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 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
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tech report
Ultrafast Square-Root Filter-based VINS
Yuxiang Peng,
Chuchu Chen and
Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA) ,
2024
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tech report
Quantized Visual-Inertial Odometry
Yuxiang Peng,
Chuchu Chen and
Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA) ,
2024
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Degenerate Motions of Multisensor Fusion-based Navigation
Woosik Lee,
Chuchu Chen and
Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA) ,
2024
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tech report
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
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tech report
MINS: Efficient and Robust Multisensor-aided Inertial Navigation System
Woosik Lee, Patrick Geneva, Chuchu Chen and
Guoquan Huang
arXiv ,
2023
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code
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
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tech report /
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talk
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),
[Best Student Paper Award Finalist]
2023
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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
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dataset /
source code
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
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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
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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
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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
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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
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supp. materials
Navigation Functions with Moving Destinations and Obstacles
Cong Wei*,
Chuchu Chen* and
Herbert Tanner
Autonomous Robots , 2023
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video
Navigation Functions with non-Point Destinations and Moving
Obstacles
Chuchu Chen ,
Caili Li,
Herbert G. Tanner
American Control Conference (ACC) , 2020
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pdf