Patrick Geneva

I am a PhD Canidate at University of Delaware College of Engineering, where I work on robotics and state estimation.

I am currently conducting research in the Robot Perception and Navigation Group (RPNG) under the direction of Prof. Guoquan (Paul) Huang. I have received the University Doctoral Fellowship Award, NASA Delaware Space Grant (DESG) Graduate Fellowship, and Mary and George Nowinski Award for Excellence in Undergraduate Research Award during my time performing research. I received my Bachelor in Mechanical Engineering with Computer Science and Mathematics Minors from the University of Delaware in 2017.

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Research

My primary interest is enabling autonomy for robots through robust and accurate state estimation. Much of my research is mainly focused on visual (cameras) and inertial (IMUs) sensing modalities, but have dabbled in different sensing types to try to either improve robustness or increase overall trajectory accuracy. I also maintain the OpenVINS project, which is a state-of-the-art filter-based visual-inertial estimator that was developed in house by our research group. I have highlighted papers that are of special interest or what I consider my most interesting works.

Visual-Inertial-Aided Online MAV System Identification
Chuchu Chen, Yulin Yang, Patrick Geneva, Woosik Lee, Guoquan Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
bibtex / pdf / tech report / video / talk

Map-based Visual-Inertial Localization: A Numerical Study
Patrick Geneva, Guoquan Huang
International Conference on Robotics and Automation (ICRA), 2022
bibtex / pdf / tech report / video / talk

FEJ2: A Consistent Visual-Inertial State Estimator Design
Chuchu Chen, Yulin Yang, Patrick Geneva, Guoquan Huang
International Conference on Robotics and Automation (ICRA), 2022
bibtex / pdf / tech report / talk

Tightly-coupled GNSS-aided Visual-Inertial Localization
Woosik Lee, Patrick Geneva, Yulin Yang, Guoquan Huang
International Conference on Robotics and Automation (ICRA), 2022
bibtex / pdf / talk

Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy
Yulin Yang, Patrick Geneva, Xingxing Zuo, Guoquan Huang
arXiv, 2022
bibtex / pdf / arXiv

Robust monocular visual-inertial depth completion for embedded systems
Nathaniel Merrill, Patrick Geneva, Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA), 2021
bibtex / pdf / video / talk / slides

MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System
Kevin Eckenhoff, Patrick Geneva, Guoquan Huang
IEEE Transactions on Robotics, 2021
bibtex / arXiv / video

Distributed Visual-Inertial Cooperative Localization
Pengxiang Zhu, Patrick Geneva, Wei Ren, Guoquan Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
bibtex / pdf / arXiv / video / talk / slides

iCalib: Inertial Aided Multi-Sensor Calibration
Yulin Yang, Woosik Lee, Philip Osteen, Patrick Geneva, Xingxing Zuo, Guoquan Huang
Workshop on Visual-Inertial Navigation Systems, 2021
bibtex / pdf / talk / slides

OpenVINS: A Research Platform for Visual-Inertial Estimation
Patrick Geneva, Kevin Eckenhoff, Woosik Lee, Yulin Yang, Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA), 2020
bibtex / pdf / video / talk / code / slides

Schmidt-EKF-based Visual-Inertial Moving Object Tracking
Kevin Eckenhoff, Patrick Geneva, Nathaniel Merrill, Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA), 2020
bibtex / pdf / video / talk / slides

Intermittent GPS-aided VIO: Online Initialization and Calibration
Woosik Lee, Kevin Eckenhoff, Patrick Geneva, Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA), 2020
bibtex / pdf / tech report / video / talk / slides

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

Visual-Inertial-Wheel Odometry with Online Calibration
Woosik Lee, Kevin Eckenhoff, Yulin Yang, Patrick Geneva, Guoquan Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
bibtex / pdf / tech report / video / slides

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 Huang, Marc Pollefeys
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
bibtex / pdf / arXiv / tech report / video / slides

Online IMU Intrinsic Calibration: Is It Necessary?
Yulin Yang, Patrick Geneva, Xingxing Zuo, Guoquan Huang
Robotics: Science and Systems XVI. Robotics: Science and Systems Foundation, 2020
bibtex / pdf / tech report / talk / slides

Tightly-Coupled Visual-Inertial Localization and 3D Rigid-Body Target Tracking
Kevin Eckenhoff, Yulin Yang, Patrick Geneva, Guoquan Huang
IEEE Robotics and Automation Letters, 2019
bibtex / tech report / video / slides

Degenerate Motion Analysis for Aided INS with Online Spatial and Temporal Calibration
Yulin Yang, Patrick Geneva, Kevin Eckenhoff, Guoquan Huang
IEEE Robotics and Automation Letters, 2019
bibtex / tech report / video

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

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

LIC-Fusion: LiDAR-Inertial-Camera Odometry
Xingxing Zuo, Patrick Geneva, Woosik Lee, Yong Liu, Guoquan Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
bibtex / pdf / arXiv / video

A Linear-Complexity EKF for Visual-Inertial Navigation with Loop Closures
Patrick Geneva, Kevin Eckenhoff, Guoquan Huang
International Conference on Robotics and Automation (ICRA), 2019
bibtex / pdf / tech report / video / poster

Multi-Camera Visual-Inertial Navigation with Online Intrinsic and Extrinsic Calibration
Kevin Eckenhoff, Patrick Geneva, Jesse Bloecker, Guoquan Huang
International Conference on Robotics and Automation (ICRA), 2019
bibtex / pdf / tech report / video

Sensor-Failure-Resilient Multi-IMU Visual-Inertial Navigation
Kevin Eckenhoff, Patrick Geneva, Guoquan Huang
International Conference on Robotics and Automation (ICRA), 2019
bibtex / pdf / video

Tightly-Coupled Aided Inertial Navigation with Point and Plane Features
Yulin Yang, Patrick Geneva, Xingxing Zuo, Kevin Eckenhoff, Yong Liu, Guoquan Huang
International Conference on Robotics and Automation (ICRA), 2019
bibtex / pdf / tech report / video

An Efficient Schmidt-EKF for 3D Visual-Inertial SLAM
Patrick Geneva, James Maley, Guoquan Huang
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2019
bibtex / pdf / arXiv / tech report / video / poster

Closed-form Preintegration Methods for Graph-based Visual-Inertial Navigation
Kevin Eckenhoff, Patrick Geneva, Guoquan Huang
The International Journal of Robotics Research, 2019
bibtex / arXiv / tech report / video

OpenVINS: A Research Platform for Visual-Inertial Estimation
Patrick Geneva, Kevin Eckenhoff, Woosik Lee, Yulin Yang, Guoquan Huang
Workshop on Visual-Inertial Navigation: Challenges and Applications, 2019
bibtex / pdf / code / poster

Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization
Patrick Geneva, Kevin Eckenhoff, Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA), 2018
bibtex / pdf / tech report / video / slides

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

Direct Visual-Inertial Navigation with Analytical Preintegration
Kevin Eckenhoff, Patrick Geneva, Guoquan Huang
IEEE International Conference on Robotics and Automation (ICRA), 2017
bibtex / pdf / video

Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization
Patrick Geneva, Kevin Eckenhoff, Guoquan Huang
Proc. of the 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, 2017
bibtex / pdf / video / slides

High-Accuracy Preintegration for Visual-Inertial Navigation
Kevin Eckenhoff, Patrick Geneva, Guoquan Huang
Proc. of International Workshop on the Algorithmic Foundations of Robotics, 2016
bibtex / pdf / tech report / video / slides


Special thanks to Jon Barron for the website's source code.