Chuchu Chen

I am currently a Ph.D candidate in Robot Perception and Navigation Group (RPNG) under the direction of Prof. Guoquan (Paul) Huang at University of Delaware (UD). I earned my Bachelor of Engineering Degree in Mechanical Engineering from Harbin Engineering University in 2017.

陈楚楚

ccchu@udel.edu

NEWS

  • Currently on the job market (2024-2025), seeking faculty and postdoctoral opportunities.

  • Our new IJRR paper on VIO initialization is now available.

  • Square Root Filter-based VINS won the ICRA 2024 Best Paper Award Finalist (Robot Vision).

  • Five papers accepted to ICRA 2024.

  • I have been awarded the Doctoral Fellowship for Excellence!

  • Our paper won the RSS 2023 Best Student Paper Finalist.

Research

My research interests focus on state estimation and spatial AI for robotics, including probabilistic sensing, localization, mapping, perception and planning of autonomous ground, aerial and underwater vehicles:

  • Consistent Visual-inertial Navigation systems (VINS)

  • Simultaneous localization and mapping (SLAM)

  • Nonlinear state estimation and optimization theory

  • Information fusion, sensor calibration and system parameter identification

Visual-Inertial State Estimation with Decoupled Error and State Representations

Chuchu Chen, Yuxiang Peng and Guoquan Huang, WAFR 2024

Fast and robust learned single-view depth-aided monocular visual-inertial initialization

Nathaniel Merrill, Patrick Geneva, Saimouli Katragadda, Chuchu Chen, and Guoquan Huang, IJRR 2024

Fast and Consistent Covariance Recovery for Sliding-window Optimization-based VINS

Nathaniel Merrill, Patrick Geneva, Saimouli Katragadda, Chuchu Chen, and Guoquan Huang, IJRR 2024

Ultrafast Square-Root Filter-based VINS

Yuxiang Peng, Chuchu Chen and Guoquan Huang, ICRA2024 [Best Paper Award Finalist (Robot Vision)]

Quantized Visual-Inertial Odometry

Yuxiang Peng, Chuchu Chen and Guoquan Huang, ICRA2024

Degenerate Motions of Multisensor Fusion-based Navigation

Woosik Lee, Chuchu Chen and Guoquan Huang, ICRA2024

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

S. Katragadda, W. Lee, Y. Peng, P. Geneva, Chuchu Chen, C. Guo, Mingyang Li and Guoquan Huang, ICRA2024

MINS: Efficient and Robust Multisensor-aided Inertial Navigation System

Woosik Lee, Patrick Geneva, Chuchu Chen and Guoquan Huang, arXiv, 2023

Optimization-based VINS: Consistency, Marginalization, and FEJ

Chuchu Chen, Patrick Geneva, Yuxiang Peng, Woosik Lee and Guoquan Huang, IROS 2023

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

N. Merrill, P. Geneva, Saimouli Katragadda, Chuchu Chen, and Guoquan Huang, RSS 2023 [Best Student Paper Award Finalist]

Monocular Visual-Inertial Odometry with Planar Regularities

Chuchu Chen*, Patrick Geneva*, Yuxiang Peng, Woosik Lee, and Guoquan Huang, ICRA2023

Visual-Inertial-Aided Online MAV System Identification

Chuchu Chen*, Yulin Yang*, Patrick Geneva, Woosik Lee and Guoquan Huang, IROS2022

FEJ2: A Consistent Visual-Inertial State Estimator Design

Chuchu Chen, Yulin Yang, Patrick Geneva and Guoquan Huang, ICRA2022

Decoupled Right Invariant Error States for Consistent Visual-Inertial Navigation

Yulin Yang, Chuchu Chen, Woosik Lee and Guoquan Huang, RAL 2022

Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization

Patrick Geneva, Nathaniel Merrill, Yulin Yang, Chuchu Chen, Woosik Lee and Guoquan Huang, IROS 2020

Analytic Combined IMU Integration (ACI^2) For Visual Inertial Navigation

Yulin Yang, Benzun Pious Wisely Babu, Chuchu Chen, Guoquan Huang and Liu Ren, ICRA 2020

Navigation Functions with Moving Destinations and Obstacles

Cong Wei*, Chuchu Chen* and Herbert Tanner, Autonomous Robots, 2023

Navigation Functions with non-Point Destinations and Moving Obstacles

Chuchu Chen, Caili Li, Herbert G. Tanner, ACC 202