Dr. Shenghai Yuan

I received my B.S. and Ph.D. degrees in Electrical and Electronic Engineering in 2013 and 2019, respectively, from Nanyang Technological University, Singapore. My research focuses on robotics perception and navigation. Currently, I am a senior research fellow at the Centre for Advanced Robotics Technology Innovation (CARTIN) at Nanyang Technological University, Singapore. My research interest lies in robotics, with a focus on SLAM, sensor fusion, and autonomous navigation in challenging environments such as mines and dynamic human-robot spaces, aiming to advance adaptive and collaborative robotic systems.

I have authored over 140 papers in top-tier journals such as TRO, IJRR, ISPRS, TIE, and RAL, as well as at prestigious conferences like ICRA, CVPR, ICCV, NeurIPS, and IROS. I also actively contribute as a reviewer for all these journals and conferences. I`ve been cited more than 2100 times as a robotics researcher. Additionally, I serve as an associate editor for the WSPC Unmanned Systems Journal and a guest editor for MDPI the Electronics Journal special issue on Advanced Technologies of Navigation for Intelligent Vehicles.

Throughout my academic journey and professional career, I have always been passionate about mentoring and guiding others. I have had the privilege of mentoring or co-supervising over 120 undergraduate Design and Innovation project students, more than 25 undergraduate Final Year Project students, 16 Master’s students, and nine doctoral students. Beyond one-on-one mentorship, I have shared my expertise through more than five seminar talks, reaching a combined audience of over 5,000 participants, both online and in person. Currently, I am seeking an academic position where I can further contribute to education, innovation, and research in the field.

news

Jun 16, 2025	🎉 Eight papers and one workshop accepted to IROS 2025, including our CARIC 2025 competition on UAV swarm inspection! 🔗 Join the challenge: https://ntu-aris.github.io/caric
Jun 13, 2025	🎉 One paper has been accepted by CVPR 2025. Thanks to my collaborators for the great teamwork. 🏅 I have also been recognized as an Outstanding Reviewer for CVPR 2025. Thanks to the CVPR community and area chairs for the recognition.
Feb 11, 2025	Two papers are accepted by IEEE Transactions on Robotics (TRO)
Jan 29, 2025	Seven papers are accepted by ICRA 2025
Dec 24, 2024	Two papers accepted by ICASSP 2025
Nov 25, 2024	One paper “Robust Loop Closure by Textual Cues” is accepted by RAL
Oct 31, 2024	We release the GPTR, a continuous-time trajectory representation based on gaussian process for motion estimation. Check out the paper and the source code!
Oct 17, 2024	I`m invited to serve as IROS chair of three sessions.
Oct 13, 2024	Organized and chair of IROS 2024 Workshop on Multi-Robot Perception and Navigation Challenges in Logistics and Inspection Tasks. Here are the winning teams Leaderboard. Congratulations.
Sep 22, 2024	One paper accepted by TCST
Jun 29, 2024	Four papers are accepted by IROS 2024
Jun 13, 2024	One LIO paper “MM-LINS” is accepted by TIV
May 31, 2024	Track 5 of the 7th UG2+ Workshop (in conjunction with CVPR 2024) has been completed. Results are available Here! Congratulations to all the winners!
Apr 05, 2024	One paper accepted by CVPR 2024
Jan 29, 2024	Four papers are accepted by ICRA 2024

selected publications

SGBA: Semantic Gaussian Mixture Model-Based LiDAR Bundle Adjustment

Xingyu Ji, Shenghai Yuan^*, Jianping Li, Pengyu Yin, Haozhi Cao, and Lihua Xie

IEEE Robotics and Automation Letters, 2024

DOI arXiv Bib HTML Video Code

@article{ji2024sgba,
  title = {SGBA: Semantic Gaussian Mixture Model-Based LiDAR Bundle Adjustment},
  author = {Ji, Xingyu and Yuan, Shenghai and Li, Jianping and Yin, Pengyu and Cao, Haozhi and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters},
  year = {2024},
  doi = {10.1109/LRA.2024.3479699},
  publisher = {IEEE}
}

AIR-Embodied: An Efficient Active 3DGS-based Interaction and Reconstruction Framework with Embodied Large Language Model

Zhenghao Qi, Shenghai Yuan^*, Fen Liu, Haozhi Cao, Tianchen Deng, Jianfei Yang, and Lihua Xie

arXiv preprint arXiv:2409.16019, 2024

Bib Video

@article{qi2024air,
  title = {AIR-Embodied: An Efficient Active 3DGS-based Interaction and Reconstruction Framework with Embodied Large Language Model},
  author = {Qi, Zhenghao and Yuan, Shenghai and Liu, Fen and Cao, Haozhi and Deng, Tianchen and Yang, Jianfei and Xie, Lihua},
  journal = {arXiv preprint arXiv:2409.16019},
  year = {2024}
}

Distance-Based Multiple Noncooperative Ground Target Encirclement for Complex Environments

Fen Liu, Shenghai Yuan^*, Kun Cao, Wei Meng, and Lihua Xie

IEEE Transactions on Control Systems Technology, 2024

DOI arXiv Bib HTML Video Code

@article{liu2024distance,
  title = {Distance-Based Multiple Noncooperative Ground Target Encirclement for Complex Environments},
  author = {Liu, Fen and Yuan, Shenghai and Cao, Kun and Meng, Wei and Xie, Lihua},
  journal = {IEEE Transactions on Control Systems Technology},
  year = {2024},
  doi = {10.1109/TCST.2024.3469032},
  publisher = {IEEE}
}

MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats

Shenghai Yuan, Yizhuo Yang, Thien Hoang Nguyen, Thien-Minh Nguyen, Jianfei Yang, Fen Liu, Jianping Li, Han Wang, and Lihua Xie

In In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2024

DOI arXiv Bib HTML Video Code

@inproceedings{yuan2024MMAUD,
  author = {Yuan, Shenghai and Yang, Yizhuo and Nguyen, Thien Hoang and Nguyen, Thien-Minh and Yang, Jianfei and Liu, Fen and Li, Jianping and Wang, Han and Xie, Lihua},
  booktitle = {In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  title = {MMAUD: A Comprehensive Multi-Modal Anti-UAV Dataset for Modern Miniature Drone Threats},
  year = {2024},
  pages = {2745-2751},
  doi = {10.1109/ICRA57147.2024.10610957}
}

Mcd: Diverse large-scale multi-campus dataset for robot perception

Thien-Minh Nguyen, Shenghai Yuan^*, Thien Hoang Nguyen, Pengyu Yin, Haozhi Cao, Lihua Xie, Maciej Wozniak, Patric Jensfelt, Marko Thiel, Justin Ziegenbein, and others

In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2024

arXiv Bib HTML Supp Code

@inproceedings{nguyen2024mcd,
  title = {Mcd: Diverse large-scale multi-campus dataset for robot perception},
  author = {Nguyen, Thien-Minh and Yuan, Shenghai and Nguyen, Thien Hoang and Yin, Pengyu and Cao, Haozhi and Xie, Lihua and Wozniak, Maciej and Jensfelt, Patric and Thiel, Marko and Ziegenbein, Justin and others},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages = {22304--22313},
  year = {2024}
}

Ntu viral: A visual-inertial-ranging-lidar dataset, from an aerial vehicle viewpoint

Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao, Yang Lyu, Thien H Nguyen, and Lihua Xie

The International Journal of Robotics Research, 2022

Bib

@article{nguyen2022ntu,
  title = {Ntu viral: A visual-inertial-ranging-lidar dataset, from an aerial vehicle viewpoint},
  author = {Nguyen, Thien-Minh and Yuan, Shenghai and Cao, Muqing and Lyu, Yang and Nguyen, Thien H and Xie, Lihua},
  journal = {The International Journal of Robotics Research},
  volume = {41},
  number = {3},
  pages = {270--280},
  year = {2022},
  publisher = {SAGE Publications Sage UK: London, England}
}