Xingxing Zuo

Postdoc Researcher in Department of Informatics, Technical University of Munich.

I’m currently a Postdoc Researcher in Smart Robotics Lab at the Department of Informatics, Technical University of Munich, working with Prof. Stefan Leutenegger. Previously, I was an academic guest (2019 - 2021) in Computer Vision and Geometry Group (CVG), ETH, Zurich, Switzerland, working with Prof. Marc Pollefeys. I was also a visiting scholar (2018) in the Robot Perception and Navigation Group (RPNG) of Guoquan (Paul) Huang at University of Delaware, Newark, USA, and a visiting scholar (2017) in the UTS Robotics Institute, University of Technology Sydney, Australia, working with Prof. Teresa Vidal Calleja. I got my doctoral degree from Department of Control Science and Engineering in Zhejiang University, China, and graduated with honors in 2021. Before that, I graduated with honors and obtained my Bachelor’s degree in mechanical engineering in University of Electronic Science and Technology of China (UESTC), Chengdu, China, in 2016.

I’m open to collaborations on cutting-edge research about robotic perception and intelligence, feel free to reach out through email!


research interests

My research interests include robotic perception, 3D computer vision, probabilistic multi-sensor fusion, visual-inertial navigation, state estimation, and dense mapping. I’m conducting research on integrating the intelligence of the deep neural networks and the traditional probabilistic methods for robotic perception tasks.


news

Apr 25, 2022 A paper about “LiDAR and IMU Full Calibration” is accepted by T-RO! :tada:
Mar 2, 2022 A paper about “Object SLAM” is accepted by CVPR!
Feb 26, 2022 Start to serve as an Associate Editor for top-tier robotics conference: “IROS”!
Jan 26, 2022 Start to serve as an Associate Editor for top-tier Robotics journal: “IEEE Robotics and Automation Letters (RA-L)”!
Aug 9, 2021 Start my Postdoc career at Smart Robotics Lab, TUM!
Jul 1, 2021 Get my doctoral degree, and graduate with honors from Zhejiang University & Zhejiang Province!
Jun 4, 2021 CodeVIO is honorably nominated for the “Best Paper Award in Robot Vision (Finalist) of ICRA 2021”! :sparkles:

academic services

Associate Editor: IEEE Robotics and Automation Letters (RA-L), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Journal Reviewer: IEEE Transactions on Robotics (T-RO), Journal of Field Robotics (J-FR), IEEE Robotics and Automation Letters (RA-L), IEEE Transactions on Intelligent Transportation Systems (T-ITS), Sensor, Neurocomputing, Machine Vision and Applications

Conference Reviewer: ICRA, IROS, IJCAI


selected publications


Find out my full publication list via Google Scholar.
* co-first author with equal contribution.

  1. CodeVIO: Visual-inertial odometry with learned optimizable dense depth Xingxing Zuo, Nathaniel Merrill, Wei Li, Yong Liu, Marc Pollefeys, and Guoquan Huang Nominated for the "Best Paper Award in Robot Vision (Finalist) of ICRA 2021"
    IEEE International Conference on Robotics and Automation (ICRA) 2021
    [Abs] [arXiv] [Video]
  2. Pose Estimation for Ground Robots: On Manifold Representation, Integration, Reparameterization, and Optimization Mingming Zhang*, Xingxing Zuo*, Yiming Chen, Yong Liu, and Mingyang Li IEEE Transactions on Robotics 2021 [Abs] [arXiv] [Video]
  3. CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System Jiajun Lv, Kewei Hu, Jinhong Xu, Yong Liu, Xiushui Ma, and Xingxing Zuo
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021
    [Abs] [arXiv] [Video] [Code]
  4. MBA-VO: Motion Blur Aware Visual Odometry Peidong Liu, Xingxing Zuo, Viktor Larsson, and Marc Pollefeys
    International Conference on Computer Vision (ICCV), selected as Oral, 2021
    [Abs] [arXiv] [Code]
  1. LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking Xingxing Zuo, Yulin Yang, Patrick Geneva, Jiajun Lv, Yong Liu, Guoquan Huang, and Marc Pollefeys
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020
    [Abs] [arXiv] [Video] [Video2] [Supp]
  2. Multimodal localization: Stereo over LiDAR map Xingxing Zuo, Wenlong Ye, Yulin Yang, Renjie Zheng, Teresa Vidal-Calleja, Guoquan Huang, and Yong Liu Journal of Field Robotics 2020 [Abs]
  3. Targetless calibration of lidar-imu system based on continuous-time batch estimation Jiajun Lv, Jinhong Xu, Kewei Hu, Yong Liu, and Xingxing Zuo
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020
    [Abs] [arXiv] [Video] [Code]
  1. LIC-Fusion: LiDAR-Inertial-Camera Odometry Xingxing Zuo, Patrick Geneva, Woosik Lee, Yong Liu, and Guoquan Huang
    IEEE/RSJ International Conference on Intelligent Robots and Systems 2019
    [Abs] [arXiv] [Video]
  2. Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints Xingxing Zuo, Mingming Zhang, Yiming Chen, Yong Liu, Guoquan Huang, and Mingyang Li
    International Symposium on Robotics Research (ISRR) 2019
    [Abs] [arXiv] [Supp]
  3. Visual-Inertial Localization With Prior LiDAR Map Constraints Xingxing Zuo, Patrick Geneva, Yulin Yang, Wenlong Ye, Yong Liu, and Guoquan Huang IEEE Robotics and Automation Letters 2019 [Abs] [Video]
    1. Robust visual SLAM with point and line features Xingxing Zuo, Xiaojia Xie, Yong Liu, and Guoquan Huang
      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017
      [Abs] [arXiv] [Video]