Chuchu Chen

Chuchu Chen
University of Delaware | UDel UD · Department of Mechanical Engineering

Bachelor of Engineering
Ph.D student in Robot Perception and Navigation Group (RPNG) at University of Delaware


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I am currently a Ph.D student in Robot Perception and Navigation Group (RPNG) at University of Delaware (UD), advised by Dr. Guoquan(Paul) Huang. My research interests focus on the state estimation, robot navigation, simultaneous localization and mapping (SLAM) and visual-inertial navigation systems (VINS), and multi-sensor systems.
August 2018 - August 2022
University of Delaware
Field of study
  • Robotics
July 2013 - July 2017
Harbin Engineering University
Field of study
  • Mechanical Engineering


Publications (6)
Full-text available
When studying the right invariant error states for consistent visual-inertial navigation system (VINS), we discover that although invariant extended Kalman filter (EKF) based VINS can consistently model system uncertainties, the features in the state can cause high computational cost in state covariance propagation compared to the standard EKF. To...
Conference Paper
Full-text available
Batch optimization based inertial measurement unit (IMU) and visual sensor fusion enables high rate localiza-tion for many robotic tasks. However, it remains a challenge to ensure that the batch optimization is computationally efficient while being consistent for high rate IMU measurements without marginalization. In this paper, we derive inspirati...


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