Jiawei Xia

2 accepted papers

2025

CVIRO: A Consistent and Tightly-Coupled Visual-Inertial-Ranging Odometry on Lie Groups

Yizhi Zhou, Ziwei Kang, Jiawei Xia, Xuan Wang

IROS 2025

Ultra-Wideband (UWB) is widely used to mitigate drift in visual-inertial odometry (VIO) systems. Consistency is crucial for ensuring the estimation accuracy of a UWB-aided VIO system. An inconsistent estimator can degrade localization performance, where the inconsistency primarily arises from two ma

Cited by 0 Source ↗Scholar ↗

2025

Robust Online Calibration for UWB-Aided Visual-Inertial Navigation with Bias Correction

Yizhi Zhou, Jie Xu, Jiawei Xia, Zechen Hu, Weizi Li, Xuan Wang

IROS 2025

This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating UWB ranging measurements into state estimation. While sever

Cited by 0 Source ↗Scholar ↗