Jianhao Jiao

Hong Kong, 2022

I am currently the senior research fellow in University College London (UCL), Department of Computer Science. I work in the Robot Perception and Learning Lab which is led by Prof.Dimitrios Kanoulas. He is conducting cutting-edge research covering topics on navigation for mobile robots.

I received my Ph.D. in Robotics in 2021 from The Hong Kong University of Science and Technology (HKUST). I was fortunate to collaborate with some excellent researchers, including Prof.Rui Fan, Dr.Lei Tai, Dr.Haoyang Ye, Dr.Peng Yun, and Mr.Jin Wu. I was the research associate in the Intelligent and Autonomous Driving Center (IADC) from 2022 to 2023.

More details regarding our projects and real-world demonstrations of robots can be found on Projects & Research. Please feel free to contact me (jiaojh1994 at gmail dot com) if you have questions about our projects and want to collaborate us.

News

May 8, 2024	The GPRS survey and the summary of related literature are available.
Apr 17, 2024	Efficient Global Navigational Planning in 3D Structures based on Point Cloud Tomography is accepted to IEEE/ASME Transactions on Mechatronics
Apr 1, 2024	The FusionPortableV2 dataset has been publicly released.
Jan 31, 2024	PALoc: Advancing SLAM Benchmarking With Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation is accepted to IEEE/ASME Transactions on Mechatronics.
Jan 29, 2024	Three papers are accepted to ICRA 2024. Topics cover active camera control, visual localization, and point cloud colorization. See you in Yokohama!
Jan 15, 2024	Becoming the Associate Editor of IROS 2024.
Jan 1, 2024	Start a new position: senior research fellow in UCL, Department of Computer Science.
Jan 1, 2023	LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With a Globally Optimal Solution is accepted to IEEE/ASME Transactions on Mechatronics.

Featured Publications

General Place Recognition Survey: Towards Real-World Autonomy

We provide a comprehensive review of the current SOTA advancements in place recognition, alongside the remaining challenges, and underscore its broad applications in robotics.

Peng Yin*, Jianhao Jiao*, Shiqi Zhao, and 7 more authors

Under Review, 2024

PDF Bib Video Website

@article{yin2024general,
  title = {General Place Recognition Survey: Towards Real-World Autonomy},
  author = {Yin*, Peng and Jiao*, Jianhao and Zhao, Shiqi and Xu, Lingyun and Liu, Huaping and Huang, Guoquan and Milford, Michael and Choset, Howie and Scherer, Sebastian and Han, Jianda},
  journal = {Under Review},
  volume = {},
  number = {},
  pages = {},
  year = {2024},
  publisher = {},
  url = {},
  video = {},
  dimensions = {true},
}

FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments

We propose a multi-sensor dataset that addresses the generalization challenge of SLAM algorithms by providing diverse sensor data, motion patterns, and environmental scenarios across 27 sequences from four platforms, totaling 38.7km. The dataset, which includes GT trajectories and RGB point cloud maps, is used to evaluate SOTA SLAM algorithms and explore its potential in other perception tasks, demonstrating its broad applicability in advancing robotic research.

Hexiang Wei*, Jianhao Jiao*, Xiangcheng Hu, and 7 more authors

Under Review, 2024

PDF Bib Video Website
@article{wei2024fusionportablev2, title = {FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments}, author = {Wei*, Hexiang and Jiao*, Jianhao and Hu, Xiangcheng and Yu, Jingwen and Xie, Xupeng and Wu, Jin and Zhu, Yilong and Liu, Yuxuan and Wang, Lujia and Liu, Ming}, journal = {Under Review}, volume = {}, number = {}, pages = {}, year = {2024}, publisher = {}, url = {}, video = {https://drive.google.com/file/d/11n6W_eWaX__pN_rYqTnVxaLKv4JegPWB/view?usp=drive_link}, dimensions = {true}, }

Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments

We proposed an online and large-scale semantic mapping system that uses LiDAR-Visual-Inertial sensing to create a real-time global mesh map of outdoor environments, achieving high-speed map update and integrating the map into a real-world vehicle navigation system.

Jianhao Jiao, Ruoyu Geng, Yuanhang Li, and 7 more authors

Under Review, 2024

PDF Bib Code

@article{jiao2024real,
  title = {Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments},
  author = {Jiao, Jianhao and Geng, Ruoyu and Li, Yuanhang and Xin, Ren and Yang, Bowen and Wu, Jin and Kanoulas, Dimitrios and Wang, Lujia and Fan, Rui and Liu, Ming},
  journal = {Under Review},
  year = {2024},
  publisher = {},
  doi = {},
  url = {},
  dimensions = {true},
}

LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With a Globally Optimal Solution

We proposed an automatic checkerboard-based approach for calibrating extrinsics between a LiDAR and a frame/event camera by introducing a unified globally optimal solution for calibration optimization.

Jianhao Jiao, Feiyi Chen, Hexiang Wei, and 2 more authors

IEEE/ASME Transactions on Mechatronics, 2023

PDF Bib Code

@article{jiao2023lce,
  title = {LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With a Globally Optimal Solution},
  author = {Jiao, Jianhao and Chen, Feiyi and Wei, Hexiang and Wu, Jin and Liu, Ming},
  journal = {IEEE/ASME Transactions on Mechatronics},
  year = {2023},
  publisher = {IEEE},
  doi = {10.1109/TMECH.2023.3259444},
  url = {https://ieeexplore.ieee.org/document/10099031/},
  dimensions = {true},
}

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration

We proposed a SOTA multi-LiDAR SLAM system for robust and simultaneous extrinsic calibration, odometry, and uncertainty-aware mapping.

Jianhao Jiao, Haoyang Ye, Yilong Zhu, and 1 more author

IEEE Transactions on Robotics, 2021

Preview PDF Bib Code Video Website

@article{jiao2021robust,
  title = {Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration},
  author = {Jiao, Jianhao and Ye, Haoyang and Zhu, Yilong and Liu, Ming},
  journal = {IEEE Transactions on Robotics},
  volume = {38},
  number = {1},
  pages = {351--371},
  year = {2021},
  publisher = {IEEE},
  url = {https://ieeexplore.ieee.org/document/9444284},
  video = {https://www.youtube.com/watch?v=qFA_bVkh89Y},
  dimensions = {true},
}

MLOD: Awareness of Extrinsic Perturbation in Multi-LiDAR 3D Object Detection for Autonomous Driving

We proposed a two-stage and uncertainty-aware multi-LiDAR 3D object detection system that fuses multi-LiDAR data and explicitly addresses extrinsic perturbation on extrinsics.

Jianhao Jiao, Peng Yun, Lei Tai, and 1 more author

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

Preview PDF Bib Code Video Website

@inproceedings{jiao2020mlod,
  title = {MLOD: Awareness of Extrinsic Perturbation in Multi-LiDAR 3D Object Detection for Autonomous Driving},
  author = {Jiao, Jianhao and Yun, Peng and Tai, Lei and Liu, Ming},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {10556--10563},
  year = {2020},
  organization = {IEEE},
  url = {https://ieeexplore.ieee.org/document/9561262},
  video = {https://www.youtube.com/watch?v=hWDxAeqbCHA},
  dimensions = {true},
}

Automatic Calibration of Multiple 3D LiDARs in Outdoor Environment

We proposed an automatic multi-LiDAR calibration system that requires no calibration target or manual initialization, achieving high reliability and accuracy with minimal rotation and translation errors for mobile platforms.

Jianhao Jiao, Yang Yu, Qinghai Liao, and 2 more authors

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019

Preview PDF Bib Code Video Website

@inproceedings{jiao2019automatic,
  title = {Automatic Calibration of Multiple 3D LiDARs in Outdoor Environment},
  author = {Jiao, Jianhao and Yu, Yang and Liao, Qinghai and Ye, Haoyang and Liu, Ming},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2019},
  doi = {},
  url = {},
  video = {https://www.youtube.com/watch?v=w_0oG3GIK_g},
  dimensions = {true},
}

Awards & Recognitions

2020	Multi-LiDAR Calibration algorithm (published in IROS 2019) included in Matlab LiDAR Toolbox