Wenqian Lai

2 accepted papers

2025

Infield Self-Calibration of Intrinsic Parameters for Two Rigidly Connected IMUs

Can Huang, Wenqian Lai, Ruonan Guo, Kejian J. Wu

ICRA 2025

This paper presents a study on the infield self-calibration of two rigidly connected IMUs' intrinsic parameters, without the aid of any external sensors, equipment, or specialized procedures. Specifically, we consider the calibration of gyroscope biases, gyroscope scale factors, and accelerometer bi

Cited by 0 Source ↗Scholar ↗

2024

Dual-IMU State Estimation for Relative Localization of Two Mobile Agents

Wenqian Lai, Ruonan Guo, Kejian J. Wu

ICRA 2024poster

In this paper, we address the problem of relative localization of two mobile agents. Specifically, we consider the Dual-IMU system, where each agent is equipped with one IMU, and employs relative pose observations between them. Previous works, however, typically assumed known ego motion and ignored…

Cited by 1 Source ↗Scholar ↗