Publications

CSMapping: Scalable Crowdsourced Semantic Mapping and Topology Inference for Autonomous Driving Zhijian Qiao, Zehuan Yu, Tong Li, Chih-Chung Chou, Wenchao Ding and Shaojie Shen Under review. arXiv

SG-Reg: Generalizable and Efficient Scene Graph Registration Chuhao Liu, Zhijian Qiao, Jieqi Shi, Ke Wang, Peize Liu and Shaojie Shen IEEE Transactions on Robotics, March 2025. IEEE T-RO | arXiv | video | bilibili | huggingface | code

SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments Zehuan Yu, Zhijian Qiao, Wenyi Liu, Huan Yin, Shaojie Shen IEEE Transactions on Robotics, March 2025. IEEE T-RO | arXiv | code | video

SLABIM: A SLAM-BIM Coupled Dataset in HKUST Main Building in Urban Environments Haoming Huang, Zhijian Qiao, Zehuan Yu, Chuhao Liu, Shaojie Shen, and Huan Yin 2025 IEEE International Conference on Robotics & Automation. arXiv | dataset | video | code

Speak the Same Language: Global LiDAR Registration on BIM Using Pose Hough Transform Zhijian Qiao, Haoming Huang, Chuhao Liu, Shaojie Shen, Fumin Zhang, Huan Yin IEEE Transactions on Automation Science and Engineering, March 2025. IEEE TASE | arXiv | code | video

Less is More: Physical-enhanced Radar-Inertial Odometry Qiucan Huang, Yuchen Liang, Zhijian Qiao, Shaojie Shen, and Huan Yin IEEE International Conference on Robotics and Automation (ICRA), 2024. IEEE ICRA | code

FM-Fusion: Instance-aware Semantic Mapping Boosted by Vision-Language Foundation Models Chuhao Liu, Ke WANG, Jieqi Shi, Zhijian Qiao, Shaojie Shen IEEE Robotics and Automation Letters 2024. IEEE RA-L | code

G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model Zhijian Qiao, Zehuan Yu, Binqian Jiang, Huan Yin, and Shaojie Shen 2024 IEEE Transactions on Automation Science and Engineering (IEEE TASE). IEEE TASE | arXiv | code

Online Monocular Lane Mapping Using Catmull-Rom Spline Zhijian Qiao, Zehuan Yu, Huan Yin and Shaojie Shen IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. IEEE IROS | arXiv | youtube | code

Pyramid Semantic Graph-based Global Point Cloud Registration with Low Overlap Zhijian Qiao, Zehuan Yu, Huan Yin and Shaojie Shen IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. IEEE IROS | arXiv | youtube | code

SeasonDepth: Cross-Season Monocular Depth Prediction Dataset and Benchmark under Multiple Environments Hanjiang Hu, Baoquan Yang, Zhijian Qiao (co-first), Jiacheng Zhu, Zuxin Liu, Wenhao Ding, Ding Zhao and Hesheng Wang IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. IEEE IROS | arXiv | project | benchmark toolkit

Multi-Session, Localization-oriented and Lightweight LiDAR Mapping Using Semantic Lines and Planes Zehuan Yu, Zhijian Qiao, Liuyang Qiu, Huan Yin and Shaojie Shen IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. IEEE IROS | arXiv | youtube

Registration-aided 3D Point Cloud Learning for Large-Scale Place Recognition Zhijian Qiao, Hanjiang Hu, Weiang Shi, Zhe Liu and Hesheng Wang IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. arXiv | IEEE Xplore | code

End-to-End 3D Point Cloud Learning for Registration Task Using Virtual Correspondences Zhijian Qiao, Huanshu Wei, Zhe Liu, Chuanzhe Suo, Peng Yin, Yueling Shen, Haoang Li and Hesheng Wang IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 IEEE Xplore | arXiv | code

PLReg3D: Learning 3D Local and Global Descriptors Jointly for Global Localization Zhijian Qiao, Hanwen Wang, Yu Zhu and Hesheng Wang The IEEE 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP 2021). IEEE Xplore | code

DASGIL: Domain Adaptation for Semantic and Geometric-Aware Image-Based Localization Hanjiang Hu, Zhijian Qiao, Ming Cheng, Zhe Liu and Hesheng Wang IEEE Transactions on Image Processing (2019IF:9.34), Dec. 2020 IEEE TIP | code

Map-Less Long-Term Localization in Complex Industrial Environments Zhe Liu, Zhijian Qiao, Chuanzhe Suo, Yingtian Liu, and Kefan Jin Assembly Automation, 2021. Assembly Automation

Deep Learning-Based Localization and Perception Systems: Approaches for Autonomous Cargo Transportation Vehicles in Large-Scale, Semiclosed Environments Zhe Liu, Chuanzhe Suo, Yingtian Liu, Yueling Shen, Zhijian Qiao, Huanshu Wei, Shunbo Zhou, Haoang Li, Xinwu Liang, Hesheng Wang, Yun-Hui Liu IEEE Robotics & Automation Magazine, vol. 27, no. 2, pp. 139-150, June 2020 IEEE RAM

Robust Simultaneous Tracking and Local Dense Structured Mapping at Scenes lack of Geometric Features Yueling Shen, Zhijian Qiao, Xu Wang and Hesheng Wang The IEEE 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP 2021). IEEE Xplore

Innovative design and realization of lightweight delta robot platform Cong Dehong, Li Chengyao, Wang Ruchao, Song Chen, Tian Chang and Zhijian Qiao Chinese Control And Decision Conference (CCDC), 2017 IEEE CCDC