Publications

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]




@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}
}

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]


@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}
}

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]


@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}

}

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]


@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}

}

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]



@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}
}

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]



@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, },
}

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}

}