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:
1. Consistent Visual-inertial Navigation systems (VINS)
2. Simultaneous localization and mapping (SLAM)
3. Nonlinear state estimation and optimization theory
4. Information fusion, sensor calibration and system parameter identification
|
|
Fast Monocular Visual-Inertial Initialization Leveraging Learned
Single-View Depth
Nathaniel Merrill, Patrick Geneva, Saimouli Katragadda,
Chuchu Chen, and
Guoquan Huang
Proc. of Robotics: Science and Systems (RSS), 2023
bibtex /
pdf /
tech report /
video
|
|
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
|
|
Navigation Functions with Moving Destinations and Obstacles
Cong Wei*,
Chuchu Chen* and
Herbert Tanner
Autonomous Robots, 2023
bibtex /
pdf /
video
|
|
Visual-Inertial-Aided Online MAV System Identification
Chuchu Chen *,
Yulin Yang*,
Patrick Geneva,
Woosik Lee and
Guoquan Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
2022
bibtex /
pdf /
tech report /
slides /
video /
talk
|
|
FEJ2: A Consistent Visual-Inertial State Estimator Design
Chuchu Chen,
Yulin Yang,
Patrick Geneva and
Guoquan Huang
International Conference on Robotics and Automation (ICRA), 2022
bibtex /
pdf /
tech report /
slides /
talk
|
|
Decoupled Right Invariant Error States for Consistent
Visual-Inertial Navigation
Yulin Yang,
Chuchu Chen,
Woosik Lee and
Guoquan Huang
IEEE Robotics and Automation Letters (RAL), 2022
bibtex /
pdf /
tech report
|
|
Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization
Patrick Geneva,
Nathaniel Merrill,
Yulin Yang,
Chuchu Chen,
Woosik Lee and
Guoquan Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
2020
bibtex /
pdf /
video /
slides
|
|
Analytic Combined IMU Integration (ACI^2) For Visual Inertial
Navigation
Yulin Yang,
Benzun Pious Wisely Babu,
Chuchu Chen,
Guoquan Huang and
Liu Ren
IEEE International Conference on Robotics and Automation (ICRA) , 2020
bibtex /
pdf /
video /
supp. materials
|
|
Navigation Functions with non-Point Destinations and Moving
Obstacles
Chuchu Chen,
Caili Li,
Herbert G. Tanner
American Control Conference (ACC), 2020
bibtex /
pdf
|
|
|