Yanpeng Jia (贾彦鹏)

Yanpeng Jia (贾彦鹏)

University of Chinese Academy of Sciences (UCAS)

My name is Yanpeng Jia (贾彦鹏), I received the B.S. degree in Department of Mechanical Engineering from Harbin Institute of Technology, Weihai, China in 2023. I’m currently pursuing the M.S degree with the Shenyang Institute of Automation, Chinese Academy of Sciences. My current research interests include robot control, LiDAR Odometry and dynamic SLAM.

🔥 News

  • 2024.11:  🎉🎉 Our paper 《面向地面机器人的通用鲁棒激光SLAM技术》 is submitted to 《机器人》!
  • 2024.10:  🎉🎉 Our paper TRLO is submitted to T-IM 2025!
  • 2024.09:  🎉🎉 Our paper CAD-Mesher is submitted to IEEE Trans. on MultiMedia 2025!
  • 2024.08:  🎉🎉 Our paper C-LOAM is accepted to IEEE ICUS 2024!

📖 Educations

  • 2023.09 - present, Master, The State Key Laboratory of Robotics at Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China.
  • 2019.09 - 2023.06, Undergraduate, Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China.

📝 Publications

机器人
sym

面向地面机器人的通用鲁棒激光SLAM技术

贾彦鹏, 王挺*, 邵士亮, 王少聪, 王世逸，曹风魁

Project

  • 这是我们之前工作GR-LOAM和RGC-SLAM的进一步拓展，改进了之前的地面提取方案和特征提取方案，使得算法适用于各种型号的雷达。
  • 另外，通过引入强度特征，以及几何相似性和强度相似性约束，使得算法取得更鲁棒的效果。
T-MM 2025
sym

CAD-Mesher: A Convenient, Accurate, Dense Mesh-based Mapping Module in SLAM for Dynamic Environments

Yanpeng Jia, Fengkui Cao*, Ting Wang*, Yandong Tang, Shiliang Shao and Lianqing Liu

Project

  • An accurate, consecutive, and dense meshing module adapting to dynamic environments, which is plug-and-play for conveniently integrating with various LiDAR odometry to further improve the pose estimation accuracy and filter dynamic objects.
T-IM 2025
sym

TRLO: An Efficient LiDAR Odometry with 3D Dynamic Object Tracking and Removal

Yanpeng Jia, Ting Wang*, Xieyuanli Chen and Shiliang Shao

Project

  • A dynamic LiDAR odometry that can filter dynamic objects through a 3D multi-object tracker and achieve more accurate pose estimation through bounding box posture consistency constraint.
ICUS 2024
sym

A Compact LiDAR Odometry and Mapping with Dynamic Removal

Meifeng Zhang, Yanpeng Jia*, Shiliang Shao* and Shiyi Wang

Project

  • A compact LiDAR odometry that can filter dynamic objects, extract ground points, and segmentation through range image and achieve more accurate pose estimation through ground normal and z-axis constraint.

💻 Academic Services

Conference Reviewer: CVPR, ICCV, ECCV, IROS, ICRA, ICUS, ASCC

Journal Reviewer: T-RO, RA-L, T-MM, T-ITS, T-IV, T-IM，机器人