It took me 15 minutes to map a legendary C-130 Hercules built half a century ago, with a Kaarta powered Stencil, in real-time, from underneath, above the right wing, and above the left wing.

My recent work has been focusing on ego-motion estimation and mapping leveraging range, vision, and inertial sensing. Results are available with both single (Video) and 2-axis (Video) lidars.

Curriculum Vitae (CV).

Selected Publications

J. Zhang and S. Singh. Low-drift and Real-time Lidar Odometry and Mapping. Autonomous Robots. 2016. (PDF) (Video)

J. Zhang, M. Kaess and S. Singh. A Real-time Method for Depth Enhanced Visual Odometry. Autonomous Robots. 2016. (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 Roboticse. 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)

Other Links

Research Videos (YouTube), Photo Arts (Google+)