Journal Publications
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, Y. Zhu, 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: S. Zhang, J. He, B. Yang, Y. Zhu, J. Wu, J. Jiao, J. Yuan
Efficient Camera Exposure Control for Visual Odometry via Deep Reinforcement Learning
IEEE Robotics and Automation Letters (RA-L), 2024
Authors: S. Zhang, J. He, Y. Zhu, J. Wu, J. Yuan
FusionPortable V2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments [Dataset]
The International Journal of Robotics Research (IJRR), 2024
Authors: H. Wei, J. Jiao, X. Hu, J. Yu, X. Xie, J. Wu, Y. Zhu, Y. Liu, L. Wang, M. Liu
Robust equipment-free calibration of low-cost inertial measurement units
IEEE Transactions on Instrumentation and Measurement, 2023
Authors: Z. Zou, L. Li, X. Hu, Y. Zhu, B. Xue, J. Wu, M. Liu
TCYB
Generalized n-Dimensional Rigid Registration: Theory and Applications
IEEE Transactions on Cybernetics, 2022
Authors: J. Wu, M. Wang, H. Fourati, H. Li, Y. Zhu, C. Zhang, Y. Jiang, X. Hu, M. Liu
Quadratic pose estimation problems: Globally optimal solutions, solvability/observability analysis, and uncertainty description
IEEE Transactions on Robotics, 2022
Authors: J. Wu, Y. Zheng, Z. Gao, Y. Jiang, X. Hu, Y. Zhu, J. Jiao, M. Liu
Robust odometry and mapping for multi-lidar systems with online extrinsic calibration
IEEE Transactions on Robotics, 2021
Authors: J. Jiao, H. Ye, Y. Zhu, M. Liu
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: T. Liu, Q. Liao, L. Gan, F. Ma, J. Cheng, X. Xie, Z. Wang, Y. Chen, Y. Zhu, S. Zhang
TMECH
Globally optimal symbolic hand-eye calibration
IEEE/ASME Transactions on Mechatronics, 2020
Authors: J. Wu, M. Liu, Y. Zhu, Z. Zou, M. Dai, C. Zhang, Y. Jiang, C. Li
TCAS-II
Circuit Synthesis of 3-D Rotation Orthonormalization
IEEE Transactions on Circuits and Systems II: Express Briefs, 2020
Authors: J. Wu, Y. Jiang, C. Li, R. Sun, C. Zhang, Y. Yu, Y. Zhu, M. Liu
IET-CSR
Linear geometric algebra rotor estimator for efficient mesh deformation
IET Cyber-Systems and Robotics, 2020
Authors: J. Wu, M. Lopez, M. Liu, Y. Zhu
Conference Publications
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: Y. Zhu, J. Jiao, H. Wei, J. Wu, B. Xue, S. Zhang, S. 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: J. Jiao, H. Wei, T. Hu, X. Hu, Y. Zhu, Z. He, J. Wu, J. Yu, X. Xie, H. Huang
CVPR
Comparing representations in tracking for event camera-based slam
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2021
Authors: J. Jiao, H. Huang, L. Li, Z. He, Y. Zhu, M. Liu
ICRA
Differential information aided 3-d registration for accurate navigation and scene reconstruction
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Authors: J. Wu, S. Zhang, Y. Zhu, R. Geng, Z. Fu, F. Ma, M. Liu
Greedy-based feature selection for efficient LiDAR SLAM
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Authors: J. Jiao, Y. Zhu, H. Ye, H. Huang, P. Yun, L. Jiang, L. Wang, M. Liu
GIDSeg: Learning 3D Segmentation from Sparse Annotations via Hierarchical Descriptors
2020 2nd International Conference on Information Technology and Computer Application (ITCA), 2020
Authors: E. Yi-Ge, Y. Zhu
A novel dual-lidar calibration algorithm using planar surfaces
2019 IEEE Intelligent Vehicles Symposium (IV), 2019
Authors: J. Jiao, Q. Liao, Y. Zhu, T. Liu, Y. Yu, R. Fan, L. Wang, M. Liu
ROBIO
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: B. Jiang, Y. Zhu, M. Liu
IST
A robust pavement mapping system based on normal-constrained stereo visual odometry
2019 IEEE International Conference on Imaging Systems and Techniques (IST), 2019
Authors: H. Huang, R. Fan, Y. Zhu, M. Liu, I. Pitas
Road Curb Detection Using a Novel Tensor Voting Algorithm Best Paper Finalist
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO 2019)
Authors: Y. Zhu, D. Han, B. Xue, J. Jiao, Z. Zou, M. Liu, R. Fan
ICVS
Real-time binocular vision implementation on an soc tms320c6678 dsp
International Conference on Computer Vision Systems, 2019
Authors: R. Fan, S. Duanmu, Y. Liu, Y. Zhu, J. Jiao, M. Bocus, Y. Yu, L. Wang, M. Liu
ROBIO
Robust lane marking detection algorithm using drivable area segmentation and extended SLT
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2019
Authors: U. Ozgunalp, R. Fan, S. Cheng, Y. Sun, W. Zuo, Y. Zhu, B. Xue, L. Zheng, Q. Liang, M. Liu
IST
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: B. Xue, J. Jiao, Y. Zhu, L. Zhen, D. Han, M. Liu, R. Fan
Low-cost gps-aided lidar state estimation and map building
2019 IEEE International Conference on Imaging Systems and Techniques (IST), 2019
Authors: L. Zheng, Y. Zhu, B. Xue, M. Liu, R. Fan
IST
Autonomous UAV landing system based on visual navigation
2019 IEEE International Conference on Imaging Systems and Techniques (IST), 2019
Authors: Z. Wu, P. Han, R. Yao, L. Qiao, W. Zhang, T. Shen, M. Sun, Y. Zhu, M. Lin, R. Fan
IST
Real-time, environmentally-robust 3d lidar localization
2019 IEEE International Conference on Imaging Systems and Techniques (IST), 2019
Authors: Y. Zhu, B. Xue, L. Zheng, H. Huang, M. Liu, R. Fan
IV
Road crack detection using deep convolutional neural network and adaptive thresholding
2019 IEEE Intelligent Vehicles Symposium (IV), 2019
Authors: R. Fan, M. Bocus, Y. Zhu, J. Jiao, L. Wang, F. Ma, S. Cheng, M. Liu
Others
Supplementary material to: Robust odometry and mapping for multi-LiDAR systems with online extrinsic calibration
2020
Authors: J. Jiao, H. Ye, Y. Zhu, M. Liu
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)