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Research
My research interests focus on state estimation and spatial AI, including
probabilistic sensing, localization, mapping, 3D spatial perception.:
1. Efficient Visual-inertial Navigation systems (VINS)
2. Visual-inertial simultaneous localization and mapping (VI-SLAM)
3. 3D environmental perception.
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Ultrafast Square-Root Filter-based VINS
Yuxiang Peng,
Chuchu Chen and
Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA) ,
2024
bibtex /
pdf /
tech report
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Quantized Visual-Inertial Odometry
Yuxiang Peng,
Chuchu Chen and
Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA) ,
2024
bibtex /
pdf
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Fast and Consistent Covariance Recovery
for Sliding-window Optimization-based VINS
Chuchu Chen, Yuxiang Peng and
Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA) ,
2024
bibtex /
pdf /
tech report
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NeRF-VINS: A Real-time Neural Radiance Field Map-based
Visual-Inertial Navigation System
Saimouli Katragadda, Woosik Lee, Yuxiang Peng, Patrick Geneva,
Chuchu Chen, Chao Guo, Mingyang Li and
Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA),
2024
bibtex /
pdf /
tech report
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Optimization-based VINS: Consistency, Marginalization, and FEJ
Chuchu Chen, Patrick Geneva, Yuxiang Peng, Woosik Lee and
Guoquan Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
2023
bibtex /
pdf /
tech report /
slides /
talk
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Monocular Visual-Inertial Odometry with Planar Regularities
Chuchu Chen*,
Patrick Geneva*,
Yuxiang Peng, Woosik Lee, and
Guoquan Huang
International Conference on Robotics and Automation (ICRA), 2023
bibtex /
pdf /
video /
slides /
talk /
dataset /
source code
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