Patrick Geneva
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View article: MINS: Efficient and Robust Multisensor-aided Inertial Navigation System
MINS: Efficient and Robust Multisensor-aided Inertial Navigation System Open
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…
View article: NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System
NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System Open
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…
View article: Multi-Visual-Inertial System: Analysis, Calibration and Estimation
Multi-Visual-Inertial System: Analysis, Calibration and Estimation Open
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) …
View article: Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth
Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth Open
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…
View article: Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy
Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy Open
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…
View article: Distributed Visual-Inertial Cooperative Localization
Distributed Visual-Inertial Cooperative Localization Open
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…
View article: LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking
LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking Open
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…
View article: Online IMU Intrinsic Calibration: Is It Necessary?
Online IMU Intrinsic Calibration: Is It Necessary? Open
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 …
View article: MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System
MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System Open
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…
View article: LIC-Fusion: LiDAR-Inertial-Camera Odometry
LIC-Fusion: LiDAR-Inertial-Camera Odometry Open
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…
View article: An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM
An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM Open
It holds great implications for practical applications to enable centimeter-accuracy positioning for mobile and wearable sensor systems. In this paper, we propose a novel, high-precision, efficient visual-inertial (VI)-SLAM algorithm, term…
View article: Continuous Preintegration Theory for Graph-based Visual-Inertial Navigation.
Continuous Preintegration Theory for Graph-based Visual-Inertial Navigation. Open
In this paper we propose a new continuous preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors). Rather than using discrete sampling of the measurement dynamics a…