Autonomous multi-floor indoor navigation with a computationally constrained MAV. - Shaojie Shen; Nathan Michael; Vijay Kumar 001 (ICRA, 2011)

Autonomous multi-floor indoor navigation with a computationally constrained micro aerial vehicle. - Shaojie Shen; Nathan Michael; Vijay Kumar 001 (ICRA, 2011)

Collaborative Mapping of an Earthquake Damaged Building via Ground and Aerial Robots. - Nathan Michael; Shaojie Shen; Kartik Mohta; Vijay Kumar 001; Keiji Nagatani; Yoshito Okada; Seiga Kiribayashi; Kazuki Otake; Kazuya Yoshida; Kazunori Ohno; Eijiro Takeuchi; Satoshi Tadokoro (FSR, 2012)

Autonomous indoor 3D exploration with a micro-aerial vehicle. - Shaojie Shen; Nathan Michael; Vijay Kumar 001 (ICRA, 2012)

State Estimation for Indoor and Outdoor Operation with a Micro-Aerial Vehicle. - Shaojie Shen; Nathan Michael (ISER, 2012)

Stochastic differential equation-based exploration algorithm for autonomous indoor 3D exploration with a micro-aerial vehicle. - Shaojie Shen; Nathan Michael; Vijay Kumar 001 (Int. J. Robotics Res., 2012)

Collaborative mapping of an earthquake-damaged building via ground and aerial robots. - Nathan Michael; Shaojie Shen; Kartik Mohta; Yash Mulgaonkar; Vijay Kumar 001; Keiji Nagatani; Yoshito Okada; Seiga Kiribayashi; Kazuki Otake; Kazuya Yoshida; Kazunori Ohno; Eijiro Takeuchi; et al. (J. Field Robotics, 2012)

Inspection of Penstocks and Featureless Tunnel-like Environments Using Micro UAVs. - Tolga Özaslan; Shaojie Shen; Yash Mulgaonkar; Nathan Michael; Vijay Kumar 001 (FSR, 2013)

Vision-based state estimation for autonomous rotorcraft MAVs in complex environments. - Shaojie Shen; Yash Mulgaonkar; Nathan Michael; Vijay Kumar 001 (ICRA, 2013)

Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor. - Shaojie Shen; Yash Mulgaonkar; Nathan Michael; Vijay Kumar 001 (Robotics: Science and Systems, 2013)

Obtaining Liftoff Indoors: Autonomous Navigation in Confined Indoor Environments. - Shaojie Shen; Nathan Michael; Vijay Kumar 001 (IEEE Robotics Autom. Mag., 2013)

Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft MAV. - Shaojie Shen; Yash Mulgaonkar; Nathan Michael; Vijay Kumar 001 (ICRA, 2014)

Towards Collaborative Mapping and Exploration Using Multiple Micro Aerial Robots. - Sikang Liu; Kartik Mohta; Shaojie Shen; Vijay Kumar 001 (ISER, 2014)

Initialization-Free Monocular Visual-Inertial State Estimation with Application to Autonomous MAVs. - Shaojie Shen; Yash Mulgaonkar; Nathan Michael; Vijay Kumar 001 (ISER, 2014)

Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs. - Shaojie Shen; Nathan Michael; Vijay Kumar 001 (ICRA, 2015)

Real-time safe trajectory generation for quadrotor flight in cluttered environments. - Jing Chen 016; Kunyue Su; Shaojie Shen (ROBIO, 2015)

Dense visual-inertial odometry for tracking of aggressive motions. - Yonggen Ling; Shaojie Shen (ROBIO, 2015)

Monocular visual-inertial fusion with online initialization and camera-IMU calibration. - Zhenfei Yang; Shaojie Shen (SSRR, 2015)

Online generation of collision-free trajectories for quadrotor flight in unknown cluttered environments. - Jing Chen 016; Tianbo Liu 001; Shaojie Shen (ICRA, 2016)

Robust camera motion estimation using direct edge alignment and sub-gradient method. - Manohar Kuse; Shaojie Shen (ICRA, 2016)

Aggressive quadrotor flight using dense visual-inertial fusion. - Yonggen Ling; Tianbo Liu 001; Shaojie Shen (ICRA, 2016)

Tracking a moving target in cluttered environments using a quadrotor. - Jing Chen 016; Tianbo Liu 001; Shaojie Shen (IROS, 2016)

High-precision online markerless stereo extrinsic calibration. - Yonggen Ling; Shaojie Shen (IROS, 2016)

Self-calibrating multi-camera visual-inertial fusion for autonomous MAVs. - Zhenfei Yang; Tianbo Liu 001; Shaojie Shen (IROS, 2016)

Catching a Flying Ball with a Vision-Based Quadrotor. - Kunyue Su; Shaojie Shen (ISER, 2016)

CSI-based WiFi-inertial state estimation. - Bing Li; Shengkai Zhang; Shaojie Shen (MFI, 2016)

Online quadrotor trajectory generation and autonomous navigation on point clouds. - Fei Gao 011; Shaojie Shen (SSRR, 2016)

Deep-mapnets : A residual network for 3D environment representation. - Manohar Kuse; Sunil Prasad Jaiswal; Shaojie Shen (ICIP, 2017)

Improving octree-based occupancy maps using environment sparsity with application to aerial robot navigation. - Jing Chen 016; Shaojie Shen (ICRA, 2017)

Quadrotor trajectory generation in dynamic environments using semi-definite relaxation on nonconvex QCQP. - Fei Gao 011; Shaojie Shen (ICRA, 2017)

High altitude monocular visual-inertial state estimation: Initialization and sensor fusion. - Tianbo Liu 001; Shaojie Shen (ICRA, 2017)

Design and implementation of a quadrotor tail-sitter VTOL UAV. - Ximin Lyu; Haowei Gu; Ya Wang; Zexiang Li 001; Shaojie Shen; Fu Zhang 002 (ICRA, 2017)

Gesture-based piloting of an aerial robot using monocular vision. - Ting Sun 001; Shengyi Nie; Dit-Yan Yeung; Shaojie Shen (ICRA, 2017)

Real-time monocular dense mapping on aerial robots using visual-inertial fusion. - Zhenfei Yang; Fei Gao 011; Shaojie Shen (ICRA, 2017)

Using a quadrotor to track a moving target with arbitrary relative motion patterns. - Jing Chen 016; Shaojie Shen (IROS, 2017)

Gradient-based online safe trajectory generation for quadrotor flight in complex environments. - Fei Gao 011; Yi Lin 010; Shaojie Shen (IROS, 2017)

Dual-fisheye omnidirectional stereo. - Wenliang Gao; Shaojie Shen (IROS, 2017)

Building maps for autonomous navigation using sparse visual SLAM features. - Yonggen Ling; Shaojie Shen (IROS, 2017)

A hierarchical control approach for a quadrotor tail-sitter VTOL UAV and experimental verification. - Ximin Lyu; Haowei Gu; Jinni Zhou; Zexiang Li 001; Shaojie Shen; Fu Zhang 002 (IROS, 2017)

Robust initialization of monocular visual-inertial estimation on aerial robots. - Tong Qin 001; Shaojie Shen (IROS, 2017)

Model-aided monocular visual-inertial state estimation and dense mapping. - Kejie Qiu; Shaojie Shen (IROS, 2017)

A unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight. - Jinni Zhou; Ximin Lyu; Zexiang Li 001; Shaojie Shen; Fu Zhang 002 (IROS, 2017)

Monocular Visual-Inertial State Estimation for Mobile Augmented Reality. - Peiliang Li 001; Tong Qin 001; Botao Amber Hu; Fengyuan Zhu; Shaojie Shen (ISMAR, 2017)

Collaborative air-ground target searching in complex environments. - Changsheng Shen; Yuanzhao Zhang; Zimo Li; Fei Gao 011; Shaojie Shen (SSRR, 2017)

Spline-Based Initialization of Monocular Visual-Inertial State Estimators at High Altitude. - Tianbo Liu 001; Shaojie Shen (IEEE Robotics Autom. Lett., 2017)

Model-Based Global Localization for Aerial Robots Using Edge Alignment. - Kejie Qiu; Tianbo Liu 001; Shaojie Shen (IEEE Robotics Autom. Lett., 2017)

Monocular Visual-Inertial State Estimation With Online Initialization and Camera-IMU Extrinsic Calibration. - Zhenfei Yang; Shaojie Shen (IEEE Trans Autom. Sci. Eng., 2017)

MVDepthNet: Real-Time Multiview Depth Estimation Neural Network. - Kaixuan Wang; Shaojie Shen (3DV, 2018)

Stereo Vision-Based Semantic 3D Object and Ego-Motion Tracking for Autonomous Driving. - Peiliang Li 001; Tong Qin 001; Shaojie Shen (ECCV (2), 2018)

SLAM-based localization of 3D gaze using a mobile eye tracker. - Haofei Wang; Jimin Pi; Tong Qin 001; Shaojie Shen; Bertram E. Shi (ETRA, 2018)

Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization. - Wenchao Ding 001; Wenliang Gao; Kaixuan Wang; Shaojie Shen (ICRA, 2018)

Online Safe Trajectory Generation for Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial. - Fei Gao 011; William Wu; Yi Lin 010; Shaojie Shen (ICRA, 2018)

ACT: An Autonomous Drone Cinematography System for Action Scenes. - Chong Huang; Fei Gao 011; Jie Pan 004; Zhenyu Yang; Weihao Qiu; Peng Chen 008; Xin Yang 008; Shaojie Shen; Kwang-Ting (Tim) Cheng (ICRA, 2018)

Relocalization, Global Optimization and Map Merging for Monocular Visual-Inertial SLAM. - Tong Qin 001; Peiliang Li 001; Shaojie Shen (ICRA, 2018)

Learning Unmanned Aerial Vehicle Control for Autonomous Target Following. - Siyi Li; Tianbo Liu 001; Chi Zhang 067; Dit-Yan Yeung; Shaojie Shen (IJCAI, 2018)

Optimal Time Allocation for Quadrotor Trajectory Generation. - Fei Gao 011; William Wu; Jie Pan 004; Boyu Zhou; Shaojie Shen (IROS, 2018)

Probabilistic Dense Reconstruction from a Moving Camera. - Yonggen Ling; Kaixuan Wang; Shaojie Shen (IROS, 2018)

Online Temporal Calibration for Monocular Visual-Inertial Systems. - Tong Qin 001; Shaojie Shen (IROS, 2018)

Estimating Metric Poses of Dynamic Objects Using Monocular Visual-Inertial Fusion. - Kejie Qiu; Tong Qin 001; Hongwen Xie; Shaojie Shen (IROS, 2018)

Quadtree-Accelerated Real-Time Monocular Dense Mapping. - Kaixuan Wang; Wenchao Ding 001; Shaojie Shen (IROS, 2018)

Adaptive Baseline Monocular Dense Mapping with Inter-Frame Depth Propagation. - Kaixuan Wang; Shaojie Shen (IROS, 2018)

A Collaborative Aerial-Ground Robotic System for Fast Exploration. - Luqi Wang; Daqian Cheng; Fei Gao 011; Fengyu Cai; Jixin Guo; Mengxiang Lin; Shaojie Shen (ISER, 2018)

CRASH: A Collaborative Aerial-Ground Exploration System Using Hybrid-Frontier Method. - Luqi Wang; Fei Gao 011; Fengyu Cai; Shaojie Shen (ROBIO, 2018)

Edge alignment-based visual-inertial fusion for tracking of aggressive motions. - Yonggen Ling; Manohar Kuse; Shaojie Shen (Auton. Robots, 2018)

Autonomous aerial navigation using monocular visual-inertial fusion. - Yi Lin 010; Fei Gao 011; Tong Qin 001; Wenliang Gao; Tianbo Liu 001; William Wu; Zhenfei Yang; Shaojie Shen (J. Field Robotics, 2018)

Disturbance Observer Based Hovering Control of Quadrotor Tail-Sitter VTOL UAVs Using H∞ Synthesis. - Ximin Lyu; Jinni Zhou; Haowei Gu; Zexiang Li 001; Shaojie Shen; Fu Zhang 002 (IEEE Robotics Autom. Lett., 2018)

Guest Editorial Special Section on Aerial Swarm Robotics. - Soon-Jo Chung; Aditya A. Paranjape; Philip M. Dames; Shaojie Shen; Vijay Kumar 001 (IEEE Trans. Robotics, 2018)

A Survey on Aerial Swarm Robotics. - Soon-Jo Chung; Aditya A. Paranjape; Philip M. Dames; Shaojie Shen; Vijay Kumar 001 (IEEE Trans. Robotics, 2018)

VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator. - Tong Qin 001; Peiliang Li 001; Shaojie Shen (IEEE Trans. Robotics, 2018)

A Screen-Based Method for Automated Camera Intrinsic Calibration on Production Lines. - Wenliang Gao; Jiarong Lin; Fu Zhang 002; Shaojie Shen (CASE, 2019)

Stereo R-CNN Based 3D Object Detection for Autonomous Driving. - Peiliang Li 001; Xiaozhi Chen; Shaojie Shen (CVPR, 2019)

Real-Time Dense Stereo Embedded in a UAV for Road Inspection. - Rui Fan 001; Jianhao Jiao; Jie Pan; Huaiyang Huang; Shaojie Shen; Ming Liu 001 (CVPR Workshops, 2019)

Predicting Vehicle Behaviors Over An Extended Horizon Using Behavior Interaction Network. - Wenchao Ding 001; Jing Chen 016; Shaojie Shen (ICRA, 2019)

Online Vehicle Trajectory Prediction using Policy Anticipation Network and optimization-based Context Reasoning. - Wenchao Ding 001; Shaojie Shen (ICRA, 2019)

Real-time Scalable Dense Surfel Mapping. - Kaixuan Wang; Fei Gao 011; Shaojie Shen (ICRA, 2019)

FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots. - Luxin Han; Fei Gao 011; Boyu Zhou; Shaojie Shen (IROS, 2019)

Flying through a narrow gap using neural network: an end-to-end planning and control approach. - Jiarong Lin; Luqi Wang; Fei Gao 011; Shaojie Shen; Fu Zhang 002 (IROS, 2019)

A GPS-aided Omnidirectional Visual-Inertial State Estimator in Ubiquitous Environments. - Yang Yu 028; Wenliang Gao; Chengju Liu; Shaojie Shen; Ming Liu 001 (IROS, 2019)

Temporal Scheduling and Optimization for Multi-MAV Planning. - William Wu; Fei Gao 011; Luqi Wang; Boyu Zhou; Shaojie Shen (ISRR, 2019)

A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors. - Tong Qin 001; Jie Pan 005; Shaozu Cao; Shaojie Shen (CoRR, 2019)

A General Optimization-based Framework for Global Pose Estimation with Multiple Sensors. - Tong Qin 001; Shaozu Cao; Jie Pan 005; Shaojie Shen (CoRR, 2019)

Learning Whole-Image Descriptors for Real-time Loop Detection andKidnap Recovery under Large Viewpoint Difference. - Manohar Kuse; Shaojie Shen (CoRR, 2019)

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments. - Fei Gao 011; Luqi Wang; Boyu Zhou; Luxin Han; Jie Pan 004; Shaojie Shen (CoRR, 2019)

Multi-Sensor 3D Object Box Refinement for Autonomous Driving. - Peiliang Li 001; Siqi Liu; Shaojie Shen (CoRR, 2019)

Flying on point clouds: Online trajectory generation and autonomous navigation for quadrotors in cluttered environments. - Fei Gao 011; William Wu; Wenliang Gao; Shaojie Shen (J. Field Robotics, 2019)

Real-time dense mapping for online processing and navigation. - Yonggen Ling; Shaojie Shen (J. Field Robotics, 2019)

Safe Trajectory Generation for Complex Urban Environments Using Spatio-Temporal Semantic Corridor. - Wenchao Ding 001; Lu Zhang 047; Jing Chen 016; Shaojie Shen (IEEE Robotics Autom. Lett., 2019)

Optimal Trajectory Generation for Quadrotor Teach-and-Repeat. - Fei Gao 011; Luqi Wang; Kaixuan Wang; William Wu; Boyu Zhou; Luxin Han; Shaojie Shen (IEEE Robotics Autom. Lett., 2019)

Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight. - Boyu Zhou; Fei Gao 011; Luqi Wang; Chuhao Liu; Shaojie Shen (IEEE Robotics Autom. Lett., 2019)

An Efficient B-Spline-Based Kinodynamic Replanning Framework for Quadrotors. - Wenchao Ding 001; Wenliang Gao; Kaixuan Wang; Shaojie Shen (IEEE Trans. Robotics, 2019)

Tracking 3-D Motion of Dynamic Objects Using Monocular Visual-Inertial Sensing. - Kejie Qiu; Tong Qin 001; Wenliang Gao; Shaojie Shen (IEEE Trans. Robotics, 2019)

Joint Spatial-Temporal Optimization for Stereo 3D Object Tracking. - Peiliang Li 001; Jieqi Shi; Shaojie Shen (CVPR, 2020)

PiP: Planning-Informed Trajectory Prediction for Autonomous Driving. - Haoran Song; Wenchao Ding 001; Yuxuan Chen; Shaojie Shen; Michael Yu Wang; Qifeng Chen (ECCV (21), 2020)

FP-Stereo: Hardware-Efficient Stereo Vision for Embedded Applications. - Jieru Zhao; Tingyuan Liang; Liang Feng 001; Wenchao Ding 001; Sharad Sinha; Wei Zhang 012; Shaojie Shen (FPL, 2020)

Geometric Pretraining for Monocular Depth Estimation. - Kaixuan Wang; Yao Chen; Hengkai Guo; Linfu Wen; Shaojie Shen (ICRA, 2020)

FlowNorm: A Learning-based Method for Increasing Convergence Range of Direct Alignment. - Ke Wang 058; Kaixuan Wang; Shaojie Shen (ICRA, 2020)

Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm. - Hao Xu 032; Luqi Wang; Yichen Zhang; Kejie Qiu; Shaojie Shen (ICRA, 2020)

Efficient Uncertainty-aware Decision-making for Automated Driving Using Guided Branching. - Lu Zhang 047; Wenchao Ding 001; Jing Chen 016; Shaojie Shen (ICRA, 2020)

Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths. - Boyu Zhou; Fei Gao 011; Jie Pan 004; Shaojie Shen (ICRA, 2020)

An Augmented Reality Interaction Interface for Autonomous Drone. - Chuhao Liu; Shaojie Shen (IROS, 2020)

Tracking from Patterns: Learning Corresponding Patterns in Point Clouds for 3D Object Tracking. - Jieqi Shi; Peiliang Li 001; Shaojie Shen (CoRR, 2020)

Autonomous aerial robot using dual-fisheye cameras. - Wenliang Gao; Kaixuan Wang; Wenchao Ding 001; Fei Gao 011; Tong Qin 001; Shaojie Shen (J. Field Robotics, 2020)

Flow-Motion and Depth Network for Monocular Stereo and Beyond. - Kaixuan Wang; Shaojie Shen (IEEE Robotics Autom. Lett., 2020)

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments. - Fei Gao 011; Luqi Wang; Boyu Zhou; Xin Zhou 015; Jie Pan 004; Shaojie Shen (IEEE Trans. Robotics, 2020)

Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning. - Luqi Wang; Boyu Zhou; Chuhao Liu; Shaojie Shen (ICRA, 2021)

Event-based Motion Segmentation by Cascaded Two-Level Multi-Model Fitting. - Xiuyuan Lu; Yi Zhou 010; Shaojie Shen (IROS, 2021)

Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarm. - Hao Xu 032; Yichen Zhang; Boyu Zhou; Luqi Wang; Xinjie Yao; Guotao Meng; Shaojie Shen (CoRR, 2021)

Control of a Tail-Sitter VTOL UAV Based on Recurrent Neural Networks. - Jinni Zhou; Hao Xu 032; Zexiang Li 001; Shaojie Shen; Fu Zhang 002 (CoRR, 2021)

BDPGO: Balanced Distributed Pose Graph Optimization Framework for Swarm Robotics. - Hao Xu 032; Shaojie Shen (CoRR, 2021)

The competition and cooperativity of hydrogen/halogen bond and π-hole bond involving the heteronuclear ethylene analogues. - Shaojie Shen; Xinyue Jing; Xueying Zhang; Xiaoyan Li; Yanli Zeng (J. Comput. Chem., 2021)

Depth Estimation Under Motion With Single Pair Rolling Shutter Stereo Images. - Ke Wang 058; Chuhao Liu; Kaixuan Wang; Shaojie Shen (IEEE Robotics Autom. Lett., 2021)

FUEL: Fast UAV Exploration Using Incremental Frontier Structure and Hierarchical Planning. - Boyu Zhou; Yichen Zhang; Xinyi Chen 002; Shaojie Shen (IEEE Robotics Autom. Lett., 2021)

Learning whole-image descriptors for real-time loop detection and kidnap recovery under large viewpoint difference. - Manohar Kuse; Shaojie Shen (Robotics Auton. Syst., 2021)

Real-Time Temporal and Rotational Calibration of Heterogeneous Sensors Using Motion Correlation Analysis. - Kejie Qiu; Tong Qin 001; Jie Pan 005; Siqi Liu; Shaojie Shen (IEEE Trans. Robotics, 2021)

Event-Based Stereo Visual Odometry. - Yi Zhou 010; Guillermo Gallego 002; Shaojie Shen (IEEE Trans. Robotics, 2021)

RAPTOR: Robust and Perception-Aware Trajectory Replanning for Quadrotor Fast Flight. - Boyu Zhou; Jie Pan 004; Fei Gao 011; Shaojie Shen (IEEE Trans. Robotics, 2021)

Graph-Guided Deformation for Point Cloud Completion. - Jieqi Shi; Lingyun Xu; Liang Heng; Shaojie Shen (IEEE Robotics Autom. Lett., 2021)

Exploration with Global Consistency Using Real-Time Re-integration and Active Loop Closure. - Yichen Zhang; Boyu Zhou; Luqi Wang; Shaojie Shen (ICRA, 2022)

Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning. - Xinyi Chen 002; Boyu Zhou; Jiarong Lin; Yichen Zhang; Fu Zhang 002; Shaojie Shen (IROS, 2022)

A LiDAR-inertial Odometry with Principled Uncertainty Modeling. - Binqian Jiang; Shaojie Shen (IROS, 2022)

Trajectory Prediction with Graph-based Dual-scale Context Fusion. - Lu Zhang 047; Peiliang Li 001; Jing Chen 016; Shaojie Shen (IROS, 2022)

Differential Flatness-Based Trajectory Planning for Autonomous Vehicles. - Zhichao Han 002; Yuwei Wu 005; Tong Li; Lu Zhang 047; Liuao Pei; Long Xu 002; Chengyang Li; Changjia Ma; Chao Xu 001; Shaojie Shen; Fei Gao 011 (CoRR, 2022)

D2SLAM: Decentralized and Distributed Collaborative Visual-inertial SLAM System for Aerial Swarm. - Hao Xu 032; Peize Liu; Xinyi Chen 002; Shaojie Shen (CoRR, 2022)

You Only Label Once: 3D Box Adaptation from Point Cloud to Image via Semi-Supervised Learning. - Jieqi Shi; Peiliang Li 001; Xiaozhi Chen; Shaojie Shen (CoRR, 2022)

Temporal Point Cloud Completion With Pose Disturbance. - Jieqi Shi; Lingyun Xu; Peiliang Li 001; Xiaozhi Chen; Shaojie Shen (IEEE Robotics Autom. Lett., 2022)

Semi-Supervised Learning: Structure, Reflectance and Lighting Estimation From a Night Image Pair. - Ke Wang 058; Shaojie Shen (IEEE Robotics Autom. Lett., 2022)

Estimation and Propagation: Scene Flow Prediction on Occluded Point Clouds. - Ke Wang 058; Shaojie Shen (IEEE Robotics Autom. Lett., 2022)

Neither Fast nor Slow: How to Fly Through Narrow Tunnels. - Luqi Wang; Hao Xu 032; Yichen Zhang; Shaojie Shen (IEEE Robotics Autom. Lett., 2022)

Geometric Calibration for Cameras with Inconsistent Imaging Capabilities. - Ke Wang 058; Chuhao Liu; Shaojie Shen (Sensors, 2022)

GVINS: Tightly Coupled GNSS-Visual-Inertial Fusion for Smooth and Consistent State Estimation. - Shaozu Cao; Xiuyuan Lu; Shaojie Shen (IEEE Trans. Robotics, 2022)

EPSILON: An Efficient Planning System for Automated Vehicles in Highly Interactive Environments. - Wenchao Ding 001; Lu Zhang 047; Jing Chen 016; Shaojie Shen (IEEE Trans. Robotics, 2022)

Omni-Swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarms. - Hao Xu 032; Yichen Zhang; Boyu Zhou; Luqi Wang; Xinjie Yao; Guotao Meng; Shaojie Shen (IEEE Trans. Robotics, 2022)

BiFF: Bi-level Future Fusion with Polyline-based Coordinate for Interactive Trajectory Prediction. - Yiyao Zhu; Di Luan; Shaojie Shen (ICCV, 2023)

The Devil is in the Wrongly-classified Samples: Towards Unified Open-set Recognition. - Jun Cen; Di Luan; Shiwei Zhang 001; Yixuan Pei; Yingya Zhang; Deli Zhao; Shaojie Shen; Qifeng Chen (ICLR, 2023)

PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction. - Chen Feng 006; Haojia Li; Fei Gao 011; Boyu Zhou; Shaojie Shen (ICRA, 2023)

Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation. - Binqian Jiang; Shaojie Shen (ICRA, 2023)

Towards View-invariant and Accurate Loop Detection Based on Scene Graph. - Chuhao Liu; Shaojie Shen (ICRA, 2023)

Are All Point Clouds Suitable for Completion? Weakly Supervised Quality Evaluation Network for Point Cloud Completion. - Jieqi Shi; Peiliang Li 001; Xiaozhi Chen; Shaojie Shen (ICRA, 2023)

Rollvox: Real-Time and High-Quality LiDAR Colorization with Rolling Shutter Camera. - Sheng Hong; Chunran Zheng; Huan Yin; Shaojie Shen (IROS, 2023)

Online Monocular Lane Mapping Using Catmull-Rom Spline. - Zhijian Qiao; Zehuan Yu; Huan Yin; Shaojie Shen (IROS, 2023)

Pyramid Semantic Graph-Based Global Point Cloud Registration with Low Overlap. - Zhijian Qiao; Zehuan Yu; Huan Yin; Shaojie Shen (IROS, 2023)

Multi-Session, Localization-Oriented and Lightweight LiDAR Mapping Using Semantic Lines and Planes. - Zehuan Yu; Zhijian Qiao; Liuyang Qiu; Huan Yin; Shaojie Shen (IROS, 2023)

Catch Planner: Catching High-Speed Targets in the Flight. - Huan Yu; Pengqin Wang; Jin Wang 015; Jialin Ji; Zhi Zheng; Jie Tu; Guodong Lu; Jun Meng; Meixin Zhu; Shaojie Shen; Fei Gao 011 (CoRR, 2023)

A Survey on Global LiDAR Localization. - Huan Yin; Xuecheng Xu; Sha Lu; Xieyuanli Chen; Rong Xiong; Shaojie Shen; Cyrill Stachniss; Yue Wang 020 (CoRR, 2023)

Parallel Optimization for Cooperative Autonomous Driving at Unsignalized Roundabouts with Hard Safety Guarantees. - Zhenmin Huang; Haichao Liu; Shaojie Shen; Jun Ma 008 (CoRR, 2023)

ENTROPY: Environment Transformer and Offline Policy Optimization. - Pengqin Wang; Meixin Zhu; Shaojie Shen (CoRR, 2023)

H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation. - Chenxing Jiang; Hanwen Zhang; Peize Liu; Zehuan Yu; Hui Cheng; Boyu Zhou; Shaojie Shen (CoRR, 2023)

FC-Planner: A Skeleton-guided Planning Framework for Fast Aerial Coverage of Complex 3D Scenes. - Chen Feng 006; Haojia Li; Jinqi Jiang; Xinyi Chen 002; Shaojie Shen; Boyu Zhou (CoRR, 2023)

BEVGPT: Generative Pre-trained Large Model for Autonomous Driving Prediction, Decision-Making, and Planning. - Pengqin Wang; Meixin Zhu; Hongliang Lu; Hui Zhong; Xianda Chen; Shaojie Shen; Xuesong Wang 006; Yinhai Wang (CoRR, 2023)

Event-based Visual Inertial Velometer. - Xiuyuan Lu; Yi Zhou 010; Shaojie Shen (CoRR, 2023)

SemanticLoop: Loop Closure With 3D Semantic Graph Matching. - Junfeng Yu; Shaojie Shen (IEEE Robotics Autom. Lett., 2023)

WiSion: Bolstering MAV 3D Indoor State Estimation by Embracing Multipath of WiFi. - Fei Xiao; Shengkai Zhang; Sheyang Tang; Shaojie Shen; Huixin Dong; Yi Zhong (IEEE Trans. Veh. Technol., 2023)

RACER: Rapid Collaborative Exploration With a Decentralized Multi-UAV System. - Boyu Zhou; Hao Xu 032; Shaojie Shen (IEEE Trans. Robotics, 2023)

Event-Based Motion Segmentation With Spatio-Temporal Graph Cuts. - Yi Zhou 010; Guillermo Gallego 002; Xiuyuan Lu; Siqi Liu; Shaojie Shen (IEEE Trans. Neural Networks Learn. Syst., 2023)

MacFormer: Map-Agent Coupled Transformer for Real-Time and Robust Trajectory Prediction. - Chen Feng 006; Hangning Zhou; Huadong Lin; Zhigang Zhang; Ziyao Xu 003; Chi Zhang 067; Boyu Zhou; Shaojie Shen (IEEE Robotics Autom. Lett., 2023)

H$_{2}$-Mapping: Real-Time Dense Mapping Using Hierarchical Hybrid Representation. - Chenxing Jiang; Hanwen Zhang; Peize Liu; Zehuan Yu; Hui Cheng; Boyu Zhou; Shaojie Shen (IEEE Robotics Autom. Lett., 2023)

AutoTrans: A Complete Planning and Control Framework for Autonomous UAV Payload Transportation. - Haojia Li; Haokun Wang 007; Chen Feng 006; Fei Gao 011; Boyu Zhou; Shaojie Shen (IEEE Robotics Autom. Lett., 2023)

MARC: Multipolicy and Risk-Aware Contingency Planning for Autonomous Driving. - Tong Li; Lu Zhang 047; Sikang Liu; Shaojie Shen (IEEE Robotics Autom. Lett., 2023)

You Only Label Once: 3D Box Adaptation From Point Cloud to Image With Semi-Supervised Learning. - Jieqi Shi; Peiliang Li 001; Xiaozhi Chen; Shaojie Shen (IEEE Robotics Autom. Lett., 2023)

Decentralized iLQR for Cooperative Trajectory Planning of Connected Autonomous Vehicles via Dual Consensus ADMM. - Zhenmin Huang; Shaojie Shen; Jun Ma 008 (IEEE Trans. Intell. Transp. Syst., 2023)

GeoWizard: Unleashing the Diffusion Priors for 3D Geometry Estimation from a Single Image. - Xiao Fu; Wei Yin 006; Mu Hu; Kaixuan Wang; Yuexin Ma; Ping Tan; Shaojie Shen; Dahua Lin; Xiaoxiao Long (ECCV (22), 2024)

Event-Aided Time-to-Collision Estimation for Autonomous Driving. - Jinghang Li; Bangyan Liao; Xiuyuan Lu; Peidong Liu 001; Shaojie Shen; Yi Zhou 010 (ECCV (54), 2024)

FC-Planner: A Skeleton-guided Planning Framework for Fast Aerial Coverage of Complex 3D Scenes. - Chen Feng 006; Haojia Li; Mingjie Zhang; Xinyi Chen 002; Boyu Zhou; Shaojie Shen (ICRA, 2024)

APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights. - Xinyi Chen 002; Yichen Zhang; Boyu Zhou; Shaojie Shen (ICRA, 2024)

Less is More: Physical-Enhanced Radar-Inertial Odometry. - Qiucan Huang; Yuchen Liang; Zhijian Qiao; Shaojie Shen; Huan Yin (ICRA, 2024)

Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles. - Zhenmin Huang; Haichao Liu; Shaojie Shen; Jun Ma 008 (ICRA, 2024)

A Two-step Nonlinear Factor Sparsification for Scalable Long-term SLAM Backend. - Binqian Jiang; Shaojie Shen (ICRA, 2024)

OmniNxt: A Fully Open-source and Compact Aerial Robot with Omnidirectional Visual Perception. - Peize Liu; Chen Feng 006; Yang Xu; Yan Ning; Hao Xu 032; Shaojie Shen (IROS, 2024)

Environment Transformer and Policy Optimization for Model-Based Offline Reinforcement Learning. - Pengqin Wang; Meixin Zhu; Shaojie Shen (IROS, 2024)

SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction. - Mingjie Zhang; Chen Feng 006; Zengzhi Li; Guiyong Zheng; Yiming Luo; Zhu Wang; Jinni Zhou; Shaojie Shen; Boyu Zhou (IROS, 2024)

Event-based Visual Inertial Velometer. - Xiuyuan Lu; Yi Zhou 010; Junkai Niu; Sheng Zhong; Shaojie Shen (Robotics: Science and Systems, 2024)

A Universal Cooperative Decision-Making Framework for Connected Autonomous Vehicles with Generic Road Topologies. - Zhenmin Huang; Shaojie Shen; Jun Ma 008 (CoRR, 2024)

LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering. - Sheng Hong; Junjie He; Xinhu Zheng; Hesheng Wang 001; Hao Fang; Kangcheng Liu; Chunran Zheng; Shaojie Shen (CoRR, 2024)

Modeling Point Uncertainty in Radar SLAM. - Yang Xu; Qiucan Huang; Shaojie Shen; Huan Yin (CoRR, 2024)

MASSTAR: A Multi-Modal and Large-Scale Scene Dataset with a Versatile Toolchain for Surface Prediction and Completion. - Guiyong Zheng; Jinqi Jiang; Chen Feng 006; Shaojie Shen; Boyu Zhou (CoRR, 2024)

Speak the Same Language: Global LiDAR Registration on BIM Using Pose Hough Transform. - Zhijian Qiao; Haoming Huang; Chuhao Liu; Shaojie Shen; Fumin Zhang 001; Huan Yin (CoRR, 2024)

VINS-Multi: A Robust Asynchronous Multi-camera-IMU State Estimator. - Luqi Wang; Yang Xu; Shaojie Shen (CoRR, 2024)

MetaFollower: Adaptable Personalized Autonomous Car Following. - Xianda Chen; Kehua Chen; Meixin Zhu; Hao Yang 018; Shaojie Shen; Xuesong Wang 006; Yinhai Wang (CoRR, 2024)

UniQuad: A Unified and Versatile Quadrotor Platform Series for UAV Research and Application. - Yichen Zhang; Xinyi Chen 002; Peize Liu; Junzhe Wang; Hetai Zou; Neng Pan; Fei Gao 011; Shaojie Shen (CoRR, 2024)

Multi-modal Integrated Prediction and Decision-making with Adaptive Interaction Modality Explorations. - Tong Li; Lu Zhang 047; Sikang Liu; Shaojie Shen (CoRR, 2024)

LMMCoDrive: Cooperative Driving with Large Multimodal Model. - Haichao Liu; Ruoyu Yao; Zhenmin Huang; Shaojie Shen; Jun Ma 008 (CoRR, 2024)

How to predict on-road air pollution based on street view images and machine learning: a quantitative analysis of the optimal strategy. - Hui Zhong; Di Chen; Pengqin Wang; Wenrui Wang; Shaojie Shen; Yonghong Liu; Meixin Zhu (CoRR, 2024)

Integrated Decision Making and Trajectory Planning for Autonomous Driving Under Multimodal Uncertainties: A Bayesian Game Approach. - Zhenmin Huang; Tong Li; Shaojie Shen; Jun Ma 008 (CoRR, 2024)

FM-Fusion: Instance-Aware Semantic Mapping Boosted by Vision-Language Foundation Models. - Chuhao Liu; Ke Wang 058; Jieqi Shi; Zhijian Qiao; Shaojie Shen (IEEE Robotics Autom. Lett., 2024)

SIMPL: A Simple and Efficient Multi-Agent Motion Prediction Baseline for Autonomous Driving. - Lu Zhang 047; Peiliang Li 001; Sikang Liu; Shaojie Shen (IEEE Robotics Autom. Lett., 2024)

Microsaccade-inspired event camera for robotics. - Botao He; Ze Wang 009; Yuan Zhou; Jingxi Chen; Chahat Deep Singh; Haojia Li; Yuman Gao; Shaojie Shen; Kaiwei Wang; Yanjun Cao; Chao Xu 001; Yiannis Aloimonos; et al. (Sci. Robotics, 2024)

Adaptive Tracking and Perching for Quadrotor in Dynamic Scenarios. - Yuman Gao; Jialin Ji; Qianhao Wang; Rui Jin; Yi Lin 010; Zhimeng Shang; Yanjun Cao; Shaojie Shen; Chao Xu 001; Fei Gao 011 (IEEE Trans. Robotics, 2024)

Impact-Aware Planning and Control for Aerial Robots With Suspended Payloads. - Haokun Wang 007; Haojia Li; Boyu Zhou; Fei Gao 011; Shaojie Shen (IEEE Trans. Robotics, 2024)

$D^{2}$SLAM: Decentralized and Distributed Collaborative Visual-Inertial SLAM System for Aerial Swarm. - Hao Xu 032; Peize Liu; Xinyi Chen 002; Shaojie Shen (IEEE Trans. Robotics, 2024)

An Efficient Spatial-Temporal Trajectory Planner for Autonomous Vehicles in Unstructured Environments. - Zhichao Han 002; Yuwei Wu 005; Tong Li; Lu Zhang 047; Liuao Pei; Long Xu 002; Chengyang Li; Changjia Ma; Chao Xu 001; Shaojie Shen; Fei Gao 011 (IEEE Trans. Intell. Transp. Syst., 2024)

Star-Searcher: A Complete and Efficient Aerial System for Autonomous Target Search in Complex Unknown Environments. - Yiming Luo; Zixuan Zhuang; Neng Pan; Chen Feng 006; Shaojie Shen; Fei Gao 011; Hui Cheng; Boyu Zhou (IEEE Robotics Autom. Lett., 2024)

Multi-View Depth Estimation by Using Adaptive Point Graph to Fuse Single-View Depth Probabilities. - Ke Wang 058; Chuhao Liu; Zhanwen Liu; Fangwei Xiao; Yisheng An; Xiangmo Zhao; Shaojie Shen (IEEE Robotics Autom. Lett., 2024)

A Survey on Global LiDAR Localization: Challenges, Advances and Open Problems. - Huan Yin; Xuecheng Xu; Sha Lu; Xieyuanli Chen; Rong Xiong; Shaojie Shen; Cyrill Stachniss; Yue Wang 020 (Int. J. Comput. Vis., 2024)

H3-Mapping: Quasi-Heterogeneous Feature Grids for Real-Time Dense Mapping Using Hierarchical Hybrid Representation. - Chenxing Jiang; Yiming Luo; Boyu Zhou; Shaojie Shen (IEEE Robotics Autom. Lett., 2024)

Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles With Limited Communication. - Haichao Liu; Zhenmin Huang; Zicheng Zhu; Yulin Li; Shaojie Shen; Jun Ma 008 (IEEE Trans. Intell. Veh., 2024)

Metric3D v2: A Versatile Monocular Geometric Foundation Model for Zero-Shot Metric Depth and Surface Normal Estimation. - Mu Hu; Wei Yin 006; Chi Zhang 067; Zhipeng Cai; Xiaoxiao Long; Hao Chen 041; Kaixuan Wang; Gang Yu 002; Chunhua Shen; Shaojie Shen (IEEE Trans. Pattern Anal. Mach. Intell., 2024)

G3Reg: Pyramid Graph-Based Global Registration Using Gaussian Ellipsoid Model. - Zhijian Qiao; Zehuan Yu; Binqian Jiang; Huan Yin; Shaojie Shen (IEEE Trans Autom. Sci. Eng., 2025)

GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multisensor Fused Odometry With Gaussian Mapping. - Sheng Hong; Chunran Zheng; Yishu Shen; Changze Li; Fu Zhang 002; Tong Qin 001; Shaojie Shen (IEEE Trans. Robotics, 2025)

SG-Reg: Generalizable and Efficient Scene Graph Registration. - Chuhao Liu; Zhijian Qiao; Jieqi Shi; Ke Wang 058; Peize Liu; Shaojie Shen (IEEE Trans. Robotics, 2025)

Event-Based Visual-Inertial State Estimation for High-Speed Maneuvers. - Xiuyuan Lu; Yi Zhou 010; Jiayao Mai; Kuan Dai; Yang Xu; Shaojie Shen (IEEE Trans. Robotics, 2025)

ESVO2: Direct Visual-Inertial Odometry With Stereo Event Cameras. - Junkai Niu; Sheng Zhong; Xiuyuan Lu; Shaojie Shen; Guillermo Gallego 002; Yi Zhou 010 (IEEE Trans. Robotics, 2025)

Autonomous Flights Inside Narrow Tunnels. - Luqi Wang; Yan Ning; Hongming Chen 005; Peize Liu; Yang Xu; Hao Xu 032; Ximin Lyu; Shaojie Shen (IEEE Trans. Robotics, 2025)

SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments. - Zehuan Yu; Zhijian Qiao; Wenyi Liu; Huan Yin; Shaojie Shen (IEEE Trans. Robotics, 2025)

FALCON: Fast Autonomous Aerial Exploration Using Coverage Path Guidance. - Yichen Zhang; Xinyi Chen 002; Chen Feng 006; Boyu Zhou; Shaojie Shen (IEEE Trans. Robotics, 2025)

CoDriveVLM: VLM-Enhanced Urban Cooperative Dispatching and Motion Planning for Future Autonomous Mobility on Demand Systems. - Haichao Liu; Ruoyu Yao; Wenru Liu; Zhenmin Huang; Shaojie Shen; Jun Ma 008 (CoRR, 2025)

GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping. - Sheng Hong; Chunran Zheng; Yishu Shen; Changze Li; Fu Zhang 002; Tong Qin 001; Shaojie Shen (CoRR, 2025)

Contact-Aware Motion Planning Among Movable Objects. - Haokun Wang 007; Qianhao Wang; Fei Gao 011; Shaojie Shen (CoRR, 2025)

SLABIM: A SLAM-BIM Coupled Dataset in HKUST Main Building. - Haoming Huang; Zhijian Qiao; Zehuan Yu; Chuhao Liu; Shaojie Shen; Fumin Zhang 001; Huan Yin (CoRR, 2025)

Semi-SD: Semi-Supervised Metric Depth Estimation via Surrounding Cameras for Autonomous Driving. - Yusen Xie; Zhengmin Huang; Shaojie Shen; Jun Ma 008 (CoRR, 2025)

Incorporating Point Uncertainty in Radar SLAM. - Yang Xu; Qiucan Huang; Shaojie Shen; Huan Yin (IEEE Robotics Autom. Lett., 2025)

WING: Wheel-Inertial Neural Odometry With Ground Manifold Constraints. - Chenxing Jiang; Kunyi Zhang; Sheng Yang 007; Shaojie Shen; Chao Xu 001; Fei Gao 011 (IEEE Trans. Intell. Veh., 2025)

A Universal Cooperative Decision-Making Framework for Connected Autonomous Vehicles With Generic Road Topologies. - Zhenmin Huang; Wenru Liu; Shaojie Shen; Jun Ma 008 (IEEE Trans. Veh. Technol., 2025)

GoIRL: Graph-Oriented Inverse Reinforcement Learning for Multimodal Trajectory Prediction. - Muleilan Pei; Shaoshuai Shi; Lu Zhang 047; Peiliang Li 001; Shaojie Shen (CoRR, 2025)

Active Contact Engagement for Aerial Navigation in Unknown Environments With Glass. - Xinyi Chen 002; Yichen Zhang; Hetai Zou; Junzhe Wang; Shaojie Shen (IEEE Robotics Autom. Lett., 2025)

Foresight in Motion: Reinforcing Trajectory Prediction with Reward Heuristics. - Muleilan Pei; Shaoshuai Shi; Xuesong Chen; Xu Liu; Shaojie Shen (CoRR, 2025)

Fast and Scalable Game-Theoretic Trajectory Planning with Intentional Uncertainties. - Zhenmin Huang; Yusen Xie; Benshan Ma; Shaojie Shen; Jun Ma 008 (CoRR, 2025)

SEPT: Standard-Definition Map Enhanced Scene Perception and Topology Reasoning for Autonomous Driving. - Muleilan Pei; Jiayao Shan; Peiliang Li 001; Jieqi Shi; Jing Huo; Yang Gao 001; Shaojie Shen (IEEE Robotics Autom. Lett., 2025)

MultiPark: Multimodal Parking Transformer with Next-Segment Prediction. - Han Zheng; Zikang Zhou; Guli Zhang; Zhepei Wang; Kaixuan Wang; Peiliang Li 001; Shaojie Shen; Ming Yang 002; Tong Qin 001 (CoRR, 2025)

Temporal and Rotational Calibration for Event-Centric Multi-Sensor Systems. - Jiayao Mai; Xiuyuan Lu; Kuan Dai; Shaojie Shen; Yi Zhou 010 (CoRR, 2025)