@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={},dimensions={true},}
Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments
Jianhao Jiao, Ruoyu Geng, Yuanhang Li, and
7 more authors
@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},}
Efficient Global Navigational Planning in 3D Structures based on Point Cloud Tomography
Bowen Yang, Jie Cheng, Bohuan Xue, and
2 more authors
@article{yang2024efficient,author={Yang, Bowen and Cheng, Jie and Xue, Bohuan and Jiao, Jianhao and Liu, Ming},journal={IEEE/ASME Transactions on Mechatronics},title={Efficient Global Navigational Planning in 3D Structures based on Point Cloud Tomography},year={2024},volume={},number={},pages={},keywords={},doi={},url={},dimensions={true},}
PALoc: Advancing SLAM Benchmarking With Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation
Xiangcheng Hu, Linwei Zheng, Jin Wu, and
7 more authors
@article{hu2024paloc,author={Hu, Xiangcheng and Zheng, Linwei and Wu, Jin and Geng, Ruoyu and Yu, Yang and Wei, Hexiang and Tang, Xiaoyu and Wang, Lujia and Jiao, Jianhao and Liu, Ming},journal={IEEE/ASME Transactions on Mechatronics},title={PALoc: Advancing SLAM Benchmarking With Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation},year={2024},volume={},number={},pages={1-12},keywords={Trajectory;Simultaneous localization and mapping;Benchmark testing;Uncertainty;Gravity;Robustness;Location awareness;LiDAR Degeneracy;LiDAR Localization;simultaneous localization and mapping (SLAM) Benchmarking;uncertainty estimation},doi={10.1109/TMECH.2024.3362902},url={https://ieeexplore.ieee.org/document/10480308},dimensions={true},}
2023
A VT-HMM-Based Framework for Countdown Timer Traffic Light State Estimation
Shuyang Zhang, Qingwen Zhang, Feiyi Chen, and
3 more authors
IEEE Transactions on Intelligent Transportation Systems, 2023
@article{zhang2023vt,title={A VT-HMM-Based Framework for Countdown Timer Traffic Light State Estimation},author={Zhang, Shuyang and Zhang, Qingwen and Chen, Feiyi and Wu, Jin and Jiao, Jianhao and Wang, Lujia},journal={IEEE Transactions on Intelligent Transportation Systems},year={2023},publisher={IEEE},doi={},url={https://ieeexplore.ieee.org/document/10104204/},dimensions={true},}
LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With a Globally Optimal Solution
Jianhao Jiao, Feiyi Chen, Hexiang Wei, and
2 more authors
@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},}
2022
Accurate and robust visual localization system in large-scale appearance-changing environments
@article{yu2022accurate,title={Accurate and robust visual localization system in large-scale appearance-changing environments},author={Yu, Yang and Yun, Peng and Xue, Bohuan and Jiao, Jianhao and Fan, Rui and Liu, Ming},journal={IEEE/ASME Transactions on Mechatronics},volume={27},number={6},pages={5222--5232},year={2022},publisher={IEEE},doi={},url={https://ieeexplore.ieee.org/document/9788021},dimensions={true},}
@article{wu2022quadratic,title={Quadratic Pose Estimation Problems: Globally Optimal Solutions, Solvability/Observability Analysis, and Uncertainty Description},author={Wu, Jin and Zheng, Yu and Gao, Zhi and Jiang, Yi and Hu, Xiangcheng and Zhu, Yilong and Jiao, Jianhao and Liu, Ming},journal={IEEE Transactions on Robotics},volume={38},number={5},pages={3314--3335},year={2022},publisher={IEEE},doi={},url={https://ieeexplore.ieee.org/document/9745263},dimensions={true},}
R-PCC: A Baseline for Range Image-Based Point Cloud Compression
Sukai Wang, Jianhao Jiao, Peide Cai, and
1 more author
International Conference on Robotics and Automation (ICRA), 2022
@inproceedings{wang2022r,title={R-PCC: A Baseline for Range Image-Based Point Cloud Compression},author={Wang, Sukai and Jiao, Jianhao and Cai, Peide and Wang, Lujia},booktitle={International Conference on Robotics and Automation (ICRA)},pages={10055--10061},year={2022},organization={IEEE},doi={},url={https://ieeexplore.ieee.org/document/9811880},dimensions={true},}
FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms
xx
Jianhao Jiao, Hexiang Wei, Tianshuai Hu, and
8 more authors
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
@inproceedings{jiao2022fusionportable,title={FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms},author={Jiao, Jianhao and Wei, Hexiang and Hu, Tianshuai and Hu, Xiangcheng and Zhu, Yilong and He, Zhijian and Wu, Jin and Yu, Jingwen and Xie, Xupeng and Huang, Huaiyang and others},booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},pages={3851--3856},year={2022},organization={IEEE},dimensions={true},}
An Online Interactive Approach for Crowd Navigation of Quadrupedal Robots
Bowen Yang, Jianhao Jiao, Lujia Wang, and
1 more author
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
@inproceedings{yang2022online,title={An Online Interactive Approach for Crowd Navigation of Quadrupedal Robots},author={Yang, Bowen and Jiao, Jianhao and Wang, Lujia and Liu, Ming},booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},pages={13556--13562},year={2022},organization={IEEE},doi={},url={https://ieeexplore.ieee.org/document/9981697},dimensions={true},}
2021
On bundle adjustment for multiview point cloud registration
Huaiyang Huang, Yuxiang Sun, Jin Wu, and
5 more authors
@article{huang2021bundle,title={On bundle adjustment for multiview point cloud registration},author={Huang, Huaiyang and Sun, Yuxiang and Wu, Jin and Jiao, Jianhao and Hu, Xiangcheng and Zheng, Linwei and Wang, Lujia and Liu, Ming},journal={IEEE Robotics and Automation Letters},volume={6},number={4},pages={8269--8276},year={2021},publisher={IEEE},doi={},url={https://ieeexplore.ieee.org/document/9516900},dimensions={true},}
Comparing Representations in Tracking for Event Camera-Based SLAM
Jianhao Jiao, Huaiyang Huang, Liang Li, and
3 more authors
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2021
@inproceedings{jiao2021comparing,title={Comparing Representations in Tracking for Event Camera-Based SLAM},author={Jiao, Jianhao and Huang, Huaiyang and Li, Liang and He, Zhijian and Zhu, Yilong and Liu, Ming},booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops},pages={1369--1376},year={2021},doi={},url={https://www.computer.org/csdl/proceedings-article/cvprw/2021/489900b369/1yXsSej590k},dimensions={true},}
Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
We propose the state-of-the-art multi-LiDAR SLAM system that consists of online calibration, localization, and uncertainty-aware mapping.
Jianhao Jiao, Haoyang Ye, Yilong Zhu, and
1 more author
@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},}
Greedy-Based Feature Selection for Efficient LiDAR SLAM
Jianhao Jiao, Yilong Zhu, Haoyang Ye, and
5 more authors
IEEE International Conference on Robotics and Automation (ICRA), 2021
@inproceedings{jiao2021greedy,abstact={},title={Greedy-Based Feature Selection for Efficient LiDAR SLAM},author={Jiao, Jianhao and Zhu, Yilong and Ye, Haoyang and Huang, Huaiyang and Yun, Peng and Jiang, Linxin and Wang, Lujia and Liu, Ming},booktitle={IEEE International Conference on Robotics and Automation (ICRA)},year={2021},organization={IEEE},doi={},url={https://ieeexplore.ieee.org/document/9561262},dimensions={true},}
The Role of The Hercules Autonomous Vehicle During the Covid-19 Pandemic: An Autonomous Logistic Vehicle for Contactless Goods Transportation
Tianyu Liu, Qinghai Liao, Lu Gan, and
28 more authors
@article{liu2021role,title={The Role of The Hercules Autonomous Vehicle During the Covid-19 Pandemic: An Autonomous Logistic Vehicle for Contactless Goods Transportation},author={Liu, Tianyu and Liao, Qinghai and Gan, Lu and Ma, Fulong and Cheng, Jie and Xie, Xupeng and Wang, Zhe and Chen, Yingbing and Zhu, Yilong and Zhang, Shuyang and Chen, Zhengyong and Liu, Yang and Xie, Meng and Yu, Yang and Guo, Zitong and Li, Guang and Yuan, Peidong and Han, Dong and Chen, Yuying and Ye, Haoyang and Jiao, Jianhao and Yun, Peng and Xu, Zhenhua and Wang, Hengli and Huang, Huaiyang and Wang, Sukai and Cai, Peide and Sun, Yuxiang and Liu, Yandong and Wang, Lujia and Liu, Ming},journal={IEEE Robotics \& Automation Magazine},volume={28},number={1},pages={48--58},year={2021},publisher={IEEE},url={https://ieeexplore.ieee.org/document/9340284},video={https://www.youtube.com/watch?v=w_0oG3GIK_g},dimensions={true},}
2020
MLOD: Awareness of Extrinsic Perturbation in Multi-LiDAR 3D Object Detection for Autonomous Driving
Jianhao Jiao, Peng Yun, Lei Tai, and
1 more author
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
@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},}
2019
Automatic Calibration of Multiple 3D LiDARs in Outdoor Environment
Jianhao Jiao, Yang Yu, Qinghai Liao, and
2 more authors
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
@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},}
IST
Automatic Calibration of Dual-LiDARs Using Two Poles Stickered With Retro-Reflective Tape
Bohuan Xue, Jianhao Jiao, Yilong Zhu, and
4 more authors
IEEE International Conference on Imaging Systems and Techniques (IST), 2019
@inproceedings{xue2019automatic,title={Automatic Calibration of Dual-LiDARs Using Two Poles Stickered With Retro-Reflective Tape},author={Xue, Bohuan and Jiao, Jianhao and Zhu, Yilong and Zhen, Linwei and Han, Dong and Liu, Ming and Fan, Rui},booktitle={IEEE International Conference on Imaging Systems and Techniques (IST)},pages={1--6},year={2019},organization={IEEE},doi={},url={https://ieeexplore.ieee.org/document/9010134},dimensions={true},}
A Novel Dual-LiDAR Calibration Algorithm Using Planar Surfaces
Jianhao Jiao, Qinghai Liao, Yilong Zhu, and
5 more authors
@inproceedings{jiao2019novel,title={A Novel Dual-LiDAR Calibration Algorithm Using Planar Surfaces},author={Jiao, Jianhao and Liao, Qinghai and Zhu, Yilong and Liu, Tianyu and Yu, Yang and Fan, Rui and Wang, Lujia and Liu, Ming},booktitle={IEEE Intelligent Vehicles Symposium (IV)},pages={1499--1504},year={2019},organization={IEEE},doi={},url={https://ieeexplore.ieee.org/document/8814136},video={},dimensions={true},}
Real-time dense stereo embedded in a uav for road inspection
Rui Fan, Jianhao Jiao, Jie Pan, and
3 more authors
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 2019
@inproceedings{fan2019real,title={Real-time dense stereo embedded in a uav for road inspection},author={Fan, Rui and Jiao, Jianhao and Pan, Jie and Huang, Huaiyang and Shen, Shaojie and Liu, Ming},booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops},pages={0--0},year={2019},doi={},dimensions={true},}
Using DP Towards A Shortest Path Problem-Related Application
Jianhao Jiao, Rui Fan, Han Ma, and
1 more author
IEEE International Conference on Robotics and Automation (ICRA), 2019
@inproceedings{jiao2019using,title={Using DP Towards A Shortest Path Problem-Related Application},author={Jiao, Jianhao and Fan, Rui and Ma, Han and Liu, Ming},booktitle={IEEE International Conference on Robotics and Automation (ICRA)},year={2019},organization={IEEE},url={https://ieeexplore.ieee.org/document/8793603/},video={https://www.youtube.com/watch?v=BiqJxLh_xdY},dimensions={true},}
