Research: Robot Navigation,
Perception and Localization,
Lidar Mapping, Computer Vision
Address: 5000 Forbes Ave, NSH #2205
Pittsburgh, PA, 15213
Since summer 2016, I started to apply my work on ego-motion estimation and mapping to autonomous drone navigation, flying fast (up to 15m/s) through cluttered environments. Watch some of the videos.
I'm very excited to announce our first two products, Contour and Stencil from Real Earth. Contour is designed for hand-held mapping. Stencil is targeted at mapping and autonomous navigation guidance.
My recent work has been focusing on ego-motion estimation and mapping problems combining laser, vision, and inertial sensors. Latest results can be found with Velodyne (Video) and Hokuyo (Video) scanners.
Curriculum Vitae (CV).
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)
J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time. Robotics:
Science and Systems Conference (RSS). Berkeley, CA, July 2014. (PDF)
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)
Research Videos (YouTube), Photo Arts (Google+)