Xingxing Zuo

Postdoc Research Associate at Caltech.

I’m a Postdoctoral Research Associate at the Department of Computing + Mathematical Sciences, Caltech since January, 2024. Prior to this, I worked at Google in USA as a full-time visiting faculty researcher (Scientist) in 2023. I was an Postdoc Researcher (2021 - 2023) at Technical University of Munich, Germany, working with Prof. Stefan Leutenegger. I was an academic guest (2019 - 2021) in the Computer Vision and Geometry Group (CVG), at ETH Zurich, Switzerland, working with Prof. Marc Pollefeys. I was also a visiting scholar (2018) in the Robot Perception and Navigation Group (RPNG) of Prof. Guoquan (Paul) Huang at University of Delaware, USA, and a visiting scholar (2017) in the UTS Robotics Institute, University of Technology Sydney, Australia, working with Prof. Teresa Vidal Calleja. I received my doctoral degree in 2021, from the Department of Control Science and Engineering at Zhejiang University, China, under the co-supervision of Prof. Guoquan (Paul) Huang and Prof. Yong liu, and graduated with honors. Previously, I graduated with honors and obtained my Bachelor’s degree in Mechanical Engineering at 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, and co-supervise highly-qualified students. Feel free to reach out through email!


research interests

My research interests include robotics perception, 3D computer vision, multi-sensor fusion, state estimation, and foundation models.

I’m conducting research on integrating the intelligence of the deep neural networks and the traditional probabilistic methods for real-time robotic perception tasks.


news

Jun 12, 2024 NerfVO” is accepted by RA-L!
Feb 27, 2024 A paper titled “Dynamic LiDAR Re-simulation using Compositional Neural Fields” is accepted by CVPR 2024 (Highlight)!
Jan 29, 2024 A paper about “RadarCam-Depth: Radar-Camera Fusion for Depth Estimation with Learned Metric Scale” is accepted by ICRA!
Jan 20, 2024 I join Caltech as a Postdoc Research Associate in CMS department at Caltech, USA!
Jan 16, 2024 A paper about “M2-CLIP: A Multimodal, Multi-task Adapting Framework for Video Action Recognition” is accepted by AAAI and featured as Oral!
Jan 3, 2024 Check out our research work “FMGS: Foundation Model Embedded 3D Gaussian Splatting for Holistic 3D Scene Understanding” finished at Google!
Dec 20, 2023 Check out our research work “NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fields”!
Sep 10, 2023 I join Google as a full-time Visiting Faculty Researcher (Scientist) in Mountain View, USA!
Sep 4, 2023 A paper about “Coco-LIC: LiDAR-Inertial-Camera Odometry Using Continuous-Time Non-Uniform B-spline” is accepted by RA-L!
Aug 21, 2023 A paper titled “SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo” is accepted by ISMAR 2023!
Apr 17, 2023 A paper titled “Incremental Dense Reconstruction from Monocular Video with Guided Sparse Feature Volume Fusion” is accepted by RA-L!
Apr 17, 2023 A paper titled “Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy” is accepted by T-RO!
Jan 5, 2023 A paper about “Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM” is accepted by T-Mech!
Oct 11, 2022 A paper about “High-Quality RGB-D Reconstruction” is accepted by WACV2023!
Sep 29, 2022 A paper about “Visual-based Robot Kinematics and Pose Estimation” is accepted by T-ASE!

academic services

Associate Editor: IEEE Robotics and Automation Letters (RA-L, since March 2022), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, 2022&2023&2024), IEEE International Conference on Robotics and Automation (ICRA, 2023&2024).

Conference Session Chair: IROS 2023.

Guest Editor: Sensors [Special Issue 2023].

Journal Reviewer: IEEE Transactions on Robotics (T-RO), The International Journal of Robotics Research (IJRR), Journal of Field Robotics (J-FR), IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), IEEE Transactions on Automation Science and Engineering (T-ASE), IEEE Robotics and Automation Letters (RA-L), IEEE Transactions on Intelligent Transportation Systems (T-ITS), IEEE Transactions on Industrial Electronics (T-IE), Neurocomputing.

Conference Reviewer: ICRA, IROS, CVPR, ICCV, ECCV, IJCAI


representative talks

  • 2023.08 “Towards the Era of Robust 3D Perception”. The Chinese University of Hong Kong (ShenZhen).
  • 2023.05 “Towards the Era of Robust 3D Perception for Mobile Robots”. Upenn Grasp Lab.
  • 2022.06 “Robut 3D Perception with Multi-source Information Fusion”. ETH CVG group.
  • 2022.03 Invited speaker at conference, “Towards the Era of Robust Pose Estimation for Robots”. UPLINLIBS 2022.
  • 2022.03 “Towards the Era of Robust Spatial Perception”. Peking University.

selected publications


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

  1. Dynamic LiDAR Re-simulation using Compositional Neural Fields Hanfeng Wu, Xingxing Zuo#, Stefan Leutenegger, Or Litany, Konrad Schindle, and Shengyu Huang# IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Highlight, 2024 [Abs] [arXiv] [Video] [Webpage] [Code]
  2. RadarCam-Depth: Radar-Camera Fusion for Depth Estimation with Learned Metric Scale Han Li, Yukai Ma, Yaqing Gu, Kewei Hu, Yong Liu#, and Xingxing Zuo# IEEE International Conference on Robotics and Automation (ICRA) 2024 [Abs] [arXiv] [Video] [Code]
  1. Coco-LIC: Continuous-Time Tightly-Coupled LiDAR-Inertial-Camera Odometry using Non-Uniform B-spline Xiaolei Lang, Chao Chen, Kai Tang, Yukai Ma, Jiajun Lv, Yong Liu#, and Xingxing Zuo# IEEE Robotics and Automation Letters 2023 [Abs] [arXiv] [Video] [Code]
  2. SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo Yingye Xin*, Xingxing Zuo*#, Dongyue Lu, and Stefan Leutenegger IEEE International Symposium on Mixed and Augmented Reality (ISMAR) 2023 [Abs] [arXiv] [Video] [Webpage]
  3. Incremental Dense Reconstruction from Monocular Video with Guided Sparse Feature Volume Fusion Xingxing Zuo, Nan Yang, Nathaniel Merrill, Binbin Xu, and Stefan Leutenegger IEEE Robotics and Automation Letters 2023 [Abs] [arXiv] [Video]
  4. Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM Jiajun Lv, Xiaolei Lang, Jinhong Xu, Mengmeng Wang, Yong Liu#, and Xingxing Zuo# IEEE/ASME Transactions on Mechatronics 2023 [Abs] [arXiv] [Code]
  1. Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras Xiaolei Lang, Jiajun Lv, Jianxin Huang, Yukai Ma, Yong Liu#, and Xingxing Zuo# IEEE Robotics and Automation Letters 2022 [Abs] [arXiv] [Code]
  2. Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems Jiajun Lv*, Xingxing Zuo*, Kewei Hu, Jinhong Xu, Guoquan Huang, and Yong Liu IEEE Transactions on Robotics 2022 [Abs] [arXiv] [Code]
  3. Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation Nathaniel Merrill, Yuliang Guo, Xingxing Zuo, Xinyu Huang, Stefan Leutenegger, Xi Peng, Liu Ren, and Guoquan Huang IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022 [Abs] [arXiv] [Code]
  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]