Jianzhu Huai

2 accepted papers

2023

4D iRIOM: 4D Imaging Radar Inertial Odometry and Mapping

Yuan Zhuang, Binliang Wang, Jianzhu Huai, Miao Li

RA-L 2023

Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height. Previous studies have used 3D radars for ego-motion estimation.

Cited by 99 Source ↗Scholar ↗

2021

Consistent Right-Invariant Fixed-Lag Smoother with Application to Visual Inertial SLAM

Jianzhu Huai, Yukai Lin, Yuan Zhuang, Min Shi

AAAI 2021technical

State estimation problems without absolute position measurements routinely arise in navigation of unmanned aerial vehicles, autonomous ground vehicles, etc., whose proper operation relies on accurate state estimates and reliable covariances. Unaware of absolute positions, these problems have imman…

Cited by 22 Source ↗PDF ↗Scholar ↗