Yuxiang Peng

彭昱翔
yxpeng@udel.edu

I am currently a Ph.D student in Robot Perception and Navigation Group (RPNG) under the direction of Prof. Guoquan (Paul) Huang at University of Delaware (UD). I earned my Bachelor of Engineering Degree in Mechatronics Engineering from Zhejiang University in 2019. My research focuses on state estimation in visual-inertial system.

Email / Google Scholar / LinkedIn

profile photo
Research

My research interests focus on state estimation and spatial AI, including probabilistic sensing, localization, mapping, 3D spatial perception.:

1. Efficient Visual-inertial Navigation systems (VINS)
2. Visual-inertial simultaneous localization and mapping (VI-SLAM)
3. 3D environmental perception.

secure QVIO2: Quantized MAP-based Visual-Inertial Odometry
Yuxiang Peng, Chuchu Chen and Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA) , 2025
pdf

secure Is Iteration Worth It? Revisit Its Impact in Sliding-Window VIO
Yuxiang Peng, Chuchu Chen and Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA) , 2025
pdf

secure Visual-Inertial State Estimation with Decoupled Error and State Representations
Chuchu Chen*, Yuxiang Peng* and Guoquan Huang
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2024
pdf

secure Ultrafast Square-Root Filter-based VINS
Yuxiang Peng, Chuchu Chen and Guoquan Huang [ICRA 2024 Best Paper Award Finalist (Robot Vision)]
IEEE International Conference on Robotics and Automation (ICRA) , 2024
pdf / tech report

secure Quantized Visual-Inertial Odometry
Chuchu Chen, Yuxiang Peng and Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA) , 2024
pdf

secure Fast and Consistent Covariance Recovery for Sliding-window Optimization-based VINS
Chuchu Chen, Yuxiang Peng and Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA) , 2024
pdf / tech report

secure NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System
Saimouli Katragadda, Woosik Lee, Yuxiang Peng, Patrick Geneva,
Chuchu Chen, Chao Guo, Mingyang Li and Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA), 2024
pdf / tech report

secure Optimization-based VINS: Consistency, Marginalization, and FEJ
Chuchu Chen, Patrick Geneva, Yuxiang Peng, Woosik Lee and Guoquan Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
pdf / tech report / slides / talk

secure Monocular Visual-Inertial Odometry with Planar Regularities
Chuchu Chen*, Patrick Geneva*, Yuxiang Peng, Woosik Lee, and Guoquan Huang
International Conference on Robotics and Automation (ICRA), 2023
pdf / video / slides / talk / dataset / source code


Special thanks to Jon Barron, Patrick Geneva and Chuchu Chen for the website's source code.