2024

1. 

   LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation

   This paper introduces LiteVLoc, a hierarchical visual localization framework using lightweight topometric maps for efficient, precise camera pose estimation, validated through experiments in simulated and real-world scenarios.

   Jianhao Jiao, Jinhao He, Changkun Liu, and 4 more authors

   Under Review, 2024

   Bib Code

   @article{jiao2024litevloc,
     title = {LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation},
     author = {Jiao, Jianhao and He, Jinhao and Liu, Changkun and Aegidius, Sebastian and Hu, Xiangcheng and Braud, Tristan and Kanoulas, Dimitrios},
     journal = {Under Review},
     year = {2024},
     publisher = {},
     dimensions = {true},
   }

2. 

   VirCap: Virtual Camera Exposure Control Based on Image Photometric Synthesis for Visual SLAM Application

   Shuyang Zhang, Jinhao He, Bowen Yang, and 4 more authors

   IEEE/ASME Transactions on Mechatronics, 2024

   Bib

   @article{zhang2024vircap,
     title = {VirCap: Virtual Camera Exposure Control Based on Image Photometric Synthesis for Visual SLAM Application},
     author = {Zhang, Shuyang and He, Jinhao and Yang, Bowen and Zhu, Yilong and Wu, Jin and Jiao+, Jianhao and Yuan, Jie},
     journal = {IEEE/ASME Transactions on Mechatronics},
     year = {2024},
     publisher = {IEEE},
     dimensions = {true},
   }

3. 

   Enhancing Campus Mobility: Achievements and Challenges of the Snow Lion Autonomous Shuttle

   Yingbing Chen, Jie Cheng, Sheng Wang, and 9 more authors

   IEEE Robotics & Automation Magazine, 2024

   Bib

   @article{chen2024enhancing,
     title = {Enhancing Campus Mobility: Achievements and Challenges of the Snow Lion Autonomous Shuttle},
     author = {Chen, Yingbing and Cheng, Jie and Wang, Sheng and Liu, Hongji and Mei, Xiaodong and Yan, Xiaoyang and Tang, Mingkai and Sun, Ge and Wen, Ya and Cai, Junwei and etc. and Jiao+, Jianhao},
     journal = {IEEE Robotics \& Automation Magazine},
     year = {2024},
     publisher = {IEEE},
     dimensions = {true},
   }

4. 

   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

   Conditionally Accepted by IEEE Transactions on Robotics, 2024

   PDF Bib

   @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 = {Conditionally Accepted by IEEE Transactions on Robotics},
     volume = {},
     number = {},
     pages = {},
     year = {2024},
     publisher = {},
     url = {},
     dimensions = {true},
   }

5. 

   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

   International Journal of Robotics Research (IJRR), 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 = {International Journal of Robotics Research (IJRR)},
     volume = {},
     number = {},
     pages = {},
     year = {2024},
     publisher = {},
     url = {},
     video = {https://drive.google.com/file/d/11n6W_eWaX__pN_rYqTnVxaLKv4JegPWB/view?usp=drive_link},
     dimensions = {true},
   }

6. 

   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

   IEEE Transactions on Automation Science and Engineering, 2024

   PDF Bib Code Video Website

   @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 Wang, Lujia and Liu, Ming and Fan, Rui and Kanoulas, Dimitrios},
     journal = {IEEE Transactions on Automation Science and Engineering},
     year = {2024},
     publisher = {IEEE},
     video = {../},
     dimensions = {true},
   }

7. 

   Efficient Global Navigational Planning in 3D Structures based on Point Cloud Tomography

   Bowen Yang, Jie Cheng, Bohuan Xue, and 2 more authors

   IEEE/ASME Transactions on Mechatronics, 2024

   PDF Bib Code Video Website

   @article{yang2024efficient,
     title = {Efficient Global Navigational Planning in 3D Structures based on Point Cloud Tomography},
     author = {Yang, Bowen and Cheng, Jie and Xue, Bohuan and Jiao+, Jianhao and Liu, Ming},
     journal = {IEEE/ASME Transactions on Mechatronics},
     year = {2024},
     video = {../},
     dimensions = {true},
   }

8. 

   PALoc: Advancing SLAM Benchmarking With Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation

   Xiangcheng Hu, Linwei Zheng, Jin Wu, and 7 more authors

   IEEE/ASME Transactions on Mechatronics, 2024

   PDF Bib Code

   @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 = {},
     doi = {10.1109/TMECH.2024.3362902},
     url = {https://ieeexplore.ieee.org/document/10480308},
     dimensions = {true},
   }

2023

1. 

   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

   PDF Bib

   @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},
   }

2. 

   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},
   }

2022

1. 

   Accurate and robust visual localization system in large-scale appearance-changing environments

   Yang Yu, Peng Yun, Bohuan Xue, and 3 more authors

   IEEE/ASME Transactions on Mechatronics, 2022

   PDF Bib Code

   @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},
   }

2. 

   Quadratic Pose Estimation Problems: Globally Optimal Solutions, Solvability/Observability Analysis, and Uncertainty Description

   Jin Wu, Yu Zheng, Zhi Gao, and 5 more authors

   IEEE Transactions on Robotics, 2022

   PDF Bib Code

   @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},
   }

3. 

   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

   PDF Bib Code

   @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},
   }

4. 

   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

   Preview PDF Bib Slides

   @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},
   }

5. 

   

   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

   PDF Bib

   @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 = {},
     webiste = {https://byangw.github.io/projects/iros2022/},
     url = {https://ieeexplore.ieee.org/document/9981697},
     dimensions = {true},
   }

2021

1. 

   On bundle adjustment for multiview point cloud registration

   Huaiyang Huang, Yuxiang Sun, Jin Wu, and 5 more authors

   IEEE Robotics and Automation Letters, 2021

   PDF Bib Code

   @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},
   }

2. 

   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

   PDF Bib Code

   @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},
   }

3. 

   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},
   }

4. 

   

   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

   PDF Bib Code

   @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},
   }

5. 

   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

   IEEE Robotics & Automation Magazine, 2021

   PDF Bib Video Website

   @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

1. 

   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},
   }

2019

1. 

   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},
   }

2. 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

   PDF Bib

   @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},
   }

3. 

   A Novel Dual-LiDAR Calibration Algorithm Using Planar Surfaces

   Jianhao Jiao, Qinghai Liao, Yilong Zhu, and 5 more authors

   IEEE Intelligent Vehicles Symposium (IV), 2019

   PDF Bib Code Video Website

   @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},
   }

4. 

   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

   PDF Bib Code

   @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},
   }

5. 

   

   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

   PDF Bib Code Video Website

   @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},
   }