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Hanzhi Chen
PhD StudentTechnical University of MunichSchool of Computation, Information and Technology
Informatics 9
Boltzmannstrasse 3
85748 Garching
Germany
Office: 03.09.041
Mail: Hanzhi.Chen@tum.de
Personal Website | Google Scholar | LinkedIn | GitHub
😎 Brief Bio
I am a PhD student in the Smart Robotics Lab of Technical University of Munich with Prof. Stefan Leutenegger. Previously, I received my M.Sc. degree in Robotics, Cognition, Intelligence with high distinction from Technical University of Munich.
🤖 Research Interest
- Object-Centric Perception (to understand objects' geometry, concepts, affordance, and more)
- Neural Scene Representations (to facilitate object-centric perception)
- Few-Shot Imitation Learning (to connect embodiments' learning through object-centric representations)
🤓 Student Projects
I am always happy to work with cool folks with passion and talents. You can check my previous research works to see if there is a match between us. If you want to work with me, shoot me an email with your up-to-date transcript, résumé, and a brief comment about what research topic really interests you! This paper collection about neural fields for robotics might be helpful for you as a starting point to get inspired :)
Please refrain from inquiring me about supervision for external thesis by non-academic institutions or bachelor thesis, thank you!
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Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
Book Chapters
2016
[] Flying robots , Chapter in Springer Handbook of Robotics, Springer, Cham, 2016.
Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
Journal Articles
2023
[] Anthropomorphic Grasping with Neural Object Shape Completion , In IEEE Robotics and Automation Letters, IEEE, volume , 2023.
[] Orientation-Aware Hierarchical, Adaptive-Resolution A* Algorithm for UAV Trajectory Planning , In IEEE Robotics and Automation Letters, IEEE, volume 8, 2023.
[] Incremental Dense Reconstruction From Monocular Video With Guided Sparse Feature Volume Fusion , In IEEE Robotics and Automation Letters, IEEE, volume 8, 2023.
2022
[] Aerial additive manufacturing with multiple autonomous robots , In Nature, Nature Publishing Group UK, volume 7928, 2022.
2021
[] Multi-Resolution 3D Mapping With Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning , In IEEE Robotics and Automation Letters, volume 6, 2021.
[] Volumetric Occupancy Mapping With Probabilistic Depth Completion for Robotic Navigation , In IEEE Robotics and Automation Letters, volume 6, 2021.
[] Deep Probabilistic Feature-metric Tracking , In IEEE Robotics and Automation Letters, IEEE, volume 6, 2021.
2019
[] Special Issue on Machine Vision , In International Journal of Computer Vision, Springer US, volume 127, 2019.
[] Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots , In Journal of Field Robotics, volume 36, 2019.
[] Fully autonomous micro air vehicle flight and landing on a moving target using visual–inertial estimation and model-predictive control , In Journal of Field Robotics, volume 36, 2019.
2018
[] Efficient octree-based volumetric SLAM supporting signed-distance and occupancy mapping , In IEEE Robotics and Automation Letters, IEEE, volume 3, 2018.
2017
[] Design of small hand-launched solar-powered UAVs: From concept study to a multi-day world endurance record flight , In Journal of Field Robotics, volume 34, 2017.
2016
[] ElasticFusion: Real-time dense SLAM and light source estimation , In The International Journal of Robotics Research, SAGE Publications Sage UK: London, England, volume 35, 2016.
2015
[] Keyframe-based visual–inertial odometry using nonlinear optimization , In The International Journal of Robotics Research, SAGE Publications, volume 34, 2015.
2013
[] State estimation for legged robots-consistent fusion of leg kinematics and IMU , In Robotics, MIT Press, volume 17, 2013.
2012
[] Image Keypoint Detection, Description, and Matching , In ETH Zurich, Jul, volume 5, 2012.
2011
[] Solar airplane conceptual design and performance estimation , In Journal of Intelligent & Robotic Systems, Springer Netherlands, volume 61, 2011.
2009
[] Designing solar airplanes for continuous flight , In SPIE Newsroom, 2009.
2007
[] Mechanical design and realization of a steering mechanism for a coaxial helicopter , In Semester Thesis, 2007.
[] Development of a Flapping Wing Mechanism , In .
Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
Preprints
2022
[] OKVIS2: Realtime Scalable Visual-Inertial SLAM with Loop Closure , In arXiv preprint arXiv:2202.09199, 2022.
2019
[] Event-based vision: A survey , In arXiv preprint arXiv:1904.08405, 2019.
2016
[] A primer on the differential calculus of 3d orientations , In arXiv preprint arXiv:1606.05285, 2016.
Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
Conference and Workshop Papers
2024
[] FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object , In IEEE International Conference on Robotics and Automation (ICRA), 2024.
[] Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments , In IEEE International Conference on Robotics and Automation (ICRA), 2024.
[] Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping , In IEEE International Conference on Robotics and Automation (ICRA), 2024.
2023
[] SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo , In IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2023.
[] Event-based Non-Rigid Reconstruction from Contours , In British Machine Vision Conference (BMVC), 2023.
[] SimpleMapping: Real-Time Visual-Inertial Dense Mapping with Deep Multi-View Stereo , In IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2023. ([video][project page])
[] BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking , In IEEE International Conference on Intelligent Robots and Systems (IROS), 2023. ([video])
[] GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wild , In IEEE International Conference on Intelligent Robots and Systems (IROS), 2023. ([video][project page])
[] Accurate and Interactive Visual-Inertial Sensor Calibration with Next-Best-View and Next-Best-Trajectory Suggestion , In IEEE International Conference on Intelligent Robots and Systems (IROS), 2023. ([video])
2022
[] Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenes , In International Conference on Intelligent Robots and Systems (IROS), 2022. ([video][project page])
[] Visual-Inertial Multi-Instance Dynamic SLAM with Object-Level Relocalisation , In International Conference on Intelligent Robots and Systems (IROS), 2022. ([video][project page])
[] Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion , In International Conference on Intelligent Robots and Systems (IROS), 2022. ([project page])
[] BodySLAM: Joint Camera Localisation, Mapping, and Human Motion Tracking , In European Conference on Computer Vision (ECCV), 2022. ([video][project page])
[] Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation , In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022.
2021
[] Elastic and efficient lidar reconstruction for large-scale exploration tasks , In IEEE International Conference on Robotics and Automation (ICRA), 2021.
2020
[] Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing , In , 2020.
[] Bundle adjustment on a graph processor , In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020.
[] Towards the Probabilistic Fusion of Learned Priors into Standard Pipelines for 3D Reconstruction , In IEEE International Conference on Robotics and Automation (ICRA), 2020.
[] Comparing view-based and map-based semantic labelling in real-time SLAM , In IEEE International Conference on Robotics and Automation (ICRA), 2020.
[] Towards bounding-box free panoptic segmentation , In German Conference on Pattern Recognition (GCPR), 2020.
[] Nonlinear mpc with motor failure identification and recovery for safe and aggressive multicopter flight , In IEEE International Conference on Robotics and Automation (ICRA), 2020.
[] Fast frontier-based information-driven autonomous exploration with an MAV , In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020.
2019
[] Adaptive-resolution octree-based volumetric SLAM , In 2019 International Conference on 3D Vision (3DV), 2019.
[] Learning meshes for dense visual SLAM , In Proceedings of the IEEE/CVF International Conference on Computer Vision, 2019.
[] Characterizing visual localization and mapping datasets , In 2019 International Conference on Robotics and Automation (ICRA), 2019.
[] DeepFusion: real-time dense 3D reconstruction for monocular SLAM using single-view depth and gradient predictions , In 2019 International Conference on Robotics and Automation (ICRA), 2019.
[] KO-Fusion: dense visual SLAM with tightly-coupled kinematic and odometric tracking , In 2019 International Conference on Robotics and Automation (ICRA), 2019.
[] Scenecode: Monocular dense semantic reconstruction using learned encoded scene representations , In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2019.
[] X-section: Cross-section prediction for enhanced RGB-D fusion , In Proceedings of the IEEE/CVF International Conference on Computer Vision, 2019.
[] Mid-fusion: Octree-based object-level multi-instance dynamic slam , In 2019 International Conference on Robotics and Automation (ICRA), 2019.
2018
[] Ls-net: Learning to solve nonlinear least squares for monocular stereo , In , 2018.
[] Learning to solve nonlinear least squares for monocular stereo , In Proceedings of the European Conference on Computer Vision (ECCV), 2018.
[] Fusion++: Volumetric object-level slam , In 2018 international conference on 3D vision (3DV), 2018.
[] InteriorNet: Mega-scale multi-sensor photo-realistic indoor scenes dataset , In , 2018.
[] Towards an Embodied Semantic Fovea: Semantic 3D scene reconstruction from ego-centric eye-tracker videos , In , 2018.
[] CodeSLAM—learning a compact, optimisable representation for dense visual SLAM , In Proceedings of the IEEE conference on computer vision and pattern recognition, 2018.
2017
[] Meta-learning for instance-level data association , In Neural Information Processing Systems (NIPS), volume 1, 2017.
[] Scenenet rgb-d: Can 5m synthetic images beat generic imagenet pre-training on indoor segmentation? , In Proceedings of the IEEE International Conference on Computer Vision, 2017.
[] Dense rgb-d-inertial slam with map deformations , In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
[] Semantic texture for robust dense tracking , In Proceedings of the IEEE International Conference on Computer Vision Workshops, 2017.
[] Monocular visual odometry: Sparse joint optimisation or dense alternation? , In 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.
[] Room layout estimation from rapid omnidirectional exploration , In 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.
[] Semanticfusion: Dense 3d semantic mapping with convolutional neural networks , In 2017 IEEE International Conference on Robotics and automation (ICRA), 2017.
2016
[] Monocular, real-time surface reconstruction using dynamic level of detail , In 2016 Fourth International Conference on 3D Vision (3DV), 2016.
[] Real-time 3D reconstruction and 6-DoF tracking with an event camera , In European Conference on Computer Vision, 2016.
[] Real-time height map fusion using differentiable rendering , In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
[] Deep learning a grasp function for grasping under gripper pose uncertainty , In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, 2016.
[] Simultaneous optical flow and intensity estimation from an event camera , In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2016.
[] Pairwise decomposition of image sequences for active multi-view recognition , In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2016.
2015
[] ElasticFusion: Dense SLAM Without A Pose Graph , In Robotics: Science and Systems, 2015.
[] Rapid free-space mapping from a single omnidirectional camera , In 2015 European Conference on Mobile Robots (ECMR), 2015.
[] Towards visual slam with event-based cameras , In The problem of mobile sensors workshop in conjunction with RSS, 2015.
[] A solar-powered hand-launchable UAV for low-altitude multi-day continuous flight , In 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.
[] Place recognition with event-based cameras and a neural implementation of SeqSLAM , In Innovative Sensing for Robotics: Focus on Neuromorphic Sensors Workshop at IEEE International Conference on Robotics and Automation (ICRA), 2015.
2014
[] Robust state estimation for small unmanned airplanes , In 2014 IEEE Conference on Control Applications (CCA), 2014.
[] Explicit model predictive control and l 1-navigation strategies for fixed-wing uav path tracking , In 22nd Mediterranean Conference on Control and Automation, 2014.
[] A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAM , In 2014 IEEE international conference on robotics and automation (ICRA), 2014.
2013
[] Ground and aerial robots as an aid to alpine search and rescue: Initial sherpa outcomes , In 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2013.
[] Design and control of a spherical omnidirectional blimp , In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.
[] A UAV system for inspection of industrial facilities , In 2013 IEEE Aerospace Conference, 2013.
2012
[] A low-cost and fail-safe inertial navigation system for airplanes , In 2012 IEEE International Conference on Robotics and Automation, 2012.
[] The SHERPA project: Smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments , In 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2012.
2011
[] Modeling and decoupling control of the coax micro helicopter , In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
[] BRISK: Binary robust invariant scalable keypoints , In 2011 International conference on computer vision, 2011.
2008
[] Design and Comparison of a Steering Mechanism for an Autonomous Coaxial Indoor Helicopter , In Proceedings of The ASME International Symposium on Flexible Automation (ISFA), 2008.
[] New design of the steering mechanism for a mini coaxial helicopter , In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.
2007
[] , In Proceedings 2007 IEEE international conference on robotics and automation, 2007.
Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
PhD Thesis
2014
[] Unmanned solar airplanes: Design and algorithms for efficient and robust autonomous operation , PhD thesis, ETH Zurich, 2014.
Book Chapters | Journal Articles | Preprints | Conference and Workshop Papers | PhD Thesis | Other Publications
Other Publications
2020
[] OKVIS 2.0 for the FPV Drone Racing VIO Competition 2020 , 2020.
2010
[] Modeling and control of a ballbot , Master's thesis, Eidgenössische Technische Hochschule Zürich, 2010.
2009
[] Aerodynamic Performance and Stability Simulation of DifferentFlying Wing Model Airplane Configurations , Bachelor Thesis, Swiss Federal Institute of Technology in Zurich, 2009.
