publications | Dr. Shenghai Yuan

2024

GPTR: Gaussian Process Trajectory Representation for Continuous-Time Motion Estimation

Thien-Minh Nguyen, Ziyu Cao, Kailai Li, Shenghai Yuan, and Lihua Xie

arXiv preprint arXiv:2410.22931, 2024

@article{nguyen2024gptr,
  title = {GPTR: Gaussian Process Trajectory Representation for Continuous-Time Motion Estimation},
  author = {Nguyen, Thien-Minh and Cao, Ziyu and Li, Kailai and Yuan, Shenghai and Xie, Lihua},
  journal = {arXiv preprint arXiv:2410.22931},
  year = {2024},
}

Robust Loop Closure by Textual Cues in Challenging Environments

Tongxing Jin, Thien-Minh Nguyen, Xinhang Xu, Yizhuo Yang, Shenghai Yuan, Jianping Li, and Lihua Xie

IEEE Robotics and Automation Letters, 2024

Bib HTML

@article{jin2024robust,
  title = {Robust Loop Closure by Textual Cues in Challenging Environments},
  author = {Jin, Tongxing and Nguyen, Thien-Minh and Xu, Xinhang and Yang, Yizhuo and Yuan, Shenghai and Li, Jianping and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters},
  year = {2024}
}

Compact 3d gaussian splatting for dense visual slam

Tianchen Deng, Yaohui Chen, Leyan Zhang, Jianfei Yang, Shenghai Yuan, Jiuming Liu, Danwei Wang, Hesheng Wang, and Weidong Chen

arXiv preprint arXiv:2403.11247, 2024

arXiv Bib HTML

@article{deng2024compact,
  title = {Compact 3d gaussian splatting for dense visual slam},
  author = {Deng, Tianchen and Chen, Yaohui and Zhang, Leyan and Yang, Jianfei and Yuan, Shenghai and Liu, Jiuming and Wang, Danwei and Wang, Hesheng and Chen, Weidong},
  journal = {arXiv preprint arXiv:2403.11247},
  year = {2024}
}

Incremental joint learning of depth, pose and implicit scene representation on monocular camera in large-scale scenes

Tianchen Deng, Nailin Wang, Chongdi Wang, Shenghai Yuan, Jingchuan Wang, Danwei Wang, and Weidong Chen

arXiv preprint arXiv:2404.06050, 2024

arXiv Bib

@article{deng2024incremental,
  title = {Incremental joint learning of depth, pose and implicit scene representation on monocular camera in large-scale scenes},
  author = {Deng, Tianchen and Wang, Nailin and Wang, Chongdi and Yuan, Shenghai and Wang, Jingchuan and Wang, Danwei and Chen, Weidong},
  journal = {arXiv preprint arXiv:2404.06050},
  year = {2024}
}

Airslam: An efficient and illumination-robust point-line visual slam system

Kuan Xu, Yuefan Hao, Shenghai Yuan, Chen Wang, and Lihua Xie

arXiv preprint arXiv:2408.03520, 2024

Bib HTML

@article{xu2024airslam,
  title = {Airslam: An efficient and illumination-robust point-line visual slam system},
  author = {Xu, Kuan and Hao, Yuefan and Yuan, Shenghai and Wang, Chen and Xie, Lihua},
  journal = {arXiv preprint arXiv:2408.03520},
  year = {2024}
}

Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment with Progressive Spatial Smoothing

Jianping Li, Thien-Minh Nguyen, Muqing Cao, Shenghai Yuan, Tzu-Yi Hung, and Lihua Xie

arXiv preprint arXiv:2410.14565, 2024

Bib

@article{li2024graph,
  title = {Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment with Progressive Spatial Smoothing},
  author = {Li, Jianping and Nguyen, Thien-Minh and Cao, Muqing and Yuan, Shenghai and Hung, Tzu-Yi and Xie, Lihua},
  journal = {arXiv preprint arXiv:2410.14565},
  year = {2024}
}

GERA: Geometric Embedding for Efficient Point Registration Analysis

Geng Li, Haozhi Cao, Mingyang Liu, Shenghai Yuan, and Jianfei Yang

arXiv preprint arXiv:2410.00589, 2024

Bib

@article{li2024gera,
  title = {GERA: Geometric Embedding for Efficient Point Registration Analysis},
  author = {Li, Geng and Cao, Haozhi and Liu, Mingyang and Yuan, Shenghai and Yang, Jianfei},
  journal = {arXiv preprint arXiv:2410.00589},
  year = {2024}
}

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}
}

Reliable Spatial-Temporal Voxels For Multi-Modal Test-Time Adaptation

Haozhi Cao, Yuecong Xu, Jianfei Yang, Pengyu Yin, Xingyu Ji, Shenghai Yuan, and Lihua Xie

In In Proceedings of the European Conference on Computer Vision, 2024

Bib

@inproceedings{cao2025reliable,
  title = {Reliable Spatial-Temporal Voxels For Multi-Modal Test-Time Adaptation},
  author = {Cao, Haozhi and Xu, Yuecong and Yang, Jianfei and Yin, Pengyu and Ji, Xingyu and Yuan, Shenghai and Xie, Lihua},
  booktitle = {In Proceedings of the European Conference on Computer Vision},
  pages = {232--249},
  year = {2024},
  organization = {Springer}
}

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}
}

HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions

Jianping Li, Qiutong Leng, Jinxing Liu, Xinhang Xu, Tongxin Jin, Muqing Cao, Thien-Minh Nguyen, Shenghai Yuan, Kun Cao, and Lihua Xie

arXiv preprint arXiv:2409.05006, 2024

Bib

@article{li2024helmetposer,
  title = {HelmetPoser: A Helmet-Mounted IMU Dataset for Data-Driven Estimation of Human Head Motion in Diverse Conditions},
  author = {Li, Jianping and Leng, Qiutong and Liu, Jinxing and Xu, Xinhang and Jin, Tongxin and Cao, Muqing and Nguyen, Thien-Minh and Yuan, Shenghai and Cao, Kun and Xie, Lihua},
  journal = {arXiv preprint arXiv:2409.05006},
  year = {2024}
}

ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges

Thien-Minh Nguyen, Yizhuo Yang, Tien-Dat Nguyen, Shenghai Yuan, and Lihua Xie

arXiv preprint arXiv:2409.11122, 2024

Bib

@article{nguyen2024uloc,
  title = {ULOC: Learning to Localize in Complex Large-Scale Environments with Ultra-Wideband Ranges},
  author = {Nguyen, Thien-Minh and Yang, Yizhuo and Nguyen, Tien-Dat and Yuan, Shenghai and Xie, Lihua},
  journal = {arXiv preprint arXiv:2409.11122},
  year = {2024}
}

Collaborative Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization

Ruofei Bai, Shenghai Yuan, Hongliang Guo, Pengyu Yin, Wei-Yun Yau, and Lihua Xie

In In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2024

arXiv Bib Video Code

@inproceedings{bai2024collaborative,
  title = {Collaborative Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization},
  author = {Bai, Ruofei and Yuan, Shenghai and Guo, Hongliang and Yin, Pengyu and Yau, Wei-Yun and Xie, Lihua},
  booktitle = {In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2024},
  month = oct
}

I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry

YuWen Lu, Jie Xu, Chengwei Zhao, Lijun Zhao, Thien-Minh Nguyen, Shenghai Yuan, Mingming Bai, and Lihua Xie

In In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2024

arXiv Bib Video Code

@inproceedings{lu2024i2ekflo,
  title = {I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry},
  author = {Lu, YuWen and Xu, Jie and Zhao, Chengwei and Zhao, Lijun and Nguyen, Thien-Minh and Yuan, Shenghai and Bai, Mingming and Xie, Lihua},
  booktitle = {In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2024},
  month = oct
}

PSS-BA: LiDAR Bundle Adjustment with Progressive Spatial Smoothing

Jianping Li, Thien-Minh Nguyen, Shenghai Yuan, and Lihua Xie

In In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2024

arXiv Bib Video

@inproceedings{li2024pssba,
  title = {PSS-BA: LiDAR Bundle Adjustment with Progressive Spatial Smoothing},
  author = {Li, Jianping and Nguyen, Thien-Minh and Yuan, Shenghai and Xie, Lihua},
  booktitle = {In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2024},
  month = oct
}

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, Oct 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}
}

M-DIVO: Multiple ToF RGB-D Cameras Enhanced Depth-Inertial-Visual Odometry

Jie Xu, Wenlu Yu, Song Huang, Shenghai Yuan, Lijun Zhao, Ruifeng Li, and Lihua Xie

IEEE Internet of Things Journal, Oct 2024

DOI Bib HTML

@article{xu2024m,
  title = {M-DIVO: Multiple ToF RGB-D Cameras Enhanced Depth-Inertial-Visual Odometry},
  author = {Xu, Jie and Yu, Wenlu and Huang, Song and Yuan, Shenghai and Zhao, Lijun and Li, Ruifeng and Xie, Lihua},
  journal = {IEEE Internet of Things Journal},
  year = {2024},
  doi = {10.1109/JIOT.2024.3434588},
  publisher = {IEEE}
}

A Fast and Light-Weight NonIterative Visual Odometry with RGB-D Cameras

Zheng Yang, Kuan Xu, Shenghai Yuan, and Lihua Xie

Unmanned Systems, Oct 2024

Bib

@article{yang2024fast,
  title = {A Fast and Light-Weight NonIterative Visual Odometry with RGB-D Cameras},
  author = {Yang, Zheng and Xu, Kuan and Yuan, Shenghai and Xie, Lihua},
  journal = {Unmanned Systems},
  pages = {1--13},
  year = {2024},
  publisher = {World Scientific}
}

AV-FDTI: Audio-visual fusion for drone threat identification

Yizhuo Yang, Shenghai Yuan, Jianfei Yang, Thien Hoang Nguyen, Muqing Cao, Thien-Minh Nguyen, Han Wang, and Lihua Xie

Journal of Automation and Intelligence, Oct 2024

Bib

@article{yang2024av,
  title = {AV-FDTI: Audio-visual fusion for drone threat identification},
  author = {Yang, Yizhuo and Yuan, Shenghai and Yang, Jianfei and Nguyen, Thien Hoang and Cao, Muqing and Nguyen, Thien-Minh and Wang, Han and Xie, Lihua},
  journal = {Journal of Automation and Intelligence},
  volume = {3},
  number = {3},
  pages = {144--151},
  year = {2024},
  publisher = {Elsevier}
}

MM-LINS: a Multi-Map LiDAR-Inertial System for Over-Degenerate Environments

Yongxin Ma, Jie Xu, Shenghai Yuan, Tian Zhi, Wenlu Yu, Jun Zhou, and Lihua Xie

IEEE Transactions on Intelligent Vehicles, Oct 2024

Bib

@article{ma2024mm,
  title = {MM-LINS: a Multi-Map LiDAR-Inertial System for Over-Degenerate Environments},
  author = {Ma, Yongxin and Xu, Jie and Yuan, Shenghai and Zhi, Tian and Yu, Wenlu and Zhou, Jun and Xie, Lihua},
  journal = {IEEE Transactions on Intelligent Vehicles},
  year = {2024},
  volume = {},
  number = {},
  pages = {1-11},
  publisher = {IEEE}
}

HCTO: Optimality-aware LiDAR inertial odometry with hybrid continuous-time optimization for compact wearable mapping system

Jianping Li, Shenghai Yuan, Muqing Cao, Thien-Minh Nguyen, Kun Cao, and Lihua Xie

ISPRS Journal of Photogrammetry and Remote Sensing, Oct 2024

Bib

@article{li2024hcto,
  title = {HCTO: Optimality-aware LiDAR inertial odometry with hybrid continuous-time optimization for compact wearable mapping system},
  author = {Li, Jianping and Yuan, Shenghai and Cao, Muqing and Nguyen, Thien-Minh and Cao, Kun and Xie, Lihua},
  journal = {ISPRS Journal of Photogrammetry and Remote Sensing},
  volume = {211},
  pages = {228--243},
  year = {2024},
  publisher = {Elsevier}
}

Jacquard V2: Refining Datasets using the Human In the Loop Data Correction Method

Qiuhao Li, and Shenghai Yuan

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

DOI Bib

@inproceedings{li2024jacquard,
  author = {Li, Qiuhao and Yuan, Shenghai},
  booktitle = {In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  title = {Jacquard V2: Refining Datasets using the Human In the Loop Data Correction Method},
  year = {2024},
  volume = {},
  number = {},
  pages = {7932-7938},
  keywords = {Training;Visualization;Accuracy;Annotations;Web and internet services;Training data;Grasping;dataset refinement;human in the loop;robotic vision grasping;Pseudo-Label generation},
  doi = {10.1109/ICRA57147.2024.10611652}
}

Mopa: Multi-modal prior aided domain adaptation for 3d semantic segmentation

Haozhi Cao, Yuecong Xu, Jianfei Yang, Pengyu Yin, Shenghai Yuan, and Lihua Xie

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

Bib

@inproceedings{cao2024mopa,
  title = {Mopa: Multi-modal prior aided domain adaptation for 3d semantic segmentation},
  author = {Cao, Haozhi and Xu, Yuecong and Yang, Jianfei and Yin, Pengyu and Yuan, Shenghai and Xie, Lihua},
  booktitle = {In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {9463--9470},
  year = {2024},
  organization = {IEEE}
}

Outram: One-shot global localization via triangulated scene graph and global outlier pruning

Pengyu Yin, Haozhi Cao, Thien-Minh Nguyen, Shenghai Yuan, Shuyang Zhang, Kangcheng Liu, and Lihua Xie

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

Bib

@inproceedings{yin2024outram,
  title = {Outram: One-shot global localization via triangulated scene graph and global outlier pruning},
  author = {Yin, Pengyu and Cao, Haozhi and Nguyen, Thien-Minh and Yuan, Shenghai and Zhang, Shuyang and Liu, Kangcheng and Xie, Lihua},
  booktitle = {In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {13717--13723},
  year = {2024},
  organization = {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), Oct 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}
}

Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association

Thien-Minh Nguyen, Xinhang Xu, Tongxing Jin, Yizhuo Yang, Jianping Li, Shenghai Yuan, and Lihua Xie

IEEE Robotics and Automation Letters, Oct 2024

arXiv Bib HTML Code

@article{nguyen2024eigen,
  title = {Eigen Is All You Need: Efficient Lidar-Inertial Continuous-Time Odometry with Internal Association},
  author = {Nguyen, Thien-Minh and Xu, Xinhang and Jin, Tongxing and Yang, Yizhuo and Li, Jianping and Yuan, Shenghai and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters},
  year = {2024},
  publisher = {IEEE}
}

Salient Sparse Visual Odometry With Pose-Only Supervision

Siyu Chen, Kangcheng Liu, Chen Wang, Shenghai Yuan, Jianfei Yang, and Lihua Xie

IEEE Robotics and Automation Letters, Oct 2024

Bib

@article{chen2024salient,
  title = {Salient Sparse Visual Odometry With Pose-Only Supervision},
  author = {Chen, Siyu and Liu, Kangcheng and Wang, Chen and Yuan, Shenghai and Yang, Jianfei and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters},
  year = {2024},
  publisher = {IEEE}
}

A Cost-Effective Cooperative Exploration and Inspection Strategy for Heterogeneous Aerial System

Xinhang Xu, Muqing Cao, Shenghai Yuan, Thien Hoang Nguyen, Thien-Minh Nguyen, and Lihua Xie

In IEEE International Conference on Control and Automation (ICCA), Mar 2024

Bib

@inproceedings{xu2024costeffective,
  title = {A Cost-Effective Cooperative Exploration and Inspection Strategy for Heterogeneous Aerial System},
  author = {Xu, Xinhang and Cao, Muqing and Yuan, Shenghai and Nguyen, Thien Hoang and Nguyen, Thien-Minh and Xie, Lihua},
  booktitle = {IEEE International Conference on Control and Automation (ICCA)},
  year = {2024},
  month = mar,
  day = {2}
}

Lio-gvm: an accurate, tightly-coupled lidar-inertial odometry with gaussian voxel map

Xingyu Ji, ShengHai Yuan, Pengyu Yin, and Lihua Xie

IEEE Robotics and Automation Letters, Mar 2024

Bib HTML

@article{ji2024lio,
  title = {Lio-gvm: an accurate, tightly-coupled lidar-inertial odometry with gaussian voxel map},
  author = {Ji, Xingyu and Yuan, ShengHai and Yin, Pengyu and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters},
  year = {2024},
  publisher = {IEEE}
}

iG-LIO: An incremental Gicp-based tightly-coupled LiDAR-inertial odometry

Zijie Chen, Yong Xu, Shenghai Yuan, and Lihua Xie

IEEE Robotics and Automation Letters, Mar 2024

Bib

@article{chen2024ig,
  title = {iG-LIO: An incremental Gicp-based tightly-coupled LiDAR-inertial odometry},
  author = {Chen, Zijie and Xu, Yong and Yuan, Shenghai and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters},
  year = {2024},
  publisher = {IEEE}
}

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, Mar 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}
}

Mm-fi: Multi-modal non-intrusive 4d human dataset for versatile wireless sensing

Jianfei Yang, He Huang, Yunjiao Zhou, Xinyan Chen, Yuecong Xu, Shenghai Yuan, Han Zou, Chris Xiaoxuan Lu, and Lihua Xie

Advances in Neural Information Processing Systems, Mar 2024

Bib

@article{yang2024mm,
  title = {Mm-fi: Multi-modal non-intrusive 4d human dataset for versatile wireless sensing},
  author = {Yang, Jianfei and Huang, He and Zhou, Yunjiao and Chen, Xinyan and Xu, Yuecong and Yuan, Shenghai and Zou, Han and Lu, Chris Xiaoxuan and Xie, Lihua},
  journal = {Advances in Neural Information Processing Systems},
  volume = {36},
  year = {2024}
}

2023

Unmanned aerial vehicle and localization method for unmanned aerial vehicle

Lihua Xie, Pham Nhat Thien Minh Nguyen, CAO Muqing, and YUAN Shenghai

Oct 2023

US Patent App. 18/040,148

Bib

@misc{xie2023unmanned,
  title = {Unmanned aerial vehicle and localization method for unmanned aerial vehicle},
  author = {Xie, Lihua and Nguyen, Pham Nhat Thien Minh and Muqing, CAO and Shenghai, YUAN},
  year = {2023},
  month = oct,
  publisher = {Google Patents},
  note = {US Patent App. 18/040,148}
}

Airvo: An illumination-robust point-line visual odometry

Kuan Xu, Yuefan Hao, Shenghai Yuan, Chen Wang, and Lihua Xie

In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2023

Bib

@inproceedings{xu2023airvo,
  title = {Airvo: An illumination-robust point-line visual odometry},
  author = {Xu, Kuan and Hao, Yuefan and Yuan, Shenghai and Wang, Chen and Xie, Lihua},
  booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {3429--3436},
  year = {2023},
  organization = {IEEE}
}

AV-PedAware: Self-Supervised Audio-Visual Fusion for Dynamic Pedestrian Awareness

Yizhuo Yang, Shenghai Yuan, Muqing Cao, Jianfei Yang, and Lihua Xie

In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2023

Bib

@inproceedings{yang2023av,
  title = {AV-PedAware: Self-Supervised Audio-Visual Fusion for Dynamic Pedestrian Awareness},
  author = {Yang, Yizhuo and Yuan, Shenghai and Cao, Muqing and Yang, Jianfei and Xie, Lihua},
  booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {1871--1877},
  year = {2023},
  organization = {IEEE}
}

Vision-based plane estimation and following for building inspection with autonomous UAV

Yang Lyu, Muqing Cao, Shenghai Yuan, and Lihua Xie

IEEE Transactions on Systems, Man, and Cybernetics: Systems, Oct 2023

Bib

@article{lyu2023vision,
  title = {Vision-based plane estimation and following for building inspection with autonomous UAV},
  author = {Lyu, Yang and Cao, Muqing and Yuan, Shenghai and Xie, Lihua},
  journal = {IEEE Transactions on Systems, Man, and Cybernetics: Systems},
  year = {2023},
  publisher = {IEEE}
}

Non-cooperative stochastic target encirclement by anti-synchronization control via range-only measurement

Fen Liu, Shenghai Yuan, Wei Meng, Rong Su, and Lihua Xie

In 2023 IEEE International Conference on Robotics and Automation (ICRA), Oct 2023

Bib

@inproceedings{liu2023non,
  title = {Non-cooperative stochastic target encirclement by anti-synchronization control via range-only measurement},
  author = {Liu, Fen and Yuan, Shenghai and Meng, Wei and Su, Rong and Xie, Lihua},
  booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {5480--5485},
  year = {2023},
  organization = {IEEE}
}

Segregator: Global point cloud registration with semantic and geometric cues

Pengyu Yin, Shenghai Yuan, Haozhi Cao, Xingyu Ji, Shuyang Zhang, and Lihua Xie

In 2023 IEEE International Conference on Robotics and Automation (ICRA), Oct 2023

Bib

@inproceedings{yin2023segregator,
  title = {Segregator: Global point cloud registration with semantic and geometric cues},
  author = {Yin, Pengyu and Yuan, Shenghai and Cao, Haozhi and Ji, Xingyu and Zhang, Shuyang and Xie, Lihua},
  booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {2848--2854},
  year = {2023},
  organization = {IEEE}
}

SE-Calib: Semantic Edge-Based LiDAR–Camera Boresight Online Calibration in Urban Scenes

Youqi Liao, Jianping Li, Shuhao Kang, Qiang Li, Guifang Zhu, Shenghai Yuan, Zhen Dong, and Bisheng Yang

IEEE Transactions on Geoscience and Remote Sensing, Oct 2023

Bib

@article{liao2023se,
  title = {SE-Calib: Semantic Edge-Based LiDAR--Camera Boresight Online Calibration in Urban Scenes},
  author = {Liao, Youqi and Li, Jianping and Kang, Shuhao and Li, Qiang and Zhu, Guifang and Yuan, Shenghai and Dong, Zhen and Yang, Bisheng},
  journal = {IEEE Transactions on Geoscience and Remote Sensing},
  volume = {61},
  pages = {1--13},
  year = {2023},
  publisher = {IEEE}
}

Path Planning for Multiple Tethered Robots Using Topological Braids

Muqing Cao, Kun Cao, Shenghai Yuan, Kangcheng Liu, Yan Loi Wong, and Lihua Xie

Robotics: Science and Systems, Apr 2023

Bib

@article{cao2023path,
  title = {Path Planning for Multiple Tethered Robots Using Topological Braids},
  author = {Cao, Muqing and Cao, Kun and Yuan, Shenghai and Liu, Kangcheng and Wong, Yan Loi and Xie, Lihua},
  journal = {Robotics: Science and Systems},
  year = {2023},
  month = apr,
  day = {29}
}

Metafi++: Wifi-enabled transformer-based human pose estimation for metaverse avatar simulation

Yunjiao Zhou, He Huang, Shenghai Yuan, Han Zou, Lihua Xie, and Jianfei Yang

IEEE Internet of Things Journal, Apr 2023

Bib

@article{zhou2023metafi++,
  title = {Metafi++: Wifi-enabled transformer-based human pose estimation for metaverse avatar simulation},
  author = {Zhou, Yunjiao and Huang, He and Yuan, Shenghai and Zou, Han and Xie, Lihua and Yang, Jianfei},
  journal = {IEEE Internet of Things Journal},
  volume = {10},
  number = {16},
  pages = {14128--14136},
  year = {2023},
  publisher = {IEEE}
}

VR-SLAM: A Visual-Range Simultaneous Localization and Mapping System using Monocular Camera and Ultra-wideband Sensors

Thien Hoang Nguyen, Shenghai Yuan, and Lihua Xie

arXiv preprint arXiv:2303.10903, Apr 2023

Bib

@article{nguyen2023vr,
  title = {VR-SLAM: A Visual-Range Simultaneous Localization and Mapping System using Monocular Camera and Ultra-wideband Sensors},
  author = {Nguyen, Thien Hoang and Yuan, Shenghai and Xie, Lihua},
  journal = {arXiv preprint arXiv:2303.10903},
  year = {2023}
}

Multiple noncooperative targets encirclement by relative distance-based positioning and neural antisynchronization control

Fen Liu, Shenghai Yuan, Wei Meng, Rong Su, and Lihua Xie

IEEE Transactions on Industrial Electronics, Apr 2023

Bib

@article{liu2023multiple,
  title = {Multiple noncooperative targets encirclement by relative distance-based positioning and neural antisynchronization control},
  author = {Liu, Fen and Yuan, Shenghai and Meng, Wei and Su, Rong and Xie, Lihua},
  journal = {IEEE Transactions on Industrial Electronics},
  volume = {71},
  number = {2},
  pages = {1675--1685},
  year = {2023},
  publisher = {IEEE}
}

Multi-modal continual test-time adaptation for 3d semantic segmentation

Haozhi Cao, Yuecong Xu, Jianfei Yang, Pengyu Yin, Shenghai Yuan, and Lihua Xie

In Proceedings of the IEEE/CVF International Conference on Computer Vision, Apr 2023

Bib

@inproceedings{cao2023multi,
  title = {Multi-modal continual test-time adaptation for 3d semantic segmentation},
  author = {Cao, Haozhi and Xu, Yuecong and Yang, Jianfei and Yin, Pengyu and Yuan, Shenghai and Xie, Lihua},
  booktitle = {Proceedings of the IEEE/CVF International Conference on Computer Vision},
  pages = {18809--18819},
  year = {2023}
}

Doublebee: A hybrid aerial-ground robot with two active wheels

Muqing Cao, Xinhang Xu, Shenghai Yuan, Kun Cao, Kangcheng Liu, and Lihua Xie

In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Apr 2023

IROS Best Entertainment Award Bib

Dr. Yuan Shenghai receveid the IROS Best Entertainment and Amusement Paper Award sponsored by JTCF IROS 2023

@inproceedings{cao2023doublebee,
  title = {Doublebee: A hybrid aerial-ground robot with two active wheels},
  author = {Cao, Muqing and Xu, Xinhang and Yuan, Shenghai and Cao, Kun and Liu, Kangcheng and Xie, Lihua},
  booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {6962--6969},
  year = {2023},
  organization = {IEEE},
}

SLICT: Multi-input multi-scale surfel-based LiDAR-inertial continuous-time odometry and mapping

Thien-Minh Nguyen, Daniel Duberg, Patric Jensfelt, Shenghai Yuan, and Lihua Xie

IEEE Robotics and Automation Letters, Apr 2023

Bib

@article{nguyen2023slict,
  title = {SLICT: Multi-input multi-scale surfel-based LiDAR-inertial continuous-time odometry and mapping},
  author = {Nguyen, Thien-Minh and Duberg, Daniel and Jensfelt, Patric and Yuan, Shenghai and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters},
  volume = {8},
  number = {4},
  pages = {2102--2109},
  year = {2023},
  publisher = {IEEE}
}

SPINS: A structure priors aided inertial navigation system

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

Journal of Field Robotics, Apr 2023

Bib

@article{lyu2023spins,
  title = {SPINS: A structure priors aided inertial navigation system},
  author = {Lyu, Yang and Nguyen, Thien-Minh and Liu, Liu and Cao, Muqing and Yuan, Shenghai and Nguyen, Thien Hoang and Xie, Lihua},
  journal = {Journal of Field Robotics},
  volume = {40},
  number = {4},
  pages = {879--900},
  year = {2023},
  publisher = {Wiley Online Library}
}

Neptune: nonentangling trajectory planning for multiple tethered unmanned vehicles

Muqing Cao, Kun Cao, Shenghai Yuan, Thien-Minh Nguyen, and Lihua Xie

IEEE Transactions on Robotics, Apr 2023

Bib

@article{cao2023neptune,
  title = {Neptune: nonentangling trajectory planning for multiple tethered unmanned vehicles},
  author = {Cao, Muqing and Cao, Kun and Yuan, Shenghai and Nguyen, Thien-Minh and Xie, Lihua},
  journal = {IEEE Transactions on Robotics},
  volume = {39},
  number = {4},
  pages = {2786--2804},
  year = {2023},
  publisher = {IEEE}
}

2022

Robust rgb-d slam in dynamic environments for autonomous vehicles

Tete Ji, Shenghai Yuan, and Lihua Xie

In 2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV), Apr 2022

Bib

@inproceedings{ji2022robust,
  title = {Robust rgb-d slam in dynamic environments for autonomous vehicles},
  author = {Ji, Tete and Yuan, Shenghai and Xie, Lihua},
  booktitle = {2022 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
  pages = {665--671},
  year = {2022},
  organization = {IEEE}
}

Overcoming Catastrophic Forgetting for Semantic Segmentation Via Incremental Learning

Yizhuo Yang, Shenghai Yuan, and Lihua Xie

In In Proceedings of the 17th International Conference on Control, Automation, Robotics and Vision (ICARCV), Apr 2022

Bib

@inproceedings{yang2022overcoming,
  title = {Overcoming Catastrophic Forgetting for Semantic Segmentation Via Incremental Learning},
  author = {Yang, Yizhuo and Yuan, Shenghai and Xie, Lihua},
  booktitle = {In Proceedings of the 17th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
  pages = {299--304},
  year = {2022},
  organization = {IEEE}
}

GaitFi: Robust device-free human identification via WiFi and vision multimodal learning

Lang Deng, Jianfei Yang, Shenghai Yuan, Han Zou, Chris Xiaoxuan Lu, and Lihua Xie

IEEE Internet of Things Journal, Apr 2022

Bib

@article{deng2022gaitfi,
  title = {GaitFi: Robust device-free human identification via WiFi and vision multimodal learning},
  author = {Deng, Lang and Yang, Jianfei and Yuan, Shenghai and Zou, Han and Lu, Chris Xiaoxuan and Xie, Lihua},
  journal = {IEEE Internet of Things Journal},
  volume = {10},
  number = {1},
  pages = {625--636},
  year = {2022},
  publisher = {IEEE}
}

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, Apr 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}
}

Structure priors aided visual-inertial navigation in building inspection tasks with auxiliary line features

Yang Lyu, Shenghai Yuan, and Lihua Xie

IEEE Transactions on Aerospace and Electronic Systems, Apr 2022

Bib

@article{lyu2022structure,
  title = {Structure priors aided visual-inertial navigation in building inspection tasks with auxiliary line features},
  author = {Lyu, Yang and Yuan, Shenghai and Xie, Lihua},
  journal = {IEEE Transactions on Aerospace and Electronic Systems},
  volume = {58},
  number = {4},
  pages = {3037--3048},
  year = {2022},
  publisher = {IEEE}
}

DIRECT: A differential dynamic programming based framework for trajectory generation

Kun Cao, Muqing Cao, Shenghai Yuan, and Lihua Xie

IEEE Robotics and Automation Letters, Apr 2022

Bib

@article{cao2022direct,
  title = {DIRECT: A differential dynamic programming based framework for trajectory generation},
  author = {Cao, Kun and Cao, Muqing and Yuan, Shenghai and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters},
  volume = {7},
  number = {2},
  pages = {2439--2446},
  year = {2022},
  publisher = {IEEE}
}

2021

Distributed multi-robot sweep coverage for a region with unknown workload distribution

Muqing Cao, Kun Cao, Xiuxian Li, Shenghai Yuan, Yang Lyu, Thien-Minh Nguyen, and Lihua Xie

Autonomous Intelligent Systems, Apr 2021

Bib

@article{cao2021distributed,
  title = {Distributed multi-robot sweep coverage for a region with unknown workload distribution},
  author = {Cao, Muqing and Cao, Kun and Li, Xiuxian and Yuan, Shenghai and Lyu, Yang and Nguyen, Thien-Minh and Xie, Lihua},
  journal = {Autonomous Intelligent Systems},
  volume = {1},
  number = {1},
  pages = {13},
  year = {2021},
  publisher = {Springer}
}

Viral-fusion: A visual-inertial-ranging-lidar sensor fusion approach

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

IEEE Transactions on Robotics, Apr 2021

Bib

@article{nguyen2021viral,
  title = {Viral-fusion: A visual-inertial-ranging-lidar sensor fusion approach},
  author = {Nguyen, Thien-Minh and Cao, Muqing and Yuan, Shenghai and Lyu, Yang and Nguyen, Thien Hoang and Xie, Lihua},
  journal = {IEEE Transactions on Robotics},
  volume = {38},
  number = {2},
  pages = {958--977},
  year = {2021},
  publisher = {IEEE}
}

Learning to extract robust handcrafted features with a single observation via evolutionary neurogenesis

Mahdi Abolfazli Esfahani, Han Wang, Benyamin Bashari, Keyu Wu, and Shenghai Yuan

Applied Soft Computing, Apr 2021

Bib

@article{esfahani2021learning,
  title = {Learning to extract robust handcrafted features with a single observation via evolutionary neurogenesis},
  author = {Esfahani, Mahdi Abolfazli and Wang, Han and Bashari, Benyamin and Wu, Keyu and Yuan, Shenghai},
  journal = {Applied Soft Computing},
  volume = {106},
  pages = {107424},
  year = {2021},
  publisher = {Elsevier}
}

LIRO: Tightly coupled lidar-inertia-ranging odometry

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

In In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Apr 2021

Bib

@inproceedings{nguyen2021liro,
  title = {LIRO: Tightly coupled lidar-inertia-ranging odometry},
  author = {Nguyen, Thien-Minh and Cao, Muqing and Yuan, Shenghai and Lyu, Yang and Nguyen, Thien Hoang and Xie, Lihua},
  booktitle = {In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {14484--14490},
  year = {2021},
  organization = {IEEE}
}

Miliom: Tightly coupled multi-input lidar-inertia odometry and mapping

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

IEEE Robotics and Automation Letters, Apr 2021

Bib

@article{nguyen2021miliom,
  title = {Miliom: Tightly coupled multi-input lidar-inertia odometry and mapping},
  author = {Nguyen, Thien-Minh and Yuan, Shenghai and Cao, Muqing and Yang, Lyu and Nguyen, Thien Hoang and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters},
  volume = {6},
  number = {3},
  pages = {5573--5580},
  year = {2021},
  publisher = {IEEE}
}

Learn to navigate autonomously through deep reinforcement learning

Keyu Wu, Han Wang, Mahdi Abolfazli Esfahani, and Shenghai Yuan

IEEE Transactions on Industrial Electronics, Apr 2021

Bib

@article{wu2021learn,
  title = {Learn to navigate autonomously through deep reinforcement learning},
  author = {Wu, Keyu and Wang, Han and Esfahani, Mahdi Abolfazli and Yuan, Shenghai},
  journal = {IEEE Transactions on Industrial Electronics},
  volume = {69},
  number = {5},
  pages = {5342--5352},
  year = {2021},
  publisher = {IEEE}
}

Viral slam: Tightly coupled camera-imu-uwb-lidar slam

Thien-Minh Nguyen, Shenghai Yuan, Muqing Cao, Thien Hoang Nguyen, and Lihua Xie

arXiv preprint arXiv:2105.03296, Apr 2021

Bib

@article{nguyen2021viram,
  title = {Viral slam: Tightly coupled camera-imu-uwb-lidar slam},
  author = {Nguyen, Thien-Minh and Yuan, Shenghai and Cao, Muqing and Nguyen, Thien Hoang and Xie, Lihua},
  journal = {arXiv preprint arXiv:2105.03296},
  year = {2021}
}

Survey on localization systems and algorithms for unmanned systems

Shenghai Yuan, Han Wang, and Lihua Xie

Unmanned Systems, Apr 2021

Bib

@article{yuan2021survey,
  title = {Survey on localization systems and algorithms for unmanned systems},
  author = {Yuan, Shenghai and Wang, Han and Xie, Lihua},
  journal = {Unmanned Systems},
  volume = {9},
  number = {02},
  pages = {129--163},
  year = {2021},
  publisher = {World Scientific}
}

Vision based autonomous UAV plane estimation and following for building inspection

Yang Lyu, Muqing Cao, Shenghai Yuan, and Lihua Xie

arXiv preprint arXiv:2102.01423, Apr 2021

Bib

@article{lyu2021vision,
  title = {Vision based autonomous UAV plane estimation and following for building inspection},
  author = {Lyu, Yang and Cao, Muqing and Yuan, Shenghai and Xie, Lihua},
  journal = {arXiv preprint arXiv:2102.01423},
  year = {2021}
}

2020

Unsupervised Scene Categorization, Path Segmentation and Landmark Extraction while Traveling Path

Mahdi Abolfazli Esfahani, Han Wang, Keyu Wu, and Shenghai Yuan

In In Proceedings of the 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), Apr 2020

Bib

@inproceedings{esfahani2020unsupervised,
  title = {Unsupervised Scene Categorization, Path Segmentation and Landmark Extraction while Traveling Path},
  author = {Esfahani, Mahdi Abolfazli and Wang, Han and Wu, Keyu and Yuan, Shenghai},
  booktitle = {In Proceedings of the 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
  pages = {190--195},
  year = {2020},
  organization = {IEEE}
}

Achieving real-time path planning in unknown environments through deep neural networks

Keyu Wu, Han Wang, Mahdi Abolfazli Esfahani, and Shenghai Yuan

IEEE Transactions on Intelligent Transportation Systems, Apr 2020

Bib

@article{wu2020achieving,
  title = {Achieving real-time path planning in unknown environments through deep neural networks},
  author = {Wu, Keyu and Wang, Han and Esfahani, Mahdi Abolfazli and Yuan, Shenghai},
  journal = {IEEE Transactions on Intelligent Transportation Systems},
  volume = {23},
  number = {3},
  pages = {2093--2102},
  year = {2020},
  publisher = {IEEE}
}

Online trajectory correction and tracking for facade inspection using autonomous UAV

Muqing Cao, Yang Lyu, Shenghai Yuan, and Lihua Xie

In In Proceedings of the IEEE 16th International Conference on Control & Automation (ICCA), Apr 2020

Bib

@inproceedings{cao2020online,
  title = {Online trajectory correction and tracking for facade inspection using autonomous UAV},
  author = {Cao, Muqing and Lyu, Yang and Yuan, Shenghai and Xie, Lihua},
  booktitle = {In Proceedings of the IEEE 16th International Conference on Control \& Automation (ICCA)},
  pages = {1149--1154},
  year = {2020},
  organization = {IEEE}
}

From local understanding to global regression in monocular visual odometry

Mahdi Abolfazli Esfahani, Keyu Wu, Shenghai Yuan, and Han Wang

International Journal of Pattern Recognition and Artificial Intelligence, Apr 2020

Bib

@article{esfahani2020local,
  title = {From local understanding to global regression in monocular visual odometry},
  author = {Esfahani, Mahdi Abolfazli and Wu, Keyu and Yuan, Shenghai and Wang, Han},
  journal = {International Journal of Pattern Recognition and Artificial Intelligence},
  volume = {34},
  number = {01},
  pages = {2055002},
  year = {2020},
  publisher = {World Scientific}
}

2019

OriNet: Robust 3-D orientation estimation with a single particular IMU

Mahdi Abolfazli Esfahani, Han Wang, Keyu Wu, and Shenghai Yuan

IEEE Robotics and Automation Letters, Apr 2019

Bib

@article{esfahani2019orinet,
  title = {OriNet: Robust 3-D orientation estimation with a single particular IMU},
  author = {Esfahani, Mahdi Abolfazli and Wang, Han and Wu, Keyu and Yuan, Shenghai},
  journal = {IEEE Robotics and Automation Letters},
  volume = {5},
  number = {2},
  pages = {399--406},
  year = {2019},
  publisher = {IEEE}
}

TDPP-Net: Achieving three-dimensional path planning via a deep neural network architecture

Keyu Wu, Mahdi Abolfazli Esfahani, Shenghai Yuan, and Han Wang

Neurocomputing, Apr 2019

Bib

@article{wu2019tdpp,
  title = {TDPP-Net: Achieving three-dimensional path planning via a deep neural network architecture},
  author = {Wu, Keyu and Esfahani, Mahdi Abolfazli and Yuan, Shenghai and Wang, Han},
  journal = {Neurocomputing},
  volume = {357},
  pages = {151--162},
  year = {2019},
  publisher = {Elsevier}
}

DeepDSAIR: Deep 6-DOF camera relocalization using deblurred semantic-aware image representation for large-scale outdoor environments

Mahdi Abolfazli Esfahani, Keyu Wu, Shenghai Yuan, and Han Wang

Image and Vision Computing, Apr 2019

Bib

@article{esfahani2019deepdsair,
  title = {DeepDSAIR: Deep 6-DOF camera relocalization using deblurred semantic-aware image representation for large-scale outdoor environments},
  author = {Esfahani, Mahdi Abolfazli and Wu, Keyu and Yuan, Shenghai and Wang, Han},
  journal = {Image and Vision Computing},
  volume = {89},
  pages = {120--130},
  year = {2019},
  publisher = {Elsevier}
}

DeepDSAIR:: Deep 6-DOF camera relocalization using deblurred semantic-aware image representation for large-scale outdoor environments

Mahdi Abolfazli Esfahani, Keyu Wu, Shenghai Yuan, and Han Wang

Apr 2019

Bib

@article{abolfazli2019deepdsair,
  title = {DeepDSAIR:: Deep 6-DOF camera relocalization using deblurred semantic-aware image representation for large-scale outdoor environments},
  author = {Abolfazli Esfahani, Mahdi and Wu, Keyu and Yuan, Shenghai and Wang, Han},
  year = {2019}
}

Towards utilizing deep uncertainty in traditional slam

Mahdi Abolfazli Esfahani, Keyu Wu, Shenghai Yuan, and Han Wang

In In Proceedings of the IEEE 15th International Conference on Control and Automation (ICCA), Apr 2019

Bib

@inproceedings{esfahani2019towards,
  title = {Towards utilizing deep uncertainty in traditional slam},
  author = {Esfahani, Mahdi Abolfazli and Wu, Keyu and Yuan, Shenghai and Wang, Han},
  booktitle = {In Proceedings of the IEEE 15th International Conference on Control and Automation (ICCA)},
  pages = {344--349},
  year = {2019},
  organization = {IEEE}
}

Bnd\*-ddqn: Learn to steer autonomously through deep reinforcement learning

Keyu Wu, Han Wang, Mahdi Abolfazli Esfahani, and Shenghai Yuan

IEEE Transactions on Cognitive and Developmental Systems, Apr 2019

Bib

@article{wu2019bnd,
  title = {Bnd\*-ddqn: Learn to steer autonomously through deep reinforcement learning},
  author = {Wu, Keyu and Wang, Han and Esfahani, Mahdi Abolfazli and Yuan, Shenghai},
  journal = {IEEE Transactions on Cognitive and Developmental Systems},
  volume = {13},
  number = {2},
  pages = {249--261},
  year = {2019},
  publisher = {IEEE}
}

AbolDeepIO: A novel deep inertial odometry network for autonomous vehicles

Mahdi Abolfazli Esfahani, Han Wang, Keyu Wu, and Shenghai Yuan

IEEE Transactions on Intelligent Transportation Systems, Apr 2019

Bib

@article{esfahani2019aboldeepio,
  title = {AbolDeepIO: A novel deep inertial odometry network for autonomous vehicles},
  author = {Esfahani, Mahdi Abolfazli and Wang, Han and Wu, Keyu and Yuan, Shenghai},
  journal = {IEEE Transactions on Intelligent Transportation Systems},
  volume = {21},
  number = {5},
  pages = {1941--1950},
  year = {2019},
  publisher = {IEEE}
}

Depth-based obstacle avoidance through deep reinforcement learning

Keyu Wu, Mahdi Abolfazli Esfahani, Shenghai Yuan, and Han Wang

In Proceedings of the 5th International Conference on Mechatronics and Robotics Engineering, Apr 2019

Bib

@inproceedings{wu2019depth,
  title = {Depth-based obstacle avoidance through deep reinforcement learning},
  author = {Wu, Keyu and Esfahani, Mahdi Abolfazli and Yuan, Shenghai and Wang, Han},
  booktitle = {Proceedings of the 5th International Conference on Mechatronics and Robotics Engineering},
  pages = {102--106},
  year = {2019}
}

2018

Learn to steer through deep reinforcement learning

Keyu Wu, Mahdi Abolfazli Esfahani, Shenghai Yuan, and Han Wang

Sensors, Apr 2018

Bib

@article{wu2018learn,
  title = {Learn to steer through deep reinforcement learning},
  author = {Wu, Keyu and Abolfazli Esfahani, Mahdi and Yuan, Shenghai and Wang, Han},
  journal = {Sensors},
  volume = {18},
  number = {11},
  pages = {3650},
  year = {2018},
  publisher = {MDPI}
}

A new approach to train convolutional neural networks for real-time 6-DOF camera relocalization

Mahdi Abolfazli Esfahani, Keyu Wu, Shenghai Yuan, and Han Wang

In In Proceedings of the IEEE 14th international conference on control and automation (ICCA), Apr 2018

Bib

@inproceedings{esfahani2018new,
  title = {A new approach to train convolutional neural networks for real-time 6-DOF camera relocalization},
  author = {Esfahani, Mahdi Abolfazli and Wu, Keyu and Yuan, Shenghai and Wang, Han},
  booktitle = {In Proceedings of the IEEE 14th international conference on control and automation (ICCA)},
  pages = {81--85},
  year = {2018},
  organization = {IEEE}
}

2017

Heterogeneous stereo: A human vision inspired method for general robotics sensing

Han Wang, Shenghai Yuan, and Keyu Wu

In In Proceedings of the IEEE Region 10 Conference (TENCON), Apr 2017

Bib

@inproceedings{wang2017heterogeneous,
  title = {Heterogeneous stereo: A human vision inspired method for general robotics sensing},
  author = {Wang, Han and Yuan, Shenghai and Wu, Keyu},
  booktitle = {In Proceedings of the IEEE Region 10 Conference (TENCON)},
  pages = {793--798},
  year = {2017},
  organization = {IEEE}
}

2015

An automatic self-calibration approach for wide baseline stereo cameras using sea surface images

Han Wang, Wei Mou, Xiaozheng Mou, Shenghai Yuan, Soner Ulun, Shuai Yang, and Bok-Suk Shin

Unmanned Systems, Apr 2015

Bib

@article{wang2015automatic,
  title = {An automatic self-calibration approach for wide baseline stereo cameras using sea surface images},
  author = {Wang, Han and Mou, Wei and Mou, Xiaozheng and Yuan, Shenghai and Ulun, Soner and Yang, Shuai and Shin, Bok-Suk},
  journal = {Unmanned Systems},
  volume = {3},
  number = {04},
  pages = {277--290},
  year = {2015},
  publisher = {World Scientific}
}

Vision based long range object detection and tracking for unmanned surface vehicle

Han Wang, Xiaozheng Mou, Wei Mou, Shenghai Yuan, Soner Ulun, Shuai Yang, and Bok-Suk Shin

In In Proceedings of the IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Apr 2015

Bib

@inproceedings{wang2015vision,
  title = {Vision based long range object detection and tracking for unmanned surface vehicle},
  author = {Wang, Han and Mou, Xiaozheng and Mou, Wei and Yuan, Shenghai and Ulun, Soner and Yang, Shuai and Shin, Bok-Suk},
  booktitle = {In Proceedings of the IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)},
  pages = {101--105},
  year = {2015},
  organization = {IEEE}
}

2014

Autonomous object level segmentation

Shenghai Yuan, and Han Wang

In In Proceedings of the 13th International Conference on Control Automation Robotics & Vision (ICARCV), Apr 2014

DOI Bib

@inproceedings{yuan2014autonomous,
  author = {Yuan, Shenghai and Wang, Han},
  booktitle = {In Proceedings of the 13th International Conference on Control Automation Robotics & Vision (ICARCV)},
  title = {Autonomous object level segmentation},
  year = {2014},
  volume = {},
  number = {},
  pages = {33-37},
  keywords = {Image segmentation;Image edge detection;Robots;Automation;Optimization methods;Image color analysis;Smoothing methods},
  doi = {10.1109/ICARCV.2014.7064275}
}

2013

Development control and navigation of Octocopter

Meng Joo Er, Shenghai Yuan, and Ning Wang

In In Proceedings of the 10th IEEE International Conference on Control and Automation (ICCA), Apr 2013

Bib

@inproceedings{er2013development,
  title = {Development control and navigation of Octocopter},
  author = {Er, Meng Joo and Yuan, Shenghai and Wang, Ning},
  booktitle = {In Proceedings of the 10th IEEE International Conference on Control and Automation (ICCA)},
  pages = {1639--1643},
  year = {2013},
  organization = {IEEE}
}