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Globally optimal consensus maximization for robust visual inertial localization in point and line map

Mar 25, 2020
Yanmei Jiao, Yue Wang, Bo Fu, Qimeng Tan, Lei Chen, Shoudong Huang, Rong Xiong


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Dynamic Reconstruction of Deformable Soft-tissue with Stereo Scope in Minimal Invasive Surgery

Mar 22, 2020
Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang, Gamini Dissanayake

* Published in IROS2017 ()2017 IEEE/RSJ International Conference on Intelligent Robots and Systems. arXiv admin note: text overlap with arXiv:1803.02009 

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Analysis of minima for geodesic and chordal cost for a minimal 2D pose-graph SLAM problem

Nov 20, 2019
Felix H. Kong, Jiaheng Zhao, Liang Zhao, Shoudong Huang

* Accepted for publication in Robotics and Automation Letters. This version contains extended proofs, which do not fit in the RA-L page limit 

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Existence of local minima of a minimal 2D pose-graph SLAM problem

Nov 13, 2019
Felix H. Kong, Jiaheng Zhao, Liang Zhao, Shoudong Huang

* Accepted for publication in Robotics and Automation Letters. This version contains the full proofs which do not fit in the RA-L page limit 

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An observable time series based SLAM algorithm for deforming environment

Jun 20, 2019
Jingwei Song, Liang Zhao, Shoudong Huang, Gamini Dissanayake

* It's only a draft paper 

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Efficient two step optimization for large embedded deformation graph based SLAM

Jun 20, 2019
Jingwei Song, Fang Bai, Liang Zhao, Shoudong Huang, Rong Xiong


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IN2LAAMA: INertial Lidar Localisation Autocalibration And MApping

May 23, 2019
Cedric Le Gentil, Teresa Vidal-Calleja, Shoudong Huang

* Submitted to IEEE Transactions on Robotics 

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Online Estimation of Ocean Current from Sparse GPS Data for Underwater Vehicles

Jan 28, 2019
Ki Myung Brian Lee, Chanyeol Yoo, Ben Hollings, Stuart Anstee, Shoudong Huang, Robert Fitch

* 7 pages, 6 figures, accepted to IEEE ICRA 2019. Copyright 2019 IEEE 

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Linear SLAM: Linearising the SLAM Problems using Submap Joining

Sep 18, 2018
Liang Zhao, Shoudong Huang, Gamini Dissanayake


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Parallax Bundle Adjustment on Manifold with Convexified Initialization

Jul 10, 2018
Liyang Liu, Teng Zhang, Yi Liu, Brenton Leighton, Liang Zhao, Shoudong Huang, Gamini Dissanayake


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MIS-SLAM: Real-time Large Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing

Mar 27, 2018
Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang, Gamini Dissanayake

* Submitted to conference 

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An Invariant-EKF VINS Algorithm for Improving Consistency

Mar 01, 2017
Teng Zhang, Kanzhi Wu, Daobilige Su, Shoudong Huang, Gamini Dissanayake

* submitted to The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) 

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Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM

Feb 22, 2017
Teng Zhang, Kanzhi Wu, Jingwei Song, Shoudong Huang, Gamini Dissanayake

* IEEE Robotics and Automation Letters (Volume: 2, Issue: 2, April 2017) 

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Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach

Nov 03, 2016
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake

* WAFR 2016 

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Fast, On-board, Model-aided Visual-Inertial Odometry System for Quadrotor Micro Aerial Vehicles

Jul 06, 2016
Dinuka Abeywardena, Shoudong Huang, Ben Barnes, Gamini Dissanayake, Sarath Kodagoda

* Published in 2016 IEEE International Conference on Robotics and Automation (ICRA) 
* 8 pages 

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