📝 Publications
* represents equal contribution.
2025
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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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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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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