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Publications

Selected publications are listed below. For a complete and up-to-date record, see Google Scholar.

2026

ORBCam in-sensor ORB feature processing for quantized VIO
IROS · 2026

ORBCam: Toward Ultra-Low-Power Quantized VIO via In-Sensor ORB Feature Processing

Yiwen Liang, Yuxiang Peng, Guoquan Huang, Weidong Cao, and Chuchu Chen

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miniVIO runtime composition
IROS · 2026

miniVIO: A Minimalist Visual-Inertial Odometry Algorithm with Minimally Inferred Motion Constraints

Yuxiang Peng, Chuchu Chen, Tong Ke, Ryan C. DuToit, Shuntaro Yamazaki, Huiwen Guo, and Guoquan Huang

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Point-plane VINS factor graph formulations
IROS · 2026

Analysis of Optimization-Based Monocular Point-Plane VINS: Formulation, Information, and Marginalization

Yizhi Zhou, Xuan Wang, and Chuchu Chen

PDF

2025

Sqrt-VINS TRO 2025
TRANSACTIONS ON ROBOTICS · 2025

sqrtVINS: Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking

Yuxiang Peng, Chuchu Chen, Kejian Wu, and Guoquan Huang

PDFCode
MINS multisensor navigation system
JOURNAL OF FIELD ROBOTICS · 2025

MINS: Efficient and Robust Multisensor-aided Inertial Navigation System

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

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Iterative VINS consistency analysis
ICRA · 2025

Is Iteration Worth It? Revisit Its Impact in Sliding-Window VIO

Chuchu Chen, Yuxiang Peng, and Guoquan Huang

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QVIO2 system architecture
ICRA · 2025

QVIO2: Quantized MAP-based Visual-Inertial Odometry

Yuxiang Peng, Chuchu Chen, and Guoquan Huang

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2024

Depth-aided monocular VIO initialization
IJRR · 2024

Fast and Robust Learned Single-View Depth-aided Monocular Visual-Inertial Initialization

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

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Decoupled VIO error-state representation
WAFR · 2024

Visual-Inertial State Estimation with Decoupled Error and State Representations

Chuchu Chen, Yuxiang Peng, and Guoquan Huang

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Fast covariance recovery for VINS
ICRA · 2024

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

Chuchu Chen, Yuxiang Peng, and Guoquan Huang

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Ultrafast square-root filter VINS
ICRA Best Paper Award Finalist (Robot Vision)
ICRA · 2024

Ultrafast Square-Root Filter-based VINS

Yuxiang Peng, Chuchu Chen, and Guoquan Huang

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Quantized visual-inertial odometry
ICRA · 2024

Quantized Visual-Inertial Odometry

Yuxiang Peng, Chuchu Chen, and Guoquan Huang

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NeRF-VINS navigation system
ICRA · 2024

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

Saimouli Katragadda, Woosik Lee, Yuxiang Peng, Patrick Geneva, Chuchu Chen, Chaoyang Guo, Mingyang Li, and Guoquan Huang

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2023 & Prior

Monocular VIO with planar regularities
ICRA · 2023

Monocular Visual-Inertial Odometry with Planar Regularities

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

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Decoupled right invariant error-state visual-inertial navigation
RA-L · 2022

Decoupled Right Invariant Error States for Consistent Visual-Inertial Navigation

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

PDFTech Report
MAV system identification
IROS · 2022

Visual-Inertial-Aided Online MAV System Identification

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

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FEJ2 consistent visual-inertial estimator
ICRA · 2022

FEJ2: A Consistent Visual-Inertial State Estimator Design

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

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Versatile 3D multi-sensor fusion
IROS · 2020

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

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

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ACI² visual-inertial navigation
ICRA · 2020

Analytic Combined IMU Integration (ACI²) for Visual-Inertial Navigation

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

PDFTech Report