Career Profile
I am currently a postdoctoral fellow at the Robotics Institute, Carnegie Mellon University (CMU). I received the Ph.D. degree from Nanyang Technological University (NTU) Singapore in 2019 and Bachelor degree from Beijing Institute of Technology (BIT) in 2014. I was a senior researcher in Tencent. My research interests include robot perception, vision, and machine learning.
Selected Publications [arXiv]
- Selected for oral presentation at the conference (5.6% acceptance rate).
- Biologically inspired, extend convolution to kernel space, while keep linear complexity.
- Reduce the complexity of joint rotation-scale prediction from O(n log n+mn) to O(n log n).
- Improve accuracy by 50% compared to the state-of-the-art PX4Flow.
- Find the first close-form solution for RGB-D-inertial odometry.
- Achieve real-time performance even on an ultra-low power processor.
- Break the theoretic limitations of KCF that is only able to predict translation.
- Predict affine transforms with complexity O(n log n), e.g. translation, rotation, scale, etc.
- Improve accuracy by 15% and reduce computational time by 25% compared to DTW.
- Propose the first UWB-Aided Visual SLAM system.
- Take advantage of local smoothness of visual odometry and global robustness of UWB.
- Receive the Best Paper Award in robotic planning at the conference.
* joint first authors
Open Source Projects [GitHub]
Git Helper - This project is extremely helpful when you use Git, especially in Ubuntu. After simple installation, the tedious leading path in bash environment will be clear. It also reminds your location, modification, and current branch. It has improved my working efficiency dramatically, thus I recommend this project to all Linux users!
Thesis LaTex Template - This thesis Latex temaplate is designed according to the new submission guidelines of Nanyang Technological University (NTU). It should be useful for both Master and Ph.D students. This version has been verified by the NTU library.
Range-based Localization - To enable fast and accurate localization for micro-robots in GPS-denied environment, we design and implement the range-based localization algorithm using the Graph Optimization Approach. This framework is compitable with ROS and flexible for multi-sensor fusion. This code has been tested for the ultra-wideband(UWB) technology.
Formation/Rendezvous for multi-agent - This ROS package provides a controller for formation and rendezvous using multi-drone. It is designed based on the fastest hunting and surrounding direction relative to a moving target. You may visualize the convergence using RVIZ and Gazebo. You may also test other controllers by modifying a few lines of codes.
Patent
Application Number: US16/329,118
Publication Date: Jul 25, 2019
Filing Date: Sep 7, 2017
* joint first authors