Odometry and mapping; place recognition; global bundle adjustment
Use mobile devices and commodity 3D lidar for low-cost and high-precision 3D building reconstruction
Real-time visual-inertial odometry robust to low parallax; Automated symbolic observability analysis and consistent optimization-based estimators; Methods for automatic IMU noise identification
Indoor point cloud mapping pipeline; real-time place recognition and localization on smartphones; motion planning and obstacle avoidance for a smart cane