🤖 About Me

I’m an Associate Professor working at NUDT in China. I also serve as an Associate Editor for IEEE RA-L, ICRA, and IROS.
My research focuses on robot learning, perception, and navigation, with the goal of enabling autonomous systems to understand and navigate complex environments. I am particularly interested in self-learning frameworks that leverage spatial-temporal cues for building meaningful representations of the world and improving localization and navigation through continuous interaction with dynamic environments. I have authored over 90 peer-reviewed papers in leading robotics venues, including TRO, RAL, RSS, ICRA, IROS, and CVPR.
Here is my extended CV (pdf).

🔥 News

I’m recruiting master’s and Ph.D. students in robot perception and navigation since 2022.
If you’re interested in joining my team, please email me your CV and a brief statement at chenxieyuanli@hotmail.com.
I obtained my Ph.D. degree (summa cum laude) with a thesis entitled “LiDAR-Based Semantic Perception for Autonomous Vehicles”,
supervised by Cyrill Stachniss at the University of Bonn in 2022.
I was a member of the Technical Committee of RoboCup Rescue Robot League (RRL) from 2019 to 2023.

📝 Publications

2025

Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor Integration

[BibTeX]

@article{guo2025grasp,
 title={Grasp like humans: Learning generalizable multi-fingered grasping from human proprioceptive sensorimotor integration},
 author={Guo, Ce and Chen, Xieyuanli and Zeng, Zhiwen and Guo, Zirui and Li, Yihong and Xiao, Haoran and Hu, Dewen and Lu, Huimin},
 journal={IEEE Transactions on Robotics},
 year={2025},
 publisher={IEEE}
 }

[PDF] [Web]

IEEE Transactions on Robotics (T-RO)

Ce Guo, Xieyuanli Chen, Zhiwen Zeng, Zirui Guo, Yihong Li, Haoran Xiao, Dewen Hu, Huimin Lu

RING#: PR-by-PE Global Localization with Roto-translation Equivariant Gram Learning

[BibTeX]

@ARTICLE{10891747,
 author={Lu, Sha and Xu, Xuecheng and Zhang, Dongkun and Wu, Yuxuan and Lu, Haojian and Chen, Xieyuanli and Xiong, Rong and Wang, Yue},
 journal={IEEE Transactions on Robotics}, 
 title={RING#: PR-By-PE Global Localization With Roto-Translation Equivariant Gram Learning},
 year={2025},
 volume={41},
 pages={1861-1881},
 doi={10.1109/TRO.2025.3543267}
 }

[PDF]

IEEE Transactions on Robotics (T-RO)

Sha Lu, Xuecheng Xu, Yuxuan Wu, Haojian Lu, Xieyuanli Chen, Rong Xiong, Yue Wang

BEVPlace++: Fast, Robust, and Lightweight LiDAR Global Localization for Unmanned Ground Vehicles

[BibTeX]

@article{luo2025bevplace++,
 title={Bevplace++: Fast, robust, and lightweight lidar global localization for unmanned ground vehicles},
 author={Luo, Lun and Cao, Si-Yuan and Li, Xiaorui and Xu, Jintao and Ai, Rui and Yu, Zhu and Chen, Xieyuanli},
 journal={IEEE Transactions on Robotics},
 year={2025},
 publisher={IEEE}
 }

[PDF]

IEEE Transactions on Robotics (T-RO)

Lun Luo, Si-Yuan Cao, Xiaorui Li, Jintao Xu, Rui Ai, Zhu Yu, Xieyuanli Chen

SegNet4D: Efficient Instance-Aware 4D Semantic Segmentation for LiDAR Point Cloud

[BibTeX]

@article{wang2024segnet4d,
 title={SegNet4D: Efficient Instance-Aware 4D Semantic Segmentation for LiDAR Point Cloud},
 author={Wang, Neng and Guo, Ruibin and Shi, Chenghao and Wang, Ziyue and Zhang, Hui and Lu, Huimin and Zheng, Zhiqiang and Chen, Xieyuanli},
 journal={arXiv preprint arXiv:2406.16279},
 year={2024}
}

[PDF]

IEEE Transactions on Automation Science and Engineering (T-ASE)

Neng Wang, Ruibin Guo, Chenghao Shi, Ziyue Wang, Hui Zhang, Huimin Lu, Zhiqiang Zheng, Xieyuanli Chen

TiCoSS: Tightening the coupling between semantic segmentation and stereo matching within a joint learning framework

[BibTeX]

@article{tang2025ticoss,
 title={TiCoSS: Tightening the coupling between semantic segmentation and stereo matching within a joint learning framework},
 author={Tang, Guanfeng and Wu, Zhiyuan and Li, Jiahang and Zhong, Ping and Ye, Wei and Chen, Xieyuanli and Lu, Huimin and Fan, Rui},
 journal={IEEE Transactions on Automation Science and Engineering},
 year={2025},
 publisher={IEEE}
}

[PDF]

IEEE Transactions on Automation Science and Engineering (T-ASE)

Guanfeng Tang, Zhiyuan Wu, Jiahang Li, Ping Zhong, Wei Ye, Xieyuanli Chen, Huimin Lu, Rui Fan

Robust Visual Place Recognition Under Variational Views

[BibTeX]

@article{huang2025robust,
  title={Robust Visual Place Recognition Under Variational Views},
  author={Huang, Junlang and Lin, Defu and Du, Jie and Jiang, Xinyu and Chen, Chuangquan and Chen, Xieyuanli and Zhou, Yimin and Vong, Chi-Man},
  journal={IEEE Transactions on Industrial Informatics},
  year={2025},
  publisher={IEEE}
}

[PDF]

IEEE Transactions on Industrial Informatics (T-II)

Junlang Huang, Defu Lin, Jie Du, Xinyu Jiang, Chuangquan Chen, Xieyuanli Chen, Yimin Zhou, Chi-Man Vong

DSBEV: Docking Space Segmentation for Autonomous Surface Vehicle in Bird’s Eye View

[BibTeX]

@article{pang2025dsbev,
  title={DSBEV: Docking Space Segmentation for Autonomous Surface Vehicle in Bird's Eye View},
  author={Pang, Changsong and Zhang, Xiaomin and Chen, Xieyuanli and Xu, Hu and Yu, Yang and Cheng, Yuwei},
  journal={IEEE Transactions on Industrial Informatics},
  year={2025},
  publisher={IEEE}
}

[PDF]

IEEE Transactions on Industrial Informatics (T-II)

Changsong Pang, Xiaomin Zhang, Xieyuanli Chen, Hu Xu, Yang Yu, Yuwei Cheng

UA-LIO: An Uncertainty-Aware LiDAR-Inertial Odometry for Autonomous Driving in Urban Environments

[BibTeX]

@article{wu2025ua,
  title={UA-LIO: An Uncertainty-Aware LiDAR-Inertial Odometry for Autonomous Driving in Urban Environments},
  author={Wu, Qi and Chen, Xieyuanli and Xu, Xiangyu and Zhong, Xinliang and Qu, Xingwei and Xia, Songpengcheng and Liu, Guoqing and Liu, Liu and Yu, Wenxian and Pei, Ling},
  journal={IEEE Transactions on Instrumentation and Measurement},
  volume={74},
  pages={1--12},
  year={2025},
  publisher={IEEE}
}

[PDF]

IEEE Transactions on Instrumentation and Measurement (T-IM)

Qi Wu, Xieyuanli Chen, Xiangyu Xu, Xinliang Zhong, Xingwei Qu, Songpengcheng Xia, Guoqing Liu, Liu Liu, Wenxian Yu, Ling Pei

TRLO: An Efficient LiDAR Odometry with 3D Dynamic Object Tracking and Removal

[BibTeX]

@article{jia2025trlo,
  title={TRLO: An Efficient LiDAR Odometry with 3D Dynamic Object Tracking and Removal},
  author={Jia, Yanpeng and Wang, Ting and Cao, Fengkui and Chen, Xieyuanli and Shao, Shiliang and Liu, Lianqing},
  journal={IEEE Transactions on Instrumentation and Measurement},
  year={2025},
  publisher={IEEE}
 }

[PDF]

IEEE Transactions on Instrumentation and Measurement (T-IM)

Yanpeng Jia, Ting Wang, Xieyuanli Chen, Shiliang Shao

RID-Net: A Hybrid MLP-Transformer network for Robust Point Cloud Registration

[BibTeX]

@article{cheng2025rid,
 title={RID-Net: A Hybrid MLP-Transformer Network for Robust Point Cloud Registration},
 author={Cheng, Panfei and Yu, Hongshan and Liu, Changxiang and Luo, Kan and Akhtar, Naveed and Chen, Xieyuanli},
 journal={IEEE Robotics and Automation Letters},
 year={2025},
 publisher={IEEE}
}

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Panfei Cheng, Hongshan Yu, Changxiang Liu, Kan Luo, Naveed Akhtar, Xieyuanli Chen

SGT-LLC: LiDAR Loop Closing Based on Semantic Graph with Triangular Spatial Topology

[BibTeX]

@article{wang2025sgt,
 title={SGT-LLC: LiDAR Loop Closing Based on Semantic Graph with Triangular Spatial Topology},
 author={Wang, Shaocong and Cao, Fengkui and Wang, Ting and Chen, Xieyuanli and Shao, Shiliang},
 journal={IEEE Robotics and Automation Letters},
 year={2025},
 publisher={IEEE}
}

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Shaocong Wang, Fengkui Cao, Ting Wang,Xieyuanli Chen, Shiliang Shao

NeuroVE: Brain-inspired Linear-Angular Velocity Estimation with Spiking Neural Networks

[BibTeX]

@article{li2025neurove,
 title={Neurove: Brain-inspired linear-angular velocity estimation with spiking neural networks},
 author={Li, Xiao and Chen, Xieyuanli and Guo, Ruibin and Wu, Yujie and Zhou, Zongtan and Yu, Fangwen and Lu, Huimin},
 journal={IEEE Robotics and Automation Letters},
 year={2025},
 publisher={IEEE}
}

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Xiao Li, Xieyuanli Chen, Ruibin Guo, Yujie Wu, Zongtan Zhou, Fangwen Yu, Huimin Lu

UGNA-VPR: A Novel Training Paradigm for Visual Place Recognition Based on Uncertainty-Guided NeRF Augmentation

[BibTeX]

@@article{shen2025ugna,
   title={UGNA-VPR: A Novel Training Paradigm for Visual Place Recognition Based on Uncertainty-Guided NeRF Augmentation},
   author={Shen, Yehui and Zhang, Lei and Li, Qingqiu and Zhao, Xiongwei and Wang, Yue and Lu, Huimin and Chen, Xieyuanli},
   journal={IEEE Robotics and Automation Letters},
   year={2025},
   publisher={IEEE}
 }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Yehui Shen, Lei Zhang, Qingqiu Li, Xiongwei Zhao, Yue Wang, Huimin Lu, Xieyuanli Chen

BEV-LSLAM: A Novel and Compact BEV LiDAR SLAM for Outdoor Environment

[BibTeX]

@article{cao2025bev,
   title={Bev-lslam: A novel and compact bev lidar slam for outdoor environment},
   author={Cao, Fengkui and Wang, Shaocong and Chen, Xieyuanli and Wang, Ting and Liu, Lianqing},
   journal={IEEE Robotics and Automation Letters},
   year={2025},
   publisher={IEEE}
 }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Fengkui Cao, Shaocong Wang, Xieyuanli Chen, Ting Wang, Lianqing Liu

Self-Supervised Diffusion-Based Scene Flow Estimation and Motion Segmentation with 4D Radar

[BibTeX]

@article{liu2025self,
   title={Self-Supervised Diffusion-Based Scene Flow Estimation and Motion Segmentation with 4D Radar},
   author={Liu, Yufei and Chen, Xieyuanli and Wang, Neng and Andreev, Stepan and Dvorkovich, Alexander and Fan, Rui and Lu, Huimin},
   journal={IEEE Robotics and Automation Letters},
   year={2025},
   publisher={IEEE}
 }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Yufei Liu, Xieyuanli Chen, Neng Wang, Stepan Andreev, Alexander Dvorkovich, Rui Fan, Huimin Lu

OverlapMamba: A Shift State Space Model for LiDAR-based Place Recognition

[BibTeX]

@article{luo2025overlapmamba,
   title={Overlapmamba: A shift state space model for lidar-based place recognition},
   author={Luo, Jiehao and Cheng, Jintao and Xiang, Qiuchi and Wu, Jin and Fan, Rui and Chen, Xieyuanli and Tang, Xiaoyu},
   journal={IEEE Robotics and Automation Letters},
   year={2025},
   publisher={IEEE}
 }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Jiehao Luo, Jintao Cheng, Qiuchi Xiang, Jin Wu, Rui Fan, Xieyuanli Chen, Xiaoyu Tang

A glance over the past decade: road scene parsing towards safe and comfortable autonomous driving

[BibTeX]

@article{fan2025glance,
  title={A glance over the past decade: road scene parsing towards safe and comfortable autonomous driving},
  author={Fan, Rui and Li, Jiahang and Li, Jiaqi and Wang, Jiale and Long, Ziwei and Jia, Ning and Liu, Yanan and Wang, Wenshuo and Bocus, Mohammud J and Vityazev, Sergey and others},
  journal={Autonomous Intelligent Systems},
  volume={5},
  number={1},
  pages={1--15},
  year={2025},
  publisher={Springer}
}

[PDF]

Autonomous Intelligent Systems

Rui Fan, Jiahang Li, Jiaqi Li, Jiale Wang, Ziwei Long, Ning Jia, Yanan Liu, Wenshuo Wang, Mohammud J Bocus, Sergey Vityazev,
Xieyuanli Chen, Junhao Xiao, Stepan Andreev, Huimin Lu, Alexander Dvorkovich

Spatiotemporal Decoupling for Efficient Vision-Based Occupancy Forecasting

[BibTeX]

@inproceedings{xu2025spatiotemporal,
   title={Spatiotemporal decoupling for efficient vision-based occupancy forecasting},
   author={Xu, Jingyi and Chen, Xieyuanli and Ma, Junyi and Huang, Jiawei and Xu, Jintao and Wang, Yue and Pei, Ling},
   booktitle={Proceedings of the Computer Vision and Pattern Recognition Conference},
   pages={22338--22347},
   year={2025}
 }

[PDF]

In Proc. of the IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR 2025)

Jingyi Xu, Xieyuanli Chen, Junyi Ma, Jiawei Huang, Jintao Xu, Yue Wang, Ling Pei

EDENet: Echo Direction Encoding Network for Place Recognition Based on Ground Penetrating Radar

[BibTeX]

@inproceedings{zhang2025edenet,
   title={EDENet: Echo Direction Encoding Network for Place Recognition Based on Ground Penetrating Radar},
   author={Zhang, Pengyu and Chen, Xieyuanli and Chen, Yuwei and Bi, Beizhen and Xu, Zhuo and Jin, Tian and Huang, Xiaotao and Shen, Liang},
   booktitle={Proceedings of the AAAI Conference on Artificial Intelligence},
   volume={39},
   number={10},
   pages={10067--10075},
   year={2025}
 }

[PDF]

In Proc. of the Conference on Advancements of Artificial Intelligence (AAAI 2025)

Pengyu Zhang, Xieyuanli Chen, Yuwei Chen, Beizhen Bi, Zhuo Xu, Tian Jin, Xiaotao Huang, Liang Shen

A Novel Decomposed Feature-Oriented Framework for Open-Set Semantic Segmentation on LiDAR Data

[BibTeX]

@article{deng2025novel,
   title={A Novel Decomposed Feature-Oriented Framework for Open-Set Semantic Segmentation on LiDAR Data},
   author={Deng, Wenbang and Chen, Xieyuanli and Yu, Qinghua and He, Yunze and Xiao, Junhao and Lu, Huimin},
   journal={arXiv preprint arXiv:2503.11097},
   year={2025}
 }

[PDF]

In Proc. of the Conference on Advancements of Artificial Intelligence (ICRA 2025)

Wenbang Deng, Xieyuanli Chen, Qinghua Yu, Yunze He, Junhao Xiao, Huimin Lu

RLCNet: A Novel Deep Feature-Matching-Based Method for Online Target-Free Radar-LiDAR Calibration

[BibTeX]

@inproceedings{luan2025rlcnet,
   title={RLCNet: A Novel Deep Feature-Matching-Based Method for Online Target-Free Radar-LiDAR Calibration},
   author={Luan, Kai and Shi, Chenghao and Chen, Xieyuanli and Fan, Rui and Zheng, Zhiqiang and Lu, Huimin},
   booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
   pages={3146--3152},
   year={2025},
   organization={IEEE}
 }

[PDF]

In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2025)

Kai Luan,Chenghao Shi, Xieyuanli Chen,Rui Fan, Zhiqiang Zheng, Huimin Lu

InsCMPR: Efficient Cross-Modal Place Recognition Via Instance-Aware Hybrid Mamba-Transformer

[BibTeX]

@inproceedings{jiao2025inscmpr,
    title={InsCMPR: Efficient Cross-Modal Place Recognition via Instance-Aware Hybrid Mamba-Transformer},
    author={Jiao, Shuaifeng and Su, Zhuoqun and Luo, Lun and Yu, Hongshan and Zhou, Zongtan and Lu, Huimin and Chen, Xieyuanli},
    booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={2212--2218},
    year={2025},
    organization={IEEE}
 }

[PDF]

In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2025)

Shuaifeng Jiao, Zhuoqun Su, Lun Luo, Hongshan Yu, Zongtan Zhou, Huimin Lu, Xieyuanli Chen

LuSeg: Efficient Negative and Positive Obstacles Segmentation via Contrast-Driven Multi-Modal Feature Fusion on the Lunar

[BibTeX]

@article{jiao2025luseg,
    title={LuSeg: Efficient Negative and Positive Obstacles Segmentation via Contrast-Driven Multi-Modal Feature Fusion on the Lunar},
    author={Jiao, Shuaifeng and Zeng, Zhiwen and Su, Zhuoqun and Chen, Xieyuanli and Zhou, Zongtan and Lu, Huimin},
    journal={arXiv preprint arXiv:2503.11409},
    year={2025}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Shuaifeng Jiao, Zhiwen Zeng, Zhuoqun Su, Xieyuanli Chen, Zongtan Zhou, Huimin Lu

Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM

[BibTeX]

@article{wang2025leveraging,
   title={Leveraging Semantic Graphs for Efficient and Robust LiDAR SLAM},
   author={Wang, Neng and Lu, Huimin and Zheng, Zhiqiang and Wang, Hesheng and Liu, Yun-Hui and Chen, Xieyuanli},
   journal={arXiv preprint arXiv:2503.11145},
   year={2025}
 }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Neng Wang, Huimin Lu, Zhiqiang Zheng, Yun-Hui Liu, Xieyuanli Chen

Image-Goal Navigation Using Refined Feature Guidance and Scene Graph Enhancement

[BibTeX]

@article{feng2025image,
   title={Image-Goal Navigation Using Refined Feature Guidance and Scene Graph Enhancement},
   author={Feng, Zhicheng and Chen, Xieyuanli and Shi, Chenghao and Luo, Lun and Chen, Zhichao and Liu, Yun-Hui and Lu, Huimin},
   journal={arXiv preprint arXiv:2503.10986},
   year={2025}
 }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Zhicheng Feng, Xieyuanli Chen, Chenghao Shi, Lun Luo, Zhichao Chen, Yun-Hui Liu, Huimin Lu

Improved 2D Hand Trajectory Prediction with Multi-View Consistency

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Junyi Ma, Erhang Zhang, Jingyi Xu, Xieyuanli Chen, Hesheng Wang

Novel Diffusion Models for Multimodal 3D Hand Trajectory Prediction

[BibTeX]

@article{ma2025novel,
   title={Novel Diffusion Models for Multimodal 3D Hand Trajectory Prediction},
   author={Ma, Junyi and Bao, Wentao and Xu, Jingyi and Sun, Guanzhong and Chen, Xieyuanli and Wang, Hesheng},
   journal={arXiv preprint arXiv:2504.07375},
   year={2025}
 }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Junyi Ma, Wentao Bao, Jingyi Xu, Guanzhong Sun, Xieyuanli Chen, Hesheng Wang

Diff-IP2D: Diffusion-Based Hand-Object Interaction Prediction on Egocentric Videos

[BibTeX]

@article{ma2024diff,
   title={Diff-IP2D: Diffusion-based hand-object interaction prediction on egocentric videos},
   author={Ma, Junyi and Xu, Jingyi and Chen, Xieyuanli and Wang, Hesheng},
   journal={arXiv preprint arXiv:2405.04370},
   year={2024}
 }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Junyi Ma, Jingyi Xu, Xieyuanli Chen, Hesheng Wang

ResLPR: A LiDAR Data Restoration Network and Benchmark for Robust Place Recognition Against Weather Corruptions [PDF]

[BibTeX]

@article{kuang2025reslpr,
   title={Reslpr: A lidar data restoration network and benchmark for robust place recognition against weather corruptions},
   author={Kuang, Wenqing and Zhao, Xiongwei and Shen, Yehui and Wen, Congcong and Lu, Huimin and Zhou, Zongtan and Chen, Xieyuanli},
   journal={arXiv preprint arXiv:2503.12350},
   year={2025}
 }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Wenqing Kuang, Xiongwei Zhao, Yehui Shen, Congcong Wen, Huimin Lu, Zongtan Zhou, Xieyuanli Chen

BEVDiffLoc: End-to-End LiDAR Global Localization in BEV View based on Diffusion Model [PDF]

[BibTeX]

@article{wang2025bevdiffloc,
   title={BEVDiffLoc: End-to-End LiDAR Global Localization in BEV View based on Diffusion Model},
   author={Wang, Ziyue and Shi, Chenghao and Wang, Neng and Yu, Qinghua and Chen, Xieyuanli and Lu, Huimin},
   journal={arXiv preprint arXiv:2503.11372},
   year={2025}
 }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Ziyue Wang, Chenghao Shi, Neng Wang, Qinghua Yu, Xieyuanli Chen, Huimin Lu

Efficient Multi-Modal 3D Object Detector via Instance Level Contrastive Distillation [PDF]

[BibTeX]

@article{su2025efficient,
   title={Efficient Multimodal 3D Object Detector via Instance-Level Contrastive Distillation},
   author={Su, Zhuoqun and Lu, Huimin and Jiao, Shuaifeng and Xiao, Junhao and Wang, Yaonan and Chen, Xieyuanli},
   journal={arXiv preprint arXiv:2503.12914},
   year={2025}
 }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Zhuoqun Su, Huimin Lu, Shuaifeng Jiao, Junhao Xiao, Yaonan Wang, Xieyuanli Chen

MRMT-PR: A Multi-Scale Reverse-View Mamba-Transformer for LiDAR Place Recognition

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Kan Luo, Jingwen Wang, Hongshan Yu*, Yaonan Wang, Javier Civera, Xieyuanli Chen
C-TRAC: Terrain-Adaptive Control for Articulated Tracked Robots via Contact-Aware Reinforcement Learning

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Hainan Pan, Kaihong Huang, Xieyuanli Chen, Hongchuan Zhang, Junfeng shi, Chuang Cheng, Bailiang Chen, Huimin Lu
Efficient Instance Motion-Aware Point Cloud Scene Prediction

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Yiming Fang, Xieyuanli Chen, Neng Wang, Kaihong Huang, Huimin Lu
Fusion Scene Context: Robust and Efficient LiDAR Place Recognition in Changing Environments

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

Fengkui Cao, Yanpeng Jia, Ting Wang, Hesheng Wang, Xieyuanli Chen

Fast Intrinsic–Extrinsic Calibration for Pose-Only Structure-from-Motion

[BibTeX]

@article{tian2025fast,
    title={Fast Intrinsic--Extrinsic Calibration for Pose-Only Structure-from-Motion},
    author={Tian, Xiaoyang and Ge, Yangbing and Tan, Zhen and Chen, Xieyuanli and Li, Ming and Hu, Dewen},
    journal={Remote Sensing},
    volume={17},
    number={13},
    pages={2247},
    year={2025},
    publisher={MDPI}
  }

[PDF]

Remote Sensing

Xiaoyang Tian, Yangbing Ge, Zhen Tan, Xieyuanli Chen, Ming Li, Dewen Hu

Bio-Inspired 3D Affordance Understanding from Single Image with Neural Radiance Field for Enhanced Embodied Intelligence

[BibTeX]

@article{guo2025bio,
    title={Bio-Inspired 3D Affordance Understanding from Single Image with Neural Radiance Field for Enhanced Embodied Intelligence},
    author={Guo, Zirui and Chen, Xieyuanli and Zheng, Zhiqiang and Lu, Huimin and Guo, Ruibin},
    journal={Biomimetics},
    volume={10},
    number={6},
    pages={410},
    year={2025},
    publisher={MDPI}
  }

[PDF]

Biomimetics

Zirui Guo, Xieyuanli Chen, Zhiqiang Zheng, Huimin Lu, Ruibin Guo

2024

Fast and accurate deep loop closing and relocalization for reliable lidar slam

[BibTeX]

@article{shi2024fast,
    title={Fast and accurate deep loop closing and relocalization for reliable lidar slam},
    author={Shi, Chenghao and Chen, Xieyuanli and Xiao, Junhao and Dai, Bin and Lu, Huimin},
    journal={IEEE Transactions on Robotics},
    volume={40},
    pages={2620--2640},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE Transactions on Robotics (T-RO)

Chenghao Shi, Xieyuanli Chen, Junhao Xiao, Bin Dai, Huimin Lu

Category-Level Multi-Object 9D State Tracking Using Object-Centric Multi-Scale Transformer in Point Cloud Stream

[BibTeX]

@article{sun2024category,
    title={Category-Level Multi-Object 9D State Tracking Using Object-Centric Multi-Scale Transformer in Point Cloud Stream},
    author={Sun, Jingtao and Wang, Yaonan and Feng, Mingtao and Guo, Xiaofeng and Lu, Huimin and Chen, Xieyuanli},
    journal={IEEE Transactions on Multimedia},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE Transactions on Multimedia (T-MM)

Jingtao Sun, Yaonan Wang, Mingtao Feng, Xiaofeng Guo, Huimin Lu, Xieyuanli Chen

Efficient and Precise Homo-Hetero Teleoperation Based on an Optimized Upper Limb Exoskeleton

[BibTeX]

@article{cheng2024efficient,
    title={Efficient and precise homo-hetero teleoperation based on an optimized upper limb exoskeleton},
    author={Cheng, Chuang and Dai, Wei and Wu, Tuochang and Chen, Xieyuanli and Wu, Meiping and Yu, Junzhi and Jiang, Jie and Lu, Huimin},
    journal={IEEE/ASME Transactions on Mechatronics},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE/ASME Transactions on Mechatronics (T-MECH)

Chuang Cheng, Wei Dai, Tuochang Wu, Xieyuanli Chen, Meiping Wu, Junzhi Yu, Jie Jiang, Huimin Lu

CV-MOS: A Cross-View Model for Motion Segmentation

[BibTeX]

@article{tang2024cv,
    title={Cv-mos: A cross-view model for motion segmentation},
    author={Tang, Xiaoyu and Chen, Zeyu and Cheng, Jintao and Chen, Xieyuanli and Wu, Jin and Xue, Bohuan},
    journal={IEEE Transactions on Instrumentation and Measurement},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE Transactions on Instrumentation and Measurement (T-IM)

Xiaoyu Tang, Zeyu Chen, Jintao Cheng, Xieyuanli Chen, Jin Wu, Bohuan Xue

Joint scene flow estimation and moving object segmentation on rotational LiDAR data

[BibTeX]

@article{chen2024joint,
    title={Joint scene flow estimation and moving object segmentation on rotational LiDAR data},
    author={Chen, Xieyuanli and Cui, Jiafeng and Liu, Yufei and Zhang, Xianjing and Sun, Jiadai and Ai, Rui and Gu, Weihao and Xu, Jintao and Lu, Huimin},
    journal={IEEE Transactions on Intelligent Transportation Systems},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE Transactions on Intelligent Transportation Systems (T-ITS)

Xieyuanli Chen, Jiafeng Cui, Yufei Liu, Xianjing Zhang, Jiadai Sun, Rui Ai, Weihao Gu, Jintao Xu, Huimin Lu

IMPS: Informative Map Point Selection for Visual-Inertial SLAM [PDF]

[BibTeX]

@article{liu2024imps,
    title={IMPS: Informative map point selection for visual-inertial SLAM},
    author={Liu, Changxiang and Yu, Hongshan and Fu, Qiang and Chen, Xieyuanli and Akhtar, Naveed and Mao, Zhi-Hong},
    journal={IEEE Transactions on Intelligent Vehicles},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE Transactions on Intelligent Vehicles (T-IV)

Changxiang Liu, Hongshan Yu, Qiang Fu, Xieyuanli Chen, Naveed Akhtar, Zhi-Hong Mao

PE-VINS: Accurate Monocular Visual-Inertial SLAM With Point-Edge Features

[BibTeX]

@article{liu2024pe,
    title={Pe-vins: Accurate monocular visual-inertial slam with point-edge features},
    author={Liu, Changxiang and Yu, Hongshan and Cheng, Panfei and Sun, Wei and Civera, Javier and Chen, Xieyuanli},
    journal={IEEE Transactions on Intelligent Vehicles},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE Transactions on Intelligent Vehicles (T-IV)

Changxiang Liu, Hongshan Yu, Panfei Cheng, Wei Sun, Javier Civera, Xieyuanli Chen

A survey on global lidar localization: Challenges, advances and open problems

[BibTeX]

@article{yin2024survey,
    title={A survey on global lidar localization: Challenges, advances and open problems},
    author={Yin, Huan and Xu, Xuecheng and Lu, Sha and Chen, Xieyuanli and Xiong, Rong and Shen, Shaojie and Stachniss, Cyrill and Wang, Yue},
    journal={International Journal of Computer Vision},
    volume={132},
    number={8},
    pages={3139--3171},
    year={2024},
    publisher={Springer}
  }

[PDF]

Intl. Journal of Computer Vision (IJCV)

Huan Yin, Xuecheng Xu, Sha Lu, Xieyuanli Chen, Rong Xiong, Shaojie Shen, Cyrill Stachniss, Yue Wang

GOReloc: Graph-Based Object-Level Relocalization for Visual SLAM

[BibTeX]

@article{wang2024goreloc,
    title={GOReloc: Graph-based object-level relocalization for visual SLAM},
    author={Wang, Yutong and Jiang, Chaoyang and Chen, Xieyuanli},
    journal={IEEE Robotics and Automation Letters},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Yutong Wang, Chaoyang Jiang, Xieyuanli Chen

CoFiI2P: Coarse-to-Fine Correspondences-Based Image to Point Cloud Registration

[BibTeX]

@article{kang2024cofii2p,
    title={CoFiI2P: Coarse-to-fine correspondences-based image to point cloud registration},
    author={Kang, Shuhao and Liao, Youqi and Li, Jianping and Liang, Fuxun and Li, Yuhao and Zou, Xianghong and Li, Fangning and Chen, Xieyuanli and Dong, Zhen and Yang, Bisheng},
    journal={IEEE Robotics and Automation Letters},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Shuhao Kang, Youqi Liao, Jianping Li, Fuxun Liang, Yuhao Li, Xianghong Zou, Fangning Li, Xieyuanli Chen, Zhen Dong, Bisheng Yang

SGLC: Semantic Graph-Guided Coarse-Fine-Refine Full Loop Closing for LiDAR SLAM

[BibTeX]

@article{wang2024sglc,
    title={SGLC: Semantic graph-guided coarse-fine-refine full loop closing for LiDAR SLAM},
    author={Wang, Neng and Chen, Xieyuanli and Shi, Chenghao and Zheng, Zhiqiang and Yu, Hongshan and Lu, Huimin},
    journal={IEEE Robotics and Automation Letters},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Neng Wang, Xieyuanli Chen, Chenghao Shi, Zhiqiang Zheng, Hongshan Yu, Huimin Lu

Mobile-Seed: Joint Semantic Segmentation and Boundary Detection for Mobile Robots

[BibTeX]

@article{liao2024mobile,
    title={Mobile-seed: Joint semantic segmentation and boundary detection for mobile robots},
    author={Liao, Youqi and Kang, Shuhao and Li, Jianping and Liu, Yang and Liu, Yun and Dong, Zhen and Yang, Bisheng and Chen, Xieyuanli},
    journal={IEEE Robotics and Automation Letters},
    volume={9},
    number={4},
    pages={3902--3909},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Youqi Liao, Shuhao Kang, Jianping Li, Yang Liu, Yun Liu, Zhen Dong, Bisheng Yang, Xieyuanli Chen

Link3d: Linear keypoints representation for 3d lidar point cloud

[BibTeX]

@article{cui2024link3d,
    title={Link3d: Linear keypoints representation for 3d lidar point cloud},
    author={Cui, Yunge and Zhang, Yinlong and Dong, Jiahua and Sun, Haibo and Chen, Xieyuanli and Zhu, Feng},
    journal={IEEE Robotics and Automation Letters},
    volume={9},
    number={3},
    pages={2128--2135},
    year={2024},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Yunge Cui, Yinlong Zhang, Jiahua Dong, Haibo Sun, Xieyuanli Chen, Feng Zhu

3D point cloud-based place recognition: a survey [PDF]

[BibTeX]

@article{luo20243d,
    title={3D point cloud-based place recognition: a survey},
    author={Luo, Kan and Yu, Hongshan and Chen, Xieyuanli and Yang, Zhengeng and Wang, Jingwen and Cheng, Panfei and Mian, Ajmal},
    journal={Artificial Intelligence Review},
    volume={57},
    number={4},
    pages={83},
    year={2024},
    publisher={Springer}
  }

[PDF]

Artificial Intelligence Review

Kan Luo, Hongshan Yu, Xieyuanli Chen, Zhengeng Yang, Jingwen Wang, Panfei Cheng, Ajmal Mian

Cam4docc: Benchmark for camera-only 4d occupancy forecasting in autonomous driving applications

[BibTeX]

@inproceedings{ma2024cam4docc,
    title={Cam4docc: Benchmark for camera-only 4d occupancy forecasting in autonomous driving applications},
    author={Ma, Junyi and Chen, Xieyuanli and Huang, Jiawei and Xu, Jingyi and Luo, Zhen and Xu, Jintao and Gu, Weihao and Ai, Rui and Wang, Hesheng},
    booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
    pages={21486--21495},
    year={2024}
  }

[PDF]

In Proc. of the IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR 2024)

Junyi Ma, Xieyuanli Chen, Jiawei Huang, Jingyi Xu, Zhen Luo, Jintao Xu, Weihao Gu, Rui Ai, Hesheng Wang

Tfnet: Exploiting temporal cues for fast and accurate lidar semantic segmentation

[BibTeX]

@inproceedings{li2024tfnet,
    title={Tfnet: Exploiting temporal cues for fast and accurate lidar semantic segmentation},
    author={Li, Rong and Li, Shijie and Chen, Xieyuanli and Ma, Teli and Gall, Juergen and Liang, Junwei},
    booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
    pages={4547--4556},
    year={2024}
  }

[PDF]

In Proc. of the IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR 2024)

Rong Li, Shijie Li, Xieyuanli Chen, Teli Ma, Juergen Gall, Junwei Liang

RadarMOSEVE: A Spatial-Temporal Transformer Network for Radar-Only Moving Object Segmentation and Ego-Velocity Estimation

[BibTeX]

@inproceedings{pang2024radarmoseve,
    title={Radarmoseve: A spatial-temporal transformer network for radar-only moving object segmentation and ego-velocity estimation},
    author={Pang, Changsong and Chen, Xieyuanli and Liu, Yimin and Lu, Huimin and Cheng, Yuwei},
    booktitle={Proceedings of the AAAI Conference on Artificial Intelligence},
    volume={38},
    number={5},
    pages={4424--4432},
    year={2024}
   }

[PDF]

In Proc. of the Conference on Advancements of Artificial Intelligence (AAAI, 2024)

Changsong Pang, Xieyuanli Chen, Yimin Liu, Huimin Lu, Yuwei Cheng

TSCM: A Teacher-Student Model for Vision Place Recognition Using Cross-Metric Knowledge Distillation

[BibTeX]

@inproceedings{shen2024tscm,
    title={TSCM: A teacher-student model for vision place recognition using cross-metric knowledge distillation},
    author={Shen, Yehui and Liu, Mingmin and Lu, Huimin and Chen, Xieyuanli},
    booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={1789--1795},
    year={2024},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2024)

Yehui Shen, Mingmin Liu, Huimin Lu, Xieyuanli Chen

Superfusion: Multilevel lidar-camera fusion for long-range hd map generation

[BibTeX]

@inproceedings{dong2024superfusion,
    title={Superfusion: Multilevel lidar-camera fusion for long-range hd map generation},
    author={Dong, Hao and Gu, Weihao and Zhang, Xianjing and Xu, Jintao and Ai, Rui and Lu, Huimin and Kannala, Juho and Chen, Xieyuanli},
    booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={9056--9062},
    year={2024},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2024)

Hao Dong, Weihao Gu, Xianjing Zhang, Jintao Xu, Rui Ai, Huimin Lu, Juho Kannala, Xieyuanli Chen

Diffusion-Based Point Cloud Super-Resolution for mmWave Radar Data
In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2024)

[BibTeX]

@inproceedings{luan2024diffusion,
    title={Diffusion-based point cloud super-resolution for mmwave radar data},
    author={Luan, Kai and Shi, Chenghao and Wang, Neng and Cheng, Yuwei and Lu, Huimin and Chen, Xieyuanli},
    booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={11171--11177},
    year={2024},
    organization={IEEE}
  }

[PDF]

Kai Luan, Chenghao Shi, Neng Wang, Yuwei Cheng, Huimin Lu, Xieyuanli Chen

VOOM: Robust Visual Object Odometry and Mapping using Hierarchical Landmarks

[BibTeX]

@inproceedings{wang2024voom,
    title={Voom: Robust visual object odometry and mapping using hierarchical landmarks},
    author={Wang, Yutong and Jiang, Chaoyang and Chen, Xieyuanli},
    booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={10298--10304},
    year={2024},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2024)

Yutong Wang, Chaoyang Jiang, Xieyuanli Chen

ModaLink: Unifying Modalities for Efficient Image-to-PointCloud Place Recognition

[BibTeX]

@inproceedings{xie2024modalink,
    title={ModaLink: Unifying modalities for efficient image-to-PointCloud place recognition},
    author={Xie, Weidong and Luo, Lun and Ye, Nanfei and Ren, Yi and Du, Shaoyi and Wang, Minhang and Xu, Jintao and Ai, Rui and Gu, Weihao and Chen, Xieyuanli},
    booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={3326--3333},
    year={2024},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2024)

Weidong Xie, Lun Luo, Nanfei Ye, Yi Ren, Shaoyi Du, Minhang Wang, Jintao Xu, Rui Ai, Weihao Gu, Xieyuanli Chen

TD-NeRF: Novel Truncated Depth Prior for Joint Camera Pose and Neural Radiance Field Optimization

[BibTeX]

@inproceedings{tan2024td,
    title={Td-nerf: Novel truncated depth prior for joint camera pose and neural radiance field optimization},
    author={Tan, Zhen and Zhou, Zongtan and Ge, Yangbing and Wang, Zi and Chen, Xieyuanli and Hu, Dewen},
    booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={372--379},
    year={2024},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2024)

Zhen Tan, Zongtan Zhou, Yangbing Ge, Zi Wang, Xieyuanli Chen, Dewen Hu

Explicit Interaction for Fusion-Based Place Recognition

[BibTeX]

@inproceedings{xu2024explicit,
    title={Explicit interaction for fusion-based place recognition},
    author={Xu, Jingyi and Ma, Junyi and Wu, Qi and Zhou, Zijie and Wang, Yue and Chen, Xieyuanli and Yu, Wenxian and Pei, Ling},
    booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={3318--3325},
    year={2024},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2024)

Jingyi Xu, Junyi Ma, Qi Wu, Zijie Zhou, Yue Wang, Xieyuanli Chen, Wenxian Yu, Ling Pei

2023

CVTNet: A cross-view transformer network for LiDAR-based place recognition in autonomous driving environments

[BibTeX]

@article{ma2023cvtnet,
    title={CVTNet: A cross-view transformer network for LiDAR-based place recognition in autonomous driving environments},
    author={Ma, Junyi and Xiong, Guangming and Xu, Jingyi and Chen, Xieyuanli},
    journal={IEEE Transactions on Industrial Informatics},
    volume={20},
    number={3},
    pages={4039--4048},
    year={2023},
    publisher={IEEE}
  }

[PDF]

IEEE Transactions on Industrial Informatics (T-II)

Junyi Ma, Guangming Xiong, Jingyi Xu, Xieyuanli Chen

360-VIO: A Robust Visual–Inertial Odometry Using a 360° Camera

[BibTeX]

@article{wu2023360,
    title={360-vio: A robust visual--inertial odometry using a 360 camera},
    author={Wu, Qi and Xu, Xiangyu and Chen, Xieyuanli and Pei, Ling and Long, Chao and Deng, Junyuan and Liu, Guoqing and Yang, Sheng and Wen, Shilei and Yu, Wenxian},
    journal={IEEE Transactions on Industrial Electronics},
    volume={71},
    number={9},
    pages={11136--11145},
    year={2023},
    publisher={IEEE}
  }

[PDF]

IEEE Transactions on Industrial Electronics (T-IE)

Qi Wu, Xiangyu Xu, Xieyuanli Chen, Ling Pei, Chao Long, Junyuan Deng, Guoqing Liu, Sheng Yang, Shilei Wen, Wenxian Yu

RDMNet: Reliable dense matching based point cloud registration for autonomous driving

[BibTeX]

@article{shi2023rdmnet,
    title={RDMNet: Reliable dense matching based point cloud registration for autonomous driving},
    author={Shi, Chenghao and Chen, Xieyuanli and Lu, Huimin and Deng, Wenbang and Xiao, Junhao and Dai, Bin},
    journal={IEEE Transactions on intelligent transportation systems},
    volume={24},
    number={10},
    pages={11372--11383},
    year={2023},
    publisher={IEEE}
  }

[PDF]

IEEE Transactions on intelligent transportation systems (T-ITS)

Chenghao Shi, Xieyuanli Chen, Huimin Lu, Wenbang Deng, Junhao Xiao, Bin Dai

Geometry‐based flipper motion planning for articulated tracked robots traversing rough terrain in real‐time [PDF]

[BibTeX]

@article{chen2023geometry,
    title={Geometry-based flipper motion planning for articulated tracked robots traversing rough terrain in real-time},
    author={Chen, Bailiang and Huang, Kaihong and Pan, Hainan and Ren, Haoran and Chen, Xieyuanli and Xiao, Junhao and Wu, Wenqi and Lu, Huimin},
    journal={Journal of Field Robotics},
    volume={40},
    number={8},
    pages={2010--2029},
    year={2023},
    publisher={Wiley Online Library}
  }

[PDF]

*Journal of Field Robotics (JFR)

Bailiang Chen, Kaihong Huang, Hainan Pan, Haoran Ren, Xieyuanli Chen, Junhao Xiao, Wenqi Wu, Huimin Lu

Extreme low-resolution action recognition with confident spatial-temporal attention transfer [PDF]

[BibTeX]

@article{bai2023extreme,
    title={Extreme low-resolution action recognition with confident spatial-temporal attention transfer},
    author={Bai, Yucai and Zou, Qin and Chen, Xieyuanli and Li, Lingxi and Ding, Zhengming and Chen, Long},
    journal={International Journal of Computer Vision},
    volume={131},
    number={6},
    pages={1550--1565},
    year={2023},
    publisher={Springer}
  }

[PDF]

Intl. Journal of Computer Vision (IJCV)

Yucai Bai, Qin Zou, Xieyuanli Chen, Lingxi Li, Zhengming Ding, Long Chen

CCL: Continual Contrastive Learning for LiDAR Place Recognition

[BibTeX]

@article{cui2023ccl,
    title={CCL: Continual contrastive learning for LiDAR place recognition},
    author={Cui, Jiafeng and Chen, Xieyuanli},
    journal={IEEE Robotics and Automation Letters},
    volume={8},
    number={8},
    pages={4433--4440},
    year={2023},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Jiafeng Cui, Xieyuanli Chen

Ir-mcl: Implicit representation-based online global localization

[BibTeX]

@article{kuang2023ir,
    title={Ir-mcl: Implicit representation-based online global localization},
    author={Kuang, Haofei and Chen, Xieyuanli and Guadagnino, Tiziano and Zimmerman, Nicky and Behley, Jens and Stachniss, Cyrill},
    journal={IEEE Robotics and Automation Letters},
    volume={8},
    number={3},
    pages={1627--1634},
    year={2023},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Haofei Kuang, Xieyuanli Chen, Tiziano Guadagnino, Nicky Zimmerman, Jens Behley, Cyrill Stachniss

Building volumetric beliefs for dynamic environments exploiting map-based moving object segmentation

[BibTeX]

@article{mersch2023building,
    title={Building volumetric beliefs for dynamic environments exploiting map-based moving object segmentation},
    author={Mersch, Benedikt and Guadagnino, Tiziano and Chen, Xieyuanli and Vizzo, Ignacio and Behley, Jens and Stachniss, Cyrill},
    journal={IEEE Robotics and Automation Letters},
    volume={8},
    number={8},
    pages={5180--5187},
    year={2023},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Benedikt Mersch, Tiziano Guadagnino, Xieyuanli Chen, Ignacio Vizzo, Jens Behley, Cyrill Stachniss

Static map generation from 3D LiDAR point clouds exploiting ground segmentation

[BibTeX]

@article{arora2023static,
    title={Static map generation from 3D LiDAR point clouds exploiting ground segmentation},
    author={Arora, Mehul and Wiesmann, Louis and Chen, Xieyuanli and Stachniss, Cyrill},
    journal={Robotics and Autonomous Systems},
    volume={159},
    pages={104287},
    year={2023},
    publisher={Elsevier}
  }

[PDF]

IEEE Robotics and Autonomous Systems (RAS)

Mehul Arora, Louis Wiesmann, Xieyuanli Chen, Cyrill Stachniss

Online pole segmentation on range images for long-term LiDAR localization in urban environments

[BibTeX]

@article{dong2023online,
    title={Online pole segmentation on range images for long-term LiDAR localization in urban environments},
    author={Dong, Hao and Chen, Xieyuanli and S{\"a}rkk{\"a}, Simo and Stachniss, Cyrill},
    journal={Robotics and Autonomous Systems},
    volume={159},
    pages={104283},
    year={2023},
    publisher={Elsevier}
  }

[PDF]

IEEE Robotics and Autonomous Systems (RAS)

Hao Dong, Xieyuanli Chen, Simo Särkkä, Cyrill Stachniss

Deep Reinforcement Learning for Flipper Control of Tracked Robots in Urban Rescuing Environments

[BibTeX]

@article{pan2023deep,
    title={Deep reinforcement learning for flipper control of tracked robots in urban rescuing environments},
    author={Pan, Hainan and Chen, Xieyuanli and Ren, Junkai and Chen, Bailiang and Huang, Kaihong and Zhang, Hui and Lu, Huimin},
    journal={Remote Sensing},
    volume={15},
    number={18},
    pages={4616},
    year={2023},
    publisher={MDPI}
  }

[PDF]

Remote Sensing

Hainan Pan, Xieyuanli Chen, Junkai Ren, Bailiang Chen, Kaihong Huang, Hui Zhang, Huimin Lu

Deep LiDAR-radar-visual fusion for object detection in urban environments

[BibTeX]

@article{xiao2023deep,
    title={Deep LiDAR-radar-visual fusion for object detection in urban environments},
    author={Xiao, Yuhan and Liu, Yufei and Luan, Kai and Cheng, Yuwei and Chen, Xieyuanli and Lu, Huimin},
    journal={Remote Sensing},
    volume={15},
    number={18},
    pages={4433},
    year={2023},
    publisher={MDPI}
  }

[PDF]

Remote Sensing

Yuhan Xiao, Yufei Liu, Kai Luan, Yuwei Cheng, Xieyuanli Chen, Huimin Lu

RSS-LIWOM: Rotating solid-state LiDAR for robust LiDAR-Inertial-Wheel odometry and mapping [PDF]

[BibTeX]

@article{gong2023rss,
    title={RSS-LIWOM: Rotating solid-state LiDAR for robust LiDAR-Inertial-Wheel odometry and mapping},
    author={Gong, Shunjie and Shi, Chenghao and Zhang, Hui and Lu, Huimin and Zeng, Zhiwen and Chen, Xieyuanli},
    journal={Remote Sensing},
    volume={15},
    number={16},
    pages={4040},
    year={2023},
    publisher={MDPI}
  }

[PDF]

Remote Sensing

Shunjie Gong, Chenghao Shi, Hui Zhang, Huimin Lu, Zhiwen Zeng, Xieyuanli Chen

Temporal consistent 3D lidar representation learning for semantic perception in autonomous driving

[BibTeX]

@inproceedings{nunes2023temporal,
    title={Temporal consistent 3d lidar representation learning for semantic perception in autonomous driving},
    author={Nunes, Lucas and Wiesmann, Louis and Marcuzzi, Rodrigo and Chen, Xieyuanli and Behley, Jens and Stachniss, Cyrill},
    booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
    pages={5217--5228},
    year={2023}
  }

[PDF]

In Proc. of the IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR 2023)

Lucas Nunes, Louis Wiesmann, Rodrigo Marcuzzi, Xieyuanli Chen, Jens Behley, Cyrill Stachniss

Nerf-loam: Neural implicit representation for large-scale incremental lidar odometry and mapping

[BibTeX]

@inproceedings{deng2023nerf,
    title={Nerf-loam: Neural implicit representation for large-scale incremental lidar odometry and mapping},
    author={Deng, Junyuan and Wu, Qi and Chen, Xieyuanli and Xia, Songpengcheng and Sun, Zhen and Liu, Guoqing and Yu, Wenxian and Pei, Ling},
    booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision},
    pages={8218--8227},
    year={2023}
  }

[PDF]

In Proc. of the IEEE/CVF Intl. Conf. on Computer Vision (ICCV 2023)

Junyuan Deng, Qi Wu, Xieyuanli Chen, Songpengcheng Xia, Zhen Sun, Guoqing Liu, Wenxian Yu, Ling Pei

ERASOR2: Instance-aware robust 3D mapping of the static world in dynamic scenes

[BibTeX]

@inproceedings{lim2023erasor2,
    title={ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes.},
    author={Lim, Hyungtae and Nunes, Lucas and Mersch, Benedikt and Chen, Xieyuanli and Behley, Jens and Myung, Hyun and Stachniss, Cyrill},
    booktitle={Robotics: Science and Systems},
    year={2023}
  }

[PDF]

In Proc. of Robotics: Science and Systems (RSS 2023)

Hyungtae Lim, Lucas Nunes, Benedikt Mersch, Xieyunali Chen, Jens Behley, Hyun Myung, Cyrill Stachniss

PowerBEV: A Powerful Yet Lightweight Framework for Instance Prediction in Bird’s-Eye View

[BibTeX]

@article{li2023powerbev,
    title={Powerbev: A powerful yet lightweight framework for instance prediction in bird's-eye view},
    author={Li, Peizheng and Ding, Shuxiao and Chen, Xieyuanli and Hanselmann, Niklas and Cordts, Marius and Gall, Juergen},
    journal={arXiv preprint arXiv:2306.10761},
    year={2023}
  }

[PDF]

In Proc. of the Intl. Conf. on Artificial Intelligence (IJCAI 2023)

Peizheng Li, Shuxiao Ding, Xieyuanli Chen, Niklas Hanselmann, Marius Cordts, Juergen Gall

Learning-based dimensionality reduction for computing compact and effective local feature descriptors

[BibTeX]

@article{dong2022learning,
    title={Learning-based dimensionality reduction for computing compact and effective local feature descriptors},
    author={Dong, Hao and Chen, Xieyuanli and Dusmanu, Mihai and Larsson, Viktor and Pollefeys, Marc and Stachniss, Cyrill},
    journal={arXiv preprint arXiv:2209.13586},
    year={2022}
  }

[PDF]

In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2023)

Hao Dong, Xieyuanli Chen, Mihai Dusmanu, Viktor Larsson, Marc Pollefeys, Cyrill Stachniss

Hybrid Map-Based Path Planning for Robot Navigation in Unstructured Environments

[BibTeX]

@inproceedings{liu2023hybrid,
    title={Hybrid map-based path planning for robot navigation in unstructured environments},
    author={Liu, Jiayang and Chen, Xieyuanli and Xiao, Junhao and Lin, Sichao and Zheng, Zhiqiang and Lu, Huimin},
    booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={2216--2223},
    year={2023},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2023)

Jiayang Liu, Xieyuanli Chen, Junhao Xiao, Sichao Lin, Zhiqiang Zheng, Huimin Lu

ElC-OIS: Ellipsoidal Clustering for Open-World Instance Segmentation on LiDAR Data

[BibTeX]

@inproceedings{deng2023elc,
    title={Elc-ois: Ellipsoidal clustering for open-world instance segmentation on lidar data},
    author={Deng, Wenbang and Huang, Kaihong and Yu, Qinghua and Lu, Huimin and Zheng, Zhiqiang and Chen, Xieyuanli},
    booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={7606--7613},
    year={2023},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2023)

Wenbang Deng, Kaihong Huang, Qinghua Yu, Huimin Lu, Zhiqiang Zheng, Xieyuanli Chen

InsMOS: Instance-aware moving object segmentation in LiDAR data

[BibTeX]

@inproceedings{wang2023insmos,
    title={Insmos: Instance-aware moving object segmentation in lidar data},
    author={Wang, Neng and Shi, Chenghao and Guo, Ruibin and Lu, Huimin and Zheng, Zhiqiang and Chen, Xieyuanli},
    booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={7598--7605},
    year={2023},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2023)

Neng Wang, Chenghao Shi, Ruibin Guo, Huimin Lu, Zhiqiang Zheng, Xieyuanli Chen

Neu-nbv: Next best view planning using uncertainty estimation in image-based neural rendering

[BibTeX]

@inproceedings{jin2023neu,
    title={Neu-nbv: Next best view planning using uncertainty estimation in image-based neural rendering},
    author={Jin, Liren and Chen, Xieyuanli and R{\"u}ckin, Julius and Popovi{\'c}, Marija},
    booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={11305--11312},
    year={2023},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2023)

Liren Jin, Xieyuanli Chen, Julius Rückin, Marija Popović

Kernel-Based Attention Network for Point Cloud Compression

[BibTeX]

@inproceedings{yuan2023kernel,
    title={Kernel-Based Attention Network for Point Cloud Compression},
    author={Yuan, Yang and Chen, Xieyuanli and Shi, Chenghao and Lv, Yunxiao and Lu, Huimin and Xiao, Junhao},
    booktitle={2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
    pages={1--7},
    year={2023},
    organization={IEEE}
  }

[PDF]

IEEE International Conference on Robotics and Biomimetics (ROBIO 2023)

Yang Yuan, Xieyuanli Chen, Chenghao Shi, Yunxiao Lv, Huimin Lu, Junhao Xiao

2022

SeqOT: A spatial–temporal transformer network for place recognition using sequential LiDAR data

[BibTeX]

@article{ma2022seqot,
    title={SeqOT: A spatial--temporal transformer network for place recognition using sequential LiDAR data},
    author={Ma, Junyi and Chen, Xieyuanli and Xu, Jingyi and Xiong, Guangming},
    journal={IEEE Transactions on Industrial Electronics},
    volume={70},
    number={8},
    pages={8225--8234},
    year={2022},
    publisher={IEEE}
  }

[PDF]

IEEE Transactions on Industrial Electronics (T-IE)

Junyi Ma, Xieyuanli Chen, Jingyi Xu, Guangming Xiong

OverlapNet: a siamese network for computing LiDAR scan similarity with applications to loop closing and localization [PDF]

[BibTeX]

@article{chen2022overlapnet,
    title={OverlapNet: A siamese network for computing LiDAR scan similarity with applications to loop closing and localization},
    author={Chen, Xieyuanli and L{\"a}be, Thomas and Milioto, Andres and R{\"o}hling, Timo and Behley, Jens and Stachniss, Cyrill},
    journal={Autonomous Robots},
    volume={46},
    number={1},
    pages={61--81},
    year={2022},
    publisher={Springer}
  }

[PDF]

Autonomous Robots

Xieyuanli Chen, Thomas Läbe, Andres Milioto, Timo Röhling, Jens Behley, Cyrill Stachniss

Overlaptransformer: An efficient and yaw-angle-invariant transformer network for lidar-based place recognition

[BibTeX]

@article{ma2022overlaptransformer,
    title={OverlapTransformer: An efficient and yaw-angle-invariant transformer network for LiDAR-based place recognition},
    author={Ma, Junyi and Zhang, Jun and Xu, Jintao and Ai, Rui and Gu, Weihao and Chen, Xieyuanli},
    journal={IEEE Robotics and Automation Letters},
    volume={7},
    number={3},
    pages={6958--6965},
    year={2022},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Junyi Ma, Jun Zhang, Jintao Xu, Rui Ai, Weihao Gu, Xieyuanli Chen

Long-term localization using semantic cues in floor plan maps

[BibTeX]

@article{zimmerman2022long,
    title={Long-term localization using semantic cues in floor plan maps},
    author={Zimmerman, Nicky and Guadagnino, Tiziano and Chen, Xieyuanli and Behley, Jens and Stachniss, Cyrill},
    journal={IEEE Robotics and Automation Letters},
    volume={8},
    number={1},
    pages={176--183},
    year={2022},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Nicky Zimmerman, Tiziano Guadagnino, Xieyuanli Chen, Jens Behley, Cyrill Stachniss

Unsupervised class-agnostic instance segmentation of 3d lidar data for autonomous vehicles

[BibTeX]

@article{nunes2022unsupervised,
    title={Unsupervised class-agnostic instance segmentation of 3d lidar data for autonomous vehicles},
    author={Nunes, Lucas and Chen, Xieyuanli and Marcuzzi, Rodrigo and Osep, Aljosa and Leal-Taix{\'e}, Laura and Stachniss, Cyrill and Behley, Jens},
    journal={IEEE Robotics and Automation Letters},
    volume={7},
    number={4},
    pages={8713--8720},
    year={2022},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Lucas Nunes, Xieyuanli Chen, Rodrigo Marcuzzi, Aljosa Osep, Laura Leal-Taixé, Cyrill Stachniss, Jens Behley

Fast sparse LiDAR odometry using self-supervised feature selection on intensity images [PDF]

[BibTeX]

@article{guadagnino2022fast,
    title={Fast sparse LiDAR odometry using self-supervised feature selection on intensity images},
    author={Guadagnino, Tiziano and Chen, Xieyuanli and Sodano, Matteo and Behley, Jens and Grisetti, Giorgio and Stachniss, Cyrill},
    journal={IEEE Robotics and Automation Letters},
    volume={7},
    number={3},
    pages={7597--7604},
    year={2022},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Tiziano Guadagnino, Xieyuanli Chen, Matteo Sodano, Jens Behley, Giorgio Grisetti, Cyrill Stachniss

Receding moving object segmentation in 3d lidar data using sparse 4d convolutions

[BibTeX]

@article{mersch2022receding,
    title={Receding moving object segmentation in 3d lidar data using sparse 4d convolutions},
    author={Mersch, Benedikt and Chen, Xieyuanli and Vizzo, Ignacio and Nunes, Lucas and Behley, Jens and Stachniss, Cyrill},
    journal={IEEE Robotics and Automation Letters},
    volume={7},
    number={3},
    pages={7503--7510},
    year={2022},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Benedikt Mersch, Xieyuanli Chen, Ignacio Vizzo, Lucas Nunes, Jens Behley, Cyrill Stachniss

Bow3d: Bag of words for real-time loop closing in 3d lidar slam

[BibTeX]

@article{cui2022bow3d,
    title={Bow3d: Bag of words for real-time loop closing in 3d lidar slam},
    author={Cui, Yunge and Chen, Xieyuanli and Zhang, Yinlong and Dong, Jiahua and Wu, Qingxiao and Zhu, Feng},
    journal={IEEE Robotics and Automation Letters},
    volume={8},
    number={5},
    pages={2828--2835},
    year={2022},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Yunge Cui, Xieyuanli Chen, Yinlong Zhang, Jiahua Dong, Qingxiao Wu, Feng Zhu

Automatic labeling to generate training data for online LiDAR-based moving object segmentation

[BibTeX]

<code@article{chen2022automatic,
    title={Automatic labeling to generate training data for online LiDAR-based moving object segmentation},
    author={Chen, Xieyuanli and Mersch, Benedikt and Nunes, Lucas and Marcuzzi, Rodrigo and Vizzo, Ignacio and Behley, Jens and Stachniss, Cyrill},
    journal={IEEE Robotics and Automation Letters},
    volume={7},
    number={3},
    pages={6107--6114},
    year={2022},
    publisher={IEEE}
  }</code>

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Xieyuanli Chen, Benedikt Mersch, Lucas Nunes, Rodrigo Marcuzzi, Ignacio Vizzo, Jens Behley, Cyrill Stachniss

Segcontrast: 3d point cloud feature representation learning through self-supervised segment discrimination

[BibTeX]

@article{nunes2022segcontrast,
    title={Segcontrast: 3d point cloud feature representation learning through self-supervised segment discrimination},
    author={Nunes, Lucas and Marcuzzi, Rodrigo and Chen, Xieyuanli and Behley, Jens and Stachniss, Cyrill},
    journal={IEEE Robotics and Automation Letters},
    volume={7},
    number={2},
    pages={2116--2123},
    year={2022},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Lucas Nunes, Rodrigo Marcuzzi, Xieyuanli Chen, Jens Behley, Cyrill Stachniss

Transfer learning from synthetic in-vitro soybean pods dataset for in-situ segmentation of on-branch soybean pods

[BibTeX]

@inproceedings{yang2022transfer,
    title={Transfer learning from synthetic in-vitro soybean pods dataset for in-situ segmentation of on-branch soybean pods},
    author={Yang, Si and Zheng, Lihua and Chen, Xieyuanli and Zabawa, Laura and Zhang, Man and Wang, Minjuan},
    booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
    pages={1666--1675},
    year={2022}
  }

[PDF]

In Proc. of the IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR 2022)

Si Yang, Lihua Zheng, Xieyuanli Chen, Laura Zabawa, Man Zhang, Minjuan Wang

Ick-track: A category-level 6-dof pose tracker using inter-frame consistent keypoints for aerial manipulation

[BibTeX]

@inproceedings{sun2022ick,
    title={Ick-track: A category-level 6-dof pose tracker using inter-frame consistent keypoints for aerial manipulation},
    author={Sun, Jingtao and Wang, Yaonan and Feng, Mingtao and Wang, Danwei and Zhao, Jiawen and Stachniss, Cyrill and Chen, Xieyuanli},
    booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={1556--1563},
    year={2022},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2022)

Jingtao Sun, Yaonan Wang, Mingtao Feng, Danwei Wang, Jiawen Zhao, Cyrill Stachniss, Xieyuanli Chen

Efficient spatial-temporal information fusion for lidar-based 3d moving object segmentation

[BibTeX]

@inproceedings{sun2022efficient,
    title={Efficient spatial-temporal information fusion for lidar-based 3d moving object segmentation},
    author={Sun, Jiadai and Dai, Yuchao and Zhang, Xianjing and Xu, Jintao and Ai, Rui and Gu, Weihao and Chen, Xieyuanli},
    booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={11456--11463},
    year={2022},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2022)

Jiadai Sun, Yuchao Dai, Xianjing Zhang, Jintao Xu, Rui Ai, Weihao Gu, Xieyuanli Chen

2021

Multi-scale interaction for real-time lidar data segmentation on an embedded platform

[BibTeX]

@article{li2021multi,
    title={Multi-scale interaction for real-time lidar data segmentation on an embedded platform},
    author={Li, Shijie and Chen, Xieyuanli and Liu, Yun and Dai, Dengxin and Stachniss, Cyrill and Gall, Juergen},
    journal={IEEE Robotics and Automation Letters},
    volume={7},
    number={2},
    pages={738--745},
    year={2021},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Shijie Li, Xieyuanli Chen, Yun Liu, Dengxin Dai, Cyrill Stachniss, Juergen Gall

Moving object segmentation in 3D LiDAR data: A learning-based approach exploiting sequential data

[BibTeX]

@article{chen2021moving,
    title={Moving object segmentation in 3D LiDAR data: A learning-based approach exploiting sequential data},
    author={Chen, Xieyuanli and Li, Shijie and Mersch, Benedikt and Wiesmann, Louis and Gall, J{\"u}rgen and Behley, Jens and Stachniss, Cyrill},
    journal={IEEE Robotics and Automation Letters},
    volume={6},
    number={4},
    pages={6529--6536},
    year={2021},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Xieyuanli Chen, Shijie Li, Benedikt Mersch, Louis Wiesmann, Jürgen Gall, Jens Behley, Cyrill Stachniss

Keypoint matching for point cloud registration using multiplex dynamic graph attention networks

[BibTeX]

@article{shi2021keypoint,
    title={Keypoint matching for point cloud registration using multiplex dynamic graph attention networks},
    author={Shi, Chenghao and Chen, Xieyuanli and Huang, Kaihong and Xiao, Junhao and Lu, Huimin and Stachniss, Cyrill},
    journal={IEEE Robotics and Automation Letters},
    volume={6},
    number={4},
    pages={8221--8228},
    year={2021},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Chenghao Shi, Xieyuanli Chen, Kaihong Huang, Junhao Xiao, Huimin Lu, Cyrill Stachniss

Deep compression for dense point cloud maps

[BibTeX]

@article{wiesmann2021deep,
    title={Deep compression for dense point cloud maps},
    author={Wiesmann, Louis and Milioto, Andres and Chen, Xieyuanli and Stachniss, Cyrill and Behley, Jens},
    journal={IEEE Robotics and Automation Letters},
    volume={6},
    number={2},
    pages={2060--2067},
    year={2021},
    publisher={IEEE}
  }

[PDF]

IEEE Robotics and Automation Letters (RA-L)

Louis Wiesmann, Andres Milioto, Xieyuanli Chen, Cyrill Stachniss, Jens Behley

Self-supervised point cloud prediction using 3d spatio-temporal convolutional networks

[BibTeX]

@inproceedings{mersch2022self,
    title={Self-supervised point cloud prediction using 3d spatio-temporal convolutional networks},
    author={Mersch, Benedikt and Chen, Xieyuanli and Behley, Jens and Stachniss, Cyrill},
    booktitle={Conference on Robot Learning},
    pages={1444--1454},
    year={2022},
    organization={PMLR}
  }

[PDF]

In Proc. of the Conf. on Robot Learning (CoRL 2021)

Benedikt Mersch, Xieyuanli Chen, Jens Behley, Cyrill Stachniss

Moving Object Segmentation for LiDAR-based Localization and Mapping
[BibTeX]
```
@article{chenmoving,
    title={Moving Object Segmentation for LiDAR-based Localization and Mapping},
    author={Chen, Xieyuanli}
  }
```
[PDF]
Robotics: Science and Systems (RSS 2021) Pioneer Workshop

Xieyuanli Chen

Range image-based LiDAR localization for autonomous vehicles

[BibTeX]

@inproceedings{chen2021range,
    title={Range image-based LiDAR localization for autonomous vehicles},
    author={Chen, Xieyuanli and Vizzo, Ignacio and L{\"a}be, Thomas and Behley, Jens and Stachniss, Cyrill},
    booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={5802--5808},
    year={2021},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2021)

Xieyuanli Chen Ignacio Vizzo, Thomas Läbe, Jens Behley, Cyrill Stachniss

Poisson surface reconstruction for LiDAR odometry and mapping

[BibTeX]

@inproceedings{vizzo2021poisson,
    title={Poisson surface reconstruction for LiDAR odometry and mapping},
    author={Vizzo, Ignacio and Chen, Xieyuanli and Chebrolu, Nived and Behley, Jens and Stachniss, Cyrill},
    booktitle={2021 IEEE international conference on robotics and automation (ICRA)},
    pages={5624--5630},
    year={2021},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2021)

Ignacio Vizzo, Xieyuanli Chen, Nived Chebrolu, Jens Behley, Cyrill Stachniss.

Simple but effective redundant odometry for autonomous vehicles

[BibTeX]

@inproceedings{reinke2021simple,
    title={Simple but effective redundant odometry for autonomous vehicles},
    author={Reinke, Andrzej and Chen, Xieyuanli and Stachniss, Cyrill},
    booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
    pages={9631--9637},
    year={2021},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA 2021)

Andrzej Reinke, Xieyuanli Chen, Cyrill Stachniss

Efficient localisation using images and OpenStreetMaps

[BibTeX]

@inproceedings{zhou2021efficient,
    title={Efficient localisation using images and OpenStreetMaps},
    author={Zhou, Mengjie and Chen, Xieyuanli and Samano, Noe and Stachniss, Cyrill and Calway, Andrew},
    booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={5507--5513},
    year={2021},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2021)

Mengjie Zhou, Xieyuanli Chen, Noe Samano, Cyrill Stachniss, Andrew Calway

Mapping the static parts of dynamic scenes from 3D LiDAR point clouds exploiting ground segmentation

[BibTeX]

@inproceedings{arora2021mapping,
    title={Mapping the static parts of dynamic scenes from 3D LiDAR point clouds exploiting ground segmentation},
    author={Arora, Mehul and Wiesmann, Louis and Chen, Xieyuanli and Stachniss, Cyrill},
    booktitle={2021 European Conference on Mobile Robots (ECMR)},
    pages={1--6},
    year={2021},
    organization={IEEE}
  }

[PDF]

In Proc. of the Europ. Conf. on Mobile Robotics (ECMR 2021)

Mehul Arora, Louis Wiesmann, Xieyuanli Chen, Cyrill Stachniss

Online range image-based pole extractor for long-term lidar localization in urban environments

[BibTeX]

@inproceedings{dong2021online,
    title={Online range image-based pole extractor for long-term lidar localization in urban environments},
    author={Dong, Hao and Chen, Xieyuanli and Stachniss, Cyrill},
    booktitle={2021 European conference on mobile robots (ECMR)},
    pages={1--6},
    year={2021},
    organization={IEEE}
  }

[PDF]

In Proc. of the Europ. Conf. on Mobile Robotics (ECMR 2021)

Hao Dong, Xieyuanli Chen, Cyrill Stachniss

2020

OverlapNet: Loop Closing for LiDAR-based SLAM

[BibTeX]

@article{chen2021overlapnet,
    title={OverlapNet: Loop closing for LiDAR-based SLAM},
    author={Chen, Xieyuanli and L{\"a}be, Thomas and Milioto, Andres and R{\"o}hling, Timo and Vysotska, Olga and Haag, Alexandre and Behley, Jens and Stachniss, Cyrill},
    journal={arXiv preprint arXiv:2105.11344},
    year={2021}
  }

[PDF]

In Proc. of Robotics: Science and Systems (RSS 2020)

Xieyuanli Chen, Thomas Läbe, Andres Milioto, Timo Röhling, Olga Vysotska, Alexandre Haag, Jens Behley, Cyrill Stachniss.

Learning an Overlap-based Observation Model for 3D LiDAR Localization

[BibTeX]

@inproceedings{chen2020learning,
    title={Learning an overlap-based observation model for 3D LiDAR localization},
    author={Chen, Xieyuanli and L{\"a}be, Thomas and Nardi, Lorenzo and Behley, Jens and Stachniss, Cyrill},
    booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={4602--4608},
    year={2020},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2020)

Xieyuanli Chen, Thomas Läbe, Lorenzo Nardi, Jens Behley, Cyrill Stachniss

Semantic RGB-D SLAM for rescue robot navigation

[BibTeX]

@article{deng2020semantic,
    title={Semantic RGB-D SLAM for rescue robot navigation},
    author={Deng, Wenbang and Huang, Kaihong and Chen, Xieyuanli and Zhou, Zhiqian and Shi, Chenghao and Guo, Ruibin and Zhang, Hui},
    journal={IEEE Access},
    volume={8},
    pages={221320--221329},
    year={2020},
    publisher={IEEE}
  }

[PDF]

IEEE Access

Wenbang Deng, Kaihong Huang, Xieyuanli Chen, Zhiqian Zhou, Chenghao Shi, Ruibin Guo, Hui Zhang

2019

SuMa++: Efficient LiDAR-based Semantic SLAM

[BibTeX]

@inproceedings{chen2019suma++,
    title={Suma++: Efficient lidar-based semantic slam},
    author={Chen, Xieyuanli and Milioto, Andres and Palazzolo, Emanuele and Giguere, Philippe and Behley, Jens and Stachniss, Cyrill},
    booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    pages={4530--4537},
    year={2019},
    organization={IEEE}
  }

[PDF]

In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2019)

Xieyuanli Chen, Andres Milioto, Emanuele Palazzolo, Philippe Giguère, Jens Behley, Cyrill Stachniss.

🎖 Honors and Awards

2025 Outstanding Associate Editor
RA-L, IEEE Robotics and Automation Society
2024 World’s Top 2% Scientists
Stanford and Elsevier
2024 Finalist of Best Paper in Robot Learning
IEEE International Conference on Robotics and Biomimetics (ROBIO)
2022 Summa cum laude (Doctoral degree with distinction, best possible grade)
University of Bonn
2021 RSS Pioneer
Robotics: Science and Systems (RSS)
2020 Finalist of Best System Paper
Robotics: Science and Systems (RSS)
2021, 2022, 2023 Best‑in‑Class in Rescue Robot League
Rescue Robot League (RRL), RoboCup

📖 Educations

2018.09 - 2022.08, Dr.‑Ing., University of Bonn, ‑ summa cum laude (with distinction, best possible grade)
Bonn, Germany, SUPERVISOR: Prof. Dr. Cyrill Stachniss
THESIS: LiDAR‑Based Semantic Perception for Autonomous Vehicles
2015.09 - 2017.12, M.S. in Robotics, National University of Defense Technology
Hunan, China, SUPERVISOR: Prof. Dr. Hui Zhang
THESIS: Binary Visual Feature‑based Monocular SLAM
2011.09 - 2015.07, B.S. in Electrical Engineering and Automation, Hunan University
Hunan, China, SUPERVISOR: Prof. Dr. Jianhao Tan
THESIS: Control for a Quadrotor UVA

👨‍🔧 Working Experience

ACADEMIC WORKING EXPERIENCE

2022.12 ‑ Present Associate Professor
National University of Defense Technology
2019.09 ‑ 2022.09 Research Assistant
University of Bonn

RESEARCH COMMITTEE MEMBERSHIP

2022.09 ‑ Present Associate Editor
IEEE Robotics and Automation Letters (RA‑L)
2023, 2024, 2025 Associate Editor
IEEE Intl. Conf. on Robotics & Automation (ICRA)
2023, 2024 Associate Editor
IEEE/RSJ Intl. Conf. on Intelligent Robots & Systems (IROS)
2019.07 ‑ 2023.07 Technical Committee
RoboCup Rescue Robot League

Xieyuanli Chen

陈谢沅澧

🤖 About Me

🔥 News

📝 Publications

2025

2024

2023

2022

2021

2020

2019

🎖 Honors and Awards

📖 Educations

👨‍🔧 Working Experience

ACADEMIC WORKING EXPERIENCE

RESEARCH COMMITTEE MEMBERSHIP