A paper is accepted by CASE 2019

May 16th, 2019

W. Gao, J. Lin, F. Zhang and S. Shen's work on "A screen-based method for automated camera intrinsic calibration on production lines" is accepted by the 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE 2019) for publication.

CASE 2019 will be held at Vancouver, Canada from August 22th to 26th.

A paper is accepted by UAVision 2019

April 8th, 2019

R. Fan, J. Jiao, J. Pan, H. Huang, S. Shen and M. Liu's work on "Real-time dense stereo embedded in a UAV for road inspection" is accepted by the 3rd International Workshop on Computer Vision for UAVs (UAVision 2019) for publication. This workshop will be held on June 16th and it is in conjunction with CVPR 2019, Long Beach, California.

About the workshop

A paper receives Honorable Mention status for the 2018 T-RO Best Paper award

April 3rd, 2019

T. Qin, P. Li and S. Shen's papper "VINS-Mono: A robust and versatile monocular visual-inertial state estimator" has been chosen as one of two papers to receive Honorable Mention status for the 2018 IEEE Transactions on Robotics (T-RO) Best Paper award.

A paper is accepted by T-RO

March 28th, 2019

K. Qiu, T. Qin, W. Gao and S. Shen's work on "Tracking 3D motion of dynamic objects using monocular visual-inertial sensing" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

A paper is accepted by CVPR 2019

February 25th, 2019

P. Li, X. Chen and S. Shen's work on "Stereo R-CNN based 3D object detection for autonomous driving" is accepted by the 2019 IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2019).

CVPR 2019 will be held in Long Beach, California from June 16th to 20th.

A paper is accepted by JFR

February 25th, 2019

Y. Ling and S. Shen's work on "Real-time dense mapping for online processing and navigation" is accepted by the Journal of Field Robotics (JFR) for publication.

Four papers are accepted by ICRA 2019 and one of them is published in journal RA-L

February 11th, 2019

Four conference papers are accepted by ICRA 2019 and one of them is published in journal RA-L, including:

  1. W. Ding, J. Chen and S. Shen. Predicting vehicle behaviors over an extended horizon using behavior interaction network.
  2. K. Wang, F. Gao and S. Shen. Real-time scalable dense surfel mapping.
  3. W. Ding and S. Shen. Online vehicle trajectory prediction using policy anticipation network and optimization-based context reasoning.
  4. F. Gao, L. Wang, K. Wang, W. Wu, B. Zhou, L. Han and S. Shen. Optimal trajectory generation for quadrotor teach-and-repeat.

The paper of Fei Gao, Luqi Wang, Kaixuan Wang, William Wu, Boyu Zhou, Luxin Han and Shaojie Shen is published in IEEE Robotics and Automation Letters (RA-L).

ICRA 2019 will be held in Montreal, Canada from May 20th to 24th.

Prof Shen gave a talk at CMU RI

February 11th, 2019

Prof Shen gave a talk at the Robotics Institute at Carnegie Mellon University (CMU RI) on 25 January, 2019. He reported on the topic of 'Minimalist visual perception and navigation for consumer drones'.

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Code for VINS-Fusion is now available on GitHub

January 14th, 2019

VINS-Fusion is an optimization-based multi-sensor state estimator, which achieves accurate self-localization for autonomous applications (drones, cars, and AR/VR). VINS-Fusion is an extension of VINS-Mono, which supports multiple visual-inertial sensor types (mono camera + IMU, stereo cameras + IMU, even stereo cameras only). We also show a toy example of fusing VINS with GPS. Features:

  1. multiple sensors support (stereo cameras / mono camera+IMU / stereo cameras+IMU)
  2. online spatial calibration (transformation between camera and IMU)
  3. online temporal calibration (time offset between camera and IMU)
  4. visual loop closure.

We are the TOP open-sourced stereo algorithm on KITTI Odometry Benchmark (12 Jan. 2019).

code on GitHub

A paper is accepted by RA-L

January 10th, 2019

F. Gao, L. Wang, K. Wang, W. Wu, B. Zhou, L. Han and S. Shen's work on "Optimal trajectory generation for quadrotor teach-and-repeat" is accepted by the IEEE Robotics and Automation Letters (RA-L) for publication.

A paper is accepted by ROBIO 2018

October 18th, 2018

L. Wang, F. Gao, F. Cai and S. Shen's work on "CRASH: a collaborative aerial-ground exploration system using hybrid-frontier method" is accepted by the IEEE International Conference on Robotics and Biomimetics (ROBIO).

ROBIO 2018 is held in Kuala Lumpur, Malaysia from December 12th to 15th.

A paper is accepted by IJMAV

October 9th, 2018

X. Lyu, H. Gu, J. Zhou, Z. Li, S. Shen and F. Zhang's work on "Simulation and flight experiments of a quadrotor tail-sitter VTOL UAV with wide flight envelope" is accepted by International Journal of Micro Air Vehicles (IJMAV) for publication.

A paper is accepted by JFR

October 11th, 2018

F. Gao, W. Wu, W. Gao and S. Shen's work on "Flying on point clouds: online trajectory generation and autonomous navigation for quadrotor in cluttered environments" is accepted by Journal of Field Robotics (JFR) for publication.

Tong Qin wins the IROS 2018 Best Student Paper Award

October 4th, 2018

The paper "Online temporal calibration for monocular visual-inertial systems" by Ph.D. student Tong Qin wins the Best Student Paper Award in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) which is held in Madrid, Spain.
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A paper is accepted by 3DV 2018

July 21st, 2018

K. Wang and S. Shen's work on "MVDepthNet: real-time multiview depth estimation neural network" is accepted by the 6th international conference on 3D Vision (3DV).

3DV 2018 is held in Verona, Italy from September 5th to 8th.

A paper is accepted by T-RO

July 20th, 2018

S. Chung, A. Paranjape, P. Dames, S. Shen and V. Kumar's work on "A survey on aerial swarm robotics" is accepted by the IEEE Transactions on Robotics (T-RO) for publication.

A paper is accepted by ECCV 2018

July 3rd, 2018

P. Li, T. Qin and S. Shen's work on "Stereo vision-based semantic 3D object and ego-motion tracking for autonomous driving" is accepted by the European Conference on Computer Vision (ECCV 2018).

ECCV 2018 is held at Munich, Germany from September 8th to 14th.

Seven papers are accepted by IROS 2018 and one of them is published in journal RA-L

June 29th, 2018

Seven papers are accepted by the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) and one of them is published in journal RA-L, including:

  1. K. Qiu, T. Qin, H. Xie and S. Shen. Estimating metric poses of dynamic objects using monocular visual-inertial fusion.
  2. T. Qin and S. Shen. Online temporal calibration for monocular visual-inertial systems.
  3. Y. Ling, K. Wang and S. Shen. Probabilistic dense reconstruction from a moving camera.
  4. F. Gao, W. Wu, J. Pan, B. Zhou and S. Shen. Optimal time allocation for quadrotor trajectory generation.
  5. K. Wang and S. Shen. Adaptive baseline monocular dense mapping with inter-frame depth propagation.
  6. K. Wang, W. Ding and S. Shen. Quadtree-accelerated real-time monocular dense mapping.
  7. X. Lyu, J. Zhou, H. Gu, Z. Li, S. Shen and F. Zhang. Disturbance observer based hovering control of quadrotor tail-sitter VTOL UAVs using H-infinity synthesis.

The paper of Ximin Lyu, Jinni Zhou, Haowei Gu, Zexiang Li, Shaojie Shen and Fu Zhang is published in IEEE Robotics and Automation Letters (RA-L).

IROS 2018 is held in Madrid, Spain from October 1st to 5th.

A paper is accepted by ISER 2018

June 28th, 2018

L. Wang, D. Cheng, F. Gao, F. Cai, J. Guo, M. Lin and S. Shen's work on "A collaborative aerial-ground robotic system for fast exploration" is accepted by the 2018 International Symposium on Experimental Robotics (ISER 2018).

ISER 2018 is held at Buenos Aires, Argentina from November 5th to 8th.

A paper is accepted by T-RO

May 19th, 2018

T. Qin, P. Li and S. Shen's work on "VINS-Mono: A robust and versatile monocular visual-inertial state estimator" is accepted by IEEE Transactions on Robotics (T-RO) for publication.

A paper is accepted by ETRA 2018

April 26th, 2018

H. Wang, J. Pi, T. Qin, S. Shen and B. Shi's work on "Slam-based localization of 3D gaze from mobile eye trackers" is accepted by the ACM Symposium on Eye Tracking Research and Applications (ETRA).

ETRA 2018 is held at Warsaw, Poland from June 14th to 17th.

A paper is accepted by IJCAI-ECAI 2018

April 17th, 2018

S. Li, T. Liu, C. Zhang, D. Yeung and S. Shen's work on "Learning unmanned aerial vehicle control for autonomous target following" is accepted by the 27th International Joint Conference on Artificial Intelligence and the 23rd European Conference on Artificial Intelligence (IJCAI-ECAI).

IJCAI-ECAI 2018 is held at Stockholm, Sweden from July 13rd to 19th.

Two papers are accepted by ICUAS 2018

April 17th, 2018

Two conference papers of Prof Shen are accepted by IEEE International Conference on Unmanned Aircraft Systems (ICUAS), including:

  1. J. Zhou, X. Lyu, X. Cai, Z. Li, S. Shen and F. Zhang. Frequency domain model identification and loop-shaping controller design for quadrotor tail-sitter VTOL UAVs.
  2. H. GU, X. Cai, J. Zhou, Z. Li, S. Shen and F. Zhang. A coordinate descent method for multidisciplinary design optimization of electric-powered winged UAVs.

ICUAS 2018 is held in Dallas, TX, USA from June 12th to 15th.

Four papers are accepted by ICRA 2018

January 12th, 2018

Four conference papers of the HKUST UAV group are accepted by IEEE International Conference on Robotics and Automation (ICRA), including:

  1. F. Gao, W. Wu, Yi Lin and S. Shen. Online safe trajectory generation for quadrotors using fast marching method and bernstein basis polynomial.
  2. T. Qin, P. Li and S. Shen. Relocalization, global optimization and map merging for monocular visual-inertial SLAM.
  3. W. Ding, W. Gao, K. Wang and S. Shen. Trajectory replanning for quadrotors using kinodynamic search and elastic optimization.
  4. C. Huang, F. Gao, J. Pan, Z. Yang, W. Qiu, P. Chen, X. Yang, S. Shen and K. T. Cheng. ACT: an autonomous drone cinematography system for action scenes.

ICRA 2018 is held in Brisbane, Australia from May 21st to 25th.

A paper is accepted by SSRR 2017

August 28th, 2017

Changsheng Shen, Yuanzhao Zhang, Zimo Li, Fei Gao, Shaojie Shen's work on "Collaborative air-ground target searching in complex environments" is accepted by the IEEE Internaitonal Symposium on Safety, Security and Rescue Robotics (SSRR),

SSRR 2017 is held in Shanghai, China from October 11th to 13th.

A paper is accepted by ISMAR 2017

July 10th, 2017

Peiliang Li, Tong Qin, Botao Hu, Fengyuan Zhu and Shaojie Shen's work on "Monocular visual-inertial state estimation for mobile augmented reality" is accepted by the IEEE International Symposium on Mixed and Augmented Reality (ISMAR).

ISMAR 2017 is held in Nantes, France from October 9th to 13th.

A paper is accepted by RA-L

July 6th, 2017

Tianbo Liu and Shaojie Shen's paper entitled "Spline-based initialization of monocular visual-inertial state estimators at high altitude" is accepted by IEEE Robotics and Automation Letters (RA-L) for publication.

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Nine papers are accepted by IROS 2017 with one published in journal RA-L

June 15th, 2017

Nine papers of the HKUST UAV group are accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), including:

  1. J. Chen and S. Shen. Using a quadrotor to track a moving target with arbitrary relative motion patterns.
  2. F. Gao, Y. Lin and S. Shen. Gradient-based online safe trajectory generation for quadrotor flight in complex environments.
  3. W. Gao and S. Shen. Dual-fi sheye omnidirectional stereo.
  4. Y. Ling and S. Shen. Building maps for autonomous navigation using sparse visual SLAM features.
  5. T. Liu and S. Shen. Spline-based initialization of monocular visual-inertial state estimators at high altitude.
  6. X. Lyu, H. Gu, J. Zhou, Z. Li, S. Shen and F. Zhang. A hierarchical control approach for a quadrotor tail-sitter VTOL UAV and experimental verifi cation.
  7. T. Qin and S. Shen. Robust initialization of monocular visual-inertial estimation on aerial robots.
  8. K. Qiu and S. Shen. Model-aided monocular visual-inertial state estimation and dense mapping.
  9. J. Zhou, X. Lyu, Z. Li, S. Shen and F. Zhang. A unifi ed control method for quadrotor tail-sitter UAVs in all flight modes: hover, transition, and level flight.

The paper of Tianbo Liu and Shaojie Shen is published in IEEE Robotics and Automation Letters (RA-L).

IROS 2017 is held in Vancouver, Canada from September 24th to 28th.

A paper is accepted by AURO

June 1st, 2017

Yonggen Ling, Manohar Kuse and Shaojie Shen's paper entitled "Edge alignment-based visual-inertial fusion for tracking of aggressive motions" is accepted by Autonomous Robots (AURO) for publication.

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A paper is accepted by JFR

May 27th, 2017

Yi Lin, Fei Gao, Tong Qin, Wenliang Gao, Tianbo Liu, William Wu, Zhenfei Yang and Shaojie Shen's paper entitled "Autonomous aerial navigation using monocular visual-inertial fusion" is accepted by Journal of Field Robotics (JFR).

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Code for VINS-Mono is now available on GitHub

May 23rd, 2017

VINS-Mono is a real-time SLAM framework for Monocular Visual-Inertial Systems. It uses an optimization-based sliding window formulation for providing high-accuracy visual-inertial odometry. It features efficient IMU pre-integration with bias correction, automatic estimator initialization, online extrinsic calibration, failure detection and recovery, loop detection, and global pose graph optimization. VINS-Mono is primarily designed for state estimation and feedback control of autonomous drones, but it is also capable of providing accurate localization for AR applications. This code runs on Linux, and is fully integrated with ROS.

code on Github

VINS-mobile (iOS)

A paper is accepted by ICIP 2017

May 10th, 2017

Manohar Kuse, Sunil Prasad Jaiswal and Shaojie Shen's work on "Deep-Mapnets: A Residual Network for 3D Environment Representation" is accepted by the IEEE International Conference on Image Processing (ICIP).

ICIP 2017 is held in Beijing, China from September 17th to 20th.

Code for VINS-Mobile is now available on GitHub

May 8th, 2017

VINS-Mobile is a real-time monocular visual-inertial state estimator runs on compatible iOS devices, and provides localization services for augmented reality (AR) applications. It is also tested for state estimation and feedback control for autonomous drones. VINS-Mobile uses sliding window optimization-based formulation for providing high-accuracy visual-inertial odometry with automatic initialization and failure recovery. The accumulated odometry errors are corrected in real-time using global pose graph SLAM. An AR demonstration is provided to showcase its capability.

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Two papers are accepted by ICUAS 2017

April 24th, 2017

Two papers of Shaojie are accepted by International Conference on Unmanned Aircraft Systems (ICUAS) 2017, including

  1. H. Gu, X. Lyu, Z. Li, S. Shen and F. Zhang. Development and experimental verifi cation of a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle(UAV).
  2. Y. Wang, X. Lyu, H. Gu, Z. Li, S. Shen and F. Zhang. Design, implementation and verifi cation of a quadrotor tail-sitter VTOL UAV.

ICUAS 2017 is held in Miami, USA from June 13th to 16th.

Jing Chen's paper enters the final list of Best Service Robotics Paper Award in ICRA 2017

 April 6th, 2017

Jing Chen and Shaojie Shen's paper entitled "Improving octree-based occupancy maps using environment sparsity with application to aerial robot navigation" has been selected as one of the finalists of "Best Service Robotics Paper Award" of the 2017 IEEE International Conference on Robotics and Automation (ICRA).

ICRA 2017 is held in Singapore from May 29th to June 3rd.

Seven papers are accepted by ICRA 2017 and one of them is selected to be published in journal IEEE RA-L

January 18th, 2017

Seven papers of the HKUST UAV group are accepted by IEEE International Conference on Robotics and Automation (ICRA) 2017, including

  1. J. Chen and S. Shen. Improving octree-based occupancy maps using environment sparsity with application to aerial robot navigation.
  2. F. Gao and S. Shen. Quadrotor trajectory generation in dynamic environments using semi-definite relaxation on nonconvex QCQP.
  3. T. Liu and S. Shen. High altitude monocular visual-inertial state estimation: initialization and sensor fusion.
  4. X. Lyu, H. Gu, Y. Wang, Z. Li, S. Shen, and F. Zhang. Design and implementation of a quadrotor tail-sitter VTOL UAV.
  5. T. Sun, S. Nie, D. Yeung, and S. Shen. Gesture-based piloting of an aerial robot using monocular vision.
  6. Z. Yang, F. Gao, and S. Shen. Real-time monocular dense mapping on aerial robots using visual-inertial fusion.
  7. K. Qiu, T. Liu, and S. Shen. Model-based global localization for aerial robots using edge alignment.

The paper of Kejie Qiu, Tianbo Liu and Shaojie Shen is also selected to be published in IEEE Robotics and Automation Letters (RA-L).

ICRA 2017 is held in Singapore from May 29th to June 3rd.

Fei Gao wins the SSRR 2016 Best Conference Paper Award

October 26th, 2016

The paper “Online quadrotor trajectory generation and autonomous navigation on point clouds” by Ph.D. student Fei Gao just won the Best Conference Paper Award in the 2016 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR 2016) which is held at  Lausanne, Switzerland from October 23rd to 27th. Our group received the best paper award at this conference two years in a row.

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Kunyue Su and Shaojie Shen published a new article in ISER 2016

October 6th, 2016

Kunyue Su and Shaojie Shen’s work on “Catching a flying ball with a vision-based quadrotor” was published in 2016 International Symposium on Experimental Robotics (ISER 2016 ) which is held in Tokyo, Japan from October 3rd to 6th.

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Bing Li, Shengkai Zhang and Shaojie Shen published a new article in MFI 2016

September 21st, 2016

Bing Li, Shengkai Zhang and Shaojie Shen’s work on “CSI-based wifi-inertial state estimation” was published in 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016) which is held in Baden-Baden, Germany from September 19th to 21st.

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Three papers are accepted by IROS 2016

September 14th, 2016

Three papers of the HKUST UAV group are accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016, including

  1. J. Chen, T. Liu, and S. Shen. Tracking a moving target in cluttered environments using a quadrotor.
  2. Y. Ling and S. Shen. High-precision online markerless stereo extrinsic calibration.
  3. Z. Yang, T. Liu, and S. Shen. Self-calibrating multi-camera visual-inertial fusion for autonomous MAVs.

IROS 2016 is held in Daejeon, Korea from October 9th to 14th.

Three papers are accepted by ICRA 2016

April 14th, 2016

Three papers of the HKUST UAV group are accepted by the 2016 IEEE International Conference on Robotics and Automation (ICRA 2016), including

  1. J. Chen, T. Liu, and S. Shen. Online generation of collision-free trajectories for quadrotor flight in unknown cluttered environments.
  2. M. Kuse and S. Shen. Robust camera motion estimation using direct edge alignment and sub-gradient method.
  3. Y. Ling and S. Shen. Aggressive quadrotor flight using dense visual-inertial fusion.

ICRA 2016 is held in Stockholm, Sweden from May 16th to 21st.

Our group reaped first prize in 2015 International Aerial Robotics Competition

November 8th, 2015

Our group has won the First Prize in the International Aerial Robotics Competition (IARC) 2015 – Asia/Pacific Venue, which is held in Beijing from November 5th to 8th.

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  Zhenfei Yang wins the 2015 IEEE SSRR Best Theoretical Paper Award

October 20th, 2015

The paper “Monocular visual-inertial fusion with online initialization and camera-IMU calibration” just won Ph.D. student Zhenfei Yang the Best Theoretical Paper Award in 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) which is held in Indiana, USA from October 18th to 20th.

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