The Summary of Projects
| Project | Key Idea | Publication | Paper |
|---|---|---|---|
| Aided INS with point/line/plane |
Obs analysis | ICRA 18 | Aided Inertial Navigation with Geometric Features: Observability Analysis |
| Obs analysis Unified representation |
ICRA 19 | Aided Inertial Navigation: Unified Feature Representations and Observability Analysis |
|
| Summary of ICRA 18&19 | TRO 19 | Observability Analysis of Aided INS with Heterogeneous Features of Points, Lines and Planes |
|
| VINS with point/plane | ICRA 19 | Tightly-Coupled Aided Inertial Navigation with Point and Plane Features |
|
| VINS with point/line | IROS 19 | Visual-Inertial Odometry with Point and Line Features |
|
| CP plane representation LiDAR aide Inertial navigation |
IROS 18* | LIPS: LiDAR-Inertial 3D Plane SLAM | |
| Sensor Calibration | Degenerate motion for spatial-temporal calibration |
RAL 19 | Degenerate Motion Analysis for Aided INS with Online Spatial and Temporal Sensor Calibration |
| Degenerate motions for IMU intrinsics |
RSS 20 | Online IMU Intrinsic Calibration: Is It Necessary? |
|
| Spatial-temporal calibration for multi-sensor |
ICRA 21 VINS workshop |
iCalib: Inertial Aided Multi-Sensor Calibration | |
| Multi-IMU spatial-temporal and intrinsic calibration |
On going | Multi-Visual-Inertial Fusion: Algorithm and Analysis |
|
| Estimator Design | Modularized and analytic IMU integration |
ICRA 20 | Analytic Combined IMU Integration (ACI2) for Visual Inertial Navigation |
| An open-sourced code for VINS research |
ICRA 20* | OpenVINS: A research Platform for Visual-Inertial Estimation |
|
| Secure estimation under adversarial attacks |
ISRR 17 | Map-Based Localization Under Adversarial Attacks |
|
| Null space is equivalent to Schur complement |
IROS 17 | Null Space Based Marginalization: Analysis and Algorithm |
|
| Multi-sensor fusion | IMU + LiDAR + GPS + Wheel + Cam |
ICRA 21* | Efficient Multi-Sensor Aided Inertial Navigation with Online Calibration |
| IMU + 2D LiDAR + Wheel | IROS 20* | Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization |
|
| IMU + Wheel + Cam | IROS 20* | Visual-Inertial-Wheel Odometry with Online Calibration |
|
| LiDAR + IMU + Cam | IROS 20* | LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking |
|
| Stereo + LiDAR map | JFR 20* | Multimodal Localization: Stereo over LiDAR Map | |
| IMU + Cam + LiDAR map | RAL 19* | Visual-Inertial localization with Prior LiDAR Map Constraints |
|
| Target tracking | Visual inertial target tracking | RAL 19* | Tightly-Coupled Visual-Inertial Localization and 3D Rigid-Body Target Tracking |
| Cooperative localization |
Cooperative interception for common feature update |
ICRA 21* | Cooperative Visual-Inertial Odometry |