Publications

Journal Articles

  1. Kevin Eckenhoff, Patrick Geneva, and Guoquan Huang.
    MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System.
    IEEE Transactions on Robotics (TRO), 2020. [Cond. Accepted]
    [BibTeX] [arXiv]

    
    @Article{Eckenhoff2020TRO,
      Title                    = {MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System},
      Author                   = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
      Journal                  = {IEEE Transactions on Robotics},
      Year                     = {2020},
    
      Month                    = sept,
    
      Owner                    = {paul},
      Timestamp                = {2020.09.16}
    }
    
    
  2. Xingxing Zuo, Wenlong Ye, Yulin Yang, Renjie Zheng, Teresa Vidal-Calleja, Guoquan Huang, and Yong Liu.
    Multi-modal Localization: Stereo over LiDAR Map
    Journal of Field Robotics (JFR), Jan 2020.
    [BibTeX] [URL]

    
    @Article{Zuo2019RAL,
      Title                    = {Multi-modal Localization: Stereo over LiDAR Map},
      Author                   = {Xingxing Zuo and Wenlong Ye and Yulin Yang and Renjie Zheng and Teresa Vidal-Calleja and Guoquan Huang and Yong Liu.},
      Journal                  = {Journal of Field Robotics (JFR)},
      Year                     = {2020},
      Month                    = jan,
    
      Owner                    = {paul},
      Timestamp                = {2019.12.20}
    }
    
    
    
    
  3. Xingxing Zuo, Patrick Geneva, Yulin Yang, Wenlong Ye, Yong Liu, and Guoquan Huang.
    Visual-Inertial Localization with Prior LiDAR Map Constraints
    IEEE Robotics and Automation Letters (RA-L), June 2019. [accepted, with IROS presentation]
    [BibTeX] [URL]

    
    @Article{Zuo2019RAL,
      Title                    = {Visual-Inertial Localization with Prior LiDAR Map Constraints},
      Author                   = {Xingxing Zuo and Patrick Geneva and Yulin Yang and Wenlong Ye and Yong Liu and Guoquan Huang.},
      Journal                  = {IEEE Robotics and Automation Letters (RA-L)},
      Year                     = {2019},
      Month                    = jul,
    
      Owner                    = {paul},
      Timestamp                = {2019.06.16}
    }
    
    
    
    
  4. Yulin Yang, and Guoquan Huang.
    Observability Analysis of Aided INS with Heterogeneous Features of Points, Lines and Planes.
    IEEE Transactions on Robotics (TRO), August 2019.
    [BibTeX] [URL] [arXiv]

    
    @Article{Yang2018TRO,
      Title                    = {Observability Analysis of Aided INS with Heterogeneous Features of Points, Lines and Planes},
      Author                   = {Yulin Yang and Guoquan Huang},
      Journal                  = {IEEE Transactions on Robotics},
      Year                     = {2019},
    
      Month                    = aug,
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
  5. Yulin Yang, Patrick Geneva, Kevin Eckenhoff, and Guoquan Huang.
    Degenerate Motion Analysis for Aided INS with Online Spatial and Temporal Calibration.
    IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 2070–2077, 2019.
    [BibTeX] [URL]

    
    @Article{Yang2019RAL,
      Title                    = {Degenerate Motion Analysis for Aided {INS} with Online Spatial and Temporal Calibration},
      Author                   = {Yulin Yang and Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
      Journal                  = {IEEE Robotics and Automation Letters (RA-L)},
      Year                     = {2019},
    
      Month                    = dec,
    
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
    
  6. Kevin Eckenhoff, Yulin Yang, Patrick Geneva, and Guoquan Huang.
    Tightly-Coupled Visual-Inertial Localization and 3D Rigid-Body Target Tracking.
    IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 1541-1548, 2019.
    [BibTeX] [URL]

    
    @Article{Eckenhoff2019RAL,
      Title                    = {Tightly-Coupled Visual-Inertial Localization and {3D} Rigid-Body Target Tracking},
      Author                   = {Kevin Eckenhoff and Yulin Yang and Patrick Geneva and Guoquan Huang},
      Journal                  = {IEEE Robotics and Automation Letters (RA-L)},
      Year                     = {2019},
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2018.07.15}
    }
    
    
    
  7. Kevin Eckenhoff, Patrick Geneva, and Guoquan Huang.
    Closed-form Preintegration Methods for Graph-based Visual-Inertial Navigation.
    International Journal of Robotics Research (IJRR), vol. 38, no. 5, pp. 563–586, 2019.
    [BibTeX] [IJRR] [arXiv]

    
    @Article{Eckenhoff2018IJRR,
      Title                    = {Closed-form Preintegration Methods for Graph-based Visual-Inertial Navigation},
      Author                   = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
      Journal                  = {International Journal of Robotics Research},
      Year                     = {2019},
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
  8. Zheng Huai, and Guoquan Huang.
    Robocentric Visual-Inertial Odometry.
    International Journal of Robotics Research (IJRR), April 2019. [to appear]
    [BibTeX] [IJRR] [arXiv]

    
    
    @Article{Huai2018IJRR,
      Title                    = {Robocentric Visual-Inertial Odometry},
      Author                   = {Zheng Huai and Guoquan Huang},
      Journal                  = {International Journal of Robotics Research},
      Year                     = {2019},
    
      Month                    = apr
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
  9. Fei Han, Hua Wang, Guoquan Huang, and Hao Zhang.
    Sequence-Based Sparse Optimization Methods for Long-Term Loop Closure Detection in Visual SLAM.
    Autonomous Robots (AURO), vol. 42, no. 7, pp. 1323-1335, 2018.
    [BibTeX] [URL]

    
    @Article{Han2018AURO,
      Title                    = {Sequence-Based Sparse Optimization Methods for Long-Term Loop Closure Detection in Visual {SLAM}},
      Author                   = {Fei Han and Hua Wang and Guoquan Huang and Hao Zhang},
      Journal                  = {Autonomous Robots},
      Year                     = {2018},
      Note                     = {(to appear)},
    
      Owner                    = {paul},
      Timestamp                = {2017.02.18}
    }
    
    
    
  10. Guoquan Huang.
    Particle Filtering with Analytically Guided Sampling.
    Advanced Robotics (AR), vol. 31, no. 17, pp. 932-945, 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},
    
    }
    
    
    
  11. Guoquan Huang.
    Towards Consistent Filtering for Discrete-Time Partially-Observable Nonlinear Systems.
    Systems and Control Letters (SCL), vol. 106, pp. 87-95, 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},
    }
    
    
    
  12. Yasir Latif, Guoquan Huang, John Leonard and Jose Neira.
    Sparse Optimization for Robust and Efficient Loop Closing.
    Robotics and Autonomous Systems (RAS), vol. 93, pp. 13-26, 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},
    
    }
    
    
  13. 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 (AURO), vol. 40, no. 1, pp. 77-91, 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}
    
    }
    
    
  14. Guoquan Huang, Michael Kaess and John Leonard.
    Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking.
    Robotics and Autonomous Systems (RAS), vol. 69, pp. 52-67, 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}
    
    }
    
    
  15. 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 (TRO), vol. 31, no. 1, pp. 85-103, 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}
    
    }
    
    
  16. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis.
    A Quadratic-Complexity Observability-Constrained Unscented Kalman Filter for SLAM.
    IEEE Transactions on Robotics (TRO), vol. 29, no. 5, pp. 1226-1243, 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}
    
    }
    
    
  17. Guoquan Huang, Nikolas Trawny, Anastasios I. Mourikis and Stergios I. Roumeliotis.
    Observability-based Consistent EKF Estimators for Multi-robot Cooperative Localization.
    Autonomous Robots (AURO), vol. 30, no. 1, pp. 99-122, 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}
    
    }
    
    
  18. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis.
    Observability-based Rules for Designing Consistent EKF SLAM Estimators.
    International Journal of Robotics Research (IJRR), vol. 29, no. 5, pp. 502-528, 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}
    
    }
    
    
  19. Guoquan Huang, Ahmad B. Rad, Yiu-Kwong Wong and Ying-Leung Ip.
    Heterogeneous Multisensor Fusion for Mapping Dynamic Environments.
    Advanced Robotics (AR), 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}
    
    }
    
    
  20. 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 (JIRS), 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}
    
    }
    
    
  21. Guoquan Huang, Ahmad B. Rad and Yiu-Kwong Wong.
    A New Solution to Map Dynamic Indoor Environments.
    International Journal of Advanced Robotic Systems (IJARS), 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. Kevin Eckenhoff, Patrick Geneva, and Guoquan Huang.
    High-Accuracy Preintegration for Visual-Inertial Navigation.
    Algorithmic Foundations of Robotics XII, Ser. Springer Proceedings in Advanced Robotics, K. Goldberg, P. Abbeel, K. Bekris, and L. Miller, Eds., Springer, 2020
    [BibTeX] [URL]

    
    @InCollection{Eckenhoff2020RR,
      Title                    = {High-Accuracy Preintegration for Visual-Inertial Navigation},
      Author                   = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
      Booktitle                = {Algorithmic Foundations of Robotics XII},
      Publisher                = {Springer International Publishing},
      Year                     = {2020},
      Editor                   = {K. Goldberg and P. Abbeel and K. Bekris and L. Miller},
      Series                   = {Springer Proceedings in Advanced Robotics},
    
      Doi                      = {10.1007/978-3-030-43089-4}
    }
    
    
    
  2. Yulin Yang, and Guoquan Huang.
    Map-based Localization under Adversary Attacks.
    Robotics Research, Vol. 10, Ser. Springer Proceedings in Advanced Robotics, N.M. Amato, G. Hager, S. Thomas, M. Torres-Torriti, Eds., Springer, 2020
    [BibTeX] [URL]

    
    @InCollection{Yang2020RR,
      Title                    = {Map-based Localization under Adversary Attacks},
      Author                   = {Yulin Yang and Guoquan Huang},
      Booktitle                = {Robotics Research},
      Publisher                = {Springer International Publishing},
      Year                     = {2020},
      Editor                   = {Nancy M. Amato and Greg Hager and Shawna Thomas and Miguel Torres-Torriti},
      Series                   = {Springer Proceedings in Advanced Robotics},
      Volume                   = {10},
    
      Doi                      = {https://doi.org/10.1007/978-3-030-28619-4_54}
    }
    
    
    
  3. 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, A. Bicchi and W. 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}
    }
    
    
    
  4. 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. Patrick Geneva, Nathaniel Merrill, Yulin Yang, Chuchu Chen, Woosik Lee, and Guoquan Huang.
    Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020.
    [BibTeX] [URL]

    
    
    
    @InProceedings{Geneva2020IROS,
      Title                    = {Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization},
      Author                   = {Patrick Geneva and Nathaniel Merrill and Yulin Yang and Chuchu Chen and Woosik Lee and Guoquan Huang},
      Booktitle                = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2020},
    
      Address                  = {Las Vegas, NV},
    
      Owner                    = {paul},
      Timestamp                = {2020.06.30}
    }
    
    
    
  2. Xingxing Zuo, Yulin Yang, Patrick Geneva, Jiajun Lv, Yong Liu, Guoquan Huang, and Marc Pollefeys
    LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020.
    [BibTeX] [URL]

    
    
    
    @InProceedings{Zuo2020IROS,
      Title                    = {LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking},
      Author                   = {Xingxing Zuo and Yulin Yang and Patrick Geneva and Jiajun Lv and Yong Liu and Guoquan Huang and Marc Pollefeys},
      Booktitle                = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2020},
    
      Address                  = {Las Vegas, NV},
    
      Owner                    = {paul},
      Timestamp                = {2020.06.30}
    }
    
    
    
  3. Woosik Lee, Kevin Eckenhoff, Yulin Yang, Patrick Geneva, and Guoquan Huang.
    Visual-Inertial-Wheel Odometry with Online Calibration.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020.
    [BibTeX] [URL]

    
    
    
    @InProceedings{Lee2020IROS,
      Title                    = {Visual-Inertial-Wheel Odometry with Online Calibration},
      Author                   = {Woosik Lee and Kevin Eckenhoff and Yulin Yang and Patrick Geneva and Guoquan Huang},
      Booktitle                = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2020},
    
      Address                  = {Las Vegas, NV},
    
      Owner                    = {paul},
      Timestamp                = {2020.06.30}
    }
    
    
    
  4. Yulin Yang, Patrick Geneva, Xingxing Zuo, and Guoquan Huang.
    Online IMU Intrinsic Calibration: Is It Necessary?
    Robotics: Science and Systems (RSS) 2020.
    [BibTeX] [URL]

    
    
    
    @InProceedings{Yang2020RSS,
      Title                    = {Online IMU Intrinsic Calibration: Is It Necessary?},
      Author                   = {Yulin Yang and Patrick Geneva and Xingxing Zuo and Guoquan Huang},
      Booktitle                = {Proc. of the Robotics: Science and Systems},
      Year                     = {2020},
    
      Address                  = {Paris, France},
    
      Owner                    = {paul},
      Timestamp                = {2020.05.08}
    }
    
    
    
  5. Indrajeet Yadav, Kevin Eckenhoff, Guoquan Huang, and Herbert Tanner.
    Motion Planning and Visual-Inertial Target Tracking for UAV-based Radiation Detection.
    Mediterranean Conference on Control and Automation (MED) 2020.
    [BibTeX] [URL]

    
    
    
    @Conference{Yadav2020MED,
      Title                    = {Motion Planning  and Visual-Inertial Target Tracking for UAV-based Radiation Detection},
      Author                   = {Indrajeet Yadav and Kevin Eckenhoff and Guoquan Huang and Herbert Tanner.},
      Booktitle                = {Proc. of the IEEE International Conference on Robotics and Automation},
      Year                     = {2020},
    
      Address                  = {Saint-Raphael, France},
    
      Owner                    = {paul},
      Timestamp                = {2020.05.08},
    
    }
    
    
    
  6. Patrick Geneva, Kevin Eckenhoff, Woosik Lee, Yulin Yang, and Guoquan Huang.
    OpenVINS: A Research Platform for Visual-Inertial Estimation.
    IEEE International Conference on Robotics and Automation (ICRA) 2020.
    [BibTeX] [URL]

    
    
    
    @Conference{Geneva2020ICRA,
      Title                    = {OpenVINS: A Research Platform for Visual-Inertial Estimation},
      Author                   = {Patrick Geneva and Kevin Eckenhoff and Woosik Lee and Yulin Yang and Guoquan Huang},
      Booktitle                = {Proc. of the IEEE International Conference on Robotics and Automation},
      Year                     = {2020},
    
      Address                  = {Paris, France},
    
      Owner                    = {paul},
      Timestamp                = {2019.09.09},
      Url                      = {https://github.com/rpng/open_vins}
    }
    
    
    
    
    
    
  7. Woosik Lee, Kevin Eckenhoff, Patrick Geneva, and Guoquan Huang.
    Intermittent GPS-aided VIO: Online Initialization and Calibration.
    IEEE International Conference on Robotics and Automation (ICRA) 2020.
    [BibTeX] [URL]

    
    
    
    @InProceedings{Lee2020ICRA,
      Title                    = {Intermittent GPS-aided VIO: Online Initialization and Calibration},
      Author                   = {Woosik Lee and Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
      Booktitle                = {Proc. of the IEEE International Conference on Robotics and Automation},
      Year                     = {2020},
    
      Address                  = {Paris, France},
    
      Owner                    = {paul},
      Timestamp                = {2020.01.27}
    }
    
    
    
    
    
    
  8. Yulin Yang, Benzun P. W. Babu, Chuchu Chen, Guoquan Huang, and Liu Ren.
    Analytic Combined IMU Integrator for Visual-Inertial Navigation.
    IEEE International Conference on Robotics and Automation (ICRA) 2020.
    [BibTeX] [URL]

    
    
    
    @InProceedings{Yang2020ICRA,
      Title                    = {Analytic Combined IMU Integrator for Visual-Inertial Navigation},
      Author                   = {Yulin Yang and B. P. W. Babu and Chuchu Chen and Guoquan Huang and Liu Ren},
      Booktitle                = {Proc. of the IEEE International Conference on Robotics and Automation},
      Year                     = {2020},
    
      Address                  = {Paris, France},
    
      Owner                    = {paul},
      Timestamp                = {2020.01.27}
    }
    
    
    
    
    
  9. Kevin Eckenhoff, Patrick Geneva, Nathaniel Merrill, and Guoquan Huang.
    Schmidt-EKF-based Visual-Inertial Moving Object Tracking.
    IEEE International Conference on Robotics and Automation (ICRA) 2020.
    [BibTeX] [URL]

    
    
    @InProceedings{Eckenhoff2020ICRA,
      Title                    = {Schmidt-EKF-based  Visual-Inertial Moving Object Tracking},
      Author                   = {Kevin Eckenhoff and Patrick Geneva and Nathaniel Merrill and Guoquan Huang},
      Booktitle                = {Proc. of the IEEE International Conference on Robotics and Automation},
      Year                     = {2020},
    
      Address                  = {Paris, France},
    
      Owner                    = {paul},
      Timestamp                = {2020.01.27}
    }
    
    
    
    
    
  10. Xingxing Zuo, Mingming Zhang, Yiming Chen, Yong liu, Guoquan Huang, and Mingyang Li.
    Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints.
    International Symposium on Robotics Research (ISRR) 2019.
    [BibTeX] [URL]

    
    @InProceedings{Zuo2019ISRR,
      Title                    = {Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints},
      Author                   = {Xingxing Zuo, Mingming Zhang, Yiming Chen, Yong liu, Guoquan Huang, and Mingyang Li},
      Booktitle                = {Proc. of the International Symposium on Robotics Research},
      Year                     = {2019},
    
      Address                  = {Hanoi, Vietnam},
      Month                    = oct # {6-10,},
      Note                     = {(to appear)},
    
      Owner                    = {paul},
      Timestamp                = {2019.06.19}
    }
    
    
    
    
  11. Nate Merrill and Guoquan Huang.
    CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019.
    [BibTeX] [URL]

    
    @InProceedings{Merrill2019IROS,
      Title                    = {CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure},
      Author                   = {Nate Merrill and Guoquan Huang},
      Booktitle                = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2019},
    
      Address                  = {Macau, China},
      Month                    = nov,
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2019.06.22}
    }
    
    
    
  12. Xingxing Zuo, Patrick Geneva, Woosik Lee, Yong Liu, and Guoquan Huang.
    LIC-Fusion: LiDAR-Inertial-Camera Odometry.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019.
    [BibTeX] [URL]

    
    @InProceedings{Zuo2019IROS,
      Title                    = {LIC-Fusion: LiDAR-Inertial-Camera Odometry},
      Author                   = {Yulin Yang and Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
      Booktitle                = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2019},
    
      Address                  = {Macau, China},
      Month                    = nov,
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2019.06.22}
    }
    
    
    
  13. Yulin Yang, Patrick Geneva, Kevin Eckenhoff, and Guoquan Huang.
    Visual-Inertial Navigation with Point and Line Features.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019.
    [BibTeX] [URL]

    
    @InProceedings{Yang2019IROS,
      Title                    = {Visual-Inertial Navigation with Point and Line Features},
      Author                   = {Yulin Yang and Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
      Booktitle                = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2019},
    
      Address                  = {Macau, China},
      Month                    = nov,
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2019.06.22}
    }
    
    
    
  14. Patrick Geneva, James Maley, and Guoquan Huang.
    An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM.
    Conference on Computer Vision and Pattern Recognition (CVPR) 2019.
    [BibTeX] [arXiv]

    
    @InProceedings{Geneva2019ICVPR,
      Title                    = {An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM},
      Author                   = {Patrick Geneva and James Maley and Guoquan Huang},
      Booktitle                = {Proc. Conference on Computer Vision and Pattern Recognition (CVPR)},
      Year                     = {2019},
    
      Address                  = {Long Beach, CA},
      Month                    = jun,
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
    
  15. Guoquan Huang.
    Visual-Inertial Navigation: A Concise Review.
    IEEE International Conference on Robotics and Automation (ICRA) 2019.
    [BibTeX] [URL] [arXiv]

    
    @InProceedings{Huang2019ICRA,
      Title                    = {Visual-Inertial Navigation: A Concise Review},
      Author                   = {Guoquan Huang},
      Booktitle                = {Proc. International Conference on Robotics and Automation},
      Year                     = {2019},
    
      Address                  = {Montreal, Canada},
      Month                    = may,
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
    
  16. Patrick Geneva, Kevin Eckenhoff, and Guoquan Huang.
    A Linear-Complexity EKF for Visual-Inertial Navigation with Loop Closures.
    IEEE International Conference on Robotics and Automation (ICRA) 2019.
    [BibTeX] [URL]

    
    @InProceedings{Geneva2019ICRA,
      Title                    = {A Linear-Complexity {EKF} for Visual-Inertial Navigation with Loop Closures},
      Author                   = {Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
      Booktitle                = {Proc. International Conference on Robotics and Automation},
      Year                     = {2019},
    
      Address                  = {Montreal, Canada},
      Month                    = may,
     
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
  17. Kevin Eckenhoff, Patrick Geneva, and Guoquan Huang.
    Sensor-Failue-Resilient Multi-IMU Visual-Inertial Navigation.
    IEEE International Conference on Robotics and Automation (ICRA) 2019.
    [BibTeX] [URL]

    
    @InProceedings{Eckenhoff2019ICRAb,
      Title                    = {Sensor-Failue-Resilient Multi-IMU Visual-Inertial Navigation},
      Author                   = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
      Booktitle                = {Proc. International Conference on Robotics and Automation},
      Year                     = {2019},
    
      Address                  = {Montreal, Canada},
      Month                    = may,
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
    
  18. Kevin Eckenhoff, Patrick Geneva, Jesse Bloecker, and Guoquan Huang.
    Multi-Camera Visual-Inertial Navigation with Online Intrinsic and Extrinsic Calibration.
    IEEE International Conference on Robotics and Automation (ICRA) 2019.
    [BibTeX] [URL]

    
    @InProceedings{Eckenhoff2019ICRAa,
      Title                    = {Multi-Camera Visual-Inertial Navigation with Online Intrinsic and Extrinsic Calibration},
      Author                   = {Kevin Eckenhoff and Patrick Geneva and Jesse Bloecker and Guoquan Huang},
      Booktitle                = {Proc. International Conference on Robotics and Automation},
      Year                     = {2019},
    
      Address                  = {Montreal, Canada},
      Month                    = may,
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
    
  19. Yulin Yang, Patrick Geneva, Xingxing Zuo, Kevin Eckenhoff, Yong Liu, and Guoquan Huang.
    Tightly-Coupled Aided Inertial Navigation with Point and Plane Features.
    IEEE International Conference on Robotics and Automation (ICRA) 2019.
    [BibTeX] [URL]

    
    @InProceedings{Yang2019ICRAb,
      Title                    = {Tightly-Coupled Aided Inertial Navigation with Point and Plane Features},
      Author                   = {Yulin Yang and Patrick Geneva and Xingxing Zuo and Kevin Eckenhoff and Yong Liu and Guoquan Huang},
      Booktitle                = {Proc. International Conference on Robotics and Automation},
      Year                     = {2019},
    
      Address                  = {Montreal, Canada},
      Month                    = may,
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
    
  20. Yulin Yang, and Guoquan Huang.
    Aided Inertial Navigation: Unified Feature Representations and Observability Analysis.
    IEEE International Conference on Robotics and Automation (ICRA) 2019.
    [BibTeX] [URL]

    
    @InProceedings{Yang2019ICRAa,
      Title                    = {Aided Inertial Navigation: Unified Feature Representations and Observability Analysis},
      Author                   = {Yulin Yang and Guoquan Huang},
      Booktitle                = {Proc. International Conference on Robotics and Automation},
      Year                     = {2019},
    
      Address                  = {Montreal, Canada},
      Month                    = may,
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
  21. Zheng Huai and Guoquan Huang.
    Robocentric Visual-Inertial Odometry.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018.
    [BibTeX] [URL]

    
    @InProceedings{Huai2018IROS,
      Title                    = {Robocentric Visual-Inertial Odometry},
      Author                   = {Zheng Huai and Guoquan Huang},
      Booktitle                = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2018},
    
      Address                  = {Madrid, Spain},
      Month                    = oct,
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
  22. James Maley and Guoquan Huang,
    Unit Quaternion-based Parameterization for Point Features in Visual Navigation.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018.
    [BibTeX] [URL]

    
    @InProceedings{Maley2018IROS,
      Title                    = {Unit Quaternion-based Parameterization for Point Features in Visual Navigation},
      Author                   = {James Maley and Guoquan Huang},
      Booktitle                = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2018},
    
      Address                  = {Madrid, Spain},
      Month                    = oct,
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
  23. Patrick Geneva, Kevin Eckenhoff, Yulin Yang, and Guoquan Huang.
    LIPS: LiDAR-Inertial 3D Plane SLAM.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018.
    [BibTeX] [URL]

    
    @InProceedings{Geneva2018IROS,
      Title                    = {{LIPS}: LiDAR-Inertial 3D Plane SLAM},
      Author                   = {Patrick Geneva and Kevin Eckenhoff and Yulin Yang and Guoquan Huang},
      Booktitle                = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
      Year                     = {2018},
    
      Address                  = {Madrid, Spain},
      Month                    = oct,
      Note                     = {(accepted)},
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
  24. Nate Merrill and Guoquan Huang.
    Lightweight Unsupervised Deep Loop Closure.
    Robotics: Science and Systems (RSS) 2018.
    [BibTeX] [URL]

    
    @InProceedings{Merrill2018RSS,
      Title                    = {Lightweight Unsupervised Deep Loop Closure},
      Author                   = {Nate Merrill and Guoquan Huang},
      Booktitle                = {Proc. of Robotics: Science and Systems (RSS)},
      Year                     = {2018},
    
      Address                  = {Pittsburgh, PA},
      Month                    = jun,
    
      Owner                    = {paul},
      Timestamp                = {2018.02.06}
    }
    
    
    
  25. Patrick Geneva, Kevin Eckenhoff, and Guoquan Huang.
    Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization.
    IEEE International Conference on Robotics and Automation (ICRA) 2018.
    [BibTeX] [URL]

    
    @inproceedings{Geneva2018ICRA,
    
      author = {Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
    
      title = {Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization},
    
      booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
    
      year = {2018}
    
    }
    
    
  26. Yulin Yang and Guoquan Huang.
    Aided Inertial Navigation with Geometric Features: Observability Analysis.
    IEEE International Conference on Robotics and Automation (ICRA) 2018.
    [BibTeX] [URL]

    
    @inproceedings{Yang2018ICRA,
    
      author = {Yulin Yang and Guoquan Huang},
    
      title = {Aided Inertial Navigation with Geometric Features: Observability Analysis},
    
      booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
    
      year = {2018}
    
    }
    
    
  27. Yulin Yang, and Guoquan Huang.
    Map-Based Localization Under Adversarial Attacks.
    International Symposium on Robotics Research (ISRR) 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}
    }
    
    
    
    
  28. Yulin Yang, James Maley and Guoquan Huang.
    Null-Space-based Marginalization: Analysis and Algorithm.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 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}
    }
    
    
    
  29. Xingxing Zuo, Xiaojia Xie, Yong Liu and Guoquan Huang.
    Robust Visual SLAM with Point and Line Features.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 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}
    }
    
    
    
    
  30. Dongxuan Li, Kevin Eckenhoff, Kanzhi Wu, Yue Wang, Rong Xiong, and Guoquan Huang.
    Gyro-Aided Camera-Odometer Online Calibration and Localization.
    American Control Conference (ACC) 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}
    
    }
    
    
  31. Kevin Eckenhoff, Patrick Geneva, and Guoquan Huang.
    Direct Visual-Inertial Navigation with Analytical Preintegration.
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  32. Yulin Yang and Guoquan Huang.
    Acoustic-Inertial Underwater Navigation.
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  33. Kevin Eckenhoff, Patrick Geneva, and Guoquan Huang.
    High-Accuracy Preintegration for Visual-Inertial Navigation.
    International Workshop on the Algorithmic Foundations of Robotics (WAFR) 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}
    }
    
    
    
  34. Kevin Eckenhoff, Liam Paull, and Guoquan Huang.
    Decoupled, Consistent Node Removal and Edge Sparsification for Graph-based SLAM.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 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,}
    }
    
    
    
  35. Padraig Corcoran, Peter Mooney and Guoquan Huang.
    Unsupervised Trajectory Compression.
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  36. Liam Paull, Guoquan Huang and John Leonard.
    A Unified Resource-Constrained Framework for Graph SLAM.
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  37. Guoquan Huang, Kevin Eckenhoff and John Leonard.
    Optimal-State-Constraint EKF for Visual-Inertial Navigation.
    International Symposium on Robotics Research (ISRR) 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}
    
    }
    
    
  38. Kevin Eckenhoff and Guoquan Huang.
    State-Transition and Observability Constrained EKF for Multi-robot Cooperative Localization.
    Chinese Control Conference (CCC) 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}
    
    }
    
    
  39. Liam Paull, Guoquan Huang, Mae Seto and John Leonard.
    Communication-Constrained Multi-AUV Cooperative SLAM.
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  40. Ted Steiner, Guoquan Huang and John Leonard.
    Location Utility-based Map Reduction.
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  41. Hongchuan Wei, Wenjie Lu, Pingping Zhu abd Guoquan Huang, John Leonard and Silvia Ferrari.
    Visibility-based Motion Planning for Active Target Tracking and Localization.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 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}
    
    }
    
    
  42. Yasir Latif, Guoquan Huang, John Leonard and Jose Neira.
    An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation.
    Robotics: Science and Systems (RSS) 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}
    
    }
    
    
  43. David Rosen, Guoquan Huang and John Leonard.
    Inference Over Heterogeneous Finite-/Infinite-Dimensional Systems Using Factor Graphs and Gaussian Processes.
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  44. Guoquan Huang, Michael Kaess and John Leonard.
    Towards Consistent Visual-Inertial Navigation.
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  45. Guoquan Huang, Michael Kaess and John Leonard.
    Consistent Sparsification for Graph Optimization.
    European Conference on Mobile Robots (ECMR) 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}
    
    }
    
    
  46. Guoquan Huang, Robert Truax, Michael Kaess and John Leonard.
    Unscented iSAM: A Consistent Incremental Solution to Cooperative Localization and Target Tracking.
    European Conference on Mobile Robots (ECMR) 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}
    
    }
    
    
  47. Guoquan Huang, Michael Kaess, John Leonard and Stergios I. Roumeliotis.
    Analytically-Selected Multi-Hypothesis Incremental MAP Estimation.
    IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) 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}
    
    }
    
    
  48. Guoquan Huang and Stergios I. Roumeliotis.
    On Filter Consistency of Discrete-time Nonlinear Systems with Partial-state Measurements.
    American Control Conference (ACC) 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}
    
    }
    
    
  49. Guoquan Huang and Stergios I. Roumeliotis.
    Analyticlly-Guided-Sampling Particle Filter Applied to Range-only Target Tracking.
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  50. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis.
    An Observability Constrained Sliding Window Filter for SLAM.
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 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}
    
    }
    
    
  51. Guoquan Huang, Ke X. Zhou, Nikolas Trawny and Stergios I. Roumeliotis.
    Bearing-only Tracking Using a Bank of MAP Estimators.
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  52. Guoquan Huang, Ke X. Zhou, Nikolas Trawny and Stergios I. Roumeliotis.
    A Bank of MAP Estimators for Single-Sensor Range-only Target Tracking.
    American Control Conference (ACC) 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}
    
    }
    
    
  53. Guoquan Huang, Nikolas Trawny, Anastasios I. Mourikis and Stergios I. Roumeliotis.
    On the Consistency of Multi-robot Cooperative Localization.
    Robotics: Science and Systems (RSS) 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}
    
    }
    
    
  54. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis.
    On the Complexity and Consistency of UKF-based SLAM
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  55. Guoquan Huang, Xinzheng Zhang, Ahmad B. Rad and Yiu-Kwong Wong.
    An Optimal Graph Theoretic Approach to Data Association in SLAM.
    International Federation of Automatic Control (IFAC) 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}
    
    }
    
    
  56. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis.
    A First-Estimates Jacobian EKF for Improving SLAM Consistency.
    International Symposium on Experimental Robotics (ISER) 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}
    
    }
    
    
  57. Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis.
    Analysis and Improvement of the Consistency of Extended Kalman Filter-Based SLAM.
    IEEE International Conference on Robotics and Automation (ICRA) 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}
    
    }
    
    
  58. Guoquan Huang, Ahmad B. Rad and Yiu-Kwong Wong.
    Online SLAM in dynamic environments.
    International Conference on Advanced Robotics (ICAR) 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},
    
      doi = {http://dx.doi.org/10.1109/ICAR.2005.1507422}
    
    }
    
    
  59. Guoquan Huang, Ahmad B. Rad and Yiu-Kwong Wong.
    A Hierachical Hybrid Method for Simultaneous Localization and Mapping.
    IFAC World Congress 2005.
    [BibTeX] [URL]

    
    @inproceedings{Huang2005IFAC,
    
      author = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong},
    
      title = {A Hierachical Hybrid Method for Simultaneous Localization and Mapping},
    
      booktitle = {Proc. of the IFAC World Congress},
      
      year = {2005},
    
    
      url = {http://folk.ntnu.no/skoge/prost/proceedings/ifac2005/Papers/JsPaper2255.html}
    
    }
    
    
  60. Guoquan Huang, Ahmad B. Rad and Yiu-Kwong Wong.
    Incorporate Motion Tracking into Map Building in Dynamic Indoor Environments.
    International Conference on Computational Intelligence for Modelling, Control & Automation (CICMCA) 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}
    
    }
    
    
  61. Guoquan Huang, Ahmad B. Rad, Yiu-Kwong Wong and Y.L. Ip.
    SLAM with MTT: Theory and Initial Results.
    IEEE Conference on Robotics, Automation and Mechatronics (RAM) 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, Woosik Lee, Yulin Yang, and Guoquan Huang.
    OpenVINS: An Open Platform for Visual-Inertial Research.
    IROS Workshop on Visual-Inertial Navigation: Challenges and Applications, November 8, 2019.
    [BibTeX] [URL]

    
    
    @InProceedings{Geneva2019IROSws,
      Title                    = {OpenVINS: An Open Platform for Visual-Inertial Research},
      Author                   = {Patrick Geneva and Kevin Eckenhoff and Woosik Lee and Yulin Yang and Guoquan Huang.},
      Booktitle                = {IROS 2019 Workshop on Visual-Inertial Navigation: Challenges and Applications},
      Year                     = {2019},
    
      Address                  = {Macau, China},
      Month                    = nov # { 8, },
    }
    
    
    
  2. Yulin Yang and Guoquan Huang.
    Attack-Resilient Map-based Localization.
    RSS Workshop on Adversarial Robotics, June 30, 2018.
    [BibTeX] [URL]

    
    
    @InProceedings{Yang2018RSSws,
      Title                    = {Attack-Resilient Map-based Localization},
      Author                   = {Yulin Yang and Guoquan Huang},
      Booktitle                = {RSS Workshop on Adversarial Robotics},
      Year                     = {2018},
    
      Address                  = {Pittsburgh, PA},
      Month                    = jun # { 30},
    
      Owner                    = {paul},
      Timestamp                = {2017.06.19}
    }
    
    
    
  3. Kevin Eckenhoff, Indrajeet Yadav, Guoquan Huang, and Herbert Tanner.
    Dynamic Target Interception in Cluttered Environments.
    T-DUNE ICRA 2018 Workshop, May 21, 2018.
    [BibTeX] [URL]

    
    
    @Conference{Eckenhoff2018ICRAws,
      Title                    = {Dynamic Target Interception in Cluttered
    Environments},
      Author                   = {Kevin Eckenhoff and I. Yadav and Guoquan Huang and Herbert Tanner},
      Booktitle                = {RT-DUNE ICRA 2018 Workshop},
      Year                     = {2018},
    
      Address                  = {Brisbane, Australia},
      Month                    = may,
    
      Owner                    = {paul},
      Timestamp                = {2018.03.16}
    }
    
    
    
  4. Patrick Geneva, Kevin Eckenhoff and Guoquan Huang.
    Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization.
    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, },
    }
    
    
    
  5. Kevin Eckenhoff, Liam Pull and Guoquan Huang.
    Decoupled, Consistent Node Removal and Edge Sparsification for Graph-based SLAM.
    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, },
    }
    
    
    
    
    
  6. Yasir Latif, Guoquan Huang, John Leonard and Jose Neira.
    pplying Sparse $1$ Optimization to Problems in Robotics.
    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, 2013.
    [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 = {https://conservancy.umn.edu/handle/11299/146717}
    
    }
    
    
  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. Patrick Geneva, Kevin Eckenhoff, and Guoquan Huang.
    Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization.
    RPNG, University of Delaware, September 2017.
    [BibTeX] [URL]

    
    @techreport{Geneva2017TR,
    
      author = {Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
    
      title = {Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization},
    
      year = {2017},
    
      url = {http://udel.edu/~ghuang/papers/tr_async.pdf}
    
    }
    
    
  2. Yulin Yang and Guoquan Huang.
    Aided Inertial Navigation With Geometric Features: Observability Analysis.
    RPNG, University of Delaware, October 2017.
    [BibTeX] [URL]

    
    @techreport{Yang2017TR,
    
      author = {Yulin Yang and Guoquan Huang},
    
      title = {Aided Inertial Navigation With Geometric Features:  Observability Analysis},
    
      year = {2017},
    
      url = {http://udel.edu/~ghuang/papers/tr_obs.pdf}
    
    }
    
    
  3. Yulin Yang and Guoquan Huang,
    Map-Based Localization Under Adversarial Attacks.
    RPNG, University of Delaware, October 2017.
    [BibTeX] [URL]

    
    @techreport{Yang2017TR,
    
      author = {Yulin Yang and Guoquan Huang},
    
      title = {Map-Based Localization Under Adversarial Attacks},
    
      year = {2017},
    
      url = {http://udel.edu/~ghuang/papers/tr_secure.pdf}
    
    }
    
    
  4. James Maley, Kevin Eckenhoff, and Guoquan Huang.
    Generalized Optimal-State-Constraint Extended Kalman Filter (OSC-EKF).
    US Army Research Laboratory (ARL-TR-7948) February 2017.
    [BibTeX] [URL]

    
    @techreport{Maley2017TR,
    
      author = {James Maley and Kevin Eckenhoff and Guoquan Huang},
    
      title = {Generalized Optimal-State-Constraint Extended Kalman Filter (OSC-EKF)},
    
      year = {2017},
    
      url = {https://www.arl.army.mil/www/default.cfm?technical_report=7856}
    
    }
    
    
  5. Yulin Yang and Guoquan Huang.
    Acoustic-Inertial Underwater Navigation.
    RPNG, University of Delaware, September 2016.
    [BibTeX] [URL]

    
    @techreport{Yang2016TR,
    
      author = {Yulin Yang and Guoquan Huang},
    
      title = {Acoustic-Inertial Underwater Navigation},
    
      year = {2016},
    
      url = {http://udel.edu/~ghuang/papers/tr_ains.pdf}
    
    }
    
    
  6. 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}
    
    }
    
    
  7. 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}
    
    }
    
    
  8. 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}
    
    }
    
    
  9. 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}
    
    }
    
    
  10. Guoquan Huang 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}
    
    }
    
    
  11. Guoquan Huang, 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}
    
    }
    
    
  12. 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}
    
    }