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FUEL: Fast UAV Exploration using Incremental Frontier Structure and Hierarchical Planning

Oct 22, 2020
Boyu Zhou, Yichen Zhang, Xinyi Chen, Shaojie Shen

* Video: https://www.youtube.com/watch?v=_dGgZUrWk-8; Demo: https://github.com/HKUST-Aerial-Robotics/FUEL 

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Tracking from Patterns: Learning Corresponding Patterns in Point Clouds for 3D Object Tracking

Oct 20, 2020
Jieqi Shi, Peiliang Li, Shaojie Shen

* ECCV2020 Workshop on Perception for Autonomous Driving(PAD2020) 
* 4 pages, ECCV2020 Workshop on Perception for Autonomous Driving(PAD2020) 

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An Augmented Reality Interaction Interface for Autonomous Drone

Aug 05, 2020
Chuhao Liu, Shaojie Shen

* 6 pages, 6 figures, IROS 2020 

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Event-based Stereo Visual Odometry

Jul 30, 2020
Yi Zhou, Guillermo Gallego, Shaojie Shen

* 16 pages, 16 figures, 7 tables 

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RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight

Jul 06, 2020
Boyu Zhou, Jie Pan, Fei Gao, Shaojie Shen

* Video: https://www.youtube.com/watch?v=NvR8Lq2pmPg | Code: https://github.com/HKUST-Aerial-Robotics/Fast-Planner. arXiv admin note: text overlap with arXiv:1912.12644 

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FP-Stereo: Hardware-Efficient Stereo Vision for Embedded Applications

Jul 01, 2020
Jieru Zhao, Tingyuan Liang, Liang Feng, Wenchao Ding, Sharad Sinha, Wei Zhang, Shaojie Shen

* IEEE International Conference on Field Programmable Logic and Applications (FPL), 2020 

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Joint Spatial-Temporal Optimization for Stereo 3D Object Tracking

Apr 20, 2020
Peiliang Li, Jieqi Shi, Shaojie Shen

* cvpr2020 

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PiP: Planning-informed Trajectory Prediction for Autonomous Driving

Mar 25, 2020
Haoran Song, Wenchao Ding, Yuxuan Chen, Shaojie Shen, Michael Yu Wang, Qifeng Chen


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Decentralized Visual-Inertial-UWB Fusion for Relative State Estimation of Aerial Swarm

Mar 11, 2020
Hao Xu, Luqi Wang, Yichen Zhang, Kejie Qiu, Shaojie Shen

* Accepted ICRA 2020 

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Efficient Uncertainty-aware Decision-making for Automated Driving Using Guided Branching

Mar 05, 2020
Lu Zhang, Wenchao Ding, Jing Chen, Shaojie Shen

* Accepted by IEEE International Conference on Robotics and Automation (ICRA) 2020 

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Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths

Dec 29, 2019
Boyu Zhou, Fei Gao, Jie Pan, Shaojie Shen

* submit to ICRA 2020 

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FlowNorm: A Learning-based Method for Increasing Convergence Range of Direct Alignment

Oct 16, 2019
Ke Wang, Kaixuan Wang, Shaojie Shen


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Flow-Motion and Depth Network for Monocular Stereo and Beyond

Sep 12, 2019
Kaixuan Wang, Shaojie Shen

* Under Review 

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Multi-Sensor 3D Object Box Refinement for Autonomous Driving

Sep 11, 2019
Peiliang Li, Siqi Liu, Shaojie Shen


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Real-time Scalable Dense Surfel Mapping

Sep 10, 2019
Kaixuan Wang, Fei Gao, Shaojie Shen

* ICRA 2019 
* This is a ICRA 2019 paper. Source code available at https://github.com/HKUST-Aerial-Robotics/DenseSurfelMapping 

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Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight

Jul 03, 2019
Boyu Zhou, Fei Gao, Luqi Wang, Chuhao Liu, Shaojie Shen

* IEEE ROBOTICS AND AUTOMATION LETTERS. ACCEPTED JUNE, 2019. Open source at: https://github.com/HKUST-Aerial-Robotics/Fast-Planner 

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Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments

Jul 01, 2019
Fei Gao, Luqi Wang, Boyu Zhou, Luxin Han, Jie Pan, Shaojie Shen

* Source code: https://github.com/HKUST-Aerial-Robotics/Teach-Repeat-Replan 

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Safe Trajectory Generation for Complex Urban Environments Using Spatio-temporal Semantic Corridor

Jun 24, 2019
Wenchao Ding, Lu Zhang, Jing Chen, Shaojie Shen

* Accepted by IEEE Robotics and Automation Letters (IEEE RA-L) 

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An Efficient B-spline-Based Kinodynamic Replanning Framework for Quadrotors

Jun 24, 2019
Wenchao Ding, Wenliang Gao, Kaixuan Wang, Shaojie Shen

* IEEE Transactions on Robotics 

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Learning Whole-Image Descriptors for Real-time Loop Detection andKidnap Recovery under Large Viewpoint Difference

Apr 15, 2019
Manohar Kuse, Shaojie Shen


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Real-Time Dense Stereo Embedded in A UAV for Road Inspection

Apr 12, 2019
Rui Fan, Jianhao Jiao, Jie Pan, Huaiyang Huang, Shaojie Shen, Ming Liu

* 9 pages, 8 figures, In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, June 16-20, 2019, Long Beach, USA 

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Stereo R-CNN based 3D Object Detection for Autonomous Driving

Apr 10, 2019
Peiliang Li, Xiaozhi Chen, Shaojie Shen

* Accepted by cvpr2019 

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High-Precision Online Markerless Stereo Extrinsic Calibration

Mar 26, 2019
Yonggen Ling, Shaojie Shen


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Probabilistic Dense Reconstruction from a Moving Camera

Mar 26, 2019
Yonggen Ling, Kaixuan Wang, Shaojie Shen


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Flying through a narrow gap using neural network: an end-to-end planning and control approach

Mar 21, 2019
Jiarong Lin, Luqi Wang, Fei Gao, Shaojie Shen, Fu Zhang

* Under review as a conference paper at IROS 2019 

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FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots

Mar 06, 2019
Luxin Han, Fei Gao, Boyu Zhou, Shaojie Shen

* 8 pages, 10 figures, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Under Review 

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Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization

Mar 04, 2019
Wenchao Ding, Wenliang Gao, Kaixuan Wang, Shaojie Shen

* 8 pages. Published in International Conference on Robotics and Automation (ICRA) 2018. IEEE copyright 

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