Postdoctoral Researcher

LIESMARS Wuhan University

Jul 2019 – Present Wuhan Hubei China
Research about calibration, odometry, localization and mapping, for autonomous ground vehicles and seamless indoor-outdoor positioning.

Algorithm Engineer

Segway Robotics

Feb 2017 – Jun 2019 Beijing China
Develop algorithms including:

  • Area mapping with visual-inertial sensors or 2D lidars
  • Incremental odometry and visual localization
  • Spatial, temporal, deterministic, stochastic calibration

PhD student

The Ohio State University

Jan 2013 – Dec 2016 Ohio USA
Study and research odometry and mapping and calibration with GPS, inertial, color, and depth sensors

Research Topics

Maintain observability property and consistent covariance for estimators

Calibrate the camera and IMU on a mobile device

App to log synced camera and IMU frames at >25Hz

Client-server based SLAM with mobile AR sensors

Fuse RGBD and IMU data to digitalize a place

Segment remotely sensed images with edge clues

Selected Publications

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State estimation problems without absolute position measurements routinely arise in navigation of unmanned aerial vehicles, autonomous …

In recent years, commodity mobile devices equipped with cameras and inertial measurement units (IMUs) have attracted much research and …

Visual place recognition and simultaneous localization and mapping (SLAM) have recently begun to be used in real-world autonomous …

Targeted at operations without adequate global navigation satellite system signals, simultaneous localization and mapping (SLAM) has …

Navigation from one place to another involves estimating location and orientation. As such, navigation and location-based services are …

Recent Posts

What is liftJacobian? The liftJacobian appears in OKVIS when computing Jacobians for a CostFunction in Ceres Solver. It computes the …

Research involves many different tasks. To solve these tasks efficiently, quite a few tools besides pencil and paper are needed. As I …

The baby has been playing a color matching game with three identical dices. A dice has different colors on its faces. Every time, the …