Yulin Yang

I am a Ph.D. Candidate in Robot Perception and Navigation Group at University of Delaware, advised by Prof. Guoquan (Paul) Huang. My research focuses on robot navigation and state estimation.

I received Master of Science degree in Mathematics from University of Delaware in 2020, Master of Engineering degree in Mechanical Engineering from Xi'an Jiaotong University in 2012, and Bachelor of Engineering degree in Mechanical Engineering from Shandong University in 2009. I was a recipient of the University Doctoral Fellowship Award (2019-2020) at University of Delaware. I have also completed internship programs at Facebook Reality Lab and Bosch Research Institute, respectively.

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Research

My research interests are within the areas of robot navigation, simultaneous localization and mapping (SLAM), computer vision, optimization, and multi-sensor fusion, with a concentration on enabling robots to perceive the world through fusing multi-modality information from different sensors (visual cameras, IMUs, sonar, wheel encoder, 2D/3D LiDAR, GPS and so forth).

Publications

Please find below a complete list of my publications with representative papers highlighted.

secure iCalib: Inertial Aided Multi-Sensor Calibration
Yulin Yang, Woosik Lee, Philip Osteen, Patrick Geneva, Xingxing Zuo, Guoquan(Paul) Huang
VINS Workshop@ICRA, 2021
bibtex / video / slides

Inertial aided multi-sensor calibration with spatial-temporal and intrinsic calibration.
Observability analysis and degenerate motion identification.
IMU, multi-cameras, LiDAR and wheel encoder.

secure Efficient Multi-Sensor Aided Inertial Navigation with Online Calibration
Woosik Lee, Yulin Yang, Guoquan(Paul) Huang
IEEE International Conference on Robotics and Automation (ICRA), 2021
bibtex / video

MINS: a tightly-coupled IMU/CAM/LiDAR/Wheel/GPS navigation system
Plane patch-based efficient feature tracking with 10hz 64 channel LiDAR.
Intensive evaluations with realistic simulations and urban driving real world datasets.

secure Cooperative Visual-Inertial Odometry
Pengxiang Zhu, Yulin Yang, Wei Ren, Guoquan(Paul) Huang
IEEE International Conference on Robotics and Automation (ICRA), 2021
bibtex / video

Fully distributed cooperative (DISC)-VIO based on covariance intersection.
Centralized-equivalent cooperative (CEC)-VIO.

secure LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking
Xingxing Zuo, Yulin Yang, Patrick Geneva, Jiajun Lv, Yong Liu, Guoquan(Paul) Huang
International Conference on Intelligent Robots and Systems (IROS), 2020
bibtex / video

Sliding window based Lidar plane tracking.
LiDAR-Inertial-Camera fusion.
Intensive evaluations with Monte-Carlo simulations and real world datasets.

secure Visual-inertial-wheel odometry with online calibration
Woosik Lee, Kevin Eckenhoff, Yulin Yang, Patrick Geneva, Guoquan(Paul) Huang
International Conference on Intelligent Robots and Systems (IROS), 2020
bibtex / video

Tightly-coupled Visual-inertial-wheel odometry.
Observability analysis and degenerate motion identification.
Intensive evaluations with Monte-Carlo simulations and real world datasets.

secure Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization
Patrick Geneva, Nate Merrill, Yulin Yang, Chuchu Chen, Woosik Lee, Guoquan(Paul) Huang
International Conference on Intelligent Robots and Systems (IROS), 2020
bibtex / video

Exploit 2D line for improved loop detection for occupancy grid mapping.
Design EKF framework to fuse inertial, odometry and 2D LiDAR.
Intensive evaluations with Monte-Carlo simulations and real world datasets.

secure Online IMU Intrinsic Calibration: Is It Necessary?
Yulin Yang, Patrick Geneva, Xingxing Zuo, Guoquan(Paul) Huang
Robotics: Science and Systems (RSS), 2020
bibtex / video / video / video

Mono-VINS with online IMU intrinsic calibration.
Observability analysis and degenerate motion identification for IMU intrinsics.
Intensive evaluations with Monte-Carlo simulations and real world datasets.

secure Multimodal localization: Stereo over LiDAR map
Xingxing Zuo, Wenlong Ye, Yulin Yang, Renjie Zheng, Teresa Vidalā€Calleja, Guoquan(Paul) Huang, Yong Liu,
Journal of Field Robotics (JFR), 2020
bibtex

Efficient visual odometry by leveraging prior LiDRA map.
Leverage ProW-NDT for semidense visual map and prior LiDAR map registration.
Intensive evaluations with simulations and real world datasets.

secure Analytic Combined IMU Integration (ACI^2) For Visual Inertial Navigation
Yulin Yang, Benzun Pious Wisely Babu, Chuchu Chen, Guoquan(Paul) Huang, Liu Ren
IEEE International Conference on Robotics and Automation (ICRA), 2020
bibtex / video / tech report

Modularized and analytic derived IMU integration algorithm.
Graph-based VINS with IMU-CAM time offset calibration.
Evaluations with Monte-Carlo simulations and real world experiments.

secure Openvins: A research platform for visual-inertial estimation
Patrick Geneva, Kevin Eckenhoff, Woosik Lee, Yulin Yang, Guoquan(Paul) Huang
IEEE International Conference on Robotics and Automation (ICRA), 2020
bibtex / video / video / video / video / code / doc

A research platform for visual-inertial estimation.
IMU-CAM spatial-temporal calibration and cam intrinsic calibration.
Intensive evaluations with Monte-Carlo simulations and real world datasets.

secure Visual-Inertial Odometry with Point and Line Features
Yulin Yang, Patrick Geneva, Kevin Eckenhoff, Guoquan(Paul) Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
bibtex / video

Tightly-coupled VINS with point and line features.
Two line triangulation algorithms.
Degenerate motion analysis for line triangulation.

secure Visual-Inertial Localization With Prior LiDAR Map Constraints
Xingxing Zuo, Patrick Geneva, Yulin Yang, Wenlong Ye, Yong Liu, Guoquan(Paul) Huang
IEEE Robotics and Automation Letters (RAL), 2019
bibtex / video

A tightly-coupled VI system using prior LiDAR map constraints through MSCKF update.
Intensive simulations and real world experiments.

secure Observability Analysis of Aided INS with Heterogeneous Features of Points, Lines and Planes
Yulin Yang, Guoquan(Paul) Huang
IEEE Transactions on Robotics (TRO), 2019
bibtex

Unified feature representation (CP/Quaternion) for point/line/plane.
Complete observability analysis for VINS with point/line/plane
Intensive simulations for VINS with point/line/plane

secure Tightly-coupled aided inertial navigation with point and plane features
Yulin Yang, Patrick Geneva, Xingxing Zuo, Kevin Eckenhoff, Yong Liu, Guoquan(Paul) Huang
IEEE International Conference on Robotics and Automation (ICRA), 2019
bibtex / video

Tightly-coupled visual-inertial system with point and plane features.
Tested point-on-plane constraints.
Both simulations and real world experiments.

secure Aided Inertial Navigation: Unified Feature Representations and Observability Analysis
Yulin Yang, Guoquan(Paul) Huang
International Conference on Robotics and Automation (ICRA), 2019
bibtex

Unified feature representation (CP/Quaternion) for point/line/plane.
Observability analysis for VINS with point/line/plane

secure Degenerate Motion Analysis for Aided INS with Online Spatial and Temporal Sensor Calibration
Yulin Yang, Patrick Geneva, Kevin Eckenhoff, Guoquan(Paul) Huang
IEEE Robotics and Automation Letters (RAL), 2019
bibtex / video

Observability analysis for VINS with spatial-temporal calibration.
4 degenerate motion profiles for IMU-CAM calibration.
Intensive simulations and real world experiments.

secure Tightly-Coupled Visual-Inertial Localization and 3D Rigid-Body Target Tracking
Kevin Eckenhoff, Yulin Yang, Patrick Geneva, Guoquan(Paul) Huang
IEEE Robotics and Automation Letters (RAL), 2019
bibtex / video

Tightly-coupled visual-inertial target tracking.
Target represented as 3D rigid body.
Intensive simulations and real world experiments.

secure LIPS: LiDAR-Inertial 3D Plane SLAM
Patrick Geneva, Kevin Eckenhoff, Yulin Yang, Guoquan(Paul) Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
bibtex / video / code

Closest Point (CP) representation for 3D plane.
Open source code for 3D LiDAR simulator.
LiDAR based 3D plane SLAM (LIPS).

secure Aided Inertial Navigation with Geometric Features: Observability Analysis
Yulin Yang, Guoquan(Paul) Huang
IEEE International Conference on Robotics and Automation (ICRA), 2018
bibtex / video / video / video

Observability analysis for aided INS with point/line/plane.
5 dof nullspace for VINS with one line and 7 dof nullspace with one plane.
VINS simulation with point/line/plane.

secure Map-Based Localization Under Adversarial Attacks
Yulin Yang, Guoquan(Paul) Huang
The 18th International Symposium on Robotics Research (ISRR), 2017
Springer Proceedings in Advanced Robotics, 2020
bibtex / video

Attack-Resilient Map-based Localization
Yulin Yang, Guoquan(Paul) Huang
Workshop of Adversarial Robotics at RSS 2018
website

Weighted maximum correntropy criterion (MCC)-based EKF.
Secure Estimation (SE)-EKF with attack detection.
Intensive Monte-Carlo simulations and experiments on real world datasets.

Nullspace Null-Space-based Marginalization: Analysis and Algorithm
Yulin Yang, James Maley, Guoquan(Paul) Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
bibtex

Null-space is equivalent to Schur complement with i.i.d. noise.
Time complexity analysis for Null-space and Schur complement.
Analytic null-space for MSCKF.

AINS Acoustic Inertial Underwater Navigation
Yulin Yang, Guoquan(Paul) Huang
IEEE International Conference on Robotics and Automation (ICRA), 2017
bibtex

2D imaging sonar + IMU for underwater navigation.
Degenerate motion analysis for feature triangulation with sonar.
Online calibration between sonar and IMU.


Special thanks to Jon Barron for the website's source code. Feel free to use as well as contribute to it.