π€ About Me
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Iβm a Ph.D. candidate in the Department of Control Science and Engineering at Zhejiang University, China. Iβm supervised by Prof. Rong Xiong and Prof. Yue Wang.
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My research topics are Robotics and Autonomous Driving. Iβm particularly interested in the following areas: Localization, VLN, SLAM, and Deep Learning.
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I have published 10+ peer-reviewed academic papers at the top international robotics journals and conferences, such as TRO, IJCV, TIM, RAL, CVPR, ICRA, and IROS.
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Here is my extended CV (pdf).
π₯ News
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Research Interests: Robotics, Autonomous Driving (especially Robot Learning, SLAM, Localization, Place Recognition, VLN, β¦)
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If you are interested in my research or would like to collaborate, please feel free to contact me via lusha@zju.edu.cn.
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I obtained my B.S. degree with a thesis entitled βDesign of a Lightweight Robotic Muleβ,
supervised by Janet Dong at the University of Cincinnati, America, in 2021.
π Publications
* represents equal contribution.
2025
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BEV-ODOM2: Enhanced BEV-based Monocular Visual Odometry with PV-BEV Fusion and Dense Flow Supervision for Ground Robots [PDF]
arXiv
Yufei Wei, Wangtao Lu, Sha Lu, Chenxiao Hu, Fuzhang Han, Rong Xiong, Yue Wang
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Sparse Hierarchical LiDAR Bundle Adjustment for Online Collaborative Localization and Mapping [PDF]
IEEE Robotics and Automation Letters (RA-L)
Jiangpin Liu, Xuecheng Xu, Sha Lu, Si Wang, Chaoqun Wang, Rong Xiong, Yue Wang
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CarPlanner: Consistent Auto-regressive Trajectory Planning for Large-scale Reinforcement Learning in Autonomous Driving [PDF]
In Proc. of the IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR 2025)
Dongkun Zhang, Jiaming Liang, Ke Guo, Sha Lu, Qi Wang, Rong Xiong, Zhenwei Miao, Yue Wang
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SeqBEV: Bayesian Sequential Localization Using BEV LiDAR Map
In Proc. of the IEEE Intl. Conf. on Real-time Computing and Robotics (RCAR 2025)
Sha Lu, Yufei Wei, Rong Xiong, Yue Wang
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BEV-DWPVO: BEV-based Differentiable Weighted Procrustes for Low Scale-drift Monocular Visual Odometry on Ground [PDF]
IEEE Robotics and Automation Letters (RA-L)
Yufei Wei, Sha Lu, Wangtao Lu, Rong Xiong, Yue Wang
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RING#: PR-by-PE Global Localization with Roto-translation Equivariant Gram Learning [PDF]
IEEE Transactions on Robotics (T-RO)
Sha Lu, Xuecheng Xu, Dongkun Zhang, Yuxuan Wu, Haojian Lu, Xieyuanli Chen, Rong Xiong, Yue Wang
2024
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PEP: Policy-Embedded Trajectory Planning for Autonomous Driving [PDF]
IEEE Robotics and Automation Letters (RA-L)
Dongkun Zhang, Jiaming Liang, Sha Lu, Ke Guo, Qi Wang, Rong Xiong, Zhenwei Miao, Yue Wang
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BEV-ODOM: Reducing Scale Drift in Monocular Visual Odometry with BEV Representation [PDF]
In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2024)
Yufei Wei, Sha Lu, Fuzhang Han, Rong Xiong, Yue Wang
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RGBD-based Image Goal Navigation with Pose Drift: A Topo-metric Graph based Approach [PDF]
In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2024)
Shuhao Ye, Yuxiang Cui, Hao Sha, Sha Lu, Yu Zhang, Rong Xiong, Yue Wang
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A survey on global lidar localization: Challenges, advances and open problems [PDF]
Intl. Journal of Computer Vision (IJCV)
Huan Yin, Xuecheng Xu, Sha Lu, Xieyuanli Chen, Rong Xiong, Shaojie Shen, Cyrill Stachniss, Yue Wang
2023
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Recurrent Volume-based 3D Feature Fusion for Real-time Multi-view Object Pose Estimation [PDF]
IEEE Transactions on Instrumentation and Measurement (T-IM)
Jun Wu, Xiangyu Ru, Sha Lu, Rong Xiong, Yue Wang
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RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Map [PDF]
IEEE Transactions on Robotics (T-RO)
Xuecheng Xu*, Sha Lu*, Jun Wu, Haojian Lu, Qiuguo Zhu, Yiyi Liao, Rong Xiong, Yue Wang
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Leveraging BEV representation for 360-degree visual place recognition [PDF]
arXiv
Xuecheng Xu, Yanmei Jiao, Sha Lu, Xiaqing Ding, Rong Xiong, Yue Wang
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DeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognition [PDF]
In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2023)
Sha Lu, Xuecheng Xu, Li Tang, Rong Xiong, Yue Wang
2022
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One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation [PDF]
In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2022)
Sha Lu*, Xuecheng Xu*, Huan Yin, Zexi Chen, Rong Xiong, Yue Wang
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Translation invariant global estimation of heading angle using sinogram of lidar point cloud [PDF]
In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2022)
Xiaqing Ding, Xuecheng Xu, Sha Lu, Yanmei Jiao, Mengwen Tan, Rong Xiong, Huanjun Deng, Mingyang Li, Yue Wang
2021
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Design of a Lightweight Robotic Mule [PDF]
In Proc. of the ASME Intl. Mechanical Engineering Congress & Exposition (IMECE 2021)
Jian Su, Xin Zhi, Sha Lu, Qichun Zhang, Janet Dong
π Honors and Awards
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2023 Excellent Graduate Student
Zhejiang University -
2021 Outstanding Graduate
Chongqing University -
2021 National Scholarship
Chongqing University
π Educations
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2021.09 - 2026.06, Ph.D. in Robotics, Zhejiang University
Zhejiang, China, SUPERVISOR: Prof. Dr. Rong Xiong and Dr. Yue Wang -
2016.09 - 2021.06, B.S. in Mechanical Engineering, Chongqing University & University of Cincinnati
Chongqing, China, SUPERVISOR: Prof. Dr. Janet Dong
THESIS: Design of a lightweight robotic mule
π¨βπ§ Internships
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2025.04 β Present Research Intern
Seed-Robotics, ByteDance, China -
2018.12 - 2019.11 Research Intern
Computer Vision Department, CISDI, China
π Academic Service
Reviewer for top robotics journals and conferences:
- IJRR (The International Journal of Robotics Research)
- IEEE RAL (Robotics and Automation Letters)
- ICRA (IEEE International Conference on Robotics and Automation)
- IROS (IEEE/RSJ International Conference on Intelligent Robots and Systems)