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.

	Fast and Robust Learned Single-View Depth-aided Monocular Visual-Inertial Initialization Nate Merrill^, Patrick Geneva^, Saimouli Katragadda, Chuchu Chen, Guoquan Huang International Journal of Robotics Research, 2024 bibtex / pdf
	Online Determination of Legged Kinematics Chinmay Burgul, Woosik Lee, Patrick Geneva, Guoquan Huang Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024 bibtex / pdf / tech report / video
	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, Guoquan Huang IEEE International Conference on Robotics and Automation (ICRA), 2024 bibtex / pdf / arXiv / tech report / video
	Multi-Visual-Inertial System: Analysis, Calibration and Estimation Yulin Yang, Patrick Geneva, Guoquan Huang The International Journal of Robotics Research, 2024 bibtex / pdf / arXiv / tech report / dataset
	MINS: Efficient and Robust Multisensor-aided Inertial Navigation System Woosik Lee, Patrick Geneva, Chuchu Chen, Guoquan Huang arXiv, 2024 bibtex / pdf / arXiv / code
	Optimization-based VINS: Consistency, Marginalization, and FEJ Chuchu Chen, Patrick Geneva, Yuxiang Peng, Woosik Lee, Guoquan Huang 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 bibtex / pdf / tech report / talk / slides
	Monocular Visual-Inertial Odometry with Planar Regularities Chuchu Chen^, Patrick Geneva^, Yuxiang Peng, Woosik Lee, Guoquan Huang 2023 International Conference on Robotics and Automation (ICRA), 2023 bibtex / pdf / video / talk / code / dataset / slides / poster
	Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy Yulin Yang, Patrick Geneva, Xingxing Zuo, Guoquan Huang IEEE Transactions on Robotics, 2023 bibtex / pdf / arXiv / tech report / video / code
	Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth Nathaniel Merrill^, Patrick Geneva^, Saimouli Katragadda, Chuchu Chen, Guoquan Huang Robotics: Science and Systems XIV, 2023 bibtex / pdf / tech report / video / talk / slides / poster
	Visual-Inertial-Aided Online MAV System Identification Chuchu Chen^, Yulin Yang^, Patrick Geneva, Woosik Lee, Guoquan Huang 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 bibtex / pdf / tech report / video / talk / slides
	Map-based Visual-Inertial Localization: A Numerical Study Patrick Geneva, Guoquan Huang 2022 International Conference on Robotics and Automation (ICRA), 2022 bibtex / pdf / tech report / video / talk / slides / poster
	FEJ2: A Consistent Visual-Inertial State Estimator Design Chuchu Chen, Yulin Yang, Patrick Geneva, Guoquan Huang 2022 International Conference on Robotics and Automation (ICRA), 2022 bibtex / pdf / tech report / talk / slides / poster
	Tightly-coupled GNSS-aided Visual-Inertial Localization Woosik Lee, Patrick Geneva, Yulin Yang, Guoquan Huang 2022 International Conference on Robotics and Automation (ICRA), 2022 bibtex / pdf / talk / slides / poster
	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 / pdf / 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 / dataset / 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 / talk / slides
	Online IMU Intrinsic Calibration: Is It Necessary? Yulin Yang, Patrick Geneva, Xingxing Zuo, Guoquan Huang Robotics: Science and Systems XVI, 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 / pdf / 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 / pdf / tech report / video / poster
	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 / pdf / video / slides
	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 / slides
	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 / slides
	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 / poster
	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 / pdf / 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 / talk / slides / poster
	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 / poster
	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 / slides
	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 / poster
	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.