Air Series Articles from Junior Researchers

Air Series is a collection of articles that are first authored by junior researchers.

This series focuses on a wide variety of topics in robot perception.

Air Series Articles

AirRoom: Objects Matter in Room Reidentification.
Runmao Yao, Yi Du, Zhuoqun Chen, Haoze Zheng, Chen Wang.
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 1385–1394, 2025.
```
@inproceedings{yao2025airroom,
  title = {{AirRoom}: Objects Matter in Room Reidentification},
  author = {Yao, Runmao and Du, Yi and Chen, Zhuoqun and Zheng, Haoze and Wang, Chen},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  url = {https://arxiv.org/abs/2503.01130},
  website = {https://sairlab.org/airroom/},
  year = {2025},
  pages = {1385--1394},
  code = {https://github.com/21yrm/AirRoom},
  cover = {/img/posts/2025-03-02-airroom/airroom.jpg}
}
```
```
Yao, Runmao and Du, Yi and Chen, Zhuoqun and Zheng, Haoze and Wang, Chen, "AirRoom: Objects Matter in Room Reidentification," IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025.
```
AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System.
Kuan Xu, Yuefan Hao, Shenghai Yuan, Chen Wang, Lihua Xie.
IEEE Transactions on Robotics (T-RO), vol. 41, pp. 1673–1692, 2025.

Real-time visual SLAM at 70Hz with superior accuracy
```
@article{xu2025airslam,
  title = {{AirSLAM}: An Efficient and Illumination-Robust Point-Line Visual SLAM System},
  author = {Xu, Kuan and Hao, Yuefan and Yuan, Shenghai and Wang, Chen and Xie, Lihua},
  journal = {IEEE Transactions on Robotics (T-RO)},
  year = {2025},
  volume = {41},
  pages = {1673-1692},
  url = {https://arxiv.org/abs/2408.03520},
  code = {https://github.com/sair-lab/AirSLAM},
  video = {https://youtu.be/5OcR5KeO5nc},
  website = {https://sairlab.org/airslam},
  cover = {/img/posts/2024-08-15-airslam/AirSLAM.mp4},
  addendum = {Real-time visual SLAM at 70Hz with superior accuracy}
}
```
```
Xu, Kuan and Hao, Yuefan and Yuan, Shenghai and Wang, Chen and Xie, Lihua, "AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System," IEEE Transactions on Robotics (T-RO), 2025.
```
AirShot: Efficient Few-Shot Detection for Autonomous Exploration.
Zihan Wang, Bowen Li, Chen Wang, Sebastian Scherer.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11654–11661, 2024.
```
@inproceedings{wang2024airshot,
  title = {{AirShot}: Efficient Few-Shot Detection for Autonomous Exploration},
  author = {Wang, Zihan and Li, Bowen and Wang, Chen and Scherer, Sebastian},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2024},
  pages = {11654--11661},
  url = {https://arxiv.org/abs/2404.05069},
  cover = {/img/pubs/air_shot.png}
}
```
```
Wang, Zihan and Li, Bowen and Wang, Chen and Scherer, Sebastian, "AirShot: Efficient Few-Shot Detection for Autonomous Exploration," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
```
AirIMU: Learning Uncertainty Propagation for Inertial Odometry.
Yuheng Qiu, Chen Wang, Xunfei Zhou, Youjie Xia, Sebastian Scherer.
arXiv preprint arXiv:2310.04874, 2024.
```
@article{qiu2023airimu,
  title = {{AirIMU}: Learning Uncertainty Propagation for Inertial Odometry},
  author = {Qiu, Yuheng and Wang, Chen and Zhou, Xunfei and Xia, Youjie and Scherer, Sebastian},
  journal = {arXiv preprint arXiv:2310.04874},
  year = {2024},
  url = {https://arxiv.org/abs/2310.04874},
  code = {https://pypose.org/tutorials/imu/imu_integrator_tutorial},
  cover = {/img/pubs/air_imu.mp4}
}
```
```
Qiu, Yuheng and Wang, Chen and Zhou, Xunfei and Xia, Youjie and Scherer, Sebastian, "AirIMU: Learning Uncertainty Propagation for Inertial Odometry," arXiv preprint arXiv:2310.04874, 2024.
```
AirVO: An Illumination-Robust Point-Line Visual Odometry.
Kuan Xu, Yuefan Hao, Shenghai Yuan, Chen Wang, Lihua Xie.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3429–3436, 2023.
```
@inproceedings{xu2023airvo,
  title = {{AirVO}: An Illumination-Robust Point-Line Visual Odometry},
  author = {Xu, Kuan and Hao, Yuefan and Yuan, Shenghai and Wang, Chen and Xie, Lihua},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2023},
  pages = {3429--3436},
  url = {https://arxiv.org/abs/2212.07595},
  code = {https://github.com/sair-lab/AirVO},
  video = {https://youtu.be/YfOCLll_PfU},
  website = {https://sairlab.org/airvo/},
  cover = {/img/posts/2022-10-14-airvo/demo_uma.gif}
}
```
```
Xu, Kuan and Hao, Yuefan and Yuan, Shenghai and Wang, Chen and Xie, Lihua, "AirVO: An Illumination-Robust Point-Line Visual Odometry," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
```
AirLine: Efficient Learnable Line Detection with Local Edge Voting.
Xiao Lin, Chen Wang.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3270–3277, 2023.
```
@inproceedings{lin2023airline,
  title = {{AirLine}: Efficient Learnable Line Detection with Local Edge Voting},
  author = {Lin, Xiao and Wang, Chen},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2023},
  pages = {3270--3277},
  url = {https://arxiv.org/abs/2303.16500},
  video = {https://youtu.be/EKDx3Z9qYUQ},
  code = {https://github.com/sair-lab/AirLine},
  website = {https://sairlab.org/airline/},
  cover = {/img/posts/2023-03-31-airline/pipeline.gif}
}
```
```
Lin, Xiao and Wang, Chen, "AirLine: Efficient Learnable Line Detection with Local Edge Voting," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
```
AirDet: Few-Shot Detection without Fine-tuning for Autonomous Exploration.
Bowen Li, Chen Wang, Pranay Reddy, Seungchan Kim, Sebastian Scherer.
European Conference on Computer Vision (ECCV), pp. 427–444, 2022.
```
@inproceedings{li2021airdet,
  title = {{AirDet}: Few-Shot Detection without Fine-tuning for Autonomous Exploration},
  author = {Li, Bowen and Wang, Chen and Reddy, Pranay and Kim, Seungchan and Scherer, Sebastian},
  booktitle = {European Conference on Computer Vision (ECCV)},
  year = {2022},
  pages = {427--444},
  url = {https://arxiv.org/abs/2112.01740},
  code = {https://github.com/sair-lab/AirDet},
  video = {https://youtu.be/n87XtKUjVbE},
  cover = {/img/posts/2021-12-31-air-series/AirDet.gif}
}
```
```
Li, Bowen and Wang, Chen and Reddy, Pranay and Kim, Seungchan and Scherer, Sebastian, "AirDet: Few-Shot Detection without Fine-tuning for Autonomous Exploration," European Conference on Computer Vision (ECCV), 2022.
```
AirObject: A Temporally Evolving Graph Embedding for Object Identification.
Nikhil Varma Keetha, Chen Wang, Yuheng Qiu, Kuan Xu, Sebastian Scherer.
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 8407–8416, 2022.
```
@inproceedings{keetha2021airobject,
  title = {{AirObject}: A Temporally Evolving Graph Embedding for Object Identification},
  author = {Keetha, Nikhil Varma and Wang, Chen and Qiu, Yuheng and Xu, Kuan and Scherer, Sebastian},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2022},
  pages = {8407--8416},
  url = {https://arxiv.org/abs/2111.15150},
  video = {https://youtu.be/WZgn7hMZXhI},
  code = {https://github.com/Nik-V9/AirObject},
  website = {https://sairlab.org/airobject/},
  cover = {/img/posts/2022-03-15-airobject/airobject-title.gif}
}
```
```
Keetha, Nikhil Varma and Wang, Chen and Qiu, Yuheng and Xu, Kuan and Scherer, Sebastian, "AirObject: A Temporally Evolving Graph Embedding for Object Identification," IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.
```
AirLoop: Lifelong Loop Closure Detection.
Dasong Gao, Chen Wang, Sebastian Scherer.
International Conference on Robotics and Automation (ICRA), pp. 10664–10671, 2022.
```
@inproceedings{gao2021lifelong,
  title = {{AirLoop}: Lifelong Loop Closure Detection},
  author = {Gao, Dasong and Wang, Chen and Scherer, Sebastian},
  booktitle = {International Conference on Robotics and Automation (ICRA)},
  year = {2022},
  pages = {10664--10671},
  url = {https://arxiv.org/abs/2109.08975},
  code = {https://github.com/sair-lab/AirLoop},
  video = {https://youtu.be/7uYAizKyGgE},
  website = {https://sairlab.org/airloop/},
  cover = {/img/posts/2021-09-28-airloop/cover.jpeg}
}
```
```
Gao, Dasong and Wang, Chen and Scherer, Sebastian, "AirLoop: Lifelong Loop Closure Detection," International Conference on Robotics and Automation (ICRA), 2022.
```
AirDOS: Dynamic SLAM benefits from Articulated Objects.
Yuheng Qiu, Chen Wang, Wenshan Wang, Mina Henein, Sebastian Scherer.
International Conference on Robotics and Automation (ICRA), pp. 8047–8053, 2022.
```
@inproceedings{qiu2021airdos,
  title = {{AirDOS}: Dynamic SLAM benefits from Articulated Objects},
  author = {Qiu, Yuheng and Wang, Chen and Wang, Wenshan and Henein, Mina and Scherer, Sebastian},
  booktitle = {International Conference on Robotics and Automation (ICRA)},
  year = {2022},
  pages = {8047--8053},
  url = {https://arxiv.org/abs/2109.09903},
  code = {https://github.com/sair-lab/airdos},
  video = {https://youtu.be/O1mNIHcfnC0},
  website = {https://sairlab.org/airdos/},
  cover = {/img/posts/2022-02-06-airdos/AirDOS-title.gif}
}
```
```
Qiu, Yuheng and Wang, Chen and Wang, Wenshan and Henein, Mina and Scherer, Sebastian, "AirDOS: Dynamic SLAM benefits from Articulated Objects," International Conference on Robotics and Automation (ICRA), 2022.
```
AirCode: A Robust Object Encoding Method.
Kuan Xu, Chen Wang, Chao Chen, Wei Wu, Sebastian Scherer.
IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 2, pp. 1816–1823, 2022.

Presented at ICRA 2022
```
@article{xu2021aircode,
  title = {{AirCode}: A Robust Object Encoding Method},
  author = {Xu, Kuan and Wang, Chen and Chen, Chao and Wu, Wei and Scherer, Sebastian},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year = {2022},
  volume = {7},
  number = {2},
  pages = {1816--1823},
  url = {https://arxiv.org/abs/2105.00327},
  code = {https://github.com/sair-lab/AirCode},
  video = {https://youtu.be/TsdfSVz7hks},
  website = {https://sairlab.org/aircode/},
  cover = {/img/posts/2021-10-06-aircode/AirCode.mp4},
  addinfo = {Presented at ICRA 2022}
}
```
```
Xu, Kuan and Wang, Chen and Chen, Chao and Wu, Wei and Scherer, Sebastian, "AirCode: A Robust Object Encoding Method," IEEE Robotics and Automation Letters (RA-L), 2022.
```

First Author Information (When work was done)

Bowen Li
- Junior student at Tongji University, China.
- Now: PhD student of CMU RI.
Nikhil Varma Keetha
- Junior student at Indian Institute of Technology Dhanbad.
- Now: PhD student of CMU RI.
Dasong Gao
- Master student at Carnegie Mellon University.
- Now: PhD student of MIT EECS.
Yuheng Qiu
- Undergraduate of Chinese University of Hong Kong.
- Now: PhD student of CMU ME.
Kuan Xu
- Master’s Graduate of Harbin Institute of Technology, China.
- Now: PhD student of NTU EEE.
Xiao Lin
- Freshman at Georgia Institute of Technology.
- Now: Senior student at Georgia Institute of Technology.
Zihan Wang
- Junior student at University of Edinburgh.
- Now: Incoming PhD student at UC Berkeley.
Runmao Yao
- Junior student at Tsinghua University.
- Now: Incoming PhD student at NTU CS.