Resources

Open Source

ICRA 2024 / TRO 2025

OpenVINS-based square-root filter VINS implementation for fast, numerically stable visual-inertial estimation.

JFR

Multisensor-aided inertial navigation for IMU, wheel encoder, camera, GNSS, and LiDAR fusion, with ROS examples and evaluation tools.

ICRA 2023

Plane-regularized monocular VIO in an MSCKF framework, built on OpenVINS for EuRoC and RPNG AR Table experiments.

ICRA 2023

Indoor AR table visual-inertial sequences with RGB, IMU, depth, and OptiTrack ground truth.

Updated Mar 2026 / Research Notes

Reflections on research habits, persistence, and what people call taste.

Updated Jan 2026 / Notes

Reflections on finishing a PhD and starting a new faculty role.

Updated Oct 2025 / Notes

Notes on writing thoughtful, fair, and effective peer reviews.