2024

[1]

iSLAM: Imperative SLAM.

Taimeng Fu, Shaoshu Su, Yiren Lu, Chen Wang.

IEEE Robotics and Automation Letters (RA-L), 2024.

SAIR Lab Recommended

@article{fu2024islam,
  title = {{iSLAM}: Imperative {SLAM}},
  author = {Fu, Taimeng and Su, Shaoshu and Lu, Yiren and Wang, Chen},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year = {2024},
  url = {https://arxiv.org/pdf/2306.07894.pdf},
  code = {https://github.com/sair-lab/iSLAM/},
  video = {https://www.youtube.com/watch?v=rtCvx0XCRno},
  addendum = {SAIR Lab Recommended}
}

[2]

Salient Sparse Visual Odometry With Pose-Only Supervision.

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

IEEE Robotics and Automation Letters (RA-L), 2024.

@article{chen2024salient,
  title = {Salient Sparse Visual Odometry With Pose-Only Supervision},
  author = {Chen, Siyu and Liu, Kangcheng and Wang, Chen and Yuan, Shenghai and Yang, Jianfei and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year = {2024},
  url = {https://arxiv.org/pdf/2404.04677.pdf}
}

[3]

Neural Markov Random Field for Stereo Matching.

Tongfan Guan, Chen Wang, Yun-Hui Liu.

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024.

@inproceedings{guan2024neural,
  title = {Neural Markov Random Field for Stereo Matching},
  author = {Guan, Tongfan and Wang, Chen and Liu, Yun-Hui},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2024},
  url = {https://arxiv.org/pdf/2403.11193.pdf},
  code = {https://github.com/aeolusguan/NMRF}
}

[4]

SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments.

Shibo Zhao, Yuanjun Gao, Tianhao Wu, Damanpreet Singh, Rushan Jiang, Haoxiang Sun, Mansi Sarawata, Warren C Whittaker, Ian Higgins, Shaoshu Su, Yi Du, Can Xu, John Keller, Jay Karhade, Lucas Nogueira, Sourojit Saha, Yuheng Qiu, Ji Zhang, Wenshan Wang, Chen Wang, Sebastian Scherer.

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024.

@inproceedings{zhao2024subt,
  title = {{SubT-MRS} Dataset: Pushing SLAM Towards All-weather Environments},
  author = {Zhao, Shibo and Gao, Yuanjun and Wu, Tianhao and Singh, Damanpreet and Jiang, Rushan and Sun, Haoxiang and Sarawata, Mansi and Whittaker, Warren C and Higgins, Ian and Su, Shaoshu and Du, Yi and Xu, Can and Keller, John and Karhade, Jay and Nogueira, Lucas and Saha, Sourojit and Qiu, Yuheng and Zhang, Ji and Wang, Wenshan and Wang, Chen and Scherer, Sebastian},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2024},
  url = {https://arxiv.org/pdf/2307.07607.pdf},
  video = {https://youtu.be/mkN72Lv8S7A}
}

[5]

PhysORD: A Neuro-Symbolic Approach for Physics-infused Motion Prediction in Off-road Driving.

Zhipeng Zhao, Bowen Li, Yi Du, Taimeng Fu, Chen Wang.

arXiv preprint arXiv:2404.01596, 2024.

SAIR Lab Recommended

@article{zhao2024physord,
  title = {{PhysORD}: A Neuro-Symbolic Approach for Physics-infused Motion Prediction in Off-road Driving},
  author = {Zhao, Zhipeng and Li, Bowen and Du, Yi and Fu, Taimeng and Wang, Chen},
  journal = {arXiv preprint arXiv:2404.01596},
  year = {2024},
  url = {https://arxiv.org/abs/2404.01596},
  code = {https://github.com/sair-lab/PhysORD},
  addendum = {SAIR Lab Recommended}
}

[6]

iA*: Imperative Learning-based A* Search for Pathfinding.

Xiangyu Chen, Fan Yang, Chen Wang.

arXiv preprint arXiv:2403.15870, 2024.

SAIR Lab Recommended

@article{chen2024iastar,
  title = {iA*: Imperative Learning-based A* Search for Pathfinding},
  author = {Chen, Xiangyu and Yang, Fan and Wang, Chen},
  journal = {arXiv preprint arXiv:2403.15870},
  year = {2024},
  url = {https://arxiv.org/pdf/2403.15870.pdf},
  addendum = {SAIR Lab Recommended}
}

[7]

iMatching: Imperative Correspondence Learning.

Zitong Zhan, Dasong Gao, Yun-Jou Lin, Youjie Xia, Chen Wang.

arXiv preprint arXiv:2312.02141, 2024.

SAIR Lab Recommended

@article{zhan2023imatching,
  title = {{iMatching}: Imperative Correspondence Learning},
  author = {Zhan, Zitong and Gao, Dasong and Lin, Yun-Jou and Xia, Youjie and Wang, Chen},
  journal = {arXiv preprint arXiv:2312.02141},
  year = {2024},
  url = {https://arxiv.org/pdf/2312.02141.pdf},
  addendum = {SAIR Lab Recommended}
}

[8]

Non-iterative SLAM for Warehouse Robots Using Ground Textures.

Kuan Xu, Zheng Yang, Lihua Xie, Chen Wang.

arXiv preprint arXiv:1710.05502, 2024.

SAIR Lab Recommended

@article{xu2023non,
  title = {Non-iterative SLAM for Warehouse Robots Using Ground Textures},
  author = {Xu, Kuan and Yang, Zheng and Xie, Lihua and Wang, Chen},
  journal = {arXiv preprint arXiv:1710.05502},
  url = {https://arxiv.org/pdf/1710.05502},
  video = {https://youtu.be/SbzFBEgfazQ},
  code = {https://github.com/sair-lab/ni-slam},
  year = {2024},
  addendum = {SAIR Lab Recommended}
}

[9]

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/pdf/2310.04874.pdf},
  code = {https://pypose.org/tutorials/imu/imu_integrator_tutorial}
}

[10]

Learning-on-the-Drive: Self-supervised Adaptation of Visual Offroad Traversability Models.

Eric Chen, Cherie Ho, Mukhtar Maulimov, Chen Wang, Sebastian Scherer.

arXiv preprint arXiv:2306.15226, 2024.

@article{chen2023learning,
  title = {Learning-on-the-Drive: Self-supervised Adaptation of Visual Offroad Traversability Models},
  author = {Chen, Eric and Ho, Cherie and Maulimov, Mukhtar and Wang, Chen and Scherer, Sebastian},
  journal = {arXiv preprint arXiv:2306.15226},
  year = {2024},
  url = {https://arxiv.org/pdf/2306.15226.pdf}
}

[11]

Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis.

Yafei Hu, Quanting Xie, Vidhi Jain, Jonathan Francis, Jay Patrikar, Nikhil Keetha, Seungchan Kim, Yaqi Xie, Tianyi Zhang, Shibo Zhao, Yu-Quan Chong, Chen Wang, Katia Sycara, Matthew Johnson-Roberson, Dhruv Batra, Xiaolong Wang, Sebastian Scherer, Zsolt Kira, Fei Xia, Yonatan Bisk.

arXiv preprint arXiv:2312.08782, 2024.

@article{hu2023generalpurpose,
  title = {Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis},
  author = {Hu, Yafei and Xie, Quanting and Jain, Vidhi and Francis, Jonathan and Patrikar, Jay and Keetha, Nikhil and Kim, Seungchan and Xie, Yaqi and Zhang, Tianyi and Zhao, Shibo and Chong, Yu-Quan and Wang, Chen and Sycara, Katia and Johnson-Roberson, Matthew and Batra, Dhruv and Wang, Xiaolong and Scherer, Sebastian and Kira, Zsolt and Xia, Fei and Bisk, Yonatan},
  journal = {arXiv preprint arXiv:2312.08782},
  year = {2024},
  url = {https://arxiv.org/pdf/2312.08782.pdf}
}

[12]

AirLoc: Object-based Indoor Relocalization.

Aryan, Bowen Li, Sebastian Scherer, Yun-Jou Lin, Chen Wang.

arXiv preprint arXiv:2304.00954, 2024.

@article{aryan2023airloc,
  title = {{AirLoc}: Object-based Indoor Relocalization},
  author = {Aryan and Li, Bowen and Scherer, Sebastian and Lin, Yun-Jou and Wang, Chen},
  journal = {arXiv preprint arXiv:2304.00954},
  year = {2024},
  url = {https://arxiv.org/pdf/2304.00954},
  video = {https://youtu.be/n6mp6KzGPgs},
  code = {https://github.com/sair-lab/AirLoc}
}

2023

[1]

VoxDet: Voxel Learning for Novel Instance Detection.

Bowen Li, Jiashun Wang, Yaoyu Hu, Chen Wang, Sebastian Scherer.

Advances in Neural Information Processing Systems (NeurIPS), 2023.

Selected as Spotlight

@inproceedings{li2023voxdet,
  author = {Li, Bowen and Wang, Jiashun and Hu, Yaoyu and Wang, Chen and Scherer, Sebastian},
  booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
  title = {{VoxDet}: Voxel Learning for Novel Instance Detection},
  year = {2023},
  url = {https://arxiv.org/pdf/2305.17220},
  code = {https://github.com/Jaraxxus-Me/VoxDet},
  video = {https://youtu.be/tiXpOV1ROOI},
  addendum = {Selected as Spotlight}
}

[2]

FDCT: A Fast Depth Completion Network for Transparent Objects.

Tianan Li, Zhehan Chen, Huan Liu, Chen Wang.

IEEE Robotics and Automation Letters (RA-L), 2023.

@article{li2023fdct,
  title = {{FDCT}: A Fast Depth Completion Network for Transparent Objects},
  author = {Li, Tianan and Chen, Zhehan and Liu, Huan and Wang, Chen},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year = {2023},
  url = {https://arxiv.org/pdf/2307.12274},
  code = {https://github.com/Nonmy/FDCT},
  video = {https://youtu.be/gRai9WMP-TM}
}

[3]

PyPose v0.6: The Imperative Programming Interface for Robotics.

Zitong Zhan, Xiangfu Li, Qihang Li, Haonan He, Abhinav Pandey, Haitao Xiao, Yangmengfei Xu, Xiangyu Chen, Kuan Xu, Kun Cao, Zhipeng Zhao, Zihan Wang, Huan Xu, Zihang Fang, Yutian Chen, Wentao Wang, Xu Fang, Yi Du, Tianhao Wu, Xiao Lin, Yuheng Qiu, Fan Yang, Jingnan Shi, Shaoshu Su, Yiren Lu, Taimeng Fu, Karthik Dantu, Jiajun Wu, Lihua Xie, Marco Hutter, Luca Carlone, Sebastian Scherer, Daning Huang, Yaoyu Hu, Junyi Geng, Chen Wang.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop, 2023.

@inproceedings{zhan2023pypose,
  title = {{PyPose} v0.6: The Imperative Programming Interface for Robotics},
  author = {Zhan, Zitong and Li, Xiangfu and Li, Qihang and He, Haonan and Pandey, Abhinav and Xiao, Haitao and Xu, Yangmengfei and Chen, Xiangyu and Xu, Kuan and Cao, Kun and Zhao, Zhipeng and Wang, Zihan and Xu, Huan and Fang, Zihang and Chen, Yutian and Wang, Wentao and Fang, Xu and Du, Yi and Wu, Tianhao and Lin, Xiao and Qiu, Yuheng and Yang, Fan and Shi, Jingnan and Su, Shaoshu and Lu, Yiren and Fu, Taimeng and Dantu, Karthik and Wu, Jiajun and Xie, Lihua and Hutter, Marco and Carlone, Luca and Scherer, Sebastian and Huang, Daning and Hu, Yaoyu and Geng, Junyi and Wang, Chen},
  year = {2023},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop},
  url = {https://arxiv.org/abs/2309.13035},
  code = {https://github.com/pypose/pypose},
  video = {https://youtu.be/XDtUDIWuGng}
}

[4]

iPlanner: Imperative Path Planning.

Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter.

Robotics: Science and Systems (RSS), 2023.

SAIR Lab Recommended

@inproceedings{yang2023iplanner,
  author = {Yang, Fan and Wang, Chen and Cadena, Cesar and Hutter, Marco},
  title = {{iPlanner}: Imperative Path Planning},
  booktitle = {Robotics: Science and Systems (RSS)},
  url = {https://arxiv.org/pdf/2302.11434.pdf},
  code = {https://github.com/sair-lab/iPlanner},
  year = {2023},
  addendum = {SAIR Lab Recommended}
}

[5]

Off-Policy Evaluation with Online Adaptation for Robot Exploration in Challenging Environments.

Yafei Hu, Junyi Geng, Chen Wang, John Keller, Sebastian Scherer.

IEEE Robotics and Automation Letters (RA-L), 2023.

Accepted to IROS 2023

@article{hu2023opere,
  author = {Hu, Yafei and Geng, Junyi and Wang, Chen and Keller, John and Scherer, Sebastian},
  title = {Off-Policy Evaluation with Online Adaptation for Robot Exploration in Challenging Environments},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  url = {https://arxiv.org/pdf/2204.03140.pdf},
  year = {2023},
  addinfo = {Accepted to IROS 2023}
}

[6]

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), 2023.

SAIR Lab Recommended

@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},
  url = {https://arxiv.org/pdf/2212.07595.pdf},
  code = {https://github.com/sair-lab/AirVO},
  video = {https://youtu.be/YfOCLll_PfU},
  addendum = {SAIR Lab Recommended}
}

[7]

AirLine: Efficient Learnable Line Detection with Local Edge Voting.

Xiao Lin, Chen Wang.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 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},
  url = {https://arxiv.org/pdf/2303.16500.pdf},
  video = {https://youtu.be/EKDx3Z9qYUQ},
  code = {https://github.com/sair-lab/AirLine}
}

[8]

PyPose: A Library for Robot Learning with Physics-based Optimization.

Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Kun Cao, Yi Du, Han Wang, Huai Yu, Shanzhao Wang, Siyu Chen, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Lihua Xie, Luca Carlone, Marco Hutter, Sebastian Scherer.

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023.

SAIR Lab Recommended

@inproceedings{wang2023pypose,
  title = {{PyPose}: A Library for Robot Learning with Physics-based Optimization},
  author = {Wang, Chen and Gao, Dasong and Xu, Kuan and Geng, Junyi and Hu, Yaoyu and Qiu, Yuheng and Li, Bowen and Yang, Fan and Moon, Brady and Pandey, Abhinav and Aryan and Xu, Jiahe and Wu, Tianhao and He, Haonan and Huang, Daning and Ren, Zhongqiang and Zhao, Shibo and Fu, Taimeng and Reddy, Pranay and Lin, Xiao and Wang, Wenshan and Shi, Jingnan and Talak, Rajat and Cao, Kun and Du, Yi and Wang, Han and Yu, Huai and Wang, Shanzhao and Chen, Siyu and Kashyap, Ananth and Bandaru, Rohan and Dantu, Karthik and Wu, Jiajun and Xie, Lihua and Carlone, Luca and Hutter, Marco and Scherer, Sebastian},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2023},
  url = {https://arxiv.org/pdf/2209.15428.pdf},
  code = {https://github.com/pypose/pypose},
  video = {https://youtu.be/XDtUDIWuGng},
  addendum = {SAIR Lab Recommended}
}

2022

[1]

Lifelong Graph Learning.

Chen Wang, Yuheng Qiu, Dasong Gao, Sebastian Scherer.

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

Selected as Oral Presentation (4.2%)

@inproceedings{wang2022lifelong,
  title = {Lifelong Graph Learning},
  author = {Wang, Chen and Qiu, Yuheng and Gao, Dasong and Scherer, Sebastian},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2022},
  url = {https://arxiv.org/pdf/2009.00647},
  code = {https://github.com/sair-lab/LGL},
  video = {https://youtu.be/711oo3Mi2Do},
  addendum = {Selected as Oral Presentation (4.2\%)}
}

[2]

Robotic Interestingness via Human-Informed Few-Shot Object Detection.

Seungchan Kim, Chen Wang, Bowen Li, Sebastian Scherer.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

@inproceedings{kim2022robotic,
  title = {Robotic Interestingness via Human-Informed Few-Shot Object Detection},
  author = {Kim, Seungchan and Wang, Chen and Li, Bowen and Scherer, Sebastian},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2022},
  url = {https://arxiv.org/pdf/2208.01084.pdf}
}

[3]

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), 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},
  url = {https://arxiv.org/pdf/2112.01740},
  code = {https://github.com/sair-lab/AirDet},
  video = {https://youtu.be/n87XtKUjVbE}
}

[4]

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), 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},
  url = {https://arxiv.org/pdf/2111.15150},
  video = {https://youtu.be/WZgn7hMZXhI},
  code = {https://github.com/sair-lab/AirObject}
}

[5]

AirLoop: Lifelong Loop Closure Detection.

Dasong Gao, Chen Wang, Sebastian Scherer.

International Conference on Robotics and Automation (ICRA), 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},
  url = {https://arxiv.org/pdf/2109.08975},
  code = {https://github.com/sair-lab/AirLoop},
  video = {https://youtu.be/7uYAizKyGgE}
}

[6]

AirDOS: Dynamic SLAM benefits from Articulated Objects.

Yuheng Qiu, Chen Wang, Wenshan Wang, Mina Henein, Sebastian Scherer.

International Conference on Robotics and Automation (ICRA), 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},
  url = {https://arxiv.org/pdf/2109.09903},
  code = {https://github.com/sair-lab/airdos},
  video = {https://youtu.be/O1mNIHcfnC0}
}

[7]

AirCode: A Robust Object Encoding Method.

Kuan Xu, Chen Wang, Chao Chen, Wei Wu, Sebastian Scherer.

IEEE Robotics and Automation Letters (RA-L), 2022.

Accepted to 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},
  url = {https://arxiv.org/pdf/2105.00327},
  code = {https://github.com/sair-lab/AirCode},
  video = {https://youtu.be/TsdfSVz7hks},
  addinfo = {Accepted to ICRA 2022}
}

2021

[1]

Unsupervised Online Learning for Robotic Interestingness with Visual Memory.

Chen Wang, Wenshan Wang, Yuheng Qiu, Yafei Hu, Seungchan Kim, Sebastian Scherer.

IEEE Transactions on Robotics (TRO), 2021.

@article{wang2021unsupervised,
  title = {Unsupervised Online Learning for Robotic Interestingness with Visual Memory},
  author = {Wang, Chen and Wang, Wenshan and Qiu, Yuheng and Hu, Yafei and Kim, Seungchan and Scherer, Sebastian},
  journal = {IEEE Transactions on Robotics (TRO)},
  url = {https://arxiv.org/pdf/2111.09793},
  code = {https://github.com/sair-lab/interestingness},
  year = {2021}
}

[2]

Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment.

Han Wang, Chen Wang, Lihua Xie.

IEEE Robotics and Automation Letters (RA-L), 2021.

Presented at ICRA 2021

@article{wang2021intensity,
  title = {Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment},
  author = {Wang, Han and Wang, Chen and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year = {2021},
  url = {https://arxiv.org/pdf/2102.03798},
  code = {https://github.com/sair-lab/intensity_slam},
  video = {https://youtu.be/KLJOF84jxuk},
  addinfo = {Presented at ICRA 2021}
}

[3]

Lightweight 3-D Localization and Mapping for Solid-State LiDAR.

Han Wang, Chen Wang, Lihua Xie.

IEEE Robotics and Automation Letters (RA-L), 2021.

Presented at ICRA 2021

@article{wang2021lightweight,
  title = {Lightweight 3-D Localization and Mapping for Solid-State LiDAR},
  author = {Wang, Han and Wang, Chen and Xie, Lihua},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year = {2021},
  publisher = {IEEE},
  url = {https://arxiv.org/pdf/2102.03800},
  code = {https://github.com/sair-lab/SSL_SLAM},
  video = {https://youtu.be/iLy1DT92bCA},
  addinfo = {Presented at ICRA 2021}
}

[4]

Towards Real-time Semantic RGB-D SLAM in Dynamic Environments.

Tete Ji, Chen Wang, Lihua Xie.

2021 International Conference on Robotics and Automation (ICRA), 2021.

@inproceedings{ji2021towards,
  title = {Towards Real-time Semantic RGB-D SLAM in Dynamic Environments},
  author = {Ji, Tete and Wang, Chen and Xie, Lihua},
  booktitle = {2021 International Conference on Robotics and Automation (ICRA)},
  year = {2021},
  url = {https://arxiv.org/pdf/2104.01316}
}

[5]

F-LOAM: Fast LiDAR Odometry And Mapping.

Han Wang, Chen Wang, Chun-Lin Chen, Lihua Xie.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

@inproceedings{wang2021f,
  title = {F-LOAM: Fast LiDAR Odometry And Mapping},
  author = {Wang, Han and Wang, Chen and Chen, Chun-Lin and Xie, Lihua},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2021},
  url = {https://arxiv.org/pdf/2107.00822},
  code = {https://github.com/sair-lab/floam},
  video = {https://youtu.be/itVdVAT5O9c}
}

2020

[1]

Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection.

Han Wang, Chen Wang, Lihua Xie.

2020 International Conference on Robotics and Automation (ICRA), pp. 2095–2101, 2020.

@inproceedings{wang2020intensity,
  title = {Intensity Scan Context: Coding Intensity and Geometry Relations for Loop Closure Detection},
  author = {Wang, Han and Wang, Chen and Xie, Lihua},
  booktitle = {2020 International Conference on Robotics and Automation (ICRA)},
  year = {2020},
  pages = {2095--2101},
  url = {https://arxiv.org/pdf/2003.05656},
  code = {https://github.com/sair-lab/iscloam},
  video = {https://youtu.be/6iEgn7md2SQ}
}

[2]

TartanAir: A Dataset to Push the Limits of Visual SLAM.

Wenshan Wang, Delong Zhu, Xiangwei Wang, Yaoyu Hu, Yuheng Qiu, Chen Wang, Yafei Hu Hu, Ashish Kapoor, Sebastian Scherer.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4909–4916, 2020.

@inproceedings{wang2020tartanair,
  title = {TartanAir: A Dataset to Push the Limits of Visual SLAM},
  author = {Wang, Wenshan and Zhu, Delong and Wang, Xiangwei and Hu, Yaoyu and Qiu, Yuheng and Wang, Chen and Hu, Yafei Hu and Kapoor, Ashish and Scherer, Sebastian},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2020},
  pages = {4909--4916},
  url = {https://arxiv.org/pdf/2003.14338},
  code = {https://github.com/sair-lab/tartanair_tools},
  video = {https://youtu.be/zJ8u_ACEP9c}
}

[3]

Visual Memorability for Robotic Interestingness via Unsupervised Online Learning.

Chen Wang, Wenshan Wang, Yuheng Qiu, Yafei Hu, Sebastian Scherer.

European Conference on Computer Vision (ECCV), pp. 52–68, 2020.

Selected as Oral Presentation (2%)

@inproceedings{wang2020visual,
  title = {Visual Memorability for Robotic Interestingness via Unsupervised Online Learning},
  author = {Wang, Chen and Wang, Wenshan and Qiu, Yuheng and Hu, Yafei and Scherer, Sebastian},
  booktitle = {European Conference on Computer Vision (ECCV)},
  year = {2020},
  pages = {52--68},
  url = {https://arxiv.org/pdf/2005.08829},
  code = {https://github.com/sair-lab/interestingness/tree/eccv},
  video = {https://youtu.be/o9LrDlemerE},
  addendum = {Selected as Oral Presentation (2\%)}
}

[4]

Online Visual Place Recognition via Saliency Re-identification.

Han Wang, Chen Wang, Lihua Xie.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5030–5036, 2020.

@inproceedings{wang2020online,
  title = {Online Visual Place Recognition via Saliency Re-identification},
  author = {Wang, Han and Wang, Chen and Xie, Lihua},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2020},
  pages = {5030--5036},
  url = {https://arxiv.org/pdf/2007.14549},
  code = {https://github.com/sair-lab/SRLCD},
  video = {https://youtu.be/gc-LMaEUL3M}
}

[5]

Cooperative Pursuit with Multi-Pursuer and One Faster Free-moving Evader.

Xu Fang, Chen Wang, Lihua Xie, Jie Chen.

IEEE Transactions on Cybernetics, pp. 1405–1414, 2020.

@article{fang2020cooperative,
  title = {Cooperative Pursuit with Multi-Pursuer and One Faster Free-moving Evader},
  author = {Fang, Xu and Wang, Chen and Xie, Lihua and Chen, Jie},
  journal = {IEEE Transactions on Cybernetics},
  year = {2020},
  pages = {1405--1414},
  url = {https://arxiv.org/pdf/2001.04731},
  code = {https://github.com/sair-lab/formation}
}

[6]

Graph Optimization Approach to Range-based Localization.

Xu Fang, Chen Wang, Thien-Minh Nguyen, Lihua Xie.

IEEE Transactions on Systems, Man and Cybernetics: Systems, pp. 6830–6841, 2020.

@article{fang2020graph,
  title = {Graph Optimization Approach to Range-based Localization},
  author = {Fang, Xu and Wang, Chen and Nguyen, Thien-Minh and Xie, Lihua},
  journal = {IEEE Transactions on Systems, Man and Cybernetics: Systems},
  year = {2020},
  pages = {6830--6841},
  url = {https://arxiv.org/pdf/1802.10276},
  code = {https://github.com/sair-lab/localization}
}

2019

[1]

Kervolutional Neural Networks.

Chen Wang, Jianfei Yang, Lihua Xie, Junsong Yuan.

IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 31–40, 2019.

Selected as Oral Presentation (5.6%)

@inproceedings{wang2019kervolutional,
  title = {Kervolutional Neural Networks},
  author = {Wang, Chen and Yang, Jianfei and Xie, Lihua and Yuan, Junsong},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  pages = {31--40},
  year = {2019},
  url = {https://arxiv.org/pdf/1904.03955},
  code = {https://github.com/sair-lab/kervolution},
  addendum = {Selected as Oral Presentation (5.6\%)}
}

2018

[1]

Kernel Cross-Correlator.

Chen Wang, Le Zhang, Lihua Xie, Junsong Yuan.

Thirty-Second AAAI Conference on Artificial Intelligence (AAAI), pp. 4179–4186, 2018.

SAIR Lab Recommended

@inproceedings{wang2018kernel,
  title = {Kernel Cross-Correlator},
  author = {Wang, Chen and Zhang, Le and Xie, Lihua and Yuan, Junsong},
  booktitle = {Thirty-Second AAAI Conference on Artificial Intelligence (AAAI)},
  pages = {4179--4186},
  year = {2018},
  url = {https://arxiv.org/pdf/1709.05936},
  code = {https://github.com/sair-lab/KCC},
  addendum = {SAIR Lab Recommended}
}

[2]

Correlation Flow: Robust Optical Flow Using Kernel Cross-Correlators.

Chen Wang, Tete Ji, Thien-Minh Nguyen, Lihua Xie.

International Conference on Robotics and Automation (ICRA), pp. 836–841, 2018.

@inproceedings{wang2018correlation,
  title = {Correlation Flow: Robust Optical Flow Using Kernel Cross-Correlators},
  author = {Wang, Chen and Ji, Tete and Nguyen, Thien-Minh and Xie, Lihua},
  booktitle = {International Conference on Robotics and Automation (ICRA)},
  pages = {836--841},
  year = {2018},
  url = {https://arxiv.org/pdf/1802.07078},
  code = {https://github.com/sair-lab/correlation_flow}
}

[3]

Robust Target-relative Localization with Ultra-Wideband Ranging and Communication.

Thien-Minh Nguyen, Abdul Hanif Zaini, Chen Wang, Kexin Guo, Lihua Xie.

2018 International Conference on Robotics and Automation (ICRA), pp. 2312–2319, 2018.

@inproceedings{nguyen2018robust,
  title = {Robust Target-relative Localization with Ultra-Wideband Ranging and Communication},
  author = {Nguyen, Thien-Minh and Zaini, Abdul Hanif and Wang, Chen and Guo, Kexin and Xie, Lihua},
  booktitle = {2018 International Conference on Robotics and Automation (ICRA)},
  pages = {2312--2319},
  year = {2018},
  url = {https://arxiv.org/pdf/1802.08953},
  video = {https://youtu.be/08yU9LqLTto}
}

[4]

Model-free Approach for Sensor Network Localization with Noisy Distance Measurement.

Xu Fang, Chen Wang, Thien-Minh Nguyen, Lihua Xie.

International Conference on Control, Automation, Robotics and Vision (ICARCV), pp. 1973–1978, 2018.

@inproceedings{fang2018model,
  title = {Model-free Approach for Sensor Network Localization with Noisy Distance Measurement},
  author = {Fang, Xu and Wang, Chen and Nguyen, Thien-Minh and Xie, Lihua},
  booktitle = {International Conference on Control, Automation, Robotics and Vision (ICARCV)},
  pages = {1973--1978},
  year = {2018},
  code = {https://github.com/sair-lab/localization},
  organization = {IEEE}
}

2017

[1]

Ultra-Wideband Aided Fast Localization and Mapping System.

Chen Wang, Handuo Zhang, Thien-Minh Nguyen, Lihua Xie.

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1602–1609, 2017.

@inproceedings{wang2017ultra,
  title = {Ultra-Wideband Aided Fast Localization and Mapping System},
  author = {Wang, Chen and Zhang, Handuo and Nguyen, Thien-Minh and Xie, Lihua},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2017},
  pages = {1602--1609},
  url = {https://arxiv.org/pdf/1710.00156},
  code = {https://github.com/sair-lab/localization},
  organization = {IEEE}
}

[2]

Non-iterative SLAM.

Chen Wang, Junsong Yuan, Lihua Xie.

International Conference on Advanced Robotics (ICAR), pp. 83–90, 2017.

Best Paper Award in Robotic Planning

@inproceedings{wang2017non,
  title = {Non-iterative SLAM},
  author = {Wang, Chen and Yuan, Junsong and Xie, Lihua},
  booktitle = {International Conference on Advanced Robotics (ICAR)},
  pages = {83--90},
  year = {2017},
  organization = {IEEE},
  url = {https://arxiv.org/pdf/1701.05294},
  video = {https://youtu.be/Ed_6wYIKRfs},
  code = {https://github.com/sair-lab/ni-slam},
  addendum = {Best Paper Award in Robotic Planning}
}