Journal Publications

2024

Y. Zhang, X. Chen, C. Feng, B. Zhou and S. Shen. FALCON: fast autonomous aerial exploration using coverage path guidance. IEEE Transactions on Robotics, 0(0), pp. 0-0, November 2024.

P. Wang, M. Zhu, X. Zheng, H. Lu, Hui Zhong, X. Chen, S. Shen, X. Wang, Y.Wang and F. Wang. BEVGPT: generative pre-trained foundation model for autonomous driving prediction, decision making, and planning. IEEE Transactions on Intelligent Vehicles, 0(0), pp. 0-0, August 2024.

M. Hu, W. Yin, C. Zhang, Z. Cai, X. Long, H. Chen, K. Wang, G. Yu, C. Shen and S. Shen. Metric3D v2: a versatile monocular geometric foundation model for zero-shot metric depth and surface normal estimation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 0(0), pp. 0-0, August 2024.

C. Jiang, Y. Luo, B. Zhou and S. Shen. H3-mapping: quasi-heterogeneous feature grids for real-time dense mapping using hierarchical hybrid representation. IEEE Robotics and Automation Letters, 9(10), pp. 9047-9054, Octomber 2024.video

C. Jiang, K. Zhang, S. Yang, S. Shen, C. Xu and F. Gao. WING: wheel-inertial neural odometry with ground manifold constraints. IEEE Transactions on Intelligent Vehicles, 0(0), pp. 0-0, July 2024.

H. Xu, P. Liu, X. Chen and S. Shen. $D^2$SLAM: decentralized and distributed collaborative visual-inertial SLAM system for aerial swarm. IEEE Transactions on Robotics, 40(0), pp. 3445-3464, July 2024.video

K. Wang, C. Liu, Z. Liu, F. Xiao, Y. An, X. Zhao and S. Shen. Multi-view depth estimation by using adaptive point graph to fuse single-view depth probabilities. IEEE Robotics and Automation Letters, 9(7), pp. 6400-6407, July 2024.

B. He, Z. Wang, Y. Zhou, J. Chen, C. Singh, H. Li, Y. Gao, S. Shen, K. Wang, Y. Cao, C. Xu, Y. Aloimonos, F. Gao and C. Fermüller. Microsaccade-inspired event camera for robotics. Science Robotics, 9(90), pp. 0-0, May 2024.

H. Liu, Z. Huang, Z. Zhu, Y. Li, S. Shen and J. Ma. Improved consensus ADMM for cooperative motion planning of large-scale connected autonomous vehicles with limited communication. IEEE Transactions on Intelligent Vehicles, 0(0), pp. 0-0, April 2024.

S. Hong, J. He, X. Zheng and C. Zheng. LIV-GaussMap: LiDAR-inertial-visual fusion for real-time 3D radiance field map rendering. IEEE Robotics and Automation Letters, 0(0), pp. 0 - 0, April 2024.

Z. Qiao, Z. Yu, B. Jiang, H. Yin and S. Shen. G3Reg: pyramid graph-based global registration using gaussian ellipsoid model. IEEE Transactions on Automation Science and Engineering, 0(0), pp. 0-0, April 2024.video

X. Chen, X. Yuan, M. Zhu, X. Zheng, S. Shen, X. Wang, Y. Wang and F. Wang. AggFollower: aggressiveness informed car-following modeling. IEEE Transactions on Intelligent Vehicles, 0(0), pp. 1-15, April 2024.

H. Wang, H. Li, B. Zhou, F. Gao and S. Shen. Impact-aware planning and control for aerial robots with suspended payloads. IEEE Transactions on Robotics, 40(0), pp. 2478-2497, March 2024.video

Y. Luo, Z. Zhuang, N. Pan, C. Feng, S. Shen, F. Gao, H. Cheng and B. Zhou. Star-searcher: a complete and efficient aerial system for autonomous target search in complex unknown environments. IEEE Robotics and Automation Letters, 9(5), pp. 4329-4336, May 2024.

L. Zhang, P. Li, S. Liu and S. Shen. SIMPL: a simple and efficient multi-agent motion prediction baseline for autonomous driving. IEEE Robotics and Automation Letters, 9(4), pp. 3767-3774, April 2024.

H. Yin, X. Xu, S. Lu, X. Chen, R. Xiong, S. Shen, C. Stachniss and Y. Wang. A survey on global LiDAR localization: challenges, advances and open problems. International Journal of Computer Vision, 13(0), pp. 3139-3171, March 2024.

C. Liu, K. Wang, J. Shi, Z. Qiao and S. Shen. FM-fusion: instance-aware semantic mapping boosted by vision-language foundation models. IEEE Robotics and Automation Letters, 9(3), pp. 2232-2239, March 2024.video

2023

Y. Gao, J. Ji, Q. Wang, R. Jin, Y. Lin, Z. Shang, Y. Cao, S. Shen, C. Xu, F. Gao. Adaptive tracking and perching for quadrotor in dynamic scenarios. IEEE Transactions on Robotics, 40(0), pp. 499-519, November 2023.

Z. Han, Y. Wu, T. Li, L. Zhang, L. Pei, L. Xu, C. Li, C. Ma, C. Xu, S. Shen and F. Gao. An efficient spatial-temporal trajectory planner for autonomous vehicles in unstructured environments. IEEE Transactions on Intelligent Transportation Systems, 25(2), pp. 1797-1814, February 2024.

C. Jiang, H. Zhang, P. Liu, Z. Yu, H. Cheng, B. Zhou and S. Shen. H2-mapping: real-time dense mapping using hierarchical hybrid representation. IEEE Robotics and Automation Letters, 8(10), pp. 6787-6794, October 2023.video

T. Li, L. Zhang, S. Liu and S. Shen. MARC: multipolicy and risk-aware contingency planning for autonomous driving. IEEE Robotics and Automation Letters, 8(10), pp. 6587-6594, October 2023.video

J. Shi, P. Li, X. Chen and S. Shen. You only label once: 3D box adaptation from point cloud to image via semi-supervised learning. IEEE Robotics and Automation Letters, 8(10), pp. 6811-6818, October 2023.

H. Li, H. Wang, C. Feng, F. Gao, B. Zhou and S. Shen. Autotrans: a complete planning and control framework for autonomous UAV payload transportation. IEEE Robotics and Automation Letters, 8(10), pp. 6859-6866, October 2023.video

C. Feng, H. Zhou, H. Lin, Z. Zhang, Z. Xu, C. Zhang, B. Zhou and S. Shen. Macformer: map-agent coupled transformer for real-time and robust trajectory prediction. IEEE Robotics and Automation Letters, 8(10), pp. 6795-6802, October 2023.video

Z. Huang, S. Shen and J. Ma. Decentralized iLQR for cooperative trajectory planning of connected autonomous vehicles via dual consensus ADMM. IEEE Transactions on Intelligent Transportation Systems, 24(11), pp. 12754-12766, November 2023.

H. Yu, P. Wang, J. Wang, J. Ji, Z. Zheng, J. Tu, G. Lu, J. Meng, M. Zhu, S. Shen and F. Gao. Catch planner: catching high-speed targets in the flight. IEEE Transactions on Mechatronics, 28(4), pp. 2387-2398, August 2023. video

2022

B. Zhou, H. Xu and S. Shen. RACER: rapid collaborative exploration with a decentralized multi-UAV system. IEEE Transactions on Robotics, 39(3), pp. 1816-1835, June 2023.

J. Yu and S. Shen. SemanticLoop: loop closure with 3D semantic graph matching. IEEE Robotics and Automation Letters, 8(2), pp. 568-575, February 2022.

K. Wang and S. Shen. Estimation and propagation: scene flow prediction on occluded point clouds. IEEE Robotics and Automation Letters, 7(4), pp. 12201-12208, October 2022.

F. Xiao, S. Zhang, S. Tang, S. Shen, H. Dong and Y. Zhong. WiSion: bolstering MAV 3D indoor state estimation by embracing multipath of WiFi. IEEE Transactions on Vehicular Technology, 72(1), pp. 253-266, January 2023.

H. Xu, Y. Zhang, B. Zhou, L. Wang, X. Yao, G. Meng and S. Shen. Omni-swarm: a decentralized omnidirectional visual-inertial-UWB state estimation system for aerial swarms. IEEE Transactions on Robotics, 38(6), pp. 3374-3394, December 2022. video

K. Wang, C. Liu and S. Shen. Geometric calibration for cameras with inconsistent imaging capabilities. Sensors, 22(7), article 2739, April 2022.

L. Wang, H. Xu, Y. Zhang and S. Shen. Neither fast nor slow: how to fly through narrow tunnels. IEEE Robotics and Automation Letters, 7(2), pp. 5489-5496, April 2022. video

J. Shi, L. Xu, P. Li, X. Chen and S. Shen. Temporal point cloud completion with pose disturbance. IEEE Robotics and Automation Letters, 7(2), pp. 4165-4172, April 2022. video

S. Cao, X. Lu and S. Shen. GVINS: tightly coupled GNSS-visual-inertial fusion for smooth and consistent state estimation. IEEE Transactions on Robotics, 38(4), pp. 2004-2021, August 2022. video

2021

K. Wang and S. Shen. Semi-supervised learning: structure, reflectance and lighting estimation from a night image pair. IEEE Robotics and Automation Letters, 7(2), pp. 976-983, April 2022.

Y. Zhou, G. Gallego, X. Lu, S. Liu and S. Shen. Event-based motion segmentation with spatio-temporal graph cuts. IEEE Transactions on Neural Networks and Learning Systems, 34(8), pp. 4868-4880, August 2023. project web page, PDF, code

W. Ding, L. Zhang, J. Chen and S. Shen. EPSILON: An efficient planning system for automated vehicles in highly interactive environments. IEEE Transactions on Robotics, 38(2), pp. 1118-1138, April 2022. video

J. Shi, L. Xu, L. Heng and S. Shen. Graph guided deformation for point cloud completion. IEEE Robotics and Automation Letters, 6(4), pp. 7081-7088, October 2021. video

M. Kuse and S. Shen. Learning whole-image descriptors for real-time loop detection and kidnap recovery under large viewpoint difference. Robotics and Autonomous Systems, volume 143, article 103813, September 2021. video

B. Zhou, J. Pan, F. Gao and S. Shen. RAPTOR: robust and perception-aware trajectory replanning for quadrotor fast flight. IEEE Transactions on Robotics, 37(6), pp. 1992-2009, December 2021.

K. Wang, C. Liu, K. Wang and S. Shen. Depth estimation under motion with single pair rolling shutter stereo images. IEEE Robotics and Automation Letters, 6(2), pp. 3160-3167, April 2021. video

Y. Zhou, G. Gallego and S. Shen. Event-based stereo visual odometry. IEEE Transactions on Robotics, 37(5), pp. 1433-1450, October 2021. video

B. Zhou, Y. Zhang, X. Chen and S. Shen. FUEL: Fast UAV exploration using incremental frontier structure and hierarchical planning. IEEE Robotics and Automation Letters, 6(2), pp. 779-786, April 2021. video

2020

K. Qiu, T. Qin, J. Pan, S. Liu and S. Shen. Real-time temporal and rotational calibration of heterogeneous sensors using motion correlation analysis. IEEE Transactions on Robotics, 37(2), pp. 587-602, April 2021.

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. IEEE Transactions on Robotics, 36(5), pp. 1526-1545, October 2020. video

W. Gao, K. Wang, W. Ding, F. Gao, T. Qin and S. Shen. Autonomous aerial robot using dual-fisheye cameras. Journal of Field Robotics, 37(4), pp. 497-514, February 2020.

K. Wang and S. Shen. Flow-motion and depth network for monocular stereo and beyond. IEEE Robotics and Automation Letters, 5(2), pp. 3307-3314, April 2020. code

2019

W. Ding, W. Gao, K. Wang and S. Shen. An efficient B-spline-based kinodynamic replanning framework for quadrotors. IEEE Transactions on Robotics, 35(6), pp. 1287-1306, December 2019. video

B. Zhou, F. Gao, L. Wang, C. Liu and S. Shen. Robust and efficient quadrotor trajectory generation for fast autonomous flight. IEEE Robotics and Automation Letters, 4(4), pp. 3529-3536, October 2019. video

W. Ding, L. Zhang, J. Chen and S. Shen. Safe trajectory generation for complex urban environments using spatio-temporal semantic corridor. IEEE Robotics and Automation Letters, 4(3), pp. 2997-3004, July 2019. video

K. Qiu, T. Qin, W. Gao and S. Shen. Tracking 3-D motion of dynamic objects using monocular visual-inertial sensing. IEEE Transactions on Robotics, 35(4), pp. 799-816, August 2019. video

Y. Ling and S. Shen. Real-time dense mapping for online processing and navigation. Journal of Field Robotics, 36(5), pp. 1004-1036, March 2019. video 1, video 2

F. Gao, L. Wang, K. Wang, W. Wu, B. Zhou, L. Han and S. Shen. Optimal trajectory generation for quadrotor teach-and-repeat. IEEE Robotics and Automation Letters, 4(2), pp. 1493-1500, April 2019. video

2018

X. Lyu, H. Gu, J. Zhou, Z. Li, S. Shen and F. Zhang. Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope. International Journal of Micro Air Vehicles, 10(4), pp. 303-317, December 2018.

F. Gao, W. Wu, W. Gao and S. Shen. Flying on point clouds: online trajectory generation and autonomous navigation for quadrotor in cluttered environments. Journal of Field Robotics, 36(4), pp. 710-733, December 2018. video

S. Chung, A. Paranjape, P. Dames, S. Shen and V. Kumar. A survey on aerial swarm robotics. IEEE Transactions on Robotics, 34(4), pp. 837-855, August 2018.

T. Qin, P. Li and S. Shen. VINS-Mono: A robust and versatile monocular visual-inertial state estimator. IEEE Transactions on Robotics, 34(4), pp. 1004-1020, August 2018.

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∞ synthesis. IEEE Robotics and Automation Letters, 3(4), pp. 2910-2917, October 2018. video

2017

T. Liu and S. Shen. Spline-based initialization of monocular visual-inertial state estimators at high altitude. IEEE Robotics and Automation Letters, 2(4), pp. 2224-2231, July 2017. video

Y. Lin, F. Gao, T. Qin, W. Gao, T. Liu, W. Wu, Z. Yang and S. Shen. Autonomous aerial navigation using monocular visual-inertial fusion. Journal of Field Robotics, 35(1), pp. 23-51, July 2017. video

Y. Ling, M. Kuse and S. Shen. Edge alignment-based visual-inertial fusion for tracking of aggressive motions. Autonomous Robots, 42(3), pp. 513-528, July 2017. video

K. Qiu, T. Liu and S. Shen. Model-based global localization for aerial robots using edge alignment. IEEE Robotics and Automation Letters, 2(3), pp. 1256-1263, July 2017. video

2016

Z. Yang and S. Shen. Monocular visual-inertial state estimation with online initialization and camera-IMU extrinsic calibration. IEEE Transactions on Automation Science and Engineering, 14(1), pp. 39-51, April 2016. video

2013

S. Shen, N. Michael and V. Kumar. Obtaining liftoff indoors: autonomous navigation in confined indoor environments. IEEE Robotics and Automation Magazine, 20(4), pp. 40-48, December 2013.

2012

S. Shen, N. Michael and V. Kumar. Stochastic differential equation-based exploration algorithm for autonomous indoor 3D exploration with a micro-aerial vehicle. International Journal of Robotics Research, 31(12), pp. 1431-1444, November 2012.

N. Michael, S. Shen, K. Mohta, Y. Mulgaonkar, V. Kumar, K. Nagatani, Y. Okada, S. Kiribayashi, K. Otake, K. Yoshida, K. Ohno, E. Takeuchi and S. Tadokoro. Collaborative mapping of an earthquake-damaged building via ground and aerial robots. Journal of Field Robotics, 29(5), pp. 832-841, August 2012. video

 

Conference Publications

2024

X. Fu, W. Yin, M. Hu, K. Wang, Y. Ma, P. Tan, S. Shen, D. Lin and X. Long. GeoWizard: unleashing the diffusion priors for image-based 3D geometry estimation. In Proc. of the European Conference on Computer Vision (ECCV), Milan, Italy, September 2024.

J. Li, B. Liao, X. Lu, P. Liu, S. Shen and Y. Zhou. Event-aided time-to-collision estimation for autonomous driving. In Proc. of the European Conference on Computer Vision (ECCV), Milan, Italy, September 2024.

P. Liu, C. Feng, Y. Xu, Y. Ning, H. Xu and S. Shen. OmniNxt: a fully open-source and compact aerial robot with omnidirectional visual perception. In Proc. of the IEEE/RSJ International Conference on Robotics and Automation (IROS), Abu Dhabi, UAE, October 2024.video

P. Wang, M. Zhu and S. Shen. Environment transformer and policy optimization for model-based offline reinforcement learning. In Proc. of the IEEE/RSJ International Conference on Robotics and Automation (IROS), Abu Dhabi, UAE, October 2024.

M. Zhang, C. Feng, Z. Li, G. Zheng, , Y. Luo, Z. Wang, J. Zhou, S. Shen and B. Zhou. SOAR: simultaneous exploration and photographing with heterogeneous UAVs for fast autonomous reconstruction. In Proc. of the IEEE/RSJ International Conference on Robotics and Automation (IROS), Abu Dhabi, UAE, October 2024.video

X. Lu, Y. Zhou, J. Niu, S. Zhong and S. Shen. Event-based visual inertial velometer. In Proc. of the Robotics: Science and Systems (RSS), Delft, Netherlands, July 2024.

B. Jiang and S. Shen. A two-step nonlinear factor sparsification for scalable long-term SLAM backend. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 10253-10259, Yokohama, Japan, May 2024.

C. Feng, H. Li, M. Zhang, X. Chen, B. Zhou and S. Shen. FC-planner: a skeleton-guided planning framework for fast aerial coverage of complex 3D scenes. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 8686-8692, Yokohama, Japan, May 2024.video

X. Chen, Y. Zhang, B. Zhou and S. Shen. APACE: agile and perception-aware trajectory generation for quadrotor flights. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 2024.video

Z. Huang, H. Liu, S. Shen and J. Ma. Parallel optimization with hard safety constraints for cooperative planning of connected autonomous vehicles. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 2024.

Q. Huang, Y. Liang, Z. Qiao, S. Shen and H. Yin. Less is more: physical-enhanced radar-inertial odometry. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 15966-15972, Yokohama, Japan, May 2024.video

2023

Y. Zhu, D. Luan and S. Shen. BiFF: bi-level future fusion with polyline-based coordinate for interactive trajectory prediction. In Proc. of the International Conference on Computer Vision (ICCV), pages 8226-8237, Paris, France, October 2023.

Z. Qiao, Z. Yu, H. Yin and S. Shen. Online monocular lane mapping using catmull-rom spline. In Proc. of the IEEE/RSJ International Conference on Robotics and Automation (IROS), pages 7179-7186, Detroit, USA, October 2023.video

S. Hong, C. Zheng, H. Yin and S. Shen. Rollvox: real-time and high-quality LiDAR colorization with rolling shutter camera. In Proc. of the IEEE/RSJ International Conference on Robotics and Automation (IROS), pages 7195-7201, Detroit, USA, October 2023.

Z. Yu, Z. Qiao, L. Qiu, H. Yin and S. Shen. Multi-session, localization-oriented and lightweight LiDAR mapping using semantic lines and planes. In Proc. of the IEEE/RSJ International Conference on Robotics and Automation (IROS), pages 7210-7217, Detroit, USA, October 2023.video

Z. Qiao, Z. Yu, H. Yin and S. Shen. Pyramid semantic graph-based global point cloud registration with low overlap. In Proc. of the IEEE/RSJ International Conference on Robotics and Automation (IROS), pages 11202-11209, Detroit, USA, October 2023.video

J. Cen, D. Luan, S. Zhang, Y. Pei, Y. Zhang, D. Zhao, S. Shen and Q. Chen. The devil is in the wrongly-classified samples: towards unified open-set recognition. In Proc. of the International Conference on Learning Representations (ICLR), Kigali, Rwanda, May 2023.

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. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 2796-2802, London, UK, May 2023.

C. Liu and S. Shen. Towards view-invariant and accurate loop detection based on scene graph. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), London, UK, May 2023.

B. Jiang and S. Shen. Contour context: abstract structural distribution for 3D LiDAR loop detection and metric pose estimation. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 8386-8392, London, UK, May 2023.video

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. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 1207-1213, London, UK, May 2023.video

2022

L. Zhang, P. Li, J. Chen and S. Shen. Trajectory prediction with graph-based dual-scale context fusion. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), paGES 11374-11381, Kyoto, Japan, October 2022.

X. Chen, B. Zhou, J. Lin, F. Zhang and S. Shen. Fast 3D sparse topological skeleton graph generation for mobile robot global planning. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 10283-10289, Kyoto, Japan, October 2022.video

B. Jiang and S. Shen. A LiDAR-inertial odometry with principled uncertainty modeling. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 13292-13299, Kyoto, Japan, October 2022. video

X. Liao, S. Shen, Z. Li and L. Yu. Low noise current controller design for table-level balance robot's joint. In Proc. of the 16th IEEE International Conference on Development and Application Systems (DAS), Suceava, Romania, May 2022.

Y. Zhang, B. Zhou, L. Wang and S. Shen. Exploration with global consistency using real-time re-integration and active loop closure. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 9682-9688, Philadelphia, USA, May 2022. video

2021

X. Lu, Y. Zhou and S. Shen. Event-based motion segmentation by cascaded two-level multi-model fitting. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4445-4452, Prague, Czech Republic, September 2021.

L. Wang, B. Zhou, C. Liu and S. Shen. Estimation and adaption of indoor ego airflow disturbance with application to quadrotor trajectory planning. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 384-390, Xi’an, China, May 2021. video

2020

C. Liu and S. Shen. An augmented reality interaction interface for autonomous drone. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 11419-11424, Las Vegas, USA, October 2020. video

J. Zhao, T. Liang, L. Feng, W. Ding, S. Sinha, W. Zhang and S. Shen. FP-stereo: hardware-efficient stereo vision for embedded applications. In Proc. of the 30th International Conference on Field-Programmable Logic and Applications (FPL), pages 269-276, Gothenburg, Sweden, August 2020.

J. Shi, P. Li and S. Shen. Tracking from patterns: learning corresponding patterns in point clouds for 3D object tracking. In Proc. of the European Conference on Computer Vision (ECCV) Workshop on Perception for Autonomous Driving (PAD), virtual, August 2020.

H. Song, W. Ding, Y. Chen, S. Shen, M. Wang, and Q. Chen. PiP: planning-informed trajectory prediction for autonomous driving. In Proc. of the the European Conference on Computer Vision (ECCV), pages 598-614, virtual, August 2020.

P. Li, J. Shi and S. Shen. Joint spatial-temporal optimization for stereo 3D object tracking. In Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pages 6876-6885, Seattle, Washington, USA, June 2020.

K. Wang, Y. Chen, H. Guo, L. Wen and S. Shen. Geometric pretraining for monocular depth estimation. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 4782-4788, Paris, France, May 2020. project page

L. Zhang, W. Ding, J. Chen and S. Shen. Efficient uncertainty-aware decision-making for automated driving using guided branching. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 3291-3297, Paris, France, May 2020. video

B. Zhou, F. Gao, J. Pan and S. Shen. Robust real-time UAV replanning using guided gradient-based optimization and topological paths. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 1208-1214, Paris, France, May 2020. video

K. Wang, K, Wang and S. Shen. FlowNorm: a learning-based method for increasing convergence range of direct alignment. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 2109-2115, Paris, France, May 2020.video

H. Xu, L. Wang, Y. Zhang and S. Shen. Decentralized visual-inertial-UWB fusion for relative state estimation of aerial swarm. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), page 8776-8782, Paris, France, May 2020. video

2019

L. Han, F. Gao, B. Zhou and S. Shen. FIESTA: fast incremental Euclidean distance fields for online quadrotor motion planning. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4423-4430, Macau, China, November 2019. video

J. Lin, L. Wang, F. Gao, S. Shen and F. Zhang. Flying through a narrow gap using neural network: an end-to-end planning and control approach. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3526-3533, Macau, China, November 2019.

Y. Yu, W. Gao, C. Liu, S. Shen and M. Liu. A GPS-aided omnidirectional visual-inertial state estimator in ubiquitous environments. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 7750-7755, Macau, China, November 2019.

W. Wu, F. Gao, L. Wang, B. Zhou and S. Shen. Temporal scheduling and optimization for multi-MAV planning. In Proc. of the International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019. video

W. Gao, J. Lin, F. Zhang and S. Shen. A screen-based method for automated camera intrinsic calibration on production lines. In Proc. of the IEEE International Conference on Automation Science and Engineering (CASE), pages 392-398, Vancouver, Canada, August 2019.

R. Fan, J. Jiao, J. Pan, H. Huang, S. Shen and M. Liu. Real-time dense stereo embedded in a UAV for road inspection. In Proc. of the 3rd International Workshop on Computer Vision for UAVs (UAVision), pages 535-543, Long Beach, California, June 2019.

P. Li, X. Chen and S. Shen. Stereo R-CNN based 3D object detection for autonomous driving. In Proc. of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pages 7636-7644, Long Beach, California, June 2019.

W. Ding, J. Chen and S. Shen. Predicting vehicle behaviors over an extended horizon using behavior interaction network. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 8634-8640, Montreal, Canada, May 2019. video

K. Wang, F. Gao and S. Shen. Real-time scalable dense surfel mapping. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 6919-6925, Montreal, Canada, May 2019. video

W. Ding and S. Shen. Online vehicle trajectory prediction using policy anticipation network and optimization-based context reasoning. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 9610-9616, Montreal, Canada, May 2019. video

2018

L. Wang, F. Gao, F. Cai and S. Shen. CRASH: a collaborative aerial-ground exploration system using hybrid-frontier method. In Proc. of the IEEE International Conference on Robotics and Biomimetics (ROBIO), pages 2259-2266, Kuakta Lumpur, Malaysia, December 2018. video

L. Wang, D. Cheng, F. Gao, F. Cai, J. Guo, M. Lin and S. Shen. A collaborative aerial-ground robotic system for fast exploration. In Proc. of the 2018 International Symposium on Experimental Robotics (ISER), pages 59-71, Buenos Aires, Argentina, November 2018. video

K. Qiu, T. Qin, H. Xie and S. Shen. Estimating metric poses of dynamic objects using monocular visual-inertial fusion. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 62-68, Madrid, Spain, October 2018. video

T. Qin and S. Shen. Online temporal calibration for monocular visual-inertial systems. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3662-3669, Madrid, Spain, October 2018.

Y. Ling, K. Wang and S. Shen. Probabilistic dense reconstruction from a moving camera. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 6364-6371, Madrid, Spain, October 2018. video

F. Gao, W. Wu, J. Pan, B. Zhou and S. Shen. Optimal time allocation for quadrotor trajectory generation. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4715-4722, Madrid, Spain, October 2018. video

K. Wang and S. Shen. Adaptive baseline monocular dense mapping with inter-frame depth propagation. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3225-3232, Madrid, Spain, October 2018. video

K. Wang, W. Ding and S. Shen. Quadtree-accelerated real-time monocular dense mapping. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1-9, Madrid, Spain, October 2018. video

K. Wang and S. Shen. MVDepthNet: real-time multiview depth estimation neural network. In Proc. of the 6th international conference on 3D Vision (3DV), pages 248-257, Verona, Italy, September 2018. video

P. Li, T. Qin and S. Shen. Stereo vision-based semantic 3D object and ego-motion tracking for autonomous driving. In Proc. of the European Conference on Computer Vision (ECCV), pages 664-679, Munich, Germany, September 2018. video

S. Li, T. Liu, C. Zhang, D. Yeung and S. Shen. Learning unmanned aerial vehicle control for autonomous target following. In Proc. of the 27th International Joint Conference on Artificial Intelligence and the 23rd European Conference on Artificial Intelligence (IJCAI-ECAI), pages 4936-4942, Stockholm, Sweden, July 2018.

H. Wang, J. Pi, T. Qin, S. Shen and B. Shi. SLAM-based localization of 3D gaze using a mobile eye tracker. In Proc. of the ACM Symposium on Eye Tracking Research and Applications (ETRA), pages 1-5, Warsaw, Poland, June 2018.

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. In Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS), pages 1142-1149, Dallas, TX, USA, June 2018. video

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. In Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS), pages 1189-1198, Dallas, TX, USA, June 2018. video

F. Gao, W. Wu, Y. Lin and S. Shen. Online safe trajectory generation for quadrotors using fast marching method and bernstein basis polynomial. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 344-351, Brisbane, Australia, May 2018. video

T. Qin, P. Li and S. Shen. Relocalization, global optimization and map merging for monocular visual-inertial SLAM. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 1197-1204, Brisbane, Australia, May 2018. video

W. Ding, W. Gao, K. Wang and S. Shen. Trajectory replanning for quadrotors using kinodynamic search and elastic optimization. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 7595-7602, Brisbane, Australia, May 2018. video

C. Huang, F. Gao, J. Pan, Z. Yang, W. Qiu, P. Chen, X. Yang, S. Shen and K. Cheng. ACT: an autonomous drone cinematography system for action scenes. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 7039-7046, Brisbane, Australia, May 2018. video

2017

C. Shen, Y. Zhang, Z. Li, F. Gao and S. Shen. Collaborative air-ground target searching in complex environments. In Proc. of the IEEE Internaitonal Symposium on Safety, Security and Rescue Robotics (SSRR), pages 230-237, Shanghai, China, October 2017. video

P. Li, T. Qin, B. Hu, F. Zhu and S. Shen. Monocular visual-inertial state estimation for mobile augmented reality. In Proc. of the IEEE International Symposium on Mixed and Augmented Reality (ISMAR), pages 11-21, Nantes, France, October 2017. video

J. Chen and S. Shen. Using a quadrotor to track a moving target with arbitrary relative motion patterns. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5310-5317, Vancouver, Canada, September 2017. video

F. Gao, Y. Lin and S. Shen. Gradient-based online safe trajectory generation for quadrotor flight in complex environments. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3681-3688, Vancouver, Canada, September 2017. video

W. Gao and S. Shen. Dual-fisheye omnidirectional stereo. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 6715-6722, Vancouver, Canada, September 2017. video

Y. Ling and S. Shen. Building maps for autonomous navigation using sparse visual SLAM features. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1374-1381, Vancouver, Canada, September 2017. video

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. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5135-5141, Vancouver, Canada, September 2017. video

T. Qin and S. Shen. Robust initialization of monocular visual-inertial estimation on aerial robots. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4225-4232, Vancouver, Canada, September 2017. video

K. Qiu and S. Shen. Model-aided monocular visual-inertial state estimation and dense mapping. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1783-1789, Vancouver, Canada, September 2017. video

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. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4835-4841, Vancouver, Canada, September 2017. video

M. Kuse, S. P. Jaiswal and S. Shen. Deep-mapnets: a residual network for 3D environment representation. In Proc. of the IEEE International Conference on Image Processing (ICIP), pages 2652-2656, Beijing, China, September 2017.

H. Gu, X. Lyu, Z. Li, S. Shen and F. Zhang. Development and experimental verification of a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). In Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS), pages 160-169, Miami, USA, June 2017. video

Y. Wang, X. Lyu, H. Gu, S. Shen, Z. Li and F. Zhang. Design, implementation and verification of a quadrotor tail-sitter VTOL UAV. In Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS), pages 462-471, Miami, USA, June 2017.

J. Chen and S. Shen. Improving octree-based occupancy maps using environment sparsity with application to aerial robot navigation. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 3656-3663, Singapore, May 2017. video

F. Gao and S. Shen. Quadrotor trajectory generation in dynamic environments using semi-definite relaxation on nonconvex QCQP. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 6354-6361, Singapore, May 2017. video

T. Liu and S. Shen. High altitude monocular visual-inertial state estimation: initialization and sensor fusion. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 4544-4551, Singapore, May 2017. video

X. Lyu, H. Gu, Y. Wang, Z. Li, S. Shen and F. Zhang. Design and implementation of a quadrotor tail-sitter VTOL UAV. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 3924-3930, Singapore, May 2017. video

T. Sun, S. Nie, D. Yeung and S. Shen. Gesture-based piloting of an aerial robot using monocular vision. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 5913-5920, Singapore, May 2017. video

Z. Yang, F. Gao and S. Shen. Real-time monocular dense mapping on aerial robots using visual-inertial fusion. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 4552-4559, Singapore, May 2017. video

2016

F. Gao and S. Shen. Online quadrotor trajectory generation and autonomous navigation on point clouds. In Proc. of the IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), pages 139-146, Lausanne, Switzerland, October 2016. video

J. Chen, T. Liu and S. Shen. Tracking a moving target in cluttered environments using a quadrotor. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 446-453, Daejeon, Korea, October 2016. video

Z. Yang, T. Liu and S. Shen. Self-calibrating multi-camera visual-inertial fusion for autonomous MAVs. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4984-4991, Daejeon, Korea, October 2016. video

Y. Ling and S. Shen. High-precision online markerless stereo extrinsic calibration. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1771-1778, Daejeon, Korea, October 2016. video

K. Su and S. Shen. Catching a flying ball with a vision-based quadrotor. In Proc. of the International Symposium on Experimental Robotics (ISER), pages 550-562, Tokyo, Japan, October 2016. video

B. Li, S. Zhang and S. Shen. Csi-based wifi-inertial state estimation. In Proc. of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), pages 244-250, Baden-Baden, Germany, September 2016.

J. Chen, T. Liu and S. Shen. Online generation of collision-free trajectories for quadrotor flight in unknown cluttered environments. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 1476-1483, Stockholm, Sweden, May 2016. video

M. Kuse and S. Shen. Robust camera motion estimation using direct edge alignment and sub-gradient method. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 573-579, Stockholm, Sweden, May 2016.

Y. Ling, T. Liu and S. Shen. Aggressive quadrotor flight using dense visual-inertial fusion. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 1499-1506, Stockholm, Sweden, May 2016. video

2015

J. Chen, K. Su and S. Shen. Real-time safe trajectory generation for quadrotor flight in cluttered environments. In Proc. of the IEEE International Conference on Robotics and Biomimetics (ROBIO), pages 1678-1685, Zhuhai, China, December 2015. video

Y. Ling and S. Shen. Dense visual-inertial odometry for tracking of aggressive motions. In Proc. of the IEEE International Conference on Robotics and Biomimetics (ROBIO), pages 576-583, Zhuhai, China, December 2015. video

Z. Yang and S. Shen. Monocular visual-inertial fusion with online initialization and camera-IMU calibration. In Proc. of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages 1-8, West Lafayette, IN, October 2015. video

S. Shen, N. Michael and V. Kumar. Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 5303-5310, Seattle, WA, May 2015. video

2014

S. Liu, K. Mohta, S. Shen and V. Kumar. Towards collaborative mapping and exploration using multiple micro aerial robots. In Proc. of the International Symposium on Experimental Robotics (ISER), pages 865-878, Marrakech, Morocco, June 2014.

S. Shen, Y. Mulgaonkar, N. Michael and V. Kumar. Initialization-free monocular visual-inertial state estimation with application to autonomous MAVs. In Proc. of the International Symposium on Experimental Robotics (ISER), pages 211-227, Marrakech, Morocco, June 2014.

S. Shen, Y. Mulgaonkar, N. Michael and V. Kumar. Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft MAV. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 4974-4981, Hong Kong, China, May 2014. video

2013

T. Ozaslan, S. Shen, Y. Mulgaonkar, N. Michael and V. Kumar. Inspection of penstocks and featureless tunnel-like environments using micro UAVs. In Proc. of the Field and Service Robotics (FSR), pages 123-136, Brisbane, Australia, December 2013.

S. Shen, Y. Mulgaonkar, N. Michael and V. Kumar. Vision-based state estimation and trajectory control towards high-speed flight with a quadrotor. In Proc. of Robotics: Science and Systems (RSS), page 32, Berlin, Germany, June 2013.

S. Shen, Y. Mulgaonkar, N. Michael and V. Kumar. Vision-based state estimation for autonomous rotorcraft MAVs in complex environments. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 1758-1764, Karlsruhe, Germany, May 2013. video

2012

N. Michael, S. Shen, K. Mohta, V. Kumar, K. Nagatani, Y. Okada, S. Kiribayashi, K. Otake, K. Yoshida, K. Ohno, E. Takeuchi and S. Tadokoro. Collaborative mapping of an earthquake damaged building via ground and aerial robots. In Proc. of the Field and Service Robotics (FSR), pages 33-47, Miyagi, Japan, July 2012. video

S. Shen and N. Michael. State estimation for indoor and outdoor operation with a micro-aerial vehicle. In Proc. of the International Symposium on Experimental Robotics (ISER), pages 273-288, Quebec, Canada, June 2012. video

S. Shen, N. Michael and V. Kumar. Autonomous indoor 3D exploration with a micro-aerial vehicle. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 9-15, Saint Paul, MN, May 2012. video

2011

S. Shen, N. Michael and V. Kumar. Autonomous multi-floor indoor navigation with a computationally constrained MAV. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 20-25, Shanghai, China, May 2011. video