Kezhen Zhao

GVI-Switch: A High-Precision GNSS-Visual-Inertial State Estimator for Indoor-Outdoor Environments

We propose a high-precision GNSS-visual-inertial state estimator named GVI-Switch, augmented with a loosely coupled Error State Kalman Filter (ESKF), to achieve stable six-degree-of-freedom (6-DoF) pose estimation under varying GNSS signal conditions. First, we developed a GNSS degradation detection

ROAR a Robust Autonomous Aerial Tracking System for Challenging Scenarios

ROAR: A Robust Autonomous Aerial Tracking System for Challenging Scenarios

Autonomous tracking represents a significant advancement in the evolution of unmanned aerial vehicles (UAVs), offering applications in areas such as aerial photography and infrastructure inspection. Despite its potential, many autonomous tracking systems encounter challenges in maintaining consisten