Explanipedia

Online Language Splatting Open

Saimouli Katragadda, C.-W. Wu, Yue Leon Guo, X. T. Huang, Guoquan Huang , et al. · 2025

To enable AI agents to interact seamlessly with both humans and 3D environments, they must not only perceive the 3D world accurately but also align human language with 3D spatial representations. While prior work has made significant progr…

Advances in Selenium and Related Compounds Inhibiting Multi-Organ Fibrosis Open

Xue Xiao, Guoquan Huang, Xinqiao Yu, Yong Tan · 2025

Selenium (Se), a critically essential trace element, plays a crucial role in diverse physiological processes within the human body, such as oxidative stress response, inflammation regulation, apoptosis, and lipid metabolism. Organ fibrosis…

Visual-Inertial SLAM as Simple as A, B, VINS Open

Nathaniel Merrill, Guoquan Huang · 2024

We present AB-VINS, a different kind of visual-inertial SLAM system. Unlike most popular VINS methods which only use hand-crafted techniques, AB-VINS makes use of three different deep neural networks. Instead of estimating sparse feature p…

General Place Recognition Survey: Towards Real-World Autonomy Open

Peng Yin, J. B. Jiao, Shiqi Zhao, Lingyun Xu, Guoquan Huang , et al. · 2024

In the realm of robotics, the quest for achieving real-world autonomy, capable of executing large-scale and long-term operations, has positioned place recognition (PR) as a cornerstone technology. Despite the PR community's remarkable stri…

MINS: Efficient and Robust Multisensor-aided Inertial Navigation System Open

Woosik Lee, Patrick Geneva, Chuchu Chen, Guoquan Huang · 2023

Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enablin…

NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System Open

Saimouli Katragadda, Woosik Lee, Yuxiang Peng, Patrick Geneva, Chuchu Chen , et al. · 2023

Achieving efficient and consistent localization a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffers from sub-optimal viewpoints due to limited field of view (FOV) and/or constrained motion, thu…

Multi-Visual-Inertial System: Analysis, Calibration and Estimation Open

Yulin Yang, Patrick Geneva, Guoquan Huang · 2023

In this paper, we study state estimation of multi-visual-inertial systems (MVIS) and develop sensor fusion algorithms to optimally fuse an arbitrary number of asynchronous inertial measurement units (IMUs) or gyroscopes and global and(or) …

Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth Open

Nathaniel Merrill, Patrick Geneva, Saimouli Katragadda, Chuchu Chen, Guoquan Huang · 2023

In monocular visual-inertial navigation systems, it is ideal to initialize as quickly and robustly as possible.State-of-theart initialization methods typically make linear approximations using the image features and inertial information in…

Optimizing Horizontal Manifold Arrangement for Ground Source Heat Pump Using Orthogonal Testing Open

Cheng Chen, Ruiyong Mao, Guoquan Huang, Hongwei Wu, Zujing Zhang · 2023

General Place Recognition Survey: Towards the Real-world Autonomy Age Open

Peng Yin, Shiqi Zhao, Iván Cisneros, Abulikemu Abuduweili, Guoquan Huang , et al. · 2022

Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress …

Corrigendum to “Hypoxia-induced HIF-1α/lncRNA-PMAN inhibits ferroptosis by promoting the cytoplasmic translocation of ELAVL1 in peritoneal dissemination from gastric cancer” [Redox Biol. 52C (2022) 102312] Open

Zaihuan Lin, Jialin Song, Yuke Gao, Sihao Huang, Rongzhang Dou , et al. · 2022

Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems Open

Jiajun Lv, Xingxing Zuo, Kewei Hu, Jinhong Xu, Guoquan Huang , et al. · 2022

Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a novel LiDAR-IMU calibration method within the continuous-time b…

Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation Open

Nathaniel Merrill, Yuliang Guo, Xingxing Zuo, Xinyu Huang, Stefan Leutenegger , et al. · 2022

We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our knowledge, our system is among the first to utilize the camera …

Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy Open

Yulin Yang, Patrick Geneva, Xingxing Zuo, Guoquan Huang · 2022

In this paper, we study in-depth the problem of online self-calibration for robust and accurate visual-inertial state estimation. In particular, we first perform a complete observability analysis for visual-inertial navigation systems (VIN…

Enhance Accuracy: Sensitivity and Uncertainty Theory in LiDAR Odometry and Mapping Open

Zeyu Wan, Yu Zhang, Bin He, Zhuofan Cui, Weichen Dai , et al. · 2021

Currently, the improvement of LiDAR poses estimation accuracy is an urgent need for mobile robots. Research indicates that diverse LiDAR points have different influences on the accuracy of pose estimation. This study aimed to select a good…

Observation Contribution Theory for Pose Estimation Accuracy Open

Zeyu Wan, Yu Zhang, Bin He, Zhuofan Cui, Weichen Dai , et al. · 2021

The improvement of pose estimation accuracy is currently the fundamental problem in mobile robots. This study aims to improve the use of observations to enhance accuracy. The selection of feature points affects the accuracy of pose estimat…

Distributed Visual-Inertial Cooperative Localization Open

Pengxiang Zhu, Patrick Geneva, Wei Ren, Guoquan Huang · 2021

In this paper we present a consistent and distributed state estimator for multi-robot cooperative localization (CL) which efficiently fuses environmental features and loop-closure constraints across time and robots. In particular, we lever…

CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth Open

Xingxing Zuo, Nathaniel Merrill, Wei Li, Yong Liu, Marc Pollefeys , et al. · 2020

In this work, we present a lightweight, tightly-coupled deep depth network and visual-inertial odometry (VIO) system, which can provide accurate state estimates and dense depth maps of the immediate surroundings. Leveraging the proposed li…

LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking Open

Xingxing Zuo, Yulin Yang, Patrick Geneva, Jiajun Lv, Yong Liu , et al. · 2020

Multi-sensor fusion of multi-modal measurements from commodity inertial, visual and LiDAR sensors to provide robust and accurate 6DOF pose estimation holds great potential in robotics and beyond. In this paper, building upon our prior work…

Online IMU Intrinsic Calibration: Is It Necessary? Open

Yulin Yang, Patrick Geneva, Xingxing Zuo, Guoquan Huang · 2020

This paper addresses the problem of visualinertial self-calibration while focusing on the necessity of online IMU intrinsic calibration.To this end, we perform observability analysis for visual-inertial navigation systems (VINS) with four …

MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System Open

Kevin Eckenhoff, Patrick Geneva, Guoquan Huang · 2020

As cameras and inertial sensors are becoming ubiquitous in mobile devices and robots, it holds great potential to design visual-inertial navigation systems (VINS) for efficient versatile 3D motion tracking which utilize any (multiple) avai…

Kinematics Based Visual Localization for Skid-Steering Robots: Algorithm and Theory. Open

Xingxing Zuo, Mingming Zhang, Yiming Chen, Guoquan Huang, Yong Liu , et al. · 2020

To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially …

Visual-based Kinematics and Pose Estimation for Skid-Steering Robots Open

Xingxing Zuo, Mingming Zhang, Yiming Chen, Guoquan Huang, Yong Liu , et al. · 2020

To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially …

Bidirectional Weighing Fuzzy State Assessment on the Fusion Pole-Mounted Switch of Primary and Secondary Open

Dongfang Wang, Guoquan Huang, Tingcheng Huang, Yongjun Zhang · 2020

Cyber physical fusion enhances the coupling effect and influence of primary and secondary equipment in distribution network. In order to reflect the overall operating state of pole-mounted switch, this paper proposes the secondary equipmen…

Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints Open

Xingxing Zuo, Mingming Zhang, Yiming Chen, Yong Liu, Guoquan Huang , et al. · 2019

While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when de…

CALC2.0: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure Open

Nathaniel Merrill, Guoquan Huang · 2019

Traditional attempts for loop closure detection typically use hand-crafted features, relying on geometric and visual information only, whereas more modern approaches tend to use semantic, appearance or geometric features extracted from dee…

LIC-Fusion: LiDAR-Inertial-Camera Odometry Open

Xingxing Zuo, Patrick Geneva, Woosik Lee, Yong Liu, Guoquan Huang · 2019

This paper presents a tightly-coupled multi-sensor fusion algorithm termed LiDAR-inertial-camera fusion (LIC-Fusion), which efficiently fuses IMU measurements, sparse visual features, and extracted LiDAR points. In particular, the proposed…

Robocentric visual–inertial odometry Open

Zheng Huai, Guoquan Huang · 2019

In this paper, we propose a novel robocentric formulation of the visual–inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, lightweight, robocentric visual–inertial odometry (R-VIO) algori…

Study of Track Reconstruction using Retina algorithm for charged particles in magnetic field Open

W. Deng, G. De Lentdecker, Guoquan Huang, Frédéric Robert, Z. Song , et al. · 2019

Real-time track reconstruction in high energy physics experiments at colliders running at high luminosity is very challenging for trigger systems. When it is run on FPGAs, the Retina algorithm has been used in High Energy Physics experimen…

Visual-Inertial Navigation: A Concise Review Open

Guoquan Huang · 2019

As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems (VINS) have prevailed in a wide range of applications from mobile augmented reality to aerial navigation to autonomous driving, in part because of t…

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