I am a PhD candidate at the Center for Robotics and Institute of Geodesy and Geoinformation in the University of Bonn, Bonn, Germany.

My research interest focuses on sensor fusion-based robot perception and navigation.

🔥 News

2024.02: 🎉🎉 A paper on EKF-based high-frequency LiDAR-inertial odometry (LIO-EKF) has been accepted to ICRA. Try the code!
2023.10: 🎉🎉 A completely new version of the Wheel-INS code supporting both Linux and Windows is released! Check it out!
2023.02: 🎉🎉 I am invited by CVlife to give an online presentation about my research on Wheel-IMU. Check out the video in Bilibili! (in Chinese)
2022.11: 🎉🎉 A paper on one wheel-mounted IMU-based SLAM (Wheel-SLAM) has been accepted to IEEE Robotics and Automation Letters.
2022.11: 🎉🎉 A paper on multiple IMUs-based wheeled robot localization (Wheel-INS2) has been accepted to IEEE Transactions on Intelligent Transportation Systems.

📝 Publications

IEEE RAL 2022

Wheel-SLAM: Simultaneous Localization and Terrain Mapping Using One Wheel-mounted IMU [PDF] [Code]

Yibin Wu, Jian Kuang, Xiaoji Niu, Jens Behley, Lasse Klingbeil, and Heiner Kuhlmann, IEEE Robotics and Automation Letters, 2022

A SLAM system using only one low-cost IMU by exploiting the road bank angles (mirrored by the robot roll angles estimated by Wheel-INS) as terrain features to enable the loop closure with a Rao-Blackwellized particle filter. The weights of the particles are updated according to the difference between the currently estimated roll sequence and the terrain map.

IEEE TITS 2022

Wheel-INS2: Multiple MEMS IMU-based Dead Reckoning System with Different Configurations for Wheeled Robots [PDF]

Yibin Wu, Jian Kuang, Xiaoji Niu, IEEE Transactions on Intelligent Transportation Systems, 2022

A multiple IMUs-based localization system for wheeled robots by obtaining different dynamic information of the vehicle and taking advantage of the relative spatial constraints among the inertial sensors with a comparison of different configurations, e.g., one body-mounted IMU (Body-IMU) plus one wheel-mounted IMU (Wheel-IMU), dual Wheel-IMUs, and dual Wheel-IMUs plus one Body-IMU.

IEEE TVT 2021

A Comparison of Three Measurement Models for the Wheel-mounted MEMS IMU-based Dead Reckoning System [PDF]

Yibin Wu, Xiaoji Niu, Jian Kuang, IEEE Transactions on Vehicular Technology, 2021

A thorough and complete comparison of three different measurement models (vehicle velocity information obtained from the wheel-mounted IMU) in Wheel-INS with both theoretical analysis and experimental illustration.

IEEE TVT 2021

Wheel-INS: A Wheel-mounted MEMS IMU-based Dead Reckoning System [PDF] [Code]

Xiaoji Niu, Yibin Wu, Jian Kuang, IEEE Transactions on Vehicular Technology, 2021

A robust and accurate localization system for the wheeled robots using one low-cost wheel-mounted IMU by taking advantage of rotation modulation.

A MEMS IMU and motion constraint-based positioning algorithm for shared bicycles, Xiaoji Niu, Longyang Ding, Jian Kuang, Yibin Wu (Corresponding author), Journal of Chinese Inertial Technology, 2021 (in Chinese)(Longyang Ding was an undergraduate student supervised by me. He won the Special Prize of the 12th China Undergraduate Contest on Surveying & Mapping Technical Paper based on this project.) [PDF]
Artificial Marker and MEMS IMU-Based Pose Estimation Method to Meet Multi-rotor UAV Landing Requirements, Yibin Wu, Xiaoji Niu, Junwei Du, Le Chang, Hailiang Tang, Hongping Zhang, Sensors, 2019 [PDF]

ICRA 2024

LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters [PDF] [Code]

Yibin Wu, Tiziano Guadagnino, Louis Wiesmann, Lasse Klingbeil, Cyrill Stachniss, and Heiner Kuhlmann, ICRA, 2024

A high-frequency LiDAR-inertial odometry system based on adaptive point-to-point registration and EKF, achieving comparative accuracy to the state-of-the-art.

Formula Derivation and Analysis of the VINS-Mono, Yibin Wu, 2019 (A detailed and comprehensive formula derivation of VINS-Mono, one of the state-of-the-art visual-inertial odometry systems.)

2020.05 Outstanding Master Graduate
2019.12 Outstanding Postgraduate Student
2019.08 First prize (1.97%) and Best Paper Award (0.41%) in the 14th China Graduate Electronic Design Competition
2019.08 Third prize in the 6th China Graduate Contest on Smart-city Technology and Creative Design
2016.12 National Encouragement Scholarship (Undergraduate) of China

2018.09 - 2018.12, Research Intern in the HD map group at Momenta, Beijing, China.