Nathaniel W. Merrill

PhD Candidate: Department of Computer Science, University of Delaware

University of Delaware
130 Academy Street, SPL 328
Newark, DE 19716, USA
Email: nmerrill at udel.edu


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Curriculum Vitae

I am a PhD candidate and research assistant at the University of Delaware working in Prof. Guoquan (Paul) Huang's Robot Perception and Navigation Group. My current research lies in the intersection of deep learning and classical estimation with a particular focus on visual-inertial SLAM systems. I have interned at Meta Reality Labs and also NASA Goddard, where I won the best intern poster award. In the past I have also worked on deep learning methods for the analysis of protein structures under the advisement of Prof. Perilla..

Publications

  1. Nathaniel Merrill, Patrick Geneva, Saimouli Katragadda, Chu Chu Chen, and Guoquan Huang. “Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth,” in Proc. of Robotics: Science and Systems (RSS) 2023. Best Student Paper Award finalist
    [bib] [pdf]

  2. Xingxing Zuo, Nan Yang, Nathaniel Merrill, Binbin Xu, Stefan Leutenegger. “Incremental Dense Reconstruction from Monocular Video with Guided Sparse Feature Volume Fusion,” in 2023 IEEE Robotics and Automation Letters.
    [bib] [pdf]

  3. Nathaniel Merrill, Yuliang Guo, Xingxing Zuo, Xinyu Huang, Stefan Leutenegger, Xi Peng, Liu Ren, and Guoquan Huang. “Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation, ” in 2022 Conference on Computer Vision and Pattern Recognition (CVPR).
    [bib] [pdf]

  4. Nathaniel Merrill, Patrick Geneva, and Guoquan Huang. “Robust Monocular Visual-Inertial Depth Completion for Embedded Systems,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) 2021.
    [bib] [pdf]

  5. Xingxing Zuo, Nathaniel Merrill, Wei Li, Yong Liu, Marc Pollefeys, and Guoquan Huang. “CodeVIO: Visual- Inertial Odometry with Learned Optimizable Dense Depth,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) 2021. Robot Vision Award finalist
    [bib] [pdf]

  6. Patrick Geneva, Nathaniel Merrill, Yulin Yang, Chuchu Chen, Woosik Lee, and Guoquan Huang, “Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization,” in 2020 International Conference on Intelligent Robots and Systems (IROS) 2020.
    [bib] [pdf]

  7. Kevin Eckenhoff, Patrick Geneva, Nathaniel Merrill and Guoquan Huang, “Schmidt-EKF-based Visual-Inertial Moving Object Tracking,” in 2020 IEEE International Conference on Robotics and Automation (ICRA) 2020.
    [bib] [pdf]

  8. Nathaniel Merrill and Guoquan Huang, “CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure,” in 2019 International Conference on Intelligent Robots and Systems (IROS) 2019.
    [bib] [pdf]

  9. Nathaniel Merrill and Guoquan Huang, “Lightweight Unsupervised Deep Loop Closure,” in Proc. of Robotics: Science and Systems (RSS) 2018.
    [bib] [pdf]