CalibKit: A Versatile Development Kit for Visual/Inertial/LiDAR and Industial Robot Calibration

Three-Axis Magnetometer Calibration on Euclidean-Oblique Product Manifold

Lecture page for AAE4011, Semester 2, 2025-2026

Satellite Positioning Data for Complex Urban Scenarios.

LF-GNSS: A Fundamental Framework for Exploring Learning and Filtering Integration in GNSS

Super Efficient Attitude Estimator on Xilinx Zynq-7000 FPGA

Tutorial for ION GNSS 2025 Factor Graph Tutorial

Evaluation of various Pre-integrated IMU Factors

GREAT-PVT: Precision Positioning and Navigation Software by Wuhan University GREAT Group

Lecture page for AAE4011, Semester 2, 2024-2025

A novel Real-time Kinematic positioning architecture with Enhanced Velocity Constraints (RTK-EVC) via Factor Graph Optimization in GNSS-challenged Environments.

My Updated CV Compiled in Latex

A-hybrid-particle-stochastic-map-filter

Illustrations for manifold learning in Wasserstein space

Tightly-coupled Visual/Inertial/Map Integration with Observability Analysis for Reliable Localization of Intelligent Vehicles

Joinied Positioning and Control Model Based on Factor Graph Optimization (FGO)

An Optimization-Based GNSS/INS Integrated Navigation System

A novel architecture in which the Factor Graph Optimization (FGO) is hybrid with the Extended Kalman Filter (EKF) for tightly coupled GNSS/UWB integration with online Temporal calibration (FE-GUT).

iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry

Minimal Solvers for Quadratic Pose Estimation Problems (QPEPs)

POT : Python Optimal Transport

Equivariant Filter implementation for attitude, gyroscope bias and calibration estimation. From "Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration"

Source code for examples in Book "Robust Adaptive Dynamic Programming"

C++ library to implement invariant extended Kalman filtering for aided inertial navigation.

Lightweighted graph optimization (Factor graph) library.