Journal Articles
-
Yulin Yang, Patrick Geneva, Xingxing Zuo, and Guoquan Huang.
Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy.
IEEE Transactions on Robotics (TRO),
December 2022. [Cond. Accepted]
[BibTeX]
[arXiv]
@Article{Yang2022TRO,
Title = {Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy},
Author = {Yulin Yang and Patrick Geneva and Xingxing Zuo and Guoquan Huang},
Journal = {IEEE Transactions on Robotics},
Year = {2022},
Month = dec,
Owner = {paul},
Timestamp = {2022.12.16}
}
Kleio Baxevani, Indrajeet Yadav, Yulin Yang, Mike Sebok, Herbert Tanner, and Guoquan Huang.
Resilient Ground Vehicle Autonomous Navigation in GPS-denied Environments.
Guidance, Navigation and Control (GNC), 2022.
[BibTeX]
[URL]
@Article{Baxevani2022GNC,
Title = {Resilient Ground Vehicle Autonomous Navigation in GPS-denied Environments},
Author = {Kleio Baxevani and Indrajeet Yadav and Yulin Yang and Mike Sebok and Herbert Tanner and Guoquan Huang},
Journal = {Guidance, Navigation and Control (GNC)},
Year = {2022},
Month = nov,
Owner = {paul},
Timestamp = {2022.08714}
}
Xingxing Zuo, Mingming Zhang, Mengmeng Wang, Yiming Chen, Guoquan Huang, Yong Liu, and Mingyang Li.
Visual-based Lifelong Kinematics and Pose Estimation for Skid-Steering Robots.
IEEE Transactions on Automation Science and Engineering (T-ASE), 2022.
[BibTeX]
[URL]
@Article{Zuo2022TASE,
Title = {Visual-based Lifelong Kinematics and Pose Estimation for Skid-Steering Robots},
Author = {Xingxing Zuo and Mingming Zhang and Mengmeng Wang and Yiming Chen and Guoquan Huang and Yong Liu and Mingyang Li.},
Journal = {IEEE Transactions on Automation Science and Engineering (T-ASE)},
Year = {2022},
Month = sep,
Owner = {paul},
Timestamp = {2022.08714}
}
Zheng Huai, and Guoquan Huang.
Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration.
IEEE Robotics and Automation Letters (RA-L), June 2022.
[BibTeX]
[URL]
@Article{Huai2022RAL,
Title = {Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration},
Author = {Zheng Huai and Guoquan Huang},
Journal = {IEEE Robotics and Automation Letters (RA-L)},
Year = {2022},
Month = june,
Owner = {paul},
Timestamp = {2022.06.14}
}
Lipu Zhou, Shengze Wang, Yu Jincheng, Guoquan Huang, and Michael Kaess.
PLC-LiSLAM: LiDAR SLAM with Planes, Lines and Cylinders.
IEEE Robotics and Automation Letters (RA-L), May 2022.
[BibTeX]
[URL]
@Article{Zhou2022RAL,
Title = {PLC-LiSLAM: LiDAR SLAM with Planes, Lines and Cylinders},
Author = {Lipu Zhou and Shengze Wang and Yu Jincheng and Guoquan Huang and Michael Kaess},
Journal = {IEEE Robotics and Automation Letters (RA-L)},
Year = {2022},
Month = may,
Owner = {paul},
Timestamp = {2022.05.14}
}
-
Jiajun Lv, Xingxing Zuo, Kewei Hu, Jinhong Xu, Guoquan Huang, and Yong Liu.
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems.
IEEE Transactions on Robotics (TRO), June 2022.
[BibTeX]
[GitHub]
@Article{Lv2022TRO,
Title = {Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems},
Author = {Jiajun Lv and Xingxing Zuo and Kewei Hu and Jinhong Xu and Guoquan Huang and Yong Liu},
Journal = {IEEE Transactions on Robotics},
Year = {2022},
Month = jun,
Owner = {paul},
Timestamp = {2022.04.16}
}
Yulin Yang, Chuchu Chen, Woosik Lee, and Guoquan Huang.
Decoupled Right Invariant Error States for Consistent Visual-Inertial Navigation.
IEEE Robotics and Automation Letters (RA-L), Jan. 2022.
[BibTeX]
[URL]
@Article{Yang2022RAL,
Title = {Decoupled Right Invariant Error States for Consistent Visual-Inertial Navigation},
Author = {Yulin Yang and Chuchu Chen and Woosik Lee and Guoquan Huang.},
Journal = {IEEE Robotics and Automation Letters (RA-L)},
Year = {2022},
Month = jan,
Owner = {paul},
Timestamp = {2022.01.14}
}
-
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), 2021.
[BibTeX]
[URL]
[arXiv]
@Article{Eckenhoff2021TRO,
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 = {2021},
Month = feb,
Owner = {paul},
Timestamp = {2020.09.16}
}
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}
}
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.
[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}
}
-
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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},
}
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},
}
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},
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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
Xingxing Zuo, M. Zhang, Yiming Chen, Yong Liu, Guoquan Huang, and Minyang Li
Visual-Inertial Localization for Skid-steering Robots with Kinematic Constraints
Robotics Research, Springer Proceedings in Advanced Robotics,
T. Asfour, E. Yoshida, J. Park, H. Christensen, O. Khatib, Eds., Springer,
2022
[BibTeX]
[URL]
@InCollection{Zuo2022RR,
Title = {HVisual-Inertial Localization for Skid-steering Robots with Kinematic Constraints},
Author = {Xingxing Zuo and M. Zhang and Yiming Chen and Yong Liu and Guoquan Huang and Minyang Li},
Booktitle = {Robotics Research},
Publisher = {Springer International Publishing},
Year = {2022},
Editor = {T. Asfour and E. Yoshida and J. Park and H. Christensen and O. Khatib},
Series = {Springer Proceedings in Advanced Robotics},
}
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}
}
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}
}
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}
}
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
Chuchu Chen, Yulin Yang, Patrick Geneva, Woosik Lee, and Guoquan Huang
Visual-Inertial-aided Online MAV System Identification.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022.
[BibTeX]
[URL]
@InProceedings{Chen2022IROS,
Title = {Visual-Inertial-aided Online MAV System Identification},
Author = {Chuchu Chen and Yulin Yang and Patrick Geneva and Woosik Lee and Guoquan Huang},
Booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
Year = {2022},
Address = {Kyoto, Japan.},
Owner = {paul},
Timestamp = {2022-07-01}
}
Nate Merrill, Yanliang Guo, Xinyue Huang, Xingxing Zuo, Stephen Leutenegger, Liu Ren, and Guoquan Huang.
Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation.
Conference on Computer Vision and Pattern Recognition (CVPR) 2022.
[BibTeX]
[GitHub]
@InProceedings{Merrill2022CVPR,
Title = {Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation},
Author = {Nate Merrill and Yanliang Guo and Xinyue Huang and Xingxing Zuo and Stephen Leutenegger and Liu Ren and Guoquan Huang},
Booktitle = {Proc. Conference on Computer Vision and Pattern Recognition (CVPR)},
Year = {2022},
Address = {New Orleans, Louisiana},
Month = jun,
Owner = {paul},
Timestamp = {2022.03.16}
}
Chuchu Chen, Yunlin Yang, Patrick Geneva, and Guoquan Huang.
FEJ2: A Consistent Visual-Inertial State Estimator Design.
IEEE International Conference on Robotics and Automation (ICRA) 2022.
[BibTeX]
[URL]
@InProceedings{Chen2022ICRA,
Title = {FEJ2: A Consistent Visual-Inertial State Estimator Design},
Author = {Chuchu Chen and Yunlin Yang and Patrick Geneva and Guoquan Huang},
Booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
Year = {2022},
Address = {Philadelphia, PA},
Owner = {paul},
Timestamp = {2022-03-01}
}
Patrick Geneva, and Guoquan Huang.
Map-based Visual-Inertial Localization: A Numerical Study.
IEEE International Conference on Robotics and Automation (ICRA) 2022.
[BibTeX]
[URL]
@InProceedings{Geneva2022ICRA,
Title = {Map-based Visual-Inertial Localization: A Numerical Study},
Author = {Patrick Geneva and Guoquan Huang},
Booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
Year = {2022},
Address = {Philadelphia, PA},
Owner = {paul},
Timestamp = {2022-03-01}
}
Woosik Lee, Yunlin Yang, Patrick Geneva, and Guoquan Huang.
Tightly-coupled GNSS-aided Visual-Inertial Localization.
IEEE International Conference on Robotics and Automation (ICRA) 2022.
[BibTeX]
[URL]
@InProceedings{Lee2022ICRA,
Title = {Tightly-coupled GNSS-aided Visual-Inertial Localization},
Author = {Woosik Lee and Yunlin Yang and Patrick Geneva and Guoquan Huang},
Booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
Year = {2022},
Address = {Philadelphia, PA},
Owner = {paul},
Timestamp = {2022-03-01}
}
Jiaxin Hu, Jun Hu, Y-J. Shen, Xiaomin Lang, Bo Zang, Guoquan Huang, and Yinian Mao.
1D-LRF Aided Visual-Inertial Odometry for High-Altitude MAV Flight.
IEEE International Conference on Robotics and Automation (ICRA) 2022.
[BibTeX]
[URL]
@InProceedings{Hu2022ICRA,
Title = {1D-LRF Aided Visual-Inertial Odometry for High-Altitude MAV Flight},
Author = {Jiaxin Hu and Jun Hu and Y-J. Shen and Xiaomin Lang and Bo Zang and Guoquan Huang and Yinian Mao},
Booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
Year = {2022},
Address = {Philadelphia, PA},
Owner = {paul},
Timestamp = {2022-03-01}
}
Lipu Zhou, Guoquan Huang, Yinian Mao, S. Wang, and Michael Kaess.
EDPLVO: Efficient Direct Point-Line Visual Odometry.
IEEE International Conference on Robotics and Automation (ICRA) 2022.
[BibTeX]
[URL]
[ICRA 2022 Outstanding Navigation Paper]
@InProceedings{Zhou2022ICRA,
Title = {EDPLVO: Efficient Direct Point-Line Visual Odometry},
Author = {Lipu Zhou and Guoquan Huang and Yinian Mao and S. Wang and Michael Kaess},
Booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
Year = {2022},
Address = {Philadelphia, PA},
Owner = {paul},
Timestamp = {2022-03-01}
}
Pengxiang Zhu, Patrick Geneva, Wei Ren, and Guoquan Huang.
Distributed Visual-Inertial Cooperative Localization.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021.
[BibTeX]
[URL]
@InProceedings{Zhu2021IROS,
Title = {Distributed Visual-Inertial Cooperative Localization},
Author = {Pengxiang Zhu and Patrick Geneva and Wei Ren and Guoquan Huang},
Booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
Year = {2021},
Address = {Prague, Czech Republic},
Owner = {paul},
Timestamp = {2021-07-01}
}
Woosik Lee, Yulin Yang, and Guoquan Huang.
Efficient Multi-sensor Aided Inertial Navigation with Online Calibration.
IEEE International Conference on Robotics and Automation (ICRA) 2021.
[BibTeX]
[URL]
@InProceedings{Lee2021ICRA,
Title = {Efficient Multi-sensor Aided Inertial Navigation with Online Calibration},
Author = {Woosik Lee and Yulin Yang and Guoquan Huang},
Booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
Year = {2021},
Address = {Xi'an, China},
Owner = {paul},
Timestamp = {2021-03-01}
}
Xingxing Zuo, Nate Merrill, Wei Li, Yong Liu, Marc Pollefeys, and Guoquan Huang.
CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth.
IEEE International Conference on Robotics and Automation (ICRA) 2021.
[BibTeX]
[URL]
[Best Paper Finalist in Robot Vision]
@InProceedings{Zuo2021ICRA,
Title = {CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth},
Author = {Xingxing Zuo and Nate Merrill and Wei Li and Yong Liu and Marc Pollefeys and Guoquan Huang},
Booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
Year = {2021},
Address = {Xi'an, China},
Owner = {paul},
Timestamp = {2021-03-01}
}
Pengxiang Zhu, Yulin Yang, Wei Ren, and Guoquan Huang.
Cooperative Visual-Inertial Odometry.
IEEE International Conference on Robotics and Automation (ICRA) 2021.
[BibTeX]
[URL]
@InProceedings{Zhu2021ICRA,
Title = {Cooperative Visual-Inertial Odometry},
Author = {Pengxiang Zhu and Yulin Yang and Wei Ren and Guoquan Huang},
Booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
Year = {2021},
Address = {Xi'an, China},
Owner = {paul},
Timestamp = {2021-03-01}
}
Nate Merrill, Patrick Geneva, and Guoquan Huang.
Robust Monocular Visual-Inertial Depth Completion for Embedded Systems.
IEEE International Conference on Robotics and Automation (ICRA) 2021.
[BibTeX]
[URL]
@InProceedings{Merrill2021ICRA,
Title = {Robust Monocular Visual-Inertial Depth Completion for Embedded Systems},
Author = {Nate Merrill and Patrick Geneva and Guoquan Huang},
Booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
Year = {2021},
Address = {Xi'an, China},
Owner = {paul},
Timestamp = {2021-03-01}
}
Zheng Huai, and Guoquan Huang.
Markov Parallel Tracking and Mapping for Probabilistic SLAM.
IEEE International Conference on Robotics and Automation (ICRA) 2021.
[BibTeX]
[URL]
@InProceedings{Huai2021ICRA,
Title = {Markov Parallel Tracking and Mapping for Probabilistic SLAM},
Author = {Zheng Huai and Guoquan Huang},
Booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
Year = {2021},
Address = {Xi'an, China},
Owner = {paul},
Timestamp = {2021-03-01}
}
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}
}
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}
}
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}
}
Yulin Yang, Patrick Geneva, Xingxing Zuo, and Guoquan Huang.
Online IMU Intrinsic Calibration: Is It Necessary?
Robotics: Science and Systems (RSS) 2020.
[BibTeX]
[URL]
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},
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
Nate Merrill and Guoquan Huang.
Lightweight Unsupervised Deep Loop Closure.
Robotics: Science and Systems (RSS) 2018.
[BibTeX]
[URL]
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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,}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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]
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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]
[Best Paper Finalist]
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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
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, },
}
Yulin Yang and Guoquan Huang.
Attack-Resilient Map-based Localization.
RSS Workshop on Adversarial Robotics, June 30, 2018.
[BibTeX]
[URL]
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}
}
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, },
}
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]
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
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}
}
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 (more to come…)
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
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}
}
|