Publications

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

View full list on Google Scholar ↗

Journal Papers

TRANSACTIONS ON ROBOTICS · 2025

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

Yuxiang Peng, Chuchu Chen, and Guoquan Huang

PDF

@article{Peng2025TRO,
  title   = {Sqrt-VINS: Robust and Ultrafast Square-Root Filter-based 3D Motion Tracking},
  author  = {Peng, Yuxiang and Chen, Chuchu and Huang, Guoquan},
  journal = {IEEE Transactions on Robotics},
  year    = {2025}
}

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

PDF

@article{Merrill2024IJRR,
  title   = {Fast and Robust Learned Single-View Depth-aided Monocular Visual-Inertial Initialization},
  author  = {Merrill, Nathaniel and Geneva, Patrick and Katragadda, Saimouli and Chen, Chuchu and Huang, Guoquan},
  journal = {The International Journal of Robotics Research},
  year    = {2024}
}

JOURNAL OF FIELD ROBOTICS · 2023

MINS: Efficient and Robust Multisensor-aided Inertial Navigation System

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

PDF

@article{Lee2023MINS,
  title   = {MINS: Efficient and Robust Multisensor-aided Inertial Navigation System},
  author  = {Lee, Woosik and Geneva, Patrick and Chen, Chuchu and Huang, Guoquan},
  journal = {Journal of Field Robotics},
  year    = {2023}
}

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

RA-L · 2020

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

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

PDF Tech Report

@article{Yang2020ACIv2,
  title   = {Analytic Combined IMU Integration (ACI^2) for Visual-Inertial Navigation},
  author  = {Yang, Yulin and Babu, Benzun Pious Wisely and Chen, Chuchu and Huang, Guoquan and Ren, Liu},
  journal = {IEEE Robotics and Automation Letters},
  year    = {2020}
}

Conference Papers

ICRA · 2025

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

Chuchu Chen, Yuxiang Peng, and Guoquan Huang

PDF

ICRA · 2025

QVIO2: Quantized MAP-based Visual-Inertial Odometry

Yuxiang Peng, Chuchu Chen, and Guoquan Huang

PDF

WAFR · 2024

Visual-Inertial State Estimation with Decoupled Error and State Representations

Chuchu Chen, Yuxiang Peng, and Guoquan Huang

PDF Tech Report

@inproceedings{Chen2024DESVINS,
  title     = {Visual-Inertial State Estimation with Decoupled Error and State Representations},
  author    = {Chen, Chuchu and Peng, Yuxiang and Huang, Guoquan},
  booktitle = {Workshop on the Algorithmic Foundations of Robotics (WAFR)},
  year      = {2024}
}

ICRA · 2024

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

Chuchu Chen, Yuxiang Peng, and Guoquan Huang

PDF

@InProceedings{Chen2024ICRA,
  author    = {Chuchu Chen and Yuxiang Peng and Guoquan Huang},
  booktitle = {Proc. International Conference on Robotics and Automation},
  title     = {Fast and Consistent Covariance Recovery for Sliding-window Optimization-based VINS},
  year      = {2024},
  address   = {Yokohama, Japan},
  month     = may,
}

ICRA · 2024 Best Paper Award Finalist (Robot Vision)

Ultrafast Square-Root Filter-based VINS

Yuxiang Peng, Chuchu Chen, and Guoquan Huang

PDF Tech Report

@InProceedings{Peng2024ICRAa,
  author    = {Yuxiang Peng and Chuchu Chen and Guoquan Huang},
  booktitle = {Proc. International Conference on Robotics and Automation},
  title     = {Ultrafast Square-Root Filter-based VINS},
  year      = {2024}
}

ICRA · 2024

Quantized Visual-Inertial Odometry

Yuxiang Peng, Chuchu Chen, and Guoquan Huang

PDF

@InProceedings{Peng2024ICRAb,
  author    = {Yuxiang Peng and Chuchu Chen and Guoquan Huang},
  booktitle = {Proc. International Conference on Robotics and Automation},
  title     = {Quantized Visual-Inertial Odometry},
  year      = {2024}
}

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

PDF

@InProceedings{Sai2024ICRA,
  author    = {Katragadda, Saimouli and Lee, Woosik and Peng, Yuxiang and Geneva, Patrick and Chen, Chuchu and Guo, Chaoyang and Li, Mingyang and Huang, Guoquan},
  booktitle = {Proc. International Conference on Robotics and Automation},
  title     = {NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System},
  year      = {2024}
}

ICRA · 2023

Monocular Visual-Inertial Odometry with Planar Regularities

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

PDF Video Code

@InProceedings{Chen2023ICRA,
  author    = {Chen, Chuchu and Geneva, Patrick and Peng, Yuxiang and Lee, Woosik and Huang, Guoquan},
  booktitle = {Proc. International Conference on Robotics and Automation},
  title     = {Monocular Visual-Inertial Odometry with Planar Regularities},
  year      = {2023}
}