Research output

Publications

A selected overview and full bibliography of the lab's research.

20publications listed

Selected work

Group highlights

GARDEN reconstructions showing gravity-aligned scenes alongside disentangled rigid foreground objects

paper conference 2026

GARDEN: Simulation-ready 3D environments

GARDEN: Gravity-Aligned Reconstruction of Disentangled ENvironments from RGB images

An RGB-only framework factorizes gravity-aligned scenes into explicit rigid objects and decoupled backgrounds for direct physics simulation.

Sun, Wei, Shen, Zhou, Shen, and Li

European Conference on Computer Vision (ECCV)

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CASTv2 point cloud registration results compared with other methods on 3DMatch scenes

article journal 2026

CASTv2: Accurate point cloud registration

Consistency-Aware Spot-Guided Transformer for Accurate and Versatile Point Cloud Registration

A consistency-aware transformer for reliable registration across indoor and outdoor point clouds.

Huang, Chai, Tang, Li, Chen, and Li

IEEE Transactions on Pattern Analysis and Machine Intelligence

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ROEVO organized-edge visual odometry pipeline and indoor evaluation scenes

article journal 2025

ROEVO: Robust RGB-D visual odometry

ROEVO: Robust Organized Edge Feature-Based Visual Odometry Using RGB-D Cameras

Organized edge features support robust odometry in low-texture and changing indoor scenes.

Liu, Zuo, Huang, Zhao, Chen, and Li

IEEE Transactions on Robotics

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CAST outdoor LiDAR point cloud keypoints, correspondences, and registration results on KITTI

paper conference 2024

CAST: Versatile point cloud registration

A Consistency-Aware Spot-Guided Transformer for Versatile and Hierarchical Point Cloud Registration

Spot-guided matching improves registration across indoor RGB-D and outdoor LiDAR scenes.

Huang, Tang, Chen, and Li

Advances in Neural Information Processing Systems (NeurIPS)

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0104

Bibliography

Full list

GARDEN: Gravity-Aligned Reconstruction of Disentangled ENvironments from RGB images 2026

Sun, Wei, Shen, Zhou, Shen, and Li European Conference on Computer Vision (ECCV)

Semantic-aided LiDAR place-recognition pipeline with visual, semantic, and geometric features

Semantic-Aided Bag-of-Words for LiDAR-Based Place Recognition 2026

Sun, Lin, Zhang, Yi, and Li Pattern Recognition

DOI: 10.1016/j.patcog.2026.114335

Consistency-Aware Spot-Guided Transformer for Accurate and Versatile Point Cloud Registration 2026

Huang, Chai, Tang, Li, Chen, and Li IEEE Transactions on Pattern Analysis and Machine Intelligence

DOI: 10.1109/TPAMI.2026.3653989

Vehicle-to-vehicle collaborative perception pipeline with pose correction and feature fusion

Boosting Vehicle-to-Vehicle Collaborative Perception in Bird's-Eye View by Attentive Feature Fusion and Robust Pose Correction 2026

Zhou, Lu, Li, Meng, Shao, and Jiang IEEE Robotics and Automation Letters

DOI: 10.1109/LRA.2026.3653278

Interactively enhanced camera-radar fusion architecture for bird's-eye-view vehicle segmentation

Interactive Feature Fusion for Camera-Radar-Based Vehicle Segmentation in Bird's-Eye View 2026

Liu, Lu, Li, Meng, Jiang, and Shao Pattern Recognition

DOI: 10.1016/j.patcog.2025.112698

Dingo robot exploring a cluttered indoor environment alongside the resulting occupancy map and trajectory

BATO: Bayesian Trajectory Optimization for Active Environmental Mapping Using Autonomous Robots 2025

Xu, Shi, Li, and Chen IEEE/ASME Transactions on Mechatronics

DOI: 10.1109/TMECH.2025.3619997

DHC-ME multi-robot autonomous exploration results in a simulated outdoor environment

DHC-ME: A Decentralized Hybrid Cooperative Approach for Multi-Robot Autonomous Exploration 2025

Jia, Xu, Qian, Shi, Chen, and Li IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI: 10.1109/IROS60139.2025.11246448

PB-MOT car tracking metrics across association thresholds on the KITTI benchmark

PB-MOT: Pose-Aware Association Boosted Online 3D Multi-Object Tracking 2025

Pang, Xu, Chen, and Li IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI: 10.1109/IROS60139.2025.11247375

Formation-safe paths compared in an obstacle-rich environment

FrmRRT*: Sampling-Based Multi-Robot Formation Safe Path Planning in Obstacle-Rich Environments 2025

Xu, Li, Shi, and Li IEEE International Conference on Unmanned Systems (ICUS)

DOI: 10.1109/ICUS66297.2025.11295583

ROEVO: Robust Organized Edge Feature-Based Visual Odometry Using RGB-D Cameras 2025

Liu, Zuo, Huang, Zhao, Chen, and Li IEEE Transactions on Robotics

DOI: 10.1109/TRO.2025.3595702

Jackal robot navigating through pedestrians with its planned trajectory shown in RViz

CORE: Crowd Navigation Optimization with Random Network Distillation Enhancement 2025

Feng, Chen, and Li IEEE International Conference on Real-Time Computing and Robotics (RCAR)

DOI: 10.1109/RCAR65431.2025.11139761

AF-RLIO robot platform and radar-LiDAR odometry experiment in a smoke-filled environment

AF-RLIO: Adaptive Fusion of Radar-LiDAR-Inertial Information for Robust Odometry in Challenging Environments 2025

Qian, Xu, Shi, Chen, and Li IEEE International Conference on Robotics and Automation (ICRA)

DOI: 10.1109/ICRA55743.2025.11128046

DEFORM real-world multi-robot formation experiment in a confined corridor

Deform: Adaptive Formation Reconfiguration of Multi-Robot Systems in Confined Environments 2025

Li, Xu, Shi, and Li IEEE Robotics and Automation Letters

DOI: 10.1109/LRA.2025.3552998

A Consistency-Aware Spot-Guided Transformer for Versatile and Hierarchical Point Cloud Registration 2024

Huang, Tang, Chen, and Li Advances in Neural Information Processing Systems (NeurIPS)

DOI: 10.52202/079017-2245

iBoW3D incremental LiDAR place-recognition pipeline

iBoW3D: Place Recognition Based on Incremental and General Bag of Words in 3D Scans 2024

Lin, Chen, and Li IEEE International Conference on Robotics and Automation (ICRA)

DOI: 10.1109/ICRA57147.2024.10610036

SAGE-ICP semantic point cloud registration pipeline

SAGE-ICP: Semantic Information-Assisted ICP 2024

Cui, Chen, and Li IEEE International Conference on Robotics and Automation (ICRA)

DOI: 10.1109/ICRA57147.2024.10610280

KDD-LOAM LiDAR keypoint detection, registration, and mapping results

KDD-LOAM: Jointly Learned Keypoint Detector and Descriptors Assisted LiDAR Odometry and Mapping 2024

Huang, Zhao, Chen, and Li IEEE International Conference on Robotics and Automation (ICRA)

DOI: 10.1109/ICRA57147.2024.10610557

Correspondences between paired outdoor road point clouds

Graph Correspondence-Based Point Set Registration 2024

Li, Yang, and Wang IEEE Transactions on Systems, Man, and Cybernetics: Systems

DOI: 10.1109/TSMC.2024.3376700

Excavator platform with its roof-mounted LiDAR and inertial sensor

Real-Time Generation and Automatic Update of 3D Point Cloud Maps in Featureless Environments Based on Multi-Sensor Fusion 2023

Cui, Jia, Zhang, Sun, Chen, and Li IEEE International Conference on Unmanned Systems (ICUS)

DOI: 10.1109/ICUS58632.2023.10318508

Less-Map parking-lot semantic map and localization scene

Less-Map: Lightweight and Evolving Semantic Map in Parking Lots for Long-Term Self-Localization 2023

Liu, Tang, Qian, Chen, and Li arXiv preprint arXiv:2310.07390

DOI: 10.48550/arXiv.2310.07390