A paper is accepted by T-RO and will be presented at ICRA 2025

November 16^th, 2024

Yichen Zhang, Xinyi Chen, Chen Feng, Boyu Zhou and Shaojie Shen's work on "FALCON: fast autonomous aerial exploration using coverage path guidance" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

ICRA 2025 will be held in Atlanta, USA from May 19th to 23rd.

A paper is accepted by TIV

August 20^th, 2024

Pengqin Wang , Meixin Zhu , Xinhu Zheng , Hongliang Lu , Hui Zhong , Xianda Chen , Shaojie Shen , Xuesong Wang , Yinhai Wang and Feiyue Wang's work on "BEVGPT: generative pre-trained foundation model for autonomous driving prediction, decision making, and planning" is accepted by the IEEE Transactions on Intelligent Vehicles (TIV) for publication.

A paper is accepted by TPAMI

August 10^th, 2024

Mu Hu, Wei Yin, Chi Zhang, Zhipeng Cai, Xiaoxiao Long, Hao Chen, Kaixuan Wang, Gang Yu, Chunhua Shen and Shaojie Shen's work on "Metric3D v2: a versatile monocular geometric foundation model for zero-shot metric depth and surface normal estimation" is accepted by the IEEE Transactions on Pattern Analysis and Machine Intelligence for publication (TPAMI).

A paper is accepted by RAL and will be presented at ICRA 2025

July 7^th, 2024

Chenxing Jiang, Yiming Luo, Boyu Zhou and Shaojie Shen's work on "H3-mapping: quasi-heterogeneous feature grids for real-time dense mapping using hierarchical hybrid representation" is accepted by the IEEE Robotics and Automation Letters (RAL) for publication.

ICRA 2025 will be held in Atlanta, USA from May 19th to 23rd.

A paper is accepted by TIV

July 5^th, 2024

Chenxing Jiang, Kunyi Zhang,Sheng Yang, Shaojie Shen, Chao Xu and Fei Gao's work on "WING: wheel-inertial neural odometry with ground manifold constraints" is accepted by the IEEE Transactions on Intelligent Vehicles (TIV) for publication.

Three papers are accepted by IROS 2024

June 30^th, 2024

Three conference papers are accepted by the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), including:

1. 1. Peize Liu, Chen Feng, Yang Xu, Yan Ning, Hao Xu and Shaojie Shen. OmniNxt: a fully open-source and compact aerial robot with omnidirectional visual perception.
   2. Pengqin Wang, Meixin Zhu and Shaojie Shen. Environment transformer and policy optimization for model-based offline reinforcement learning.
   3. Mingjie Zhang, Chen Feng, Zengzhi Li, Guiyong Zheng, Yiming Luo, Zhu Wang, Jinni Zhou, Shaojie Shen and Boyu Zhou. SOAR: simultaneous exploration and photographing with heterogeneous UAVs for fast autonomous reconstruction.

IROS 2024 will be held in Abu Dhabi, United Arab Emirates from October 14th to 18th.

A paper is selected for the ICRA 2024 Radar in Robotics Workshop Best Poster Award

May 17^th, 2024

Yang Xu, Qiucan Huang, Shaojie Shen and Huan Yin's work on "Modeling Point Uncertainty in Radar SLAM" has been chosen for the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024) Radar in Robotics Workshop Best Poster Award. The award-winning photos from ICRA 2024.

A paper is accepted by RSS 2024

May 14^th, 2024

Xiuyuan Lu, Yi Zhou, Junkai Niu, Sheng Zhong and Shaojie Shen's work on "Event-based visual inertial velometer" is accepted by the 2024 Robotics: Science and Systems (RSS 2024).

RSS 2024 will be held in Delft, Netherlands from July 15th to 19th.

A paper is accepted by T-RO

May 14^th, 2024

Hao Xu, Peize Liu, Xinyi Chen and Shaojie Shen's work on "$D^2$SLAM: decentralized and distributed collaborative visual-inertial SLAM system for aerial swarm" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

A paper is selected for the ICRA 2024 Future of Construction Workshop Best Research Award

May 13^th, 2024

Luqi Wang, Yang Xu and Shaojie Shen's work on "VINS-Multi: a robust asynchronous multi-camera-IMU state estimator" has been chosen for the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024) Future of Construction Workshop Best Research Award. The award-winning photos from the ICRA 2024.

A paper is selected for the 2023 IEEE RA-L Best Paper Award

May 4^th, 2024

Chenxing Jiang, Hanwen Zhang, Peize Liu, Zehuan Yu, Hui Cheng, Boyu Zhou and Shaojie Shen's paper " H2-mapping: real-time dense mapping using hierarchical hybrid representation" has been chosen for the IEEE Robotics and Automation Letters (RA-L) Best Paper Award. The award-winning photos from ICRA 2024.

Two papers are accepted by RA-L

May 3^rd, 2024

Ke Wang, Chuhao Liu, Zhanwen Liu, Fangwei Xiao, Yisheng An, Xiangmo Zhao and Shaojie Shen's work on "Multi-view depth estimation by using adaptive point graph to fuse single-view depth probabilities" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

April 15^th, 2024

Sheng Hong, Junjie He, Xinhu Zheng and Chunran Zheng's work on "LIV-GaussMap: LiDAR-inertial-visual fusion for real-time 3D radiance field map rendering" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

A paper is accepted by T-ASE

April 3^rd, 2024

Zhijian Qiao, Zehuan Yu, Binqian Jiang, Huan Yin and Shaojie Shen's work on "G3Reg: pyramid graph-based global registration using gaussian ellipsoid model" is accepted by the IEEE Transactions on Automation Science and Engineering (T-ASE) for publication.

A paper is selected as a finalist for the 2024 IEEE ICRA Best Paper Award

April 5^th, 2024

Chen Feng, Haojia Li, Mingjie Zhang, Xinyi Chen, Boyu Zhou, Shaojie Shen's paper " FC-planner: a skeleton-guided planning framework for fast aerial coverage of complex 3D scenes" has been chosen as a finalist for the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024) Best Paper Award on Unmanned Aerial Vehicles. The award-winning photos from the ICRA 2024.

A paper is selected for the 2023 IEEE T-RO Best Paper Award

April 3^rd, 2024

Boyu Zhou, Hao Xu and Shaojie Shen's paper " RACER: rapid collaborative exploration with a decentralized multi-UAV system" has been chosen for the 2023 IEEE Transactions on Robotics (T-RO) King-Sun Fu Memorial Best Paper Award.

This paper has been awarded the Best Paper Award, following our previous achievements of Best Paper Honorable Mentions in 2021 and 2019. The award-winning photos from ICRA 2024.

Prof. Shen receives the 2024 AI 2000 Most Influential Scholar Award Honorable Mention

March 13^th, 2024

Prof. Shen is recognized as the 2024 AI 2000 Most Influential Scholar Award Honorable Mention for his contributions to the field of Robotics between 2014 and 2023 (ranked 30th).

Prof. Shen has received the same award for five years in a row.

The 2024 AI 2000 Most Influential Scholars

A paper is accepted by T-RO and will be presented at IROS 2024

March 5^th, 2024

Haokun Wang, Haojia Li, Boyu Zhou, Fei Gao and Shaojie Shen's work on "Impact-aware planning and control for aerial robots with suspended payloads" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

IROS 2024 will be held in Abu Dhabi, United Arab Emirates from October 14th to 18th.

Three papers are accepted by RA-L and will be presented at IROS 2024

February 29^th, 2024

Yiming Luo, Zixuan Zhuang, Neng Pan, Chen Feng, Shaojie Shen, Fei Gao, Hui Cheng and Boyu Zhou's work on "Star-searcher: a complete and efficient aerial system for autonomous target search in complex unknown environments" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

February 19^th, 2024

Lu Zhang, Peiliang LI, Sikang Liu and Shaojie Shen's work on "SIMPL: a simple and efficient multi-agent motion prediction baseline for autonomous driving" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

January 2^nd, 2024

Chuhao Liu, Ke Wang, Jieqi Shi, Zhijian Qiao and Shaojie Shen's work on "FM-fusion: instance-aware semantic mapping boosted by vision-language foundation models" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

IROS 2024 will be held in Abu Dhabi, United Arab Emirates from October 14th to 18th.

Five papers are accepted by ICRA 2024

January 29^th, 2024

Five conference papers are accepted by the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), including:

1. 1. 1. Binqian Jiang and Shaojie Shen. A two-step nonlinear factor sparsification for scalable long-term SLAM backend.
      2. Chen Feng, Haojia Li, Mingjie Zhang, Xinyi Chen, Boyu Zhou and Shaojie Shen. FC-planner: a skeleton-guided planning framework for fast aerial coverage of complex 3D scenes.
      3. Xinyi Chen, Yichen Zhang, Boyu Zhou and Shaojie Shen. APACE: agile and perception-aware trajectory generation for quadrotor flights.
      4. Zhenmin Huang, Haichao Liu, Shaojie Shen and Jun Ma. Parallel optimization with hard safety constraints for cooperative planning of connected autonomous vehicles.
      5. Qiucan Huang, Yuchen Liang, Zhijian Qiao, Shaojie Shen and Huan Yin. Less is more: physical-enhanced radar-inertial odometry.

ICRA 2024 will be held in Yokohama, Japan from May 13th to 17th.

A paper is accepted by IJCV

January 27^th, 2024

Huan Yin, Xuecheng Xu, Sha Lu, Xieyuanli Chen, Rong Xiong, Shaojie Shen, Cyrill Stachniss, Yue Wang's work on "A survey on global liDAR localization: challenges, advances and open problems" is accepted by the International Journal of Computer Vision (IJCV) for publication.

A paper is accepted by TRB 2024

October 6^th, 2023

Penqin Wang, Meixin Zhu, Xinhu Zheng, Hongliang Lu, Hui Zhong, Xianda Chen, Shaojie Shen, Xuesong Wang, Yihai Wang and Fei Yue Wang's work on "BEVGPT: generative pre-trained transformer for autonomous driving prediction, decision making and planning" is accepted by the Transportation Research Board Annual Meeting (TRB 2024).

TRB 2024 will be held in Washington, D.C., USA from January 7th to 11th.

Five papers are accepted by RA-L and will be presented at ICRA 2024

August 22^nd, 2023

Chenxing Jiang, Hanwen Zhang, Peize LIU, Zehuan Yu, Hui Cheng, Boyu Zhou and Shaojie Shen's work on "H2-mapping: real-time dense mapping using hierarchical hybrid representation" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

August 21^st, 2023

Tong Li, Lu Zhang, Sikang Liu and Shaojie Shen's work on "MARC: multipolicy and risk-aware contingency planning for autonomous driving" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

August 18^th, 2023

Jieqi Shi, Peiliang LI, Xiaozhi Chen and Shaojie Shen's work on "You only label once: 3D box adaptation from point cloud to image via semi-supervised learning" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

August 9^th, 2023

Haojia Li, Haokun Wang, Chen Feng, Fei Gao, Boyu Zhou and Shaojie Shen's work on "Autotrans: a complete planning and control framework for autonomous UAV payload transportation" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

August 7^th, 2023

Chen Feng, Hangning Zhou, Huadong Lin, Zhigang Zhang, Ziyao Xu, Chi Zhang, Boyu Zhou and Shaojie Shen's work on "Macformer: map-agent coupled transformer for real-time and robust trajectory prediction" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

ICRA 2024 will be held in Yokohama, Japan from May 13th to 17th.

A paper is accepted by ICCV 2023

July 14^th, 2023

Yiyao Zhu, Di Luan and Shaojie Shen's work on "BiFF: bi-level future fusion with polyline-based coordinate for interactive trajectory prediction" is accepted by International Conference on Computer Vision (ICCV 2023).

ICCV 2023 will be held in Paris, France from October 2nd to 6th.

Four papers are accepted by IROS 2023

June 22^nd, 2023

Four conference papers are accepted by the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), including:

1. 1. 1. Zhijian Qiao, Zehuan Yu, Huan Yin and Shaojie Shen. Online monocular lane mapping using catmull-rom spline.
      2. Sheng Hong, Chunran Zheng, Huan Yin and Shaojie Shen. Rollvox: real-time and high-quality LiDAR colorization with rolling shutter camera.
      3. Zehuan Yu, Zhijian Qiao,Liuyang Qiu, Huan Yin and Shaojie Shen. Multi-session, localization-oriented and lightweight LiDAR mapping using semantic lines and planes.
      4. Zhijian Qiao, Zehuan Yu, Huan Yin and Shaojie Shen. Pyramid semantic graph-based global point cloud registration with low overlap.

IROS 2023 will be held in Detroit, USA from October 1st to 5th.

A paper is accepted by T-ITS

June 9^th, 2023

Zhenmin Huang, Shaojie Shen and Jun Ma's work on "Decentralized iLQR for cooperative trajectory planning of connected autonomous vehicles via dual consensus ADMM" is accepted by the IEEE Transactions on Intelligent Transportation Systems (T-ITS) for publication.

A paper is accepted by TMECH

June 2^nd, 2023

Huan Yu, Pengqin Wang, Jin Wang, Jialin Ji, Zhi Zheng, Jie Tu, Guodong Lu, Jun Meng, Meixin Zhu, Shaojie Shen and Fei Gao's work on "Catch planner: catching high-speed targets in the flight" is accepted by the IEEE/ASME Transactions on Mechatronics (TMECH) for publication.

Prof. Shen receives the 2023 AI 2000 Most Influential Scholar Award Honorable Mention

February 24^rd, 2023

Prof. Shen is recognized as the 2023 AI 2000 Most Influential Scholar Award Honorable Mention for his contributions to the field of Robotics between 2013 and 2022 (ranked 31st).

Prof. Shen has received the same award for four years in a row.

The 2023 AI 2000 Most Influential Scholars

A paper is accepted by ICLR 2023

January 21^st, 2023

Jun Cen, Di Luan, Shiwei Zhang, Yixuan Pei, Yingya Zhang, Deli Zhao, Shaojie Shen and Qifeng Chen's work on "The devil is in the wrongly-classified samples: towards unified open-set recognition" is accepted by the Eleventh International Conference on Learning Representations (ICLR 2023).

ICLR 2023 will be held in Kigali, Rwanda from May 1st to 5th.

Four papers are accepted by ICRA 2023

January 17^th, 2023

Four conference papers are accepted by the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023), including:

1. 1. 1. J. Shi, P. Li, X. Chen and S. Shen. Are all point clouds suitable for completion? Weakly supervised quality evaluation network for point cloud completion .
      2. C. Liu and S. Shen. Towards view-invariant and accurate loop detection based on scene graph.
      3. B. Jiang and S. Shen. Contour context: abstract structural distribution for 3D LiDAR loop detection and metric pose estimation.
      4. C. Feng, B. Zhou, H. Li, F. Gao and S. Shen. PredRecon: a prediction-boosted planning framework for fast and high-quality autonomous aerial reconstruction.

ICRA 2023 will be held in London, UK from May 29th to June 2nd.

A paper is accepted by T-RO

December 27^th, 2022

Boyu Zhou, Hao Xu and Shaojie Shen's work on "RACER: rapid collaborative exploration with a decentralized multi-UAV system" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

Two papers are accepted by RA-L

December 12^th, 2022

Junfeng Yu and Shaojie Shen's work on "SemanticLoop: loop closure with 3D semantic graph matching" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

October 12^th, 2022

Ke Wang and Shaojie Shen's work on "Estimation and Propagation: scene flow prediction on occluded point clouds" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

A paper is accepted by TVT

September 3^rd, 2022

Fei Xiao, Shengkai Zhang, Sheyang Tang, Shaojie Shen, Huixin Dong and Yi Zhong's work on "WiSion: bolstering MAV 3D indoor state estimation by embracing multipath of WiFi" is accepted by the IEEE Transactions on Vehicular Technology (TVT) for publication.

Three papers are accepted by IROS 2022

June 30^th, 2022

Three conference papers are accepted by the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), including:

1. 1. 1. L. Zhang, P. Li, J. Chen and S. Shen. Trajectory prediction with graph-based dual-scale context fusion.
      2. X. Chen, B. Zhou, J. Lin, F. Zhang and S. Shen. Fast 3D sparse topological skeleton graph generation for mobile robot global planning.
      3. B. Jiang and S. Shen. A liDAR-inertial odometry with principled uncertainty modeling.

IROS 2022 will be held in Kyoto, Japan from October 23rd to 27th.

A paper is accepted by T-RO

May 9^th, 2022

Hao Xu, Yichen Zhang, Boyu Zhou, Luqi Wang, Xinjie Yao, Guotao Meng and Shaojie Shen's work on "Omni-swarm: a decentralized omnidirectional visual-inertial-UWB state estimation system for aerial swarms" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

A paper is accepted by DAS 2022

May 1^st, 2022

Xuanhong Liao, Shaojie Shen, Zexiang Li and Lei Yu's work on "Low noise current controller design for table-level balance robot's joint" is accepted by the 16th IEEE International Conference on Development and Application Systems (DAS) for publication.

DAS 2022 will be held in Suceava, Romania from May 26th to 28th.

Prof. Shen receives the 2022 AI 2000 Most Influential Scholar Award Honorable Mention

April 3^rd, 2022

Prof. Shen is recognized as the 2022 AI 2000 Most Influential Scholar Award Honorable Mention for his contributions to the field of Robotics between 2012 and 2021 (ranked 25th).

Prof. Shen has received the same award for three years in a row.

The 2022 AI 2000 Most Influential Scholars

A paper is accepted by Sensors

March 31^st, 2022

Ke Wang, Chuhao Liu and Shaojie Shen's work on "Geometric calibration for cameras with inconsistent imaging capabilities" is accepted by Sensors for publication.

Five papers are accepted by ICRA 2022 and four of them will be published in RA-L and T-RO

February 1^st, 2022

Five conference papers are accepted by the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022), including:

1. 1. 1. L. Wang, H. Xu, Y. Zhang and S. Shen. Neither fast nor slow: how to fly through narrow tunnels.
      2. Y. Zhang, B. Zhou, L. Wang and S. Shen. Exploration with global consistency using real-time re-integration and active loop closure.
      3. K. Wang and S. Shen. Semi-supervised learning: structure, reflectance and lighting estimation from a night image pair.
      4. J. Shi, L. Xu, P. Li, X. Chen and S. Shen. Temporal point cloud completion with pose disturbance.
      5. S. Cao, X. Lu and S. Shen. GVINS: tightly coupled GNSS-visual-inertial fusion for smooth and consistent state estimation.

The papers "Neither fast nor slow: how to fly through narrow tunnels", "Semi-supervised learning: structure, reflectance and lighting estimation from a night image pair" and "Temporal point cloud completion with pose disturbance" are accepted by the IEEE Robotics and Automation Letters (RA-L) for publication, and the paper "GVINS: tightly coupled GNSS-visual-inertial fusion for smooth and consistent state estimation" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

ICRA 2022 will be held in Philadelphia (PA), USA from May 23rd to 27th.

A paper is accepted by T-RO

November 3^rd, 2021

Shaozu Cao, Xiuyuan Lu and Shaojie Shen's work on "GVINS: tightly coupled GNSS-visual-inertial fusion for smooth and consistent state estimation" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

A paper is accepted by TNNLS

October 22^nd, 2021

Yi Zhou, Guillermo Gallego, Xiuyuan Lu, Siqi Liu and Shaojie Shen's work on "Event-based motion segmentation with spatio-temporal graph cuts" is accepted by the IEEE Transactions on Neural Networks and Learning Systems (TNNLS) for publication.

A paper is accepted by T-RO

July 12^th, 2021

Wenchao Ding, Lu Zhang, Jing Chen and Shaojie Shen's work on "EPSILON: An efficient planning system for automated vehicles in highly interactive environments" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

Two papers are accepted by IROS 2021 and one of them will be published in RA-L

July 1^st, 2021

Two conference papers are accepted by the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), including:

1. 1. 1. J. Shi, L. Xu, L. Heng and S. Shen. Graph guided deformation for point cloud completion.
      2. X. Lu, Y. Zhou and S. Shen. Event-based motion segmentation by cascaded two-level multi-model fitting.

The paper "Graph guided deformation for point cloud completion" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

IROS 2021 will be held online in Prague, Czech Republic from September 27th to October 1st.

A paper is accepted by RAS

May 18^th, 2021

Manohar Kuse and Shaojie Shen's work on "Learning whole-image descriptors for real-time loop detection and kidnap recovery under large viewpoint difference" is accepted by Robotics and Autonomous Systems (RAS) for publication.

Prof. Shen receives the AI 2000 Most Influential Scholar Award Honorable Mention

April 24^th, 2021

Prof. Shen is recognized as the 2021 AI 2000 Most Influential Scholar Award Honorable Mention for his contributions to the field of Robotics between 2011 and 2020 (ranked 21st).

Prof. Shen has received the same award for two years in a row.

Read more

A paper is selected for Honorable Mention for the 2020 IEEE T-RO Best Paper Award

April 16^th, 2021

Fei Gao, Luqi Wang, Boyu Zhou, Xin Zhou, Jie Pan and Shaojie Shen's paper "Teach-repeat-replan: a complete and robust system for aggressive flight in complex environments" has been chosen as one of four papers selected for Honorable Mention for the 2020 IEEE Transactions on Robotics (T-RO) King-Sun Fu Memorial Best Paper Award.

This is the second time our group receives such an award, after winning the first one in April 2019 (paper).

A paper is accepted by T-RO

March 19^th, 2021

Boyu Zhou, Jie Pan, Fei Gao and Shaojie Shen's work on "RAPTOR: robust and perception-aware trajectory replanning for quadrotor fast flight" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

Four papers are accepted by ICRA 2021 and three of them will be published in RA-L and T-RO

February 28^th, 2021

Four conference papers are accepted by the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), including:

1. 1. 1. L. Wang, B. Zhou, C. Liu and S. Shen. Estimation and adaption of indoor ego airflow disturbance with application to quadrotor trajectory planning.
      2. K. Wang, C. Liu, K. Wang and S. Shen. Depth estimation under motion with single pair rolling shutter stereo images.
      3. B. Zhou, Y. Zhang, X. Chen and S. Shen. FUEL: Fast UAV exploration using incremental frontier structure and hierarchical planning.
      4. F. Gao, L. Wang, B. Zhou, X. Zhou, J. Pan and S. Shen. Teach-repeat-replan: a complete and robust system for aggressive flight in complex environments.

The papers "Depth estimation under motion with single pair rolling shutter stereo images" and "FUEL: Fast UAV exploration using incremental frontier structure and hierarchical planning" are accepted by the IEEE Robotics and Automation Letters (RA-L) for publication, and paper "Teach-repeat-replan: a complete and robust system for aggressive flight in complex environments" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

ICRA 2021 will be held in Xi'an, China from May 30th to June 5th.

A paper is accepted by T-RO

February 16^th, 2021

Yi Zhou, Guillermo Gallego and Shaojie Shen's work on "Event-based stereo visual odometry" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

A paper is accepted by T-RO

September 15^th, 2020

K. Qiu, T. Qin, J. Pan, S. Liu and S. Shen's work on "Real-time temporal and rotational calibration of heterogeneous sensors using motion correlation analysis" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

Event-based stereo visual odometry

September 8^th, 2020

Check out our new work: "Event-based Stereo Visual Odometry", where we dived into the rather unexplored topic of stereo SLAM with event cameras and proposed a real-time solution. We present a solution to the problem of visual odometry from the data acquired by a stereo event-based camera rig. Our system follows a parallel tracking-and-mapping approach, where novel solutions to each subproblem (3D reconstruction and camera pose estimation) are developed with two objectives in mind: being principled and efficient, for real-time operation with commodity hardware. paper, video, code on GitHub

A paper is accepted by PAD2020

August 5^th, 2020

Jieqi Shi, Peiliang Li and Shaojie Shen's work on "Tracking from patterns: learning corresponding patterns in point clouds for 3D object tracking" is accepted by the European Conference on Computer Vision (ECCV) Workshop on Perception for Autonomous Driving (PAD2020) for publication. This workshop will be held virtually on August 23rd.

About PAD2020

Quadrotor fast flight in complex unknown environments

July 6^th, 2020

We presented RAPTOR, a Robust And Perception-aware TrajectOry Replanning framework to enable fast and safe flight in complex unknown environments. Its main features are:

(a) finding feasible and high-quality trajectories in very limited computation time, and

(b) introducing a perception-aware strategy to actively observe and avoid unknown obstacles.

Specifically, a path-guided optimization (PGO) approach that incorporates multiple topological paths is devised to search the solution space efficiently and thoroughly. Trajectories are further refined to have higher visibility and sufficient reaction distance to unknown dangerous regions, while the yaw angle is planned to actively explore the surrounding space relevant for safe navigation.

code on GitHub

A paper is accepted by ECCV 2020

July 3^rd, 2020

Haoran Song, Wenchao Ding, Yuxuan Chen, Shaojie Shen, Michael Yu Wang and Qifeng Chen's work on "PiP: planning-informed trajectory prediction for autonomous driving" is accepted by the European Conference on Computer Vision (ECCV) for publication.

ECCV 2020 will be held virtually from August 23rd to 28th.

A paper is accepted by IROS 2020

July 1^st, 2020

Chuhao Liu and Shaojie Shen's work on "An augmented reality interaction interface for autonomous drone" is accepted by the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) for publication.

IROS 2020 will be held in Las Vegas, USA from October 25th to 29th.

A paper is accepted by FPL 2020

May 20^th, 2020

Jieru Zhao, Tingyuan Liang, Liang Feng, Wenchao Ding, Sharad Sinha, Wei Zhang and Shaojie Shen's work on "FP-stereo: hardware-efficient stereo vision for embedded applications" is accepted by the 30th International Conference on Field-Programmable Logic and Applications (FPL 2020) for publication.

FPL 2020 will be held virtually from August 31st to September 4th.

A paper is accepted by T-RO

May 4^th, 2020

Fei Gao, Luqi Wang, Boyu Zhou, Xin Zhou, Jie Pan and Shaojie Shen's work on "Teach-repeat-replan: a complete and robust system for aggressive flight in complex environments" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

Prof. Shen receives the AI 2000 Most Influential Scholar Award Honorable Mention

April 14^th, 2020

Prof. Shen is recognized as the 2020 AI 2000 Most Influential Scholar Award Honorable Mention for his contributions to the field of Robotics between 2009 and 2019 (ranked 73rd).

Read more

A paper is accepted by CVPR 2020

February 26^th, 2020

Peiliang Li, Jieqi Shi and Shaojie Shen's work on "Joint spatial-temporal optimization for stereo 3D object tracking" is accepted by the 2020 IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2020).

CVPR 2020 will be held in Washington, USA from June 14th to 19th.

A paper is accepted by JFR

January 27^th, 2020

Wenliang Gao, Kaixuan Wang, Wenchao Ding, Fei Gao, Tong Qin and Shaojie Shen's work on "Autonomous aerial robot using dual-fisheye cameras" is accepted by the Journal of Field Robotics (JFR) for publication.

Six papers are accepted by ICRA 2020 and one of them will be published in RA-L

January 22^nd, 2020

Six conference papers are accepted by the 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), including:

1. 1. 1. K Wang, Y. Chen, H. Guo, L. Wen and S. Shen. Geometric pretraining for monocular depth estimation.
      2. L. Zhang, W. Ding, J. Chen and S. Shen. Efficient uncertainty-aware decision-making for automated driving using guided branching.
      3. B. Zhou, F. Gao, J. Pan and S. Shen. Robust real-time UAV replanning using guided gradient-based optimization and topological paths.
      4. K. Wang, K, Wang and S. Shen. FlowNorm: a learning-based method for increasing convergence range of direct alignment.
      5. H. Xu, L. Wang, Y. Zhang and S. Shen. Decentralized visual-inertial-UWB fusion for relative state estimation of aerial swarm.
      6. K. Wang and S. Shen. Flow-motion and depth network for monocular stereo and beyond.

The paper "Flow-motion and depth network for monocular stereo and beyond" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

ICRA 2020 will be held in Paris, France from May 31st to June 4th.

A paper is accepted by ISRR 2019

August 1^st, 2019

William Wu, Fei Gao, Luqi Wang, Boyu Zhou and Shaojie Shen's work on "Temporal scheduling and optimization for multi-MAV planning" is accepted by the 2019 International Symposium on Robotics Research (ISRR 2019) for publication.

ISRR 2019 will be held in Hanoi, Vietnam from October 6th to 10th.

Code for Autonomous Drone Race is now available on GitHub

June 30^th, 2019

We released Teach-Repeat-Replan, which is a complete and robust system enables Autonomous Drone Race. Teach-Repeat-Replan can be applied to situations where the user has a preferable rough route but isn't able to pilot the drone ideally, such as drone racing. With our system, the human pilot can virtually control the drone with his/her navie operations, then our system automatically generates a very efficient repeating trajectory and autonomously execute it. During the flight, unexpected collisions are avoided by onboard sensing/replanning. Teach-Repeat-Replan can also be used for normal autonomous navigations. For these applications, a drone can autonomously fly in complex environments using only onboard sensing and planning. Major components are:

1. 1. 1. Planning: flight corridor generation, global spatial-temporal planning, local online re-planning
      2. Perception: global deformable surfel mapping, local online ESDF mapping
      3. Localization: global pose graph optimization, local visual-inertial fusion
      4. Controlling: geometric controller on SE(3)

code on GitHub

Four papers are accepted by IROS 2019 and one of them will be published in RA-L

June 27^th, 2019

Four conference papers are accepted by the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) and one of them is published in the IEEE Robotics and Automation Letters (RA-L), including:

1. 1. 1. L. Han, F. Gao, B. Zhou, S. Shen. FIESTA: fast incremental Euclidean distance fields for online quadrotor motion planning.
      2. J. Lin, L. Wang, F. Gao, S. Shen, F. Zhang. Flying through a narrow gap using neural network: an end-to-end planning and control approach.
      3. Y. Yu, W. Gao, S. Shen, M. Liu. A GPS-aided omnidirectional visual-inertial state estimator in ubiquitous environments.
      4. B. Zhou, F. Gao, L. Wang, C. Liu, S. Shen. Robust and efficient quadrotor trajectory generation for fast autonomous flight.

The paper "Robust and efficient quadrotor trajectory generation for fast autonomous flight" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

IROS 2019 will be held at Macau, China from November 4th to 8th.

A paper is accepted by RA-L

June 5^th, 2019

Wenchao Ding, Lu Zhang, Jing Chen and Shaojie Shen's work on "Safe trajectory generation for complex urban environments using spatio-temporal semantic corridor" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

A paper is accepted by T-RO

June 5^th, 2019

Wenchao Ding, Wenliang Gao, Kaixuan Wang and Shaojie Shen's work on "An efficient B-spline-based kinodynamic replanning framework for quadrotors" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

A paper is accepted by CASE 2019

May 16^th, 2019

Wenliang Gao, Jiarong Lin, Fu Zhang and Shaojie Shen's work on "A screen-based method for automated camera intrinsic calibration on production lines" is accepted by the 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE 2019) for publication.

CASE 2019 will be held at Vancouver, Canada from August 22th to 26th.

A paper is accepted by UAVision 2019

April 8^th, 2019

Rui Fan, Jianhao Jiao, Jie Pan, Huaiyang Huang, Shaojie Shen and Ming Liu's work on "Real-time dense stereo embedded in a UAV for road inspection" is accepted by the 3rd International Workshop on Computer Vision for UAVs (UAVision 2019) for publication. This workshop will be held on June 16th and it is in conjunction with CVPR 2019, Long Beach, California.

About the workshop

A paper receives Honorable Mention status for the 2018 T-RO Best Paper award

April 3^rd, 2019

Tong Qin, Peiliang Li and Shaojie Shen's paper "VINS-Mono: A robust and versatile monocular visual-inertial state estimator" has been chosen as one of two papers to receive Honorable Mention status for the 2018 IEEE Transactions on Robotics (T-RO) Best Paper award.

A paper is accepted by T-RO

March 28^th, 2019

Kejie Qiu, Tong Qin, Wenliang Gao and Shaojie Shen's work on "Tracking 3-D motion of dynamic objects using monocular visual-inertial sensing" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

A paper is accepted by CVPR 2019

February 25^th, 2019

Peiliang Li, Xiaozhi Chen and Shaojie Shen's work on "Stereo R-CNN based 3D object detection for autonomous driving" is accepted by the 2019 IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2019).

CVPR 2019 will be held in Long Beach, California from June 16th to 20th.

A paper is accepted by JFR

February 25^th, 2019

Yonggen Ling and Shaojie Shen's work on "Real-time dense mapping for online processing and navigation" is accepted by the Journal of Field Robotics (JFR) for publication.

Four papers are accepted by ICRA 2019 and one of them is published in RA-L

February 11^th, 2019

Four conference papers are accepted by the 2019 IEEE International Conference on Robotics and Automation (ICRA 2019), including:

1. 1. 1. W. Ding, J. Chen and S. Shen. Predicting vehicle behaviors over an extended horizon using behavior interaction network.
      2. K. Wang, F. Gao and S. Shen. Real-time scalable dense surfel mapping.
      3. W. Ding and S. Shen. Online vehicle trajectory prediction using policy anticipation network and optimization-based context reasoning.
      4. F. Gao, L. Wang, K. Wang, W. Wu, B. Zhou, L. Han and S. Shen. Optimal trajectory generation for quadrotor teach-and-repeat.

The paper "Optimal trajectory generation for quadrotor teach-and-repeat" is published in the IEEE Robotics and Automation Letters (RA-L).

ICRA 2019 will be held in Montreal, Canada from May 20th to 24th.

Prof Shen gave a talk at CMU RI

February 11^th, 2019

Prof Shen gave a talk at the Robotics Institute at Carnegie Mellon University (CMU RI) on 25 January, 2019. He reported on the topic of 'Minimalist visual perception and navigation for consumer drones'.

Read more

Code for VINS-Fusion is now available on GitHub

January 14^th, 2019

VINS-Fusion is an optimization-based multi-sensor state estimator, which achieves accurate self-localization for autonomous applications (drones, cars, and AR/VR). VINS-Fusion is an extension of VINS-Mono, which supports multiple visual-inertial sensor types (mono camera + IMU, stereo cameras + IMU, even stereo cameras only). We also show a toy example of fusing VINS with GPS. Features:

1. 1. 1. multiple sensors support (stereo cameras / mono camera+IMU / stereo cameras+IMU)
      2. online spatial calibration (transformation between camera and IMU)
      3. online temporal calibration (time offset between camera and IMU)
      4. visual loop closure.

We are the TOP open-sourced stereo algorithm on KITTI Odometry Benchmark (12 Jan. 2019).

code on GitHub

A paper is accepted by ROBIO 2018

October 18^th, 2018

Luqi Wang, Fei Gao, Fengyu Cai and Shaojie Shen's work on "CRASH: a collaborative aerial-ground exploration system using hybrid-frontier method" is accepted by the IEEE International Conference on Robotics and Biomimetics (ROBIO).

ROBIO 2018 is held in Kuala Lumpur, Malaysia from December 12th to 15th.

A paper is accepted by IJMAV

October 9^th, 2018

Ximin Lyu, Haowei Gu, Jinni Zhou, Zexiang Li, Shaojie Shen and Fu Zhang's work on "Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope" is accepted by International Journal of Micro Air Vehicles (IJMAV) for publication.

A paper is accepted by JFR

October 11^th, 2018

Fei Gao, William Wu, Wenliang Gao and Shaojie Shen's work on "Flying on point clouds: online trajectory generation and autonomous navigation for quadrotor in cluttered environments" is accepted by Journal of Field Robotics (JFR) for publication.

Tong Qin wins the IROS 2018 Best Student Paper Award

October 4^th, 2018

Tong Qin and Shaojie Shen's paper "Online temporal calibration for monocular visual-inertial systems" wins the Best Student Paper Award in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) which is held in Madrid, Spain. Read more

A paper is accepted by 3DV 2018

July 21^st, 2018

Kaixuan Wang and Shaojie Shen's work on "MVDepthNet: real-time multiview depth estimation neural network" is accepted by the 6th international conference on 3D Vision (3DV).

3DV 2018 is held in Verona, Italy from September 5th to 8th.

A paper is accepted by T-RO

July 20^th, 2018

Soon-Jo Chung, Aditya Avinash Paranjape, Philip Dames, Shaojie Shen and Vijay Kumar's work on "A survey on aerial swarm robotics" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

A paper is accepted by ECCV 2018

July 3^rd, 2018

Peiliang Li, Tong Qin and Shaojie Shen's work on "Stereo vision-based semantic 3D object and ego-motion tracking for autonomous driving" is accepted by the European Conference on Computer Vision (ECCV 2018).

ECCV 2018 is held at Munich, Germany from September 8th to 14th.

Seven papers are accepted by IROS 2018 and one of them is published in RA-L

June 29^th, 2018

Seven papers are accepted by the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), including:

1. 1. 1. K. Qiu, T. Qin, H. Xie and S. Shen. Estimating metric poses of dynamic objects using monocular visual-inertial fusion.
      2. T. Qin and S. Shen. Online temporal calibration for monocular visual-inertial systems.
      3. Y. Ling, K. Wang and S. Shen. Probabilistic dense reconstruction from a moving camera.
      4. F. Gao, W. Wu, J. Pan, B. Zhou and S. Shen. Optimal time allocation for quadrotor trajectory generation.
      5. K. Wang and S. Shen. Adaptive baseline monocular dense mapping with inter-frame depth propagation.
      6. K. Wang, W. Ding and S. Shen. Quadtree-accelerated real-time monocular dense mapping.
      7. X. Lyu, J. Zhou, H. Gu, Z. Li, S. Shen and F. Zhang. Disturbance observer based hovering control of quadrotor tail-sitter VTOL UAVs using H-infinity synthesis.

The paper "Disturbance observer based hovering control of quadrotor tail-sitter VTOL UAVs using H-infinity synthesis" is published in the IEEE Robotics and Automation Letters (RA-L).

IROS 2018 is held in Madrid, Spain from October 1st to 5th.

A paper is accepted by ISER 2018

June 28^th, 2018

Luqi Wang, Daqian Cheng, Fei Gao, Fengyu Cai, Jixin Guo, Mengxiang Lin and Shaojie Shen's work on "A collaborative aerial-ground robotic system for fast exploration" is accepted by the 2018 International Symposium on Experimental Robotics (ISER 2018).

ISER 2018 is held at Buenos Aires, Argentina from November 5th to 8th.

A paper is accepted by T-RO

May 19^th, 2018

Tong Qin, Peiliang Li and Shaojie Shen's work on "VINS-Mono: A robust and versatile monocular visual-inertial state estimator" is accepted by IEEE Transactions on Robotics (T-RO) for publication.

A paper is accepted by ETRA 2018

April 26^th, 2018

Haofei Wang, Jimin Pi, Tong Qin, Shaojie Shen and Bertram E. Shi's work on "SLAM-based localization of 3D gaze using a mobile eye tracker" is accepted by the ACM Symposium on Eye Tracking Research and Applications (ETRA).

ETRA 2018 is held at Warsaw, Poland from June 14th to 17th.

A paper is accepted by IJCAI-ECAI 2018

April 17^th, 2018

Siyi Li, Tianbo Liu, Chi Zhang, Dit-Yan Yeung and Shaojie Shen's work on "Learning unmanned aerial vehicle control for autonomous target following" is accepted by the 27th International Joint Conference on Artificial Intelligence and the 23rd European Conference on Artificial Intelligence (IJCAI-ECAI).

IJCAI-ECAI 2018 is held at Stockholm, Sweden from July 13rd to 19th.

Two papers are accepted by ICUAS 2018

April 17^th, 2018

Two conference papers are accepted by the 2018 IEEE International Conference on Unmanned Aircraft Systems (ICUAS 2018), including:

1. 1. 1. J. Zhou, X. Lyu, X. Cai, Z. Li, S. Shen and F. Zhang. Frequency domain model identification and loop-shaping controller design for quadrotor tail-sitter VTOL UAVs.
      2. H. GU, X. Cai, J. Zhou, Z. Li, S. Shen and F. Zhang. A coordinate descent method for multidisciplinary design optimization of electric-powered winged UAVs.

ICUAS 2018 is held in Dallas, TX, USA from June 12th to 15th.

Four papers are accepted by ICRA 2018

January 12^th, 2018

Four conference papers are accepted by the 2018 IEEE International Conference on Robotics and Automation (ICRA 2018), including:

1. 1. 1. F. Gao, W. Wu, Yi Lin and S. Shen. Online safe trajectory generation for quadrotors using fast marching method and bernstein basis polynomial.
      2. T. Qin, P. Li and S. Shen. Relocalization, global optimization and map merging for monocular visual-inertial SLAM.
      3. W. Ding, W. Gao, K. Wang and S. Shen. Trajectory replanning for quadrotors using kinodynamic search and elastic optimization.
      4. C. Huang, F. Gao, J. Pan, Z. Yang, W. Qiu, P. Chen, X. Yang, S. Shen and K. T. Cheng. ACT: an autonomous drone cinematography system for action scenes.

ICRA 2018 is held in Brisbane, Australia from May 21st to 25th.

A paper is accepted by SSRR 2017

August 28^th, 2017

Changsheng Shen, Yuanzhao Zhang, Zimo Li, Fei Gao, Shaojie Shen's work on "Collaborative air-ground target searching in complex environments" is accepted by the IEEE Internaitonal Symposium on Safety, Security and Rescue Robotics (SSRR),

SSRR 2017 is held in Shanghai, China from October 11th to 13th.

A paper is accepted by ISMAR 2017

July 10^th, 2017

Peiliang Li, Tong Qin, Botao Hu, Fengyuan Zhu and Shaojie Shen's work on "Monocular visual-inertial state estimation for mobile augmented reality" is accepted by the IEEE International Symposium on Mixed and Augmented Reality (ISMAR).

ISMAR 2017 is held in Nantes, France from October 9th to 13th.

Nine papers are accepted by IROS 2017 with one published in RA-L

June 15^th, 2017

Nine papers are accepted by the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), including:

1. 1. 1. J. Chen and S. Shen. Using a quadrotor to track a moving target with arbitrary relative motion patterns.
      2. F. Gao, Y. Lin and S. Shen. Gradient-based online safe trajectory generation for quadrotor flight in complex environments.
      3. W. Gao and S. Shen. Dual-fisheye omnidirectional stereo.
      4. Y. Ling and S. Shen. Building maps for autonomous navigation using sparse visual SLAM features.
      5. T. Liu and S. Shen. Spline-based initialization of monocular visual-inertial state estimators at high altitude.
      6. X. Lyu, H. Gu, J. Zhou, Z. Li, S. Shen and F. Zhang. A hierarchical control approach for a quadrotor tail-sitter VTOL UAV and experimental verification.
      7. T. Qin and S. Shen. Robust initialization of monocular visual-inertial estimation on aerial robots.
      8. K. Qiu and S. Shen. Model-aided monocular visual-inertial state estimation and dense mapping.
      9. J. Zhou, X. Lyu, Z. Li, S. Shen and F. Zhang. A unified control method for quadrotor tail-sitter UAVs in all flight modes: hover, transition, and level flight.

The paper "Spline-based initialization of monocular visual-inertial state estimators at high altitude" is published in the IEEE Robotics and Automation Letters (RA-L).

IROS 2017 is held in Vancouver, Canada from September 24th to 28th.

A paper is accepted by AURO

June 1^st, 2017

Yonggen Ling, Manohar Kuse and Shaojie Shen's paper entitled "Edge alignment-based visual-inertial fusion for tracking of aggressive motions" is accepted by Autonomous Robots (AURO) for publication.

A paper is accepted by JFR

May 27^th, 2017

Yi Lin, Fei Gao, Tong Qin, Wenliang Gao, Tianbo Liu, William Wu, Zhenfei Yang and Shaojie Shen's paper entitled "Autonomous aerial navigation using monocular visual-inertial fusion" is accepted by Journal of Field Robotics (JFR).

Code for VINS-Mono is now available on GitHub

May 23^rd, 2017

VINS-Mono is a real-time SLAM framework for Monocular Visual-Inertial Systems. It uses an optimization-based sliding window formulation for providing high-accuracy visual-inertial odometry. It features efficient IMU pre-integration with bias correction, automatic estimator initialization, online extrinsic calibration, failure detection and recovery, loop detection, and global pose graph optimization. VINS-Mono is primarily designed for state estimation and feedback control of autonomous drones, but it is also capable of providing accurate localization for AR applications. This code runs on Linux, and is fully integrated with ROS.

code on Github

VINS-mobile (iOS)

A paper is accepted by ICIP 2017

May 10^th, 2017

Manohar Kuse, Sunil Prasad Jaiswal and Shaojie Shen's work on "Deep-Mapnets: A Residual Network for 3D Environment Representation" is accepted by the IEEE International Conference on Image Processing (ICIP).

ICIP 2017 is held in Beijing, China from September 17th to 20th.

Code for VINS-Mobile is now available on GitHub

May 8^th, 2017

VINS-Mobile is a real-time monocular visual-inertial state estimator runs on compatible iOS devices, and provides localization services for augmented reality (AR) applications. It is also tested for state estimation and feedback control for autonomous drones. VINS-Mobile uses sliding window optimization-based formulation for providing high-accuracy visual-inertial odometry with automatic initialization and failure recovery. The accumulated odometry errors are corrected in real-time using global pose graph SLAM. An AR demonstration is provided to showcase its capability.

Read more

Two papers are accepted by ICUAS 2017

April 24^th, 2017

Two papers are accepted by the 2017 IEEE International Conference on Unmanned Aircraft Systems (ICUAS 2017) 2017, including

1. 1. 1. H. Gu, X. Lyu, Z. Li, S. Shen and F. Zhang. Development and experimental verification of a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle(UAV).
      2. Y. Wang, X. Lyu, H. Gu, Z. Li, S. Shen and F. Zhang. Design, implementation and verification of a quadrotor tail-sitter VTOL UAV.

ICUAS 2017 is held in Miami, USA from June 13th to 16th.

Jing Chen's paper enters the final list of Best Service Robotics Paper Award in ICRA 2017

 April 6^th, 2017

Jing Chen and Shaojie Shen's paper entitled "Improving octree-based occupancy maps using environment sparsity with application to aerial robot navigation" has been selected as one of the finalists of "Best Service Robotics Paper Award" of the 2017 IEEE International Conference on Robotics and Automation (ICRA).

ICRA 2017 is held in Singapore from May 29th to June 3rd.

Seven papers are accepted by ICRA 2017 and one of them is published in RA-L

January 18^th, 2017

Seven papers are accepted by the 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), including

1. 1. 1. J. Chen and S. Shen. Improving octree-based occupancy maps using environment sparsity with application to aerial robot navigation.
      2. F. Gao and S. Shen. Quadrotor trajectory generation in dynamic environments using semi-definite relaxation on nonconvex QCQP.
      3. T. Liu and S. Shen. High altitude monocular visual-inertial state estimation: initialization and sensor fusion.
      4. X. Lyu, H. Gu, Y. Wang, Z. Li, S. Shen, and F. Zhang. Design and implementation of a quadrotor tail-sitter VTOL UAV.
      5. T. Sun, S. Nie, D. Yeung, and S. Shen. Gesture-based piloting of an aerial robot using monocular vision.
      6. Z. Yang, F. Gao, and S. Shen. Real-time monocular dense mapping on aerial robots using visual-inertial fusion.
      7. K. Qiu, T. Liu, and S. Shen. Model-based global localization for aerial robots using edge alignment.

The paper "Model-based global localization for aerial robots using edge alignment" is also accepted to be published in the IEEE Robotics and Automation Letters (RA-L).

ICRA 2017 is held in Singapore from May 29th to June 3rd.

Fei Gao wins the SSRR 2016 Best Conference Paper Award

October 26^th, 2016

The paper “Online quadrotor trajectory generation and autonomous navigation on point clouds” by Ph.D. student Fei Gao just won the Best Conference Paper Award in the 2016 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR 2016) which is held at  Lausanne, Switzerland from October 23rd to 27th. Our group received the best paper award at this conference two years in a row.

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Kunyue Su and Shaojie Shen published a new article in ISER 2016

October 6^th, 2016

Kunyue Su and Shaojie Shen’s work on “Catching a flying ball with a vision-based quadrotor” was published in 2016 International Symposium on Experimental Robotics (ISER 2016 ) which is held in Tokyo, Japan from October 3rd to 6th.

Bing Li, Shengkai Zhang and Shaojie Shen published a new article in MFI 2016

September 21^st, 2016

Bing Li, Shengkai Zhang and Shaojie Shen’s work on “CSI-based wifi-inertial state estimation” was published in 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016) which is held in Baden-Baden, Germany from September 19th to 21st.

Three papers are accepted by IROS 2016

September 14^th, 2016

Three papers of the HKUST UAV group are accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016, including

1. 1. 1. J. Chen, T. Liu, and S. Shen. Tracking a moving target in cluttered environments using a quadrotor.
      2. Y. Ling and S. Shen. High-precision online markerless stereo extrinsic calibration.
      3. Z. Yang, T. Liu, and S. Shen. Self-calibrating multi-camera visual-inertial fusion for autonomous MAVs.

IROS 2016 is held in Daejeon, Korea from October 9th to 14th.

Three papers are accepted by ICRA 2016

April 14^th, 2016

Three papers of the HKUST UAV group are accepted by the 2016 IEEE International Conference on Robotics and Automation (ICRA 2016), including

1. 1. 1. J. Chen, T. Liu, and S. Shen. Online generation of collision-free trajectories for quadrotor flight in unknown cluttered environments.
      2. M. Kuse and S. Shen. Robust camera motion estimation using direct edge alignment and sub-gradient method.
      3. Y. Ling and S. Shen. Aggressive quadrotor flight using dense visual-inertial fusion.

ICRA 2016 is held in Stockholm, Sweden from May 16th to 21st.

A paper is accepted by T-ASE

March 10^th, 2016

Zhenfei Yang and Shaojie Shen's work on "Monocular visual-inertial state estimation with online initialization and camera-IMU extrinsic calibration" is accepted by the IEEE Transactions on Automation Science and Engineering(T-ASE) for publication.

Our group reaped first prize in 2015 International Aerial Robotics Competition

November 8^th, 2015

Our group has won the First Prize in the International Aerial Robotics Competition (IARC) 2015 – Asia/Pacific Venue, which is held in Beijing from November 5th to 8th.

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  Zhenfei Yang wins the 2015 IEEE SSRR Best Theoretical Paper Award

October 20^th, 2015

The paper “Monocular visual-inertial fusion with online initialization and camera-IMU calibration” just won Ph.D. student Zhenfei Yang the Best Theoretical Paper Award in 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) which is held in Indiana, USA from October 18th to 20th.

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