Chunxi Xia

2 accepted papers

2026

Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality

Baoshan Song, Matthew Giamou, Penggao Yan, Chunxi Xia, Li-Ta Hsu

RA-L 2026

Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satellite availability. Existing methods for this alignment task rely on abundant satellites unavailable in GNSS-degraded env

Cited by 0 Source ↗code ↗Scholar ↗

2025

Equivariant Filter for Tightly Coupled LiDAR-Inertial Odometry

Anbo Tao, Yarong Luo, Chunxi Xia, Chi Guo, Xingxing Li

ICRA 2025

Pose estimation is a crucial problem in simultaneous localization and mapping (SLAM). However, developing a robust and consistent state estimator remains a significant challenge, as the traditional extended Kalman filter (EKF) struggles to handle the model nonlinearity, especially for inertial measu

Cited by 3 Source ↗Scholar ↗