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Journals

  • Efficient Camera Exposure Control for Visual Odometry via Deep Reinforcement Learning
    IEEE Transactions on Instrumentation and Measurement, 2025
    Authors: X Hu, J Wu, B Xue, Zhu, Yilong, M Jia, Y Qi, Y Jiang, P Tan, W Zhang;
  • AM-Align: Globally Optimal Estimation of Accelerometer-Magnetometer Misalignment
    IEEE/ASME Transactions on Mechatronics, 2024
    Authors: Zhang, Shuyang; He, Jinhao; Yang, Bowen; Zhu, Yilong; Wu, Jin; Jiao, Jianhao; Yuan, Jie;
  • Efficient Camera Exposure Control for Visual Odometry via Deep Reinforcement Learning
    IEEE Robotics and Automation Letters, 2024
    Authors: Zhang, Shuyang; He, Jinhao; Zhu, Yilong; Wu, Jin; Yuan, Jie;
  • Fusionportablev2: A unified multi-sensor dataset for generalized slam across diverse platforms and scalable environments Link
    The International Journal of Robotics Research, 2024
    Authors: Wei, Hexiang; Jiao, Jianhao; Hu, Xiangcheng; Yu, Jingwen; Xie, Xupeng; Wu, Jin; Zhu, Yilong; Liu, Yuxuan; Wang, Lujia; Liu, Ming;
  • Robust equipment-free calibration of low-cost inertial measurement units
    IEEE Transactions on Instrumentation and Measurement, 2023
    Authors: Zou, Zuhao; Li, Liang; Hu, Xiangcheng; Zhu, Yilong; Xue, Bohuan; Wu, Jin; Liu, Ming;
  • Generalized n-Dimensional Rigid Registration: Theory and Applications
    IEEE Transactions on Cybernetics, 2022
    Authors: Wu, Jin; Wang, Miaomiao; Fourati, Hassen; Li, Hui; Zhu, Yilong; Zhang, Chengxi; Jiang, Yi; Hu, Xiangcheng; Liu, Ming;
  • Quadratic pose estimation problems: Globally optimal solutions, solvability/observability analysis, and uncertainty description
    IEEE Transactions on Robotics, 2022
    Authors: Wu, Jin; Zheng, Yu; Gao, Zhi; Jiang, Yi; Hu, Xiangcheng; Zhu, Yilong; Jiao, Jianhao; Liu, Ming;
  • Robust odometry and mapping for multi-lidar systems with online extrinsic calibration
    IEEE Transactions on Robotics, 2021
    Authors: Jiao, Jianhao; Ye, Haoyang; Zhu, Yilong; Liu, Ming;
  • The role of the hercules autonomous vehicle during the covid-19 pandemic: An autonomous logistic vehicle for contactless goods transportation
    IEEE Robotics & Automation Magazine, 2021
    Authors: Liu, Tianyu; hai Liao, Qing; Gan, Lu; Ma, Fulong; Cheng, Jie; Xie, Xupeng; Wang, Zhe; Chen, Yingbing; Zhu, Yilong; Zhang, Shuyang;
  • Globally optimal symbolic hand-eye calibration
    IEEE/ASME Transactions on Mechatronics, 2020
    Authors: Wu, Jin; Liu, Ming; Zhu, Yilong; Zou, Zuhao; Dai, Ming-Zhe; Zhang, Chengxi; Jiang, Yi; Li, Chong;
  • Circuit Synthesis of 3-D Rotation Orthonormalization
    IEEE Transactions on Circuits and Systems II: Express Briefs, 2020
    Authors: Wu, Jin; Jiang, Yi; Li, Chong; Sun, Ran; Zhang, Chengxi; Yu, Yang; Zhu, Yilong; Liu, Ming;
  • Linear geometric algebra rotor estimator for efficient mesh deformation
    IET Cyber‐Systems and Robotics, 2020
    Authors: Wu, Jin; Lopez, Mauricio; Liu, Ming; Zhu, Yilong;

Conferences

  • From satellite to street: Semantic and depth information for enhanced geo-localization
    2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025) ORAL.
    Authors: Zhu, Yilong, Jianhao Jiao, Hexiang Wei, Jin Wu, Bohuan Xue, Shuyang Zhang, and Shaojie Shen.
  • Fusionportable: A multi-sensor campus-scene dataset for evaluation of localization and mapping accuracy on diverse platforms
    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
    Authors: Jiao, Jianhao; Wei, Hexiang; Hu, Tianshuai; Hu, Xiangcheng; Zhu, Yilong; He, Zhijian; Wu, Jin; Yu, Jingwen; Xie, Xupeng; Huang, Huaiyang;
  • Comparing representations in tracking for event camera-based slam
    Proceedings of the IEEE/cvf conference on computer vision and pattern recognition, 2021
    Authors: Jiao, Jianhao; Huang, Huaiyang; Li, Liang; He, Zhijian; Zhu, Yilong; Liu, Ming;
  • Differential information aided 3-d registration for accurate navigation and scene reconstruction
    2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
    Authors: Wu, Jin; Zhang, Shuyang; Zhu, Yilong; Geng, Ruoyu; Fu, Zhongtao; Ma, Fulong; Liu, Ming;
  • Greedy-based feature selection for efficient LiDAR SLAM
    2021 IEEE international conference on robotics and automation (ICRA), 2021
    Authors: Jiao, Jianhao; Zhu, Yilong; Ye, Haoyang; Huang, Huaiyang; Yun, Peng; Jiang, Linxin; Wang, Lujia; Liu, Ming;
  • GIDSeg: Learning 3D Segmentation from Sparse Annotations via Hierarchical Descriptors
    2020 2nd International Conference on Information Technology and Computer Application (ITCA), 2020
    Authors: Yi-Ge, Ellen; Zhu, Yilong;
  • A novel dual-lidar calibration algorithm using planar surfaces
    2019 IEEE Intelligent Vehicles Symposium (IV), 2019
    Authors: Jiao, Jianhao; Liao, Qinghai; Zhu, Yilong; Liu, Tianyu; Yu, Yang; Fan, Rui; Wang, Lujia; Liu, Ming;
  • A triangle feature based map-to-map matching and loop closure for 2d graph slam
    2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019
    Authors: Jiang, Binqian; Zhu, Yilong; Liu, Ming;
  • A robust pavement mapping system based on normal-constrained stereo visual odometry
    2019 IEEE International Conference on Imaging Systems and Techniques (IST), 2019
    Authors: Huang, Huaiyang; Fan, Rui; Zhu, Yilong; Liu, Ming; Pitas, Ioannis;
  • [Best paper finalist]Road curb detection using a novel tensor voting algorithm
    2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019
    Authors: Zhu, Yilong; Han, Dong; Xue, Bohuan; Jiao, Jianhao; Zou, Zuhao; Liu, Ming; Fan, Rui;
  • Real-time binocular vision implementation on an soc tms320c6678 dsp
    International Conference on Computer Vision Systems, 2019
    Authors: Fan, Rui; Duanmu, Sicheng; Liu, Yanan; Zhu, Yilong; Jiao, Jianhao; Bocus, Mohammud Junaid; Yu, Yang; Wang, Lujia; Liu, Ming;
  • Robust lane marking detection algorithm using drivable area segmentation and extended SLT
    2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019
    Authors: Ozgunalp, Umar; Fan, Rui; Cheng, Shanshan; Sun, Yuxiang; Zuo, Weixun; Zhu, Yilong; Xue, Bohuan; Zheng, Linwei; Liang, Qing; Liu, Ming;
  • Automatic calibration of dual-LiDARs using two poles stickered with retro-reflective tape
    2019 IEEE International Conference on Imaging Systems and Techniques (IST), 2019
    Authors: Xue, Bohuan; Jiao, Jianhao; Zhu, Yilong; Zhen, Linwei; Han, Dong; Liu, Ming; Fan, Rui;
  • Low-cost gps-aided lidar state estimation and map building
    2019 IEEE International Conference on Imaging Systems and Techniques (IST), 2019
    Authors: Zheng, Linwei; Zhu, Yilong; Xue, Bohuan; Liu, Ming; Fan, Rui;
  • Autonomous UAV landing system based on visual navigation
    2019 IEEE International Conference on Imaging Systems and Techniques (IST), 2019
    Authors: Wu, Zhixin; Han, Peng; Yao, Ruiwen; Qiao, Lei; Zhang, Weidong; Shen, Tielong; Sun, Min; Zhu, Yilong; Lin, Ming; Fan, Rui;
  • Real-time, environmentally-robust 3d lidar localization
    2019 IEEE International Conference on Imaging Systems and Techniques (IST), 2019
    Authors: Zhu, Yilong; Xue, Bohuan; Zheng, Linwei; Huang, Huaiyang; Liu, Ming; Fan, Rui;
  • Road crack detection using deep convolutional neural network and adaptive thresholding
    2019 IEEE Intelligent Vehicles Symposium (IV), 2019
    Authors: Fan, Rui; Bocus, Mohammud Junaid; Zhu, Yilong; Jiao, Jianhao; Wang, Li; Ma, Fulong; Cheng, Shanshan; Liu, Ming;

Others

  • Supplementary material to: Robust odometry and mapping for multi-LiDAR systems with online extrinsic calibration , 2020

    Authors: Jiao, Jianhao; Ye, Haoyang; Zhu, Yilong; Liu, Ming;

Ongoing Project

  • I explore the integration of fast reactive modules (for perception and control) with slow semantic planners that leverage satellite imagery, vision-language models (VLMs), and onboard camera views to achieve long-horizon, cross-modal navigation. This enables the system to generate early, semantically guided instructions before approaching complex urban intersections. (Supervised by Prof. Shaojie Shen)