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), April 2023. [to appear]
[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] [Best Overseas Paper Award]


@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

Nate Merrill, Patrick Geneva, Saimouli Katragadda, Chuchu Chen, and Guoquan Huang.
Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth.
Robotics: Science and Systems (RSS) 2023.
[BibTeX] [URL]


@InProceedings{Merrill2022RSS,
  Title                    = {Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth},
  Author                   = {Nate Merrill and Patrick Geneva and Saimouli Katragadda and Chuchu Chen and Guoquan Huang},
  Booktitle                = {Proc. Robotics: Science and Systems (RSS)},
  Year                     = {2023},

  Address                  = {Daegu, Republic of Korea},
  Month                    = jul,

  Owner                    = {paul},
  Timestamp                = {2023.05.16}
}

Chuchu Chen, Patrick Geneva, Yuxiang Peng, Woosik Lee, and Guoquan Huang
Monocular Visual-Inertial Odometry with Planar Regularitie.
IEEE International Conference on Robotics and Automation (ICRA) 2023.
[BibTeX] [URL]




@InProceedings{Chen2023ICRA,
  Title                    = {Monocular Visual-Inertial Odometry with Planar Regularitie},
  Author                   = {Chuchu Chen and Patrick Geneva and Yuxiang Peng and Woosik Lee and Guoquan Huang},
  Booktitle                = {Proc. of the IEEE International Conference on Robotics and Automation},
  Year                     = {2023},

  Address                  = {London, UK.},

  Owner                    = {paul},
  Timestamp                = {2023-05-01}
}

Jiaxin Hu, K. Ren, X. Xu, L. Zhou, X. Lang, Y. Mao, and Guoquan Huang.
Efficient Visual-Inertial Navigation with Point-Plane Map.
IEEE International Conference on Robotics and Automation (ICRA) 2023.
[BibTeX] [URL]




@InProceedings{Hu2023ICRA,
  Title                    = {Efficient Visual-Inertial Navigation with Point-Plane Map},
  Author                   = {Jiaxin Hu and K. Ren and X. Xu and L. Zhou and X. Lang and Y. Mao and Guoquan Huang},
  Booktitle                = {Proc. of the IEEE International Conference on Robotics and Automation},
  Year                     = {2023},

  Address                  = {London, UK.},

  Owner                    = {paul},
  Timestamp                = {2023-05-01}
}

Lipu Zhou, J. Sun, Peng Ai, Fengguang Zhai, Kefei Ren, Yinian Mao, Guoquan Huang, Ziyang Meng, and Michael Kaess.
Efficient Bundle Adjustment for Coplanar Points and Lines.
IEEE International Conference on Robotics and Automation (ICRA) 2023.
[BibTeX] [URL]




@InProceedings{Zhou2023ICRA,
  Title                    = {Efficient Bundle Adjustment for Coplanar Points and Lines},
  Author                   = {Lipu Zhou, J. Sun, Peng Ai, Fengguang Zhai, Kefei Ren, Yinian Mao, Guoquan Huang, Ziyang Meng, and Michael Kaess},
  Booktitle                = {Proc. of the IEEE International Conference on Robotics and Automation},
  Year                     = {2023},

  Address                  = {London, UK.},

  Owner                    = {paul},
  Timestamp                = {2023-05-01}
}

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}

}