As cameras and IMUs are becoming ubiquitous, visual-inertial systems for high-precision 3D motion estimation hold great potentials in a wide range of applications from metaverse to autonomous vehicles, in part because of the complementary sensing capabilities and the decreasing costs and size of these sensors. While visual-inertial navigation, alongside with SLAM, has witnessed tremendous progress in the past decade, yet certain critical aspects in the design of visual-inertial systems remain poorly explored, hindering the widespread deployment of these systems in practice. In this talk, I will present some recent research efforts of my group on advancing the state of the art of visual-inertial navigation and perception, which include OpenVINS, robocentric VIO, Schmidt-EKF for visual-inertial SLAM, visual-inertial depth learning and object tracking, semantic object SLAM, and so on. Many of the codebases have been open sourced to promote visual-inertial estimation and learning, thus broadly benefiting the whole community.
Dr Guoquan (Paul) Huang is an Associate Professor of Mechanical Engineering (ME) and Computer and Information Sciences (CIS) at the University of Delaware (UD), where he is leading the Robot Perception and Navigation Group (RPNG). He is also an Adjunct Professor at Zhejiang University and Principal Scientist at Meituan. He was a Senior Consultant (2016-2018) at the Huawei 2012 Laboratories and a Postdoctoral Associate (2012-2014) at MIT CSAIL (Marine Robotics). He received a B.Eng. (2002) in Automation (Electrical Engineering) from the University of Science and Technology Beijing, China, and an M.Sc. (2009) and Ph.D. (2012) in Computer Science from the University of Minnesota – Twin Cities. From 2003 to 2005, he was a Research Assistant (Electrical Engineering) at the Hong Kong Polytechnic University. His research interests focus on nonlinear estimation and spatial perception for autonomous vehicles and mobile devices, including probabilistic sensing, calibration, localization, mapping, tracking, perception and navigation of ground, aerial and underwater vehicles. He served as an Associate Editor for the IEEE Transactions on Robotics (T-RO), IEEE Robotics and Automation Letters (RA-L), and IET Cyber-Systems and Robotics (CSR), as well as the two robotics flagship conferences (ICRA and IROS).
Dr Huang has received multiple honors and awards including the 2015 UD Research Award (UDRF), 2015 NASA DE Space Research Seed Award, 2016 NSF CRII Award, 2018 SATEC Robotics Delegation (ASME), 2018 Google Daydream Faculty Research Award, 2019 Google AR/VR Faculty Research Award, 2022 Google AI Faculty Research Award, and the IROS 2019 FPV Drone Racing VIO Competition Champion. He was the recipient of the 2022 GNC Best Overseas Paper Award, ICRA 2022 Outstanding Navigation Paper Award, ICRA 2021 Best Paper Award Finalist (Robot Vision) and 2009 RSS Best Paper Award Finalist.