A paper is accepted by RA-L
April 15th, 2024
Sheng Hong, Junjie He, Xinhu Zheng, Hao Fang, Kangcheng Liu, Chunran Zheng and Shaojie Shen'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 3rd, 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 the IEEE ICRA Best Paper Award
April 5th, 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.
A paper is selected for the 2023 IEEE T-RO Best Paper Award
April 3rd, 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.
Prof. Shen receives the 2024 AI 2000 Most Influential Scholar Award Honorable Mention
March 13th, 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
March 5th, 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.
Three papers are accepted by RA-L and will be presented at IROS 2024
Febuary 29th, 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.
Febuary 19th, 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 2nd, 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 29th, 2024
Five conference papers are accepted by the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), including:
- Binqian Jiang and Shaojie Shen. A two-step nonlinear factor sparsification for scalable long-term SLAM backend.
- 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.
- Xinyi Chen, Yichen Zhang, Boyu Zhou and Shaojie Shen. APACE: agile and perception-aware trajectory generation for quadrotor flights.
- Zhenmin Huang, Haichao Liu, Shaojie Shen and Jun Ma. Cooperative autonomous driving in urban traffic scenarios by parallel optimization enforcing hard safety constraints.
- 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 27th, 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 6th, 2023
Penqin Wang, Meixin Zhu, Hongliang Lu, Hui Zhong, Xianda Chen, Shaojie Shen, Xuesong Wang and Yihai 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 22nd, 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 21st, 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 18th, 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 9th, 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 7th, 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 14th, 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 22nd, 2023
Four conference papers are accepted by the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), including:
- Zhijian Qiao, Zehuan Yu, Huan Yin and Shaojie Shen. Online monocular lane mapping using catmull-rom spline.
- Sheng Hong, Chunran Zheng, Huan Yin and Shaojie Shen. Rollvox: real-time and high-quality LiDAR colorization with rolling shutter camera.
- Zehuan Yu, Zhijian Qiao,Liuyang Qiu, Huan Yin and Shaojie Shen. Multi-session, localization-oriented and lightweight LiDAR mapping using semantic lines and planes.
- 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 9th, 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 2nd, 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 24rd, 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 31th).
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 21st, 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 17th, 2023
Four conference papers are accepted by the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023), including:
- 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 .
- C. Liu and S. Shen. Towards view-invariant and accurate loop detection based on scene graph.
- B. Jiang and S. Shen. Contour context: abstract structural distribution for 3D LiDAR loop detection and metric pose estimation.
- 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 27th, 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 12th, 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 12th, 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 3rd, 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 30th, 2022
Three conference papers are accepted by the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), including:
- L. Zhang, P. Li, J. Chen and S. Shen. Trajectory prediction with graph-based dual-scale context fusion.
- X. Chen, B. Zhou, J. Lin, F. Zhang and S. Shen. Fast 3D sparse topological skeleton graph generation for mobile robot global planning.
- B. Jiang and S. Shen. A liDAR-inertial odometry with principled uncertainty modeling.
IROS 2022 will be held at Kyoto, Japan from October 23rd to 27th.
A paper is accepted by T-RO
May 9th, 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 1st, 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 3rd, 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 31st, 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 1st, 2022
Five conference papers are accepted by the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022), including:
- L. Wang, H. Xu, Y. Zhang and S. Shen. Neither fast nor slow: how to fly through narrow tunnels.
- Y. Zhang, B. Zhou, L. Wang and S. Shen. Exploration with global consistency using real-time re-integration and active loop closure.
- K. Wang and S. Shen. Semi-supervised learning: structure, reflectance and lighting estimation from a night image pair.
- J. Shi, L. Xu, P. Li, X. Chen and S. Shen. Temporal point cloud completion with pose disturbance.
- 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 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 3rd, 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 22nd, 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 12th, 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 1st, 2021
Two conference papers are accepted by the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), including:
- J. Shi, L. Xu, L. Heng and S. Shen. Graph guided deformation for point cloud completion.
- 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 at Prague, Czech Republic from September 27th to October 1st.
A paper is accepted by RAS
May 18th, 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 24th, 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.
A paper is selected for Honorable Mention for the 2020 IEEE T-RO Best Paper Award
April 16th, 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 19th, 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 28th, 2021
Four conference papers are accepted by the 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), including:
- L. Wang, B. Zhou, C. Liu and S. Shen. Estimation and adaption of indoor ego airflow disturbance with application to quadrotor trajectory planning.
- K. Wang, C. Liu, K. Wang and S. Shen. Depth estimation under motion with single pair rolling shutter stereo images.
- B. Zhou, Y. Zhang, X. Chen and S. Shen. FUEL: Fast UAV exploration using incremental frontier structure and hierarchical planning.
- 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 16th, 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 15th, 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 8th, 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.
A paper is accepted by PAD2020
August 5th, 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.
Quadrotor fast flight in complex unknown environments
July 6th, 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.
A paper is accepted by ECCV 2020
July 3rd, 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 1st, 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 20th, 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 4th, 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 14th, 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).
A paper is accepted by CVPR 2020
February 26th, 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 27th, 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 22nd, 2020
Six conference papers are accepted by the 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), including:
- K Wang, Y. Chen, H. Guo, L. Wen and S. Shen. Geometric pretraining for monocular depth estimation.
- L. Zhang, W. Ding, J. Chen and S. Shen. Efficient uncertainty-aware decision-making for automated driving using guided branching.
- B. Zhou, F. Gao, J. Pan and S. Shen. Robust real-time UAV replanning using guided gradient-based optimization and topological paths.
- K. Wang, K, Wang and S. Shen. FlowNorm: a learning-based method for increasing convergence range of direct alignment.
- H. Xu, L. Wang, Y. Zhang and S. Shen. Decentralized visual-inertial-UWB fusion for relative state estimation of aerial swarm.
- 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 accpeted by ISRR 2019
August 1st, 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 at Hanoi, Vietnam from October 6th to 10th.
Code for Autonomous Drone Race is now available on GitHub
June 30th, 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:
- Planning: flight corridor generation, global spatial-temporal planning, local online re-planning
- Perception: global deformable surfel mapping, local online ESDF mapping
- Localization: global pose graph optimization, local visual-inertial fusion
- Controlling: geometric controller on SE(3)
Four papers are accepted by IROS 2019 and one of them will be published in RA-L
June 27th, 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:
- L. Han, F. Gao, B. Zhou, S. Shen. FIESTA: fast incremental Euclidean distance fields for online quadrotor motion planning.
- 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.
- Y. Yu, W. Gao, S. Shen, M. Liu. A GPS-aided omnidirectional visual-inertial state estimator in ubiquitous environments.
- 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 5th, 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 5th, 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 16th, 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 8th, 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.
A paper receives Honorable Mention status for the 2018 T-RO Best Paper award
April 3rd, 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 28th, 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 25th, 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 25th, 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 11th, 2019
Four conference papers are accepted by the 2019 IEEE International Conference on Robotics and Automation (ICRA 2019), including:
- W. Ding, J. Chen and S. Shen. Predicting vehicle behaviors over an extended horizon using behavior interaction network.
- K. Wang, F. Gao and S. Shen. Real-time scalable dense surfel mapping.
- W. Ding and S. Shen. Online vehicle trajectory prediction using policy anticipation network and optimization-based context reasoning.
- 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 11th, 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'.
Code for VINS-Fusion is now available on GitHub
January 14th, 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:
- multiple sensors support (stereo cameras / mono camera+IMU / stereo cameras+IMU)
- online spatial calibration (transformation between camera and IMU)
- online temporal calibration (time offset between camera and IMU)
- visual loop closure.
We are the TOP open-sourced stereo algorithm on KITTI Odometry Benchmark (12 Jan. 2019).
A paper is accepted by ROBIO 2018
October 18th, 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 9th, 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 11th, 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 4th, 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.
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A paper is accepted by 3DV 2018
July 21st, 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 20th, 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 3rd, 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 29th, 2018
Seven papers are accepted by the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), including:
- K. Qiu, T. Qin, H. Xie and S. Shen. Estimating metric poses of dynamic objects using monocular visual-inertial fusion.
- T. Qin and S. Shen. Online temporal calibration for monocular visual-inertial systems.
- Y. Ling, K. Wang and S. Shen. Probabilistic dense reconstruction from a moving camera.
- F. Gao, W. Wu, J. Pan, B. Zhou and S. Shen. Optimal time allocation for quadrotor trajectory generation.
- K. Wang and S. Shen. Adaptive baseline monocular dense mapping with inter-frame depth propagation.
- K. Wang, W. Ding and S. Shen. Quadtree-accelerated real-time monocular dense mapping.
- 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 28th, 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 19th, 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 26th, 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 17th, 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 17th, 2018
Two conference papers are accepted by the 2018 IEEE International Conference on Unmanned Aircraft Systems (ICUAS 2018), including:
- 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.
- 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 12th, 2018
Four conference papers are accepted by the 2018 IEEE International Conference on Robotics and Automation (ICRA 2018), including:
- F. Gao, W. Wu, Yi Lin and S. Shen. Online safe trajectory generation for quadrotors using fast marching method and bernstein basis polynomial.
- T. Qin, P. Li and S. Shen. Relocalization, global optimization and map merging for monocular visual-inertial SLAM.
- W. Ding, W. Gao, K. Wang and S. Shen. Trajectory replanning for quadrotors using kinodynamic search and elastic optimization.
- 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 28th, 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 10th, 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 15th, 2017
Nine papers are accepted by the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), including:
- J. Chen and S. Shen. Using a quadrotor to track a moving target with arbitrary relative motion patterns.
- F. Gao, Y. Lin and S. Shen. Gradient-based online safe trajectory generation for quadrotor flight in complex environments.
- W. Gao and S. Shen. Dual-fisheye omnidirectional stereo.
- Y. Ling and S. Shen. Building maps for autonomous navigation using sparse visual SLAM features.
- T. Liu and S. Shen. Spline-based initialization of monocular visual-inertial state estimators at high altitude.
- 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.
- T. Qin and S. Shen. Robust initialization of monocular visual-inertial estimation on aerial robots.
- K. Qiu and S. Shen. Model-aided monocular visual-inertial state estimation and dense mapping.
- 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 1st, 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 27th, 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 23rd, 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.
A paper is accepted by ICIP 2017
May 10th, 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 8th, 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.
Two papers are accepted by ICUAS 2017
April 24th, 2017
Two papers are accepted by the 2017 IEEE International Conference on Unmanned Aircraft Systems (ICUAS 2017) 2017, including
- 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).
- 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 6th, 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 18th, 2017
Seven papers are accepted by the 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), including
- J. Chen and S. Shen. Improving octree-based occupancy maps using environment sparsity with application to aerial robot navigation.
- F. Gao and S. Shen. Quadrotor trajectory generation in dynamic environments using semi-definite relaxation on nonconvex QCQP.
- T. Liu and S. Shen. High altitude monocular visual-inertial state estimation: initialization and sensor fusion.
- X. Lyu, H. Gu, Y. Wang, Z. Li, S. Shen, and F. Zhang. Design and implementation of a quadrotor tail-sitter VTOL UAV.
- T. Sun, S. Nie, D. Yeung, and S. Shen. Gesture-based piloting of an aerial robot using monocular vision.
- Z. Yang, F. Gao, and S. Shen. Real-time monocular dense mapping on aerial robots using visual-inertial fusion.
- 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 26th, 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.
Kunyue Su and Shaojie Shen published a new article in ISER 2016
October 6th, 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 21st, 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 14th, 2016
Three papers of the HKUST UAV group are accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016, including
- J. Chen, T. Liu, and S. Shen. Tracking a moving target in cluttered environments using a quadrotor.
- Y. Ling and S. Shen. High-precision online markerless stereo extrinsic calibration.
- 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 14th, 2016
Three papers of the HKUST UAV group are accepted by the 2016 IEEE International Conference on Robotics and Automation (ICRA 2016), including
- J. Chen, T. Liu, and S. Shen. Online generation of collision-free trajectories for quadrotor flight in unknown cluttered environments.
- M. Kuse and S. Shen. Robust camera motion estimation using direct edge alignment and sub-gradient method.
- 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 10th, 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 8th, 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.
Zhenfei Yang wins the 2015 IEEE SSRR Best Theoretical Paper Award
October 20th, 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.