      Number                   = {17},
      Pages                    = {932-945},
      Volume                   = {31},
    
    }
    
    
    
  2. Guoquan Huang, “Towards Consistent Filtering for Discrete-Time Partially-Observable Nonlinear Systems,” Systems and Control Letters, vol. 106, pp. 87-95, August 2017.
    [BibTeX] [URL]

    
    @Article{Huang2017SCL,
      Title                    = {Towards Consistent Filtering for Discrete-Time Partially-Observable Nonlinear Systems},
      Author                   = {Guoquan Huang},
      Journal                  = {Systems and Control Letters},
      Year                     = {2017},
    
      volume = {106},
      pages = {87-95},
    }
    
    
    
  3. Yasir Latif, Guoquan Huang, John Leonard and Jose Neira, “Sparse Optimization for Robust and Efficient Loop Closing,” Robotics and Autonomous Systems, vol. 93, pp. 13-26, July 2017.
    [BibTeX] [URL]

    
    @article{Latif2015RAS,
    
      author = {Yasir Latif and Guoquan Huang and John Leonard and Jose Neira},
    
      title = {Sparse Optimization for Robust and Efficient Loop Closing},
    
      journal = {Robotics and Autonomous Systems},
    
      year = {2017},
    
    }
    
    
  4. Xinzheng Zhang, Ahmad B. Rad, Guoquan Huang and Yiu-Kwong Wong, “An Optimal Data Association Method based on the Minimum Weighted Bipartite Perfect Matching,” Autonomous Robots, vol. 40, no. 1, pp. 77-91, January 2016.
    [BibTeX] [URL]

    
    @article{Zhang2016AURO,
    
      author = {Xinzheng Zhang and Ahmad B. Rad and Guoquan Huang and Yiu-Kwong Wong},
    
      title = {An Optimal Data Association Method based on the Minimum Weighted Bipartite Perfect Matching},
    
      journal = {Autonomous Robots},
    
      year = {2016},
    
      volume = {40},
    
      number = {1},
    
      pages = {77-91},
    
      url = {http://dx.doi.org/10.1007/s10514-015-9439-y},
    
      doi = {http://dx.doi.org/10.1007/s10514-015-9439-y}
    
    }
    
    
  5. Guoquan Huang, Michael Kaess and John Leonard, “Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking,” Robotics and Autonomous Systems, vol. 69, pp. 52-67, July 2015.
    [BibTeX] [URL]

    
    @article{Huang2015RAS,
    
      author = {Guoquan Huang and Michael Kaess and John Leonard},
    
      title = {Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking},
    
      journal = {Robotics and Autonomous Systems},
    
      year = {2015},
    
      volume = {69},
    
      pages = {52-67},
    
      url = {http://dx.doi.org/10.1016/j.robot.2014.08.007},
    
      doi = {http://dx.doi.org/10.1016/j.robot.2014.08.007}
    
    }
    
    
  6. Guoquan Huang, Ke Zhou, Nikolas Trawny and Stergios I. Roumeliotis, “A Bank of Maximum A Posteriori (MAP) Estimators for Target Tracking,” IEEE Transactions on Robotics, vol. 31, no. 1, pp. 85-103, January 2015.
    [BibTeX] [URL]

    
    @article{Huang2014TRO,
    
      author = {Guoquan Huang and Ke Zhou and Nikolas Trawny and Stergios I. Roumeliotis},
    
      title = {A Bank of Maximum A Posteriori (MAP) Estimators for Target Tracking},
    
      journal = {IEEE Transactions on Robotics},
    
      year = {2015},
    
      volume = {31},
    
      number = {1},
    
      pages = {85-103},
    
      url = {http://dx.doi.org/10.1109/TRO.2014.2378432},
    
      doi = {http://dx.doi.org/10.1109/TRO.2014.2378432}
    
    }
    
    
  7. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, “A Quadratic-Complexity Observability-Constrained Unscented Kalman Filter for SLAM,” IEEE Transactions on Robotics, vol. 29, no. 5, pp. 1226-1243, October 2013.
    [BibTeX] [URL]

    
    @article{Huang2013TRO,
    
      author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
    
      title = {A Quadratic-Complexity Observability-Constrained Unscented Kalman Filter for SLAM},
    
      journal = {IEEE Transactions on Robotics},
    
      year = {2013},
    
      volume = {29},
    
      number = {5},
    
      pages = {1226-1243},
    
      url = {http://dx.doi.org/10.1109/TRO.2013.2267991},
    
      doi = {http://dx.doi.org/10.1109/TRO.2013.2267991}
    
    }
    
    
  8. Guoquan Huang, Nikolas Trawny, Anastasios I. Mourikis and Stergios I. Roumeliotis, “Observability-based Consistent EKF Estimators for Multi-robot Cooperative Localization,” Autonomous Robots, vol. 30, no. 1, pp. 99-122, January 2011.
    [BibTeX] [URL]

    
    @article{Huang2011AURO,
    
      author = {Guoquan Huang and Nikolas Trawny and Anastasios I. Mourikis and Stergios I. Roumeliotis},
    
      title = {Observability-based Consistent EKF Estimators for Multi-robot Cooperative Localization},
    
      journal = {Autonomous Robots},
    
      year = {2011},
    
      volume = {30},
    
      number = {1},
    
      pages = {99-122},
    
      url = {http://dx.doi.org/10.1007/s10514-010-9207-y},
    
      doi = {http://dx.doi.org/10.1007/s10514-010-9207-y}
    
    }
    
    
  9. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, “Observability-based Rules for Designing Consistent EKF SLAM Estimators,” International Journal of Robotics Research, vol. 29, no. 5, pp. 502-528, April 2010.
    [BibTeX] [URL]

    
    @article{Huang2010IJRR,
    
      author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
    
      title = {Observability-based Rules for Designing Consistent EKF SLAM Estimators},
    
      journal = {International Journal of Robotics Research},
    
      year = {2010},
    
      volume = {29},
    
      number = {5},
    
      pages = {502--528},
    
      url = {http://dx.doi.org/10.1177/0278364909353640},
    
      doi = {http://dx.doi.org/10.1177/0278364909353640}
    
    }
    
    
  10. Guoquan Huang, Ahmad B. Rad, Yiu-Kwong Wong and Ying-Leung Ip, “Heterogeneous Multisensor Fusion for Mapping Dynamic Environments,” Advanced Robotics, vol. 21, no. 5-6, pp. 661-688, 2007.
    [BibTeX] [URL]

    
    @article{Huang2007AR,
    
      author = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong and Ying-Leung Ip},
    
      title = {Heterogeneous Multisensor Fusion for Mapping Dynamic Environments},
    
      journal = {Advanced Robotics},
    
      year = {2007},
    
      volume = {21},
    
      number = {5-6},
    
      pages = {661-688},
    
      url = {http://dx.doi.org/10.1163/156855307780108268},
    
      doi = {http://dx.doi.org/10.1163/156855307780108268}
    
    }
    
    
  11. Xinzheng Zhang, Ahmad B. Rad, Yiu-Kwong Wong, Guoquan Huang, Y.L. Ip and K.M. Chow, “A Comparative Study of Three Mapping Methodologies,” Journal of Intelligent and Robotic Systems, vol. 49, no. 4, pp. 385-395, 2007.
    [BibTeX] [URL]

    
    @article{Zhang2007JINT,
    
      author = {Xinzheng Zhang and Ahmad B. Rad and Yiu-Kwong Wong and Guoquan Huang and Y.L. Ip and K.M. Chow},
    
      title = {A Comparative Study of Three Mapping Methodologies},
    
      journal = {Journal of Intelligent and Robotic Systems},
    
      year = {2007},
    
      volume = {49},
    
      number = {4},
    
      pages = {385-395},
    
      url = {http://dx.doi.org/10.1007/s10846-007-9143-z},
    
      doi = {http://dx.doi.org/10.1007/s10846-007-9143-z}
    
    }
    
    
  12. Guoquan Huang, Ahmad B. Rad and Yiu-Kwong Wong, “A New Solution to Map Dynamic Indoor Environments,” International Journal of Advanced Robotic Systems, vol. 3, no. 2, pp. 199-210, 2006.
    [BibTeX] [URL]

    
    @article{Huang2006IJARS,
    
      author = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong},
    
      title = {A New Solution to Map Dynamic Indoor Environments},
    
      journal = {International Journal of Advanced Robotic Systems},
    
      year = {2006},
    
      volume = {3},
    
      number = {2},
    
      pages = {199-210},
    
      url = {http://dx.doi.org/10.5772/5737},
    
      doi = {http://dx.doi.org/10.5772/5737}
    
    }
    
    

Book Chapters

  1. Guoquan Huang, Kevin Eckenhoff and John Leonard, “Optimal-State-Constraint EKF for Visual-Inertial Navigation,” Robotics Research, Vol. 1, Ser. Springer Proceedings in Advanced Robotics, Antonio Bicchi and Wolfram Burgard, Eds., Springer, 2018
    [BibTeX] [URL]

    
    @InCollection{Huang2018RR,
      Title                    = {Optimal-State-Constraint EKF for Visual-Inertial Navigation},
      Author                   = {Guoquan Huang and Kevin Eckenhoff and John Leonard},
      Booktitle                = {Robotics Research},
      Publisher                = {Springer International Publishing},
      Year                     = {2018},
      Editor                   = {Antonio Bicchi and Wolfram Burgard},
      Series                   = {Springer Proceedings in Advanced Robotics},
      Volume                   = {1},
    
      Doi                      = {10.1007/978-3-319-51532-8},
      Owner                    = {paul},
      Timestamp                = {2017.06.28}
    }
    
    
    
  2. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, “A First-Estimates Jacobian EKF for Improving SLAM Consistency,” Experimental Robotics, Vol. 54, Ser. Springer Tracts in Advanced Robotics, O., Khatib, V. Kumar, and G. Pappas, Eds., Springer, pp. 373-382, 2009.
    [BibTeX] [URL]

    
    @incollection{Huang2009ERB,
    
      author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
    
      title = {A First-Estimates Jacobian EKF for Improving SLAM Consistency},
    
      booktitle = {Experimental Robotics},
    
      publisher = {Springer Berlin Heidelberg},
    
      year = {2009},
    
      volume = {54},
    
      pages = {373-382},
    
      url = {http://dx.doi.org/10.1007/978-3-642-00196-3_43},
    
    }
    
    

Conference Papers

  1. Yulin Yang, and Guoquan Huang, “Map-Based Localization Under Adversarial Attacks,” in Proc. of the International Symposium on Robotics Research, Dec 11--14, 2017.
    [BibTeX] [URL]

    
    @InProceedings{Yang2017ISRR,
      Title                    = {Map-Based Localization Under Adversarial Attacks},
      Author                   = {Yulin Yang and Guoquan Huang},
      Booktitle                = {Proc. of the International Symposium on Robotics Research},
      Year                     = {2017},
    
      Address                  = {Puerto Varas, Chile},
      Month                    = dec # {11-14,},
      Note                     = {(to appear)},
    
      Owner                    = {paul},
      Timestamp                = {2017.06.19}
    }
    
    
    
    
  2. Yulin Yang, James Maley and Guoquan Huang, “Null-Space-based Marginalization: Analysis and Algorithm,” in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 24--28, 2017.
    [BibTeX] [URL]

    
    @InProceedings{Yang2017IROS,
      Title                    = {Null-Space-based Marginalization: Analysis and Algorithm},
      Author                   = {Yulin Yang and James Maley and Guoquan Huang},
      Booktitle                = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2017},
    
      Address                  = {Vancouver, Canada},
      Month                    = sep # { 24-28, },
      Note                     = {(to appear)},
    
      Owner                    = {paul},
      Timestamp                = {2017.03.29}
    }
    
    
    
  3. Xingxing Zuo, Xiaojia Xie, Yong Liu and Guoquan Huang, “Robust Visual SLAM with Point and Line Features,” in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 24--28, 2017.
    [BibTeX] [URL]

    
    @InProceedings{Zuo2017IROS,
      Title                    = {Robust Visual SLAM with Point and Line Features},
      Author                   = {X. Zuo and J. Xie and Y. Liu and Guoquan Huang},
      Booktitle                = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2017},
    
      Address                  = {Vancouver, Canada},
      Month                    = sep # { 24-28, },
      Note                     = {(to appear)},
    
      Owner                    = {paul},
      Timestamp                = {2017.03.29}
    }
    
    
    
    
  4. Dongxuan Li, Kevin Eckenhoff, Kanzhi Wu, Yue Wang, Rong Xiong, and Guoquan Huang, “Gyro-Aided Camera-Odometer Online Calibration and Localization,” in Proc. of the American Control Conference, May 24--26, 2017.
    [BibTeX] [URL]

    
    @inproceedings{Li2017ACC,
    
      author = {Dongxuan Li, Kevin Eckenhoff, Kanzhi Wu, Yue Wang, Rong Xiong, and Guoquan Huang},
    
      title = {Gyro-Aided Camera-Odometer Online Calibration and Localization},
    
      booktitle = {Proc. of the American Control Conference},
    
      year = {2017}
    
    }
    
    
  5. Kevin Eckenhoff, Patrick Geneva, and Guoquan Huang, “Direct Visual-Inertial Navigation with Analytical Preintegration,” in Proc. of the IEEE International Conference on Robotics and Automation, May 29--Jun 3, 2017.
    [BibTeX] [URL]

    
    @inproceedings{Eckenhoff2017ICRA,
    
      author = {Kevin Eckenhoff, Patrick Geneva, and Guoquan Huang},
    
      title = {Direct Visual-Inertial Navigation with Analytical Preintegration},
    
      booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
    
      year = {2017}
    
    }
    
    
  6. Yulin Yang and Guoquan Huang, “Acoustic-Inertial Underwater Navigation,” in Proc. of the IEEE International Conference on Robotics and Automation, May 29--Jun 3, 2017.
    [BibTeX] [URL]

    
    @inproceedings{Yang2017ICRA,
    
      author = {Yulin Yang and Guoquan Huang},
    
      title = {Acoustic-Inertial Underwater Navigation},
    
      booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
    
      year = {2017}
    
    }
    
    
  7. Kevin Eckenhoff, Patrick Geneva, and Guoquan Huang, “High-Accuracy Preintegration for Visual-Inertial Navigation,” in Proc. of International Workshop on the Algorithmic Foundations of Robotics, December 18-20, 2016.
    [BibTeX] [URL]

    
    @InProceedings{Eckenhoff2016WAFR,
      Title                    = {High-Accuracy Preintegration for Visual-Inertial Navigation},
      Author                   = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
      Booktitle                = {Proc. of International Workshop on the Algorithmic Foundations of Robotics},
      Year                     = {2016},
    
      Address                  = {San Francisco, CA},
      Month                    = dec # { 18--20, },
      Note                     = {(submitted)},
    
      Owner                    = {paul},
      Timestamp                = {2016.06.24}
    }
    
    
    
  8. Kevin Eckenhoff, Liam Paull, and Guoquan Huang, “Decoupled, Consistent Node Removal and Edge Sparsification for Graph-based SLAM,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, October 9-14, 2016.
    [BibTeX] [URL]

    
    @InProceedings{Eckenhoff2016IROS,
      Title                    = {Decoupled, Consistent Node Removal and Edge Sparsification for Graph-based {SLAM}},
      Author                   = {Kevin Eckenhoff and Liam Paull and Guoquan Huang},
      Booktitle                = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2016},
    
      Address                  = {Daejeon, Korea},
      Month                    = oct # { 9--14,}
    }
    
    
    
  9. Padraig Corcoran, Peter Mooney and Guoquan Huang, “Unsupervised Trajectory Compression,” in Proc. of the IEEE International Conference on Robotics and Automation, May 16-21, 2016.
    [BibTeX] [URL]

    
    @inproceedings{Corcoran2016ICRA,
    
      author = {Padraig Corcoran and Peter Mooney and Guoquan Huang},
    
      title = {Unsupervised Trajectory Compression},
    
      booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
    
      year = {2016}
    
    }
    
    
  10. Liam Paull, Guoquan Huang and John Leonard, “A Unified Resource-Constrained Framework for Graph SLAM,” in Proc. of the IEEE International Conference on Robotics and Automation, May 16-21, 2016.
    [BibTeX] [URL]

    
    @inproceedings{Paull2016ICRA,
    
      author = {Liam Paull and Guoquan Huang and John Leonard},
    
      title = {A Unified Resource-Constrained Framework for Graph SLAM},
    
      booktitle = {IEEE International Conference on Robotics and Automation},
    
      year = {2016}
    
    }
    
    
  11. Guoquan Huang, Kevin Eckenhoff and John Leonard, “Optimal-State-Constraint EKF for Visual-Inertial Navigation,” in Proc. of the International Symposium on Robotics Research, September 12-15, 2015.
    [BibTeX]

    
    @inproceedings{Huang2015ISRR,
    
      author = {Guoquan Huang and Kevin Eckenhoff and John Leonard},
    
      title = {Optimal-State-Constraint EKF for Visual-Inertial Navigation},
    
      booktitle = {Proc. of the International Symposium on Robotics Research},
    
      year = {2015}
    
    }
    
    
  12. Kevin Eckenhoff and Guoquan Huang, “State-Transition and Observability Constrained EKF for Multi-robot Cooperative Localization,” in Proc. of the Chinese Control Conference, pp. 7404-7410, July 28-30, 2015.
    [BibTeX] [URL]

    
    @inproceedings{Eckenhoff2015CCC,
    
      author = {Kevin Eckenhoff and Guoquan Huang},
    
      title = {State-Transition and Observability Constrained EKF for Multi-robot Cooperative Localization},
    
      booktitle = {Proc. of the Chinese Control Conference},
    
      year = {2015},
    
      pages = {7404-7410},
    
      url = {http://dx.doi.org/10.1109/ChiCC.2015.7260813},
    
      doi = {http://dx.doi.org/10.1109/ChiCC.2015.7260813}
    
    }
    
    
  13. Liam Paull, Guoquan Huang, Mae Seto and John Leonard, “Communication-Constrained Multi-AUV Cooperative SLAM,” in Proc. of the IEEE International Conference on Robotics and Automation, pp. 509-516, May 26-30, 2015.
    [BibTeX] [URL]

    
    @inproceedings{Paull2015ICRA,
    
      author = {Liam Paull and Guoquan Huang and Mae Seto and John Leonard},
    
      title = {Communication-Constrained Multi-AUV Cooperative SLAM},
    
      booktitle = {IEEE International Conference on Robotics and Automation},
    
      year = {2015},
    
      pages = {509-516},
    
      url = {http://dx.doi.org/10.1109/ICRA.2015.7139227},
    
      doi = {http://dx.doi.org/10.1109/ICRA.2015.7139227}
    
    }
    
    
  14. Ted Steiner, Guoquan Huang and John Leonard, “Location Utility-based Map Reduction,” in Proc. of the IEEE International Conference on Robotics and Automation, pp. 479-486, May 26-30, 2015.
    [BibTeX] [URL]

    
    @inproceedings{Steiner2015ICRA,
    
      author = {Ted Steiner and Guoquan Huang and John Leonard},
    
      title = {Location Utility-based Map Reduction},
    
      booktitle = {IEEE International Conference on Robotics and Automation},
    
      year = {2015},
    
      pages = {479-486},
    
    
      url = {http://dx.doi.org/10.1109/ICRA.2015.7139223},
    
      doi = {http://dx.doi.org/10.1109/ICRA.2015.7139223}
    
    }
    
    
  15. Hongchuan Wei, Wenjie Lu, Pingping Zhu abd Guoquan Huang, John Leonard and Silvia Ferrari, “Visibility-based Motion Planning for Active Target Tracking and Localization,” in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 76-82, September 14-18, 2014.
    [BibTeX] [URL]

    
    @inproceedings{Wei2014IROS,
    
      author = {Hongchuan Wei and Wenjie Lu and Pingping Zhu abd Guoquan Huang and John Leonard and Silvia Ferrari},
    
      title = {Visibility-based Motion Planning for Active Target Tracking and Localization},
    
      booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
    
      year = {2014},
    
      pages = {76-82},
    
      url = {http://dx.doi.org/10.1109/IROS.2014.6942543},
    
      doi = {http://dx.doi.org/10.1109/IROS.2014.6942543}
    
    }
    
    
  16. Yasir Latif, Guoquan Huang, John Leonard and Jose Neira, “An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation,” in Proc. of Robotics: Science and Systems, July 12-16, 2014.
    [BibTeX] [URL]

    
    @inproceedings{Latif2014RSS,
    
      author = {Yasir Latif and Guoquan Huang and John Leonard and Jose Neira},
    
      title = {An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation},
    
      booktitle = {Proc. of Robotics: Science and Systems},
    
      year = {2014},
    
      url = {http://www.roboticsproceedings.org/rss10/p36.pdf}
    
    }
    
    
  17. David Rosen, Guoquan Huang and John Leonard, “Inference Over Heterogeneous Finite-/Infinite-Dimensional Systems Using Factor Graphs and Gaussian Processes,” in Proc. of the IEEE International Conference on Robotics and Automation, pp. 1261-1268, May 31-June 7, 2014.
    [BibTeX] [URL]

    
    @inproceedings{Rosen2014ICRA,
    
      author = {David Rosen and Guoquan Huang and John Leonard},
    
      title = {Inference Over Heterogeneous Finite-/Infinite-Dimensional Systems Using Factor Graphs and Gaussian Processes},
    
      booktitle = {IEEE International Conference on Robotics and Automation},
    
      year = {2014},
    
      pages = {1261-1268},
    
      url = {http://dx.doi.org/10.1109/ICRA.2014.6907015},
    
      doi = {http://dx.doi.org/10.1109/ICRA.2014.6907015}
    
    }
    
    
  18. Guoquan Huang, Michael Kaess and John Leonard, “Towards Consistent Visual-Inertial Navigation,” in Proc. of the IEEE International Conference on Robotics and Automation, pp. 4926-4933, May 31-June 7, 2014.
    [BibTeX] [URL]

    
    @inproceedings{Huang2014ICRA,
    
      author = {Guoquan Huang and Michael Kaess and John Leonard},
    
      title = {Towards Consistent Visual-Inertial Navigation},
    
      booktitle = {IEEE International Conference on Robotics and Automation},
    
      year = {2014},
    
      pages = {4926-4933},
    
      url = {http://dx.doi.org/10.1109/ICRA.2014.6907581},
    
      doi = {http://dx.doi.org/10.1109/ICRA.2014.6907581}
    
    }
    
    
  19. Guoquan Huang, Michael Kaess and John Leonard, “Consistent Sparsification for Graph Optimization,” in Proc. of the European Conference on Mobile Robots, pp. 150-157, September 25-27, 2013.
    [BibTeX] [URL]

    
    @inproceedings{Huang2013ECMRa,
    
      author = {Guoquan Huang and Michael Kaess and John Leonard},
    
      title = {Consistent Sparsification for Graph Optimization},
    
      booktitle = {Proc. of the European Conference on Mobile Robots},
    
      year = {2013},
    
      pages = {150-157},
    
      url = {http://dx.doi.org/10.1109/ECMR.2013.6698835},
    
      doi = {http://dx.doi.org/10.1109/ECMR.2013.6698835}
    
    }
    
    
  20. Guoquan Huang, Robert Truax, Michael Kaess and John Leonard, “Unscented iSAM: A Consistent Incremental Solution to Cooperative Localization and Target Tracking,” in Proc. of the European Conference on Mobile Robots, pp. 248-254, September 25-27, 2013.
    [BibTeX] [URL]

    
    @inproceedings{Huang2013ECMRb,
    
      author = {Guoquan Huang and Robert Truax and Michael Kaess and John Leonard},
    
      title = {Unscented iSAM: A Consistent Incremental Solution to Cooperative Localization and Target Tracking},
    
      booktitle = {European Conference on Mobile Robots},
    
      year = {2013},
    
      pages = {248-254},
    
      url = {http://dx.doi.org/10.1109/ECMR.2013.6698850},
    
      doi = {http://dx.doi.org/10.1109/ECMR.2013.6698850}
    
    }
    
    
  21. Guoquan Huang, Michael Kaess, John Leonard and Stergios I. Roumeliotis, “Analytically-Selected Multi-Hypothesis Incremental MAP Estimation,” in Proc. of the IEEE International Conference on Acoustics, Speech and Signal Processing, pp. 6481-6485, May 26-31, 2013.
    [BibTeX] [URL]

    
    @inproceedings{Huang2013ICASSP,
    
      author = {Guoquan Huang and Michael Kaess and John Leonard and Stergios I. Roumeliotis},
    
      title = {Analytically-Selected Multi-Hypothesis Incremental MAP Estimation},
    
      booktitle = {IEEE International Conference on Acoustics, Speech and Signal Processing},
    
      year = {2013},
    
      pages = {6481-6485},
    
      url = {http://dx.doi.org/10.1109/ICASSP.2013.6638914},
    
      doi = {http://dx.doi.org/10.1109/ICASSP.2013.6638914}
    
    }
    
    
  22. Guoquan Huang and Stergios I. Roumeliotis, “On Filter Consistency of Discrete-time Nonlinear Systems with Partial-state Measurements,” in Proc. of the American Control Conference, pp. 5468-5475, June 17-19, 2013.
    [BibTeX] [URL]

    
    @inproceedings{Huang2013ACC,
    
      author = {Guoquan Huang and Stergios I. Roumeliotis},
    
      title = {On Filter Consistency of Discrete-time Nonlinear Systems with Partial-state Measurements},
    
      booktitle = {Proc. of the American Control Conference},
    
      year = {2013},
    
      pages = {5468-5475},
    
      url = {http://dx.doi.org/10.1109/ACC.2013.6580693},
    
      doi = {http://dx.doi.org/10.1109/ACC.2013.6580693}
    
    }
    
    
  23. Guoquan Huang and Stergios I. Roumeliotis, “Analyticlly-Guided-Sampling Particle Filter Applied to Range-only Target Tracking,” in Proc. of the IEEE International Conference on Robotics and Automation, pp. 3168-3175, May 6-10, 2013.
    [BibTeX] [URL]

    
    @inproceedings{Huang2013ICRA,
    
      author = {Guoquan Huang and Stergios I. Roumeliotis},
    
      title = {Analyticlly-Guided-Sampling Particle Filter Applied to Range-only Target Tracking},
    
      booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
    
      year = {2013},
    
      pages = {3168-3175},
    
      url = {http://dx.doi.org/10.1109/ICRA.2013.6631018},
    
      doi = {http://dx.doi.org/10.1109/ICRA.2013.6631018}
    
    }
    
    
  24. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, “An Observability Constrained Sliding Window Filter for SLAM,” in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 65-72, September 25-30, 2011.
    [BibTeX] [URL]

    
    @inproceedings{Huang2011IROS,
    
      author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
    
      title = {An Observability Constrained Sliding Window Filter for SLAM},
    
      booktitle = {International Conference on Intelligent Robots and Systems},
    
      year = {2011},
    
      pages = {65-72},
    
      url = {http://dx.doi.org/10.1109/IROS.2011.6095161},
    
      doi = {http://dx.doi.org/10.1109/IROS.2011.6095161}
    
    }
    
    
  25. Guoquan Huang, Ke X. Zhou, Nikolas Trawny and Stergios I. Roumeliotis, “Bearing-only Tracking Using a Bank of MAP Estimators,” in Proc. of the IEEE International Conference on Robotics and Automation, pp. 4998-5005, May 9-13, 2011.
    [BibTeX] [URL]

    
    @inproceedings{Huang2011ICRA,
    
      author = {Guoquan Huang and Ke X. Zhou and Nikolas Trawny and Stergios I. Roumeliotis},
    
      title = {Bearing-only Tracking Using a Bank of MAP Estimators},
    
      booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
    
      year = {2011},
    
      pages = {4998-5005},
    
      url = {http://dx.doi.org/10.1109/ICRA.2011.5980515},
    
      doi = {http://dx.doi.org/10.1109/ICRA.2011.5980515}
    
    }
    
    
  26. Guoquan Huang, Ke X. Zhou, Nikolas Trawny and Stergios I. Roumeliotis, “A Bank of MAP Estimators for Single-Sensor Range-only Target Tracking,” in Proc. of the American Control Conference, pp. 6974-6980, June 30-July 2, 2010.
    [BibTeX] [URL]

    
    @inproceedings{Huang2010ACC,
    
      author = {Guoquan Huang and Ke X. Zhou and Nikolas Trawny and Stergios I. Roumeliotis},
    
      title = {A Bank of MAP Estimators for Single-Sensor Range-only Target Tracking},
    
      booktitle = {Proc. of the American Control Conference},
    
      year = {2010},
    
      pages = {6974-6980},
    
      url = {http://dx.doi.org/10.1109/ACC.2010.5531337},
    
      doi = {http://dx.doi.org/10.1109/ACC.2010.5531337}
    
    }
    
    
  27. Guoquan Huang, Nikolas Trawny, Anastasios I. Mourikis and Stergios I. Roumeliotis, “On the Consistency of Multi-robot Cooperative Localization,” in Proc. of the Robotics: Science and Systems, pp. 65-72, June 28-July 1, 2009.
    [BibTeX] [URL]

    
    @inproceedings{Huang2009RSS,
    
      author = {Guoquan Huang and Nikolas Trawny and Anastasios I. Mourikis and Stergios I. Roumeliotis},
    
      title = {On the Consistency of Multi-robot Cooperative Localization},
    
      booktitle = {Proc. of the Robotics: Science and Systems},
    
      year = {2009},
    
      pages = {65-72},
    
      url = {http://www.roboticsproceedings.org/rss05/p9.pdf}
    
    }
    
    
  28. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, “On the Complexity and Consistency of UKF-based SLAM,” in Proc. of the IEEE International Conference on Robotics and Automation, pp. 4401-4408, May 12-17, 2009.
    [BibTeX] [URL]

    
    @inproceedings{Huang2009ICRA,
    
      author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
    
      title = {On the Complexity and Consistency of UKF-based SLAM},
    
      booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
    
      year = {2009},
    
      pages = {4401-4408},
    
      url = {http://dx.doi.org/10.1109/ROBOT.2009.5152793},
    
      doi = {http://dx.doi.org/10.1109/ROBOT.2009.5152793}
    
    }
    
    
  29. Guoquan Huang, Xinzheng Zhang, Ahmad B. Rad and Yiu-Kwong Wong, “An Optimal Graph Theoretic Approach to Data Association in SLAM,” in Proc. of the International Federation of Automatic Control, vol. 17, pp. 14669-14674, July 6-11, 2008.
    [BibTeX] [URL]

    
    @inproceedings{Huang2008IFAC,
    
      author = {Guoquan Huang and Xinzheng Zhang and Ahmad B. Rad and Yiu-Kwong Wong},
    
      title = {An Optimal Graph Theoretic Approach to Data Association in SLAM},
    
      booktitle = {Proc. of the International Federation of Automatic Control},
    
      year = {2008},
    
      volume = {17},
    
      pages = {14669-14674},
    
      url = {http://dx.doi.org/10.3182/20080706-5-KR-1001.02484},
    
      doi = {http://dx.doi.org/10.3182/20080706-5-KR-1001.02484}
    
    }
    
    
  30. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, “A First-Estimates Jacobian EKF for Improving SLAM Consistency,” in Proc. of the 11th International Symposium on Experimental Robotics , July 14--17, 2008.
    [BibTeX]

    
    @inproceedings{Huang2008ISER,
    
      author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
    
      title = {A First-Estimates Jacobian EKF for Improving SLAM Consistency},
    
      booktitle = {Proc. of the 11th International Symposium on Experimental Robotics },
    
      year = {2008}
    
    }
    
    
  31. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, “Analysis and Improvement of the Consistency of Extended Kalman Filter-Based SLAM,” in Proc. of the IEEE International Conference on Robotics and Automation, pp. 473-479, May 19-23, 2008.
    [BibTeX] [URL]

    
    @inproceedings{Huang2008ICRA,
    
      author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
    
      title = {Analysis and Improvement of the Consistency of Extended Kalman Filter-Based SLAM},
    
      booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
    
      year = {2008},
    
      pages = {473-479},
    
      url = {http://dx.doi.org/10.1109/ROBOT.2008.4543252},
    
      doi = {http://dx.doi.org/10.1109/ROBOT.2008.4543252}
    
    }
    
    
  32. Guoquan Huang, Ahmad B. Rad and Yiu-Kwong Wong, “Online SLAM in dynamic environments,” in Proc. of the International Conference on Advanced Robotics, pp. 262-267, July 17-20, 2005.
    [BibTeX] [URL]

    
    @inproceedings{Huang2005ICAR,
    
      author = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong},
    
      title = {Online SLAM in dynamic environments},
    
      booktitle = {Proc. of the International Conference on Advanced Robotics},
      
      year = {2005},
    
      pages = {262-267},
    
      url = {http://dx.doi.org/10.1109/ICAR.2005.1507422},
    
      doi = {http://dx.doi.org/10.1109/ICAR.2005.1507422}
    
    }
    
    
  33. Guoquan Huang, Ahmad B. Rad and Yiu-Kwong Wong, “Incorporate Motion Tracking into Map Building in Dynamic Indoor Environments,” in Proc. of the International Conference on Computational Intelligence for Modelling, Control & Automation, pp. 241-251, July 2004.
    [BibTeX] [URL]

    
    @inproceedings{Huang2004CICMA,
    
      author = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong},
    
      title = {Incorporate Motion Tracking into Map Building in Dynamic Indoor Environments},
    
      booktitle = {International Conference on Computational Intelligence for Modelling, Control & Automation, 2004},
    
      year = {2004},
    
      pages = {241-251},
    
      url = {http://people.csail.mit.edu/ghuang/paper/hk/cimca04.pdf}
    
    }
    
    
  34. Guoquan Huang, Ahmad B. Rad, Yiu-Kwong Wong and Y.L. Ip, “SLAM with MTT: theory and initial results [mobile robot localisation],” in Proc. of the IEEE Conference on Robotics, Automation and Mechatronics, pp. 834-839, December 2004.
    [BibTeX] [URL]

    
    @inproceedings{Huang2004RAM,
    
      author = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong and Y.L. Ip},
    
      title = {SLAM with MTT: theory and initial results [mobile robot localisation]},
    
      booktitle = {Proc. of the  IEEE Conference on Robotics, Automation and Mechatronics},
    
      year = {2004},
    
      volume = {2},
    
      pages = {834-839},
    
      url = {http://dx.doi.org/10.1109/RAMECH.2004.1438026},
    
      doi = {http://dx.doi.org/10.1109/RAMECH.2004.1438026}
    
    }
    
    

Workshop Papers

  1. Patrick Geneva, Kevin Eckenhoff and Guoquan Huang, “Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization,” in Proc. 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV), September 24 2017.
    [BibTeX] [URL]

    
    
    @InProceedings{Geneva2017PPNIV,
      Title                    = {Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization},
      Author                   = {Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
      Booktitle                = {Proc. 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV)},
      Year                     = {2017},
    
      Address                  = {Vancouver, Canada},
      Month                    = sep # { 24, },
    }
    
    
    
    
    
  2. Kevin Eckenhoff, Liam Pull and Guoquan Huang, “Decoupled, Consistent Node Removal and Edge Sparsification for Graph-based SLAM,” in Proc. of RSS Workshop on Geometry and Beyond: Representations, Physics, and Scene Understanding for Robotics, June 19 2016.
    [BibTeX] [URL]

    
    
    @InProceedings{Eckenhoff2016RSSws,
      Title                    = {Decoupled, Consistent Node Removal and Edge Sparsification for Graph-based {SLAM}},
      Author                   = {Kevin Eckenhoff and Liam Paull and Guoquan Huang},
      Booktitle                = {Proc. RSS Workshop on Geometry and Beyond: Representations, Physics, and Scene Understanding for Robotics},
      Year                     = {2016},
    
      Address                  = {Ann Arbor, MI},
      Month                    = jun # { 19, },
    }
    
    
    
    
    
  3. Yasir Latif, Guoquan Huang, John Leonard and Jose Neira, “Applying Sparse $1$ Optimization to Problems in Robotics,” in Proc. of the Long Term Autonomy Workshop at ICRA 2014, June 1 2014.
    [BibTeX] [URL]

    
    
    @inproceedings{Latif2014ICRAws,
    
      author = {Yasir Latif and Guoquan Huang and John Leonard and Jose Neira},
    
      title = {Applying Sparse $1$ Optimization to Problems in Robotics},
    
      booktitle = {Proc. of Long Term Autonomy Workshop at ICRA 2014},
    
      year = {2014},
    
      url = {http://webdiis.unizar.es/~ylatif/papers/LTA2014_l1_opt.pdf}
    
    }
    
    
    
    

Dissertations

  1. Guoquan Huang, Improving the Consistency of Nonlinear Estimators: Analysis, Algorithms, and Applications. Ph.D. Thesis, Department of Computer Science and Engineering, University of Minnesota, 2012.
    [BibTeX] [URL]

    
    @phdthesis{Huang2012thesis,
    
      author = {Guoquan Huang},
    
      title = {Improving the Consistency of Nonlinear Estimators: Analysis, Algorithms, and Applications},
    
      school = {Department of Computer Science and Engineering, University of Minnesota},
    
      year = {2012},
    
      url = {http://people.csail.mit.edu/ghuang/paper/thesis.pdf}
    
    }
    
    
  2. Guoquan Huang, Dynamic Data Transmission in Industrial Control Systems. B.Eng. Thesis (in Chinese), Department of Automation, University of Science and Technology Beijing, 2002.
    [BibTeX]

    
    @mastersthesis{Huang2002thesis,
    
      author = {Guoquan Huang},
    
      title = {Dynamic Data Transmission in Industrial Control Systems},
    
      school = {Department of Automation, University of Science and Technology Beijing},
    
      year = {2002}
    
    }
    
    

Technical Reports

  1. Kevin Eckenhoff, Patrick Geneva and Guoquan Huang, “High-Accuracy Preintegration for Visual-Inertial Navigation,” RPNG, University of Delaware, July 2016.
    [BibTeX] [URL]

    
    @techreport{Eckenhoff2016TR,
    
      author = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang,},
    
      title = {High-Accuracy Preintegration for Visual-Inertial Navigation},
    
      year = {2016},
    
      url = {http://udel.edu/~ghuang/papers/tr_hapi.pdf}
    
    }
    
    
  2. Guoquan Huang, “Towards Consistent Visual-Inertial Navigation,” MIT, CSAIL, September 2013.
    [BibTeX] [URL]

    
    @techreport{Huang2013TechCSAIL,
    
      author = {Guoquan Huang},
    
      title = {Towards Consistent Visual-Inertial Navigation},
    
      year = {2013},
    
      url = {http://people.csail.mit.edu/ghuang/paper/tr/stocvins.pdf}
    
    }
    
    
  3. Guoquan Huang and Stergios I. Roumeliotis, “An Observability-Constrained Sliding-Window Filter for SLAM,” UMN, MARS Lab, February 2011.
    [BibTeX] [URL]

    
    @techreport{Huang2011TechUMN,
    
      author = {Guoquan Huang and Stergios I. Roumeliotis},
    
      title = {An Observability-Constrained Sliding-Window Filter for SLAM},
    
      year = {2011},
    
      url = {http://www.cs.umn.edu/~ghuang/paper/TR_OCMMAP.pdf}
    
    }
    
    
  4. Guoquan Huang and Stergios I. Roumeliotis, “Target Tracking Using a Bank of MAP Estimators,” UMN, MARS Lab, August 2010.
    [BibTeX] [URL]

    
    @techreport{Huang2010TechUMN,
    
      author = {Guoquan Huang and Stergios I. Roumeliotis},
    
      title = {Target Tracking Using a Bank of MAP Estimators},
    
      year = {2010},
    
      doi = {http://people.csail.mit.edu/ghuang/paper/tr/TR_BMAPTT.pdf}
    
    }
    
    
  5. Guoquan Huang, Nikolas Trawny, Anastasios I. Mourikis and Stergios I. Roumeliotis, “On the Consistency of Multi-robot Cooperative Localization,” UMN, MARS Lab, January 2009.
    [BibTeX] [URL]

    
    @techreport{Huang2009TechUMN,
    
      author = {Guoquan Huang and Nikolas Trawny and Anastasios I. Mourikis and Stergios I. Roumeliotis},
    
      title = {On the Consistency of Multi-robot Cooperative Localization},
    
      year = {2009},
    
      url = {http://www-users.cs.umn.edu/~ghuang/paper/TR_CL_Consistency.pdf}
    
    }
    
    
  6. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, “Generalized Analysis and Improvement of the Consistency of Extended Kalman Filter based SLAM,” UMN, MARS Lab, January 2008.
    [BibTeX] [URL]

    
    @techreport{Huang2008TechUMN2,
    
      author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
    
      title = {Generalized Analysis and Improvement of the Consistency of Extended Kalman Filter based SLAM},
    
      year = {2008},
    
      url = {http://www-users.cs.umn.edu/~ghuang/paper/TR_slam_genconsistency.pdf}
    
    }
    
    
  7. Guoquan Huang and Stergios I. Roumeliotis, “An Observability Constrained UKF for Improving SLAM Consistency,” UMN, MARS Lab, August 2008.
    [BibTeX] [URL]

    
    @techreport{Huang2008TechUMN1,
    
      author = {Guoquan Huang and Stergios I. Roumeliotis},
    
      title = {An Observability Constrained UKF for Improving SLAM Consistency},
    
      year = {2008},
    
      url = {http://www-users.cs.umn.edu/~ghuang/paper/TR_OC-UKF.pdf}
    
    }