Publications

A collection of my research work.

UAPGO: Uncertainty-Aware Pose Graph Optimization for LiDAR-Based SLAM Systems

UAPGO: Uncertainty-Aware Pose Graph Optimization for LiDAR-Based SLAM Systems

Tian Zhi, Jie Xu (Co-first), Yongxin Ma, Wenlu Yu, Shenglan Liu, Shenghai Yuan

Yongxin and Yu, Wenlu and Liu, Shenglan and Yuan, Shenghai, Uapgo: Uncertainty-Aware Pose Graph Optimization for Lidar-Based Slam Systems 2026

NVMS-SLAM: Normal Vector-based Multi-Session LiDAR SLAM in Indoor Environments

NVMS-SLAM: Normal Vector-based Multi-Session LiDAR SLAM in Indoor Environments

Yongxin Ma, Chengwei Zhao, Jie Xu (Corresponding), Yixuan Li, Xuanxuan Zhang, Shenghai Yuan, Lihua Xie

IEEE Transactions on Automation Science and Engineering 2026

Early Access on IEEE Xplore

DOI
ColorMap-VIO: A Drift-Free Visual-Inertial Odometry in a Prior Colored Point Cloud Map

ColorMap-VIO: A Drift-Free Visual-Inertial Odometry in a Prior Colored Point Cloud Map

Jie Xu, Xuanxuan Zhang, Yongxin Ma, Yixuan Li, Linji Wang, Xinhang Xu, Shenghai Yuan, Lihua Xie

IEEE Robotics and Automation Letters 2026

DOI
MM-LINS: A Multi-Map LiDAR-Inertial System for Over-Degenerate Environments

MM-LINS: A Multi-Map LiDAR-Inertial System for Over-Degenerate Environments

Yongxin Ma, Jie Xu (co-first), Shenghai Yuan, Tian Zhi, Wenlu Yu, Jun Zhou, Lihua Xie

IEEE Transactions on Intelligent Vehicles 2025

DOICodeVideo
Adaptive-LIO: Enhancing Robustness and Precision Through Environmental Adaptation in LiDAR Inertial Odometry

Adaptive-LIO: Enhancing Robustness and Precision Through Environmental Adaptation in LiDAR Inertial Odometry

Chengwei Zhao, Kun Hu, Jie Xu (Corresponding), Lijun Zhao, Baiwen Han, Kaidi Wu, Maoshan Tian, Shenghai Yuan

IEEE Internet of Things Journal 2025

DOICode
II-NVM: Enhancing Map Accuracy and Consistency With Normal Vector-Assisted Mapping

II-NVM: Enhancing Map Accuracy and Consistency With Normal Vector-Assisted Mapping

Chengwei Zhao, Yixuan Li, Yina Jian, Jie Xu (Corresponding), Linji Wang, Yongxin Ma, Xinglai Jin

IEEE Robotics and Automation Letters 2025

DOICodeVideo
Dynamic Initialization for LiDAR-Inertial SLAM

Dynamic Initialization for LiDAR-Inertial SLAM

Jie Xu, Yongxin Ma, Yixuan Li, Xuanxuan Zhang, Jun Zhou, Shenghai Yuan, Lihua Xie

IEEE/ASME Transactions on Mechatronics 2025

DOICode
LiDAR-Link: Observability-Aware Probabilistic Plane-Based Extrinsic Calibration for Non-Overlapping Solid-State LiDARs

LiDAR-Link: Observability-Aware Probabilistic Plane-Based Extrinsic Calibration for Non-Overlapping Solid-State LiDARs

Jie Xu, Song Huang, Shuxin Qiu, Lijun Zhao, Wenlu Yu, Mingxing Fang, Minhang Wang, Ruifeng Li

IEEE Robotics and Automation Letters 2024

DOI
I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry

I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry

Wenlu Yu, Jie Xu (co-first), Chengwei Zhao, Lijun Zhao, Thien-Minh Nguyen, Shenghai Yuan, Mingming Bai, Lihua Xie

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024

DOICodeVideo
M-DIVO: Multiple ToF RGB-D Cameras-Enhanced Depth–Inertial–Visual Odometry

M-DIVO: Multiple ToF RGB-D Cameras-Enhanced Depth–Inertial–Visual Odometry

Jie Xu, Wenlu Yu, Song Huang, Shenghai Yuan, Lijun Zhao, Ruifeng Li, Lihua Xie

IEEE Internet of Things Journal 2024

DOI
Selective Kalman Filter: When and How to Fuse Multi-Sensor Information to Overcome Degeneracy in SLAM

Selective Kalman Filter: When and How to Fuse Multi-Sensor Information to Overcome Degeneracy in SLAM

Jie Xu, Guanyu Huang, Wenlu Yu, Xuanxuan Zhang, Lijun Zhao, Ruifeng Li, Shenghai Yuan, Lihua Xie

arXiv preprint arXiv:2412.17235 2024

R2DIO: A Robust and Real-Time Depth-Inertial Odometry Leveraging Multimodal Constraints for Challenging Environments

R2DIO: A Robust and Real-Time Depth-Inertial Odometry Leveraging Multimodal Constraints for Challenging Environments

Jie Xu, Ruifeng Li, Song Huang, Xiongwei Zhao, Shuxin Qiu, Zhijun Chen, Lijun Zhao

IEEE Transactions on Instrumentation and Measurement 2023

DOICodeVideo
CamMap: Extrinsic Calibration of Non-Overlapping Cameras Based on SLAM Map Alignment

CamMap: Extrinsic Calibration of Non-Overlapping Cameras Based on SLAM Map Alignment

Jie Xu, Ruifeng Li, Lijun Zhao, Wenlu Yu, Zhiheng Liu, Bo Zhang, Yuchen Li

IEEE Robotics and Automation Letters 2022

DOICodeVideo