My recent work has been on enabling lightweight aerial vehicles to fly in complex environments, avoiding obstacles at high speeds. Check out our latest flight experiment video.

My PhD research focused on ego-motion estimation and mapping leveraging range, vision, and inertial sensing. Results are available with single-axis (Video) and 2-axis (Video) lidars.

Curriculum Vitae (CV).

Selected Publications

J. Zhang and S. Singh. Laser-visual-inertial Odometry and Mapping with High Robustness and Low Drift. Journal of Field Robotics. vol. 35, no. 8, pp. 1242–1264, 2018. (PDF) (Video)

J. Zhang, R. Gupta Chadha, V. Velivela, and S. Singh. P-CAP: Pre-computed Alternative Paths to Enable Aggressive Aerial Maneuvers in Cluttered Environments. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS). Madrid, Spain, Oct. 2018. (PDF) (Video)

J. Zhang and S. Singh. Aerial and Ground-based Collaborative Mapping: An Experimental Study. The 11th Intl. Conf. on Field and Service Robotics (FSR). Zurich, Switzerland, Sept. 2017. (PDF) (Video)

J. Zhang and S. Singh. Enabling Aggressive Motion Estimation at Low-drift and Accurate Mapping in Real-time. IEEE Intl. Conf. on Robotics and Automation (ICRA). Singapore, May 2017. (PDF) (Video)

J. Zhang and S. Singh. Low-drift and Real-time Lidar Odometry and Mapping. Autonomous Robots. vol. 41, no. 2, pp. 401–416, 2017. (PDF) (Video)

J. Zhang, M. Kaess, and S. Singh. A Real-time Method for Depth Enhanced Visual Odometry. Autonomous Robots. vol. 41, no. 1, pp. 31–43, 2017. (PDF) (Video)

J. Zhang, M. Kaess, and S. Singh. On Degeneracy of Optimization-based State Estimation Problems. IEEE Intl. Conf. on Robotics and Automation (ICRA). Stockholm, Sweden, May 2016. (PDF)

J. Zhang and S. Singh. Visual-Inertial Combined Odometry System for Aerial Vehicles. Journal of Field Robotics. vol. 32, no. 8, pp. 1043–1055, 2015. (PDF) (Video)

J. Zhang and S. Singh. Visual-lidar Odometry and Mapping: Low-drift, Robust, and Fast. IEEE Intl. Conf. on Robotics and Automation (ICRA). Seattle, WA, May 2015. (PDF) (Video)

J. Zhang, M. Kaess, and S. Singh. Real-time Depth Enhanced Monocular Odometry. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS). Chicago, IL, Sept. 2014. (PDF) (Video)

J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time. Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014. (PDF) (Video)

J. Zhang, A. Chambers, S.Maeta, M. Bergerman, and S. Singh. 3D Perception for Accurate Row Following: Methodology and Results. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS). Tokyo, Japan, Nov. 2013. (PDF) (Video)

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Robotics Post-Immersionism, Research Videos, 3D Arts, Photography