Fu Zhang

According to our database, Fu Zhang authored at least 98 papers between 2017 and 2025.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of four.

2025

Large-Scale Multi-Session Point-Cloud Map Merging.

Hairuo Wei, Rundong Li, Yixi Cai, Chongjian Yuan, Yunfan Ren, Zuhao Zou, Huajie Wu, Chunran Zheng, Shunbo Zhou, Kaiwen Xue, Fu Zhang

IEEE Robotics Autom. Lett., January, 2025

Swarm-LIO2: Decentralized Efficient LiDAR-Inertial Odometry for Aerial Swarm Systems.

Fangcheng Zhu, Yunfan Ren, Longji Yin, Fanze Kong, Qingbo Liu, Ruize Xue, Wenyi Liu, Yixi Cai, Guozheng Lu, Haotian Li, Fu Zhang

IEEE Trans. Robotics, 2025

FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry.

Chunran Zheng, Wei Xu, Zuhao Zou, Tong Hua, Chongjian Yuan, Dongjiao He, Bingyang Zhou, Zheng Liu, Jiarong Lin, Fangcheng Zhu, Yunfan Ren, Rong Wang, Fanle Meng, Fu Zhang

IEEE Trans. Robotics, 2025

2024

iBTC: An Image-Assisting Binary and Triangle Combined Descriptor for Place Recognition by Fusing LiDAR and Camera Measurements.

Zuhao Zou, Chunran Zheng, Chongjian Yuan, Shunbo Zhou, Kaiwen Xue, Fu Zhang

IEEE Robotics Autom. Lett., December, 2024

R$^{3}$3LIVE++: A Robust, Real-Time, Radiance Reconstruction Package With a Tightly-Coupled LiDAR-Inertial-Visual State Estimator.

Jiarong Lin, Fu Zhang

IEEE Trans. Pattern Anal. Mach. Intell., December, 2024

LTA-OM: Long-term association LiDAR-IMU odometry and mapping.

Zuhao Zou, Chongjian Yuan, Wei Xu, Haotian Li, Shunbo Zhou, Kaiwen Xue, Fu Zhang

J. Field Robotics, October, 2024

Trajectory generation and tracking control for aggressive tail-sitter flights.

Guozheng Lu, Yixi Cai, Nan Chen, Fanze Kong, Yunfan Ren, Fu Zhang

Int. J. Robotics Res., March, 2024

Integrated Planning and Control for Quadrotor Navigation in Presence of Suddenly Appearing Objects and Disturbances.

Wenyi Liu, Yunfan Ren, Fu Zhang

IEEE Robotics Autom. Lett., January, 2024

BTC: A Binary and Triangle Combined Descriptor for 3-D Place Recognition.

Chongjian Yuan, Jiarong Lin, Zheng Liu, Hairuo Wei, Xiaoping Hong, Fu Zhang

IEEE Trans. Robotics, 2024

Occupancy Grid Mapping Without Ray-Casting for High-Resolution LiDAR Sensors.

Yixi Cai, Fanze Kong, Yunfan Ren, Fangcheng Zhu, Jiarong Lin, Fu Zhang

IEEE Trans. Robotics, 2024

MARS-LVIG dataset: A multi-sensor aerial robots SLAM dataset for LiDAR-visual-inertial-GNSS fusion.

Haotian Li, Yuying Zou, Nan Chen, Jiarong Lin, Xiyuan Liu, Wei Xu, Chunran Zheng, Rundong Li, Dongjiao He, Fanze Kong, Yixi Cai, Zheng Liu, Shunbo Zhou, Kaiwen Xue, Fu Zhang

Int. J. Robotics Res., 2024

Autonomous Tail-Sitter Flights in Unknown Environments.

Guozheng Lu, Yunfan Ren, Fangcheng Zhu, Haotian Li, Ruize Xue, Yixi Cai, Ximin Lyu, Fu Zhang

CoRR, 2024

EPIC: A Lightweight LiDAR-Based UAV Exploration Framework for Large-Scale Scenarios.

Shuang Geng, Zelin Ning, Fu Zhang, Boyu Zhou

CoRR, 2024

Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System.

Zheng Liu, Haotian Li, Chongjian Yuan, Xiyuan Liu, Jiarong Lin, Rundong Li, Chunran Zheng, Bingyang Zhou, Wenyi Liu, Fu Zhang

CoRR, 2024

LiDAR-based Quadrotor for Slope Inspection in Dense Vegetation.

Wenyi Liu, Yunfan Ren, Rui Guo, Vickie W. W. Kong, Anthony S. P. Hung, Fangcheng Zhu, Yixi Cai, Yuying Zou, Fu Zhang

CoRR, 2024

LVBA: LiDAR-Visual Bundle Adjustment for RGB Point Cloud Mapping.

Rundong Li, Xiyuan Liu, Haotian Li, Zheng Liu, Jiarong Lin, Yixi Cai, Fu Zhang

CoRR, 2024

Agile Decision-Making and Safety-Critical Motion Planning for Emergency Autonomous Vehicles.

Yiming Shu, Jingyuan Zhou, Fu Zhang

CoRR, 2024

Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems.

Jianheng Liu, Chunran Zheng, Yunfei Wan, Bowen Wang, Yixi Cai, Fu Zhang

CoRR, 2024

Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representations.

Lintong Zhang, Yifu Tao, Jiarong Lin, Fu Zhang, Maurice F. Fallon

CoRR, 2024

Real-time Bandwidth-efficient Occupancy Grid Map Synchronization for Multi-Robot Systems.

Liuyu Shi, Longji Yin, Fanze Kong, Yunfan Ren, Fangcheng Zhu, Benxu Tang, Fu Zhang

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

ROG-Map: An Efficient Robocentric Occupancy Grid Map for Large-scene and High-resolution LiDAR-based Motion Planning.

Yunfan Ren, Yixi Cai, Fangcheng Zhu, Siqi Liang, Fu Zhang

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

2023

Efficient and Consistent Bundle Adjustment on Lidar Point Clouds.

Zheng Liu, Xiyuan Liu, Fu Zhang

IEEE Trans. Robotics, December, 2023

ImMesh: An Immediate LiDAR Localization and Meshing Framework.

Jiarong Lin, Chongjian Yuan, Yixi Cai, Haotian Li, Yunfan Ren, Yuying Zou, Xiaoping Hong, Fu Zhang

IEEE Trans. Robotics, December, 2023

Snapp: An Agile Robotic Fish With 3-D Maneuverability for Open Water Swim.

Timothy J. K. Ng, Nan Chen, Fu Zhang

IEEE Robotics Autom. Lett., October, 2023

On-Manifold Model Predictive Control for Trajectory Tracking on Robotic Systems.

Guozheng Lu, Wei Xu, Fu Zhang

IEEE Trans. Ind. Electron., September, 2023

Point-LIO: Robust High-Bandwidth Light Detection and Ranging Inertial Odometry.

Dongjiao He, Wei Xu, Nan Chen, Fanze Kong, Chongjian Yuan, Fu Zhang

Adv. Intell. Syst., July, 2023

MARSIM: A Light-Weight Point-Realistic Simulator for LiDAR-Based UAVs.

Fanze Kong, Xiyuan Liu, Benxu Tang, Jiarong Lin, Yunfan Ren, Yixi Cai, Fangcheng Zhu, Nan Chen, Fu Zhang

IEEE Robotics Autom. Lett., May, 2023

A self-rotating, single-actuated UAV with extended sensor field of view for autonomous navigation.

Nan Chen, Fanze Kong, Wei Xu, Yixi Cai, Haotian Li, Dongjiao He, Youming Qin, Fu Zhang

Sci. Robotics, March, 2023

Large-Scale LiDAR Consistent Mapping Using Hierarchical LiDAR Bundle Adjustment.

Xiyuan Liu, Zheng Liu, Fanze Kong, Fu Zhang

IEEE Robotics Autom. Lett., March, 2023

Symbolic Representation and Toolkit Development of Iterated Error-State Extended Kalman Filters on Manifolds.

Dongjiao He, Wei Xu, Fu Zhang

IEEE Trans. Ind. Electron., 2023

Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment.

Liang Li, Haotian Li, Xiyuan Liu, Dongjiao He, Ziliang Miao, Fanze Kong, Rundong Li, Zheng Liu, Fu Zhang

CoRR, 2023

An Efficient Plane Extraction Approach for Bundle Adjustment on LiDAR Point clouds.

Zheng Liu, Fu Zhang

CoRR, 2023

ImMesh: An Immediate LiDAR Localization and Meshing Framework.

Jiarong Lin, Chongjian Yuan, Yixi Cai, Haotian Li, Yuying Zou, Xiaoping Hong, Fu Zhang

CoRR, 2023

Safety-critical Decision-making and Control for Autonomous Vehicles with Highest Priority.

Yiming Shu, Jingyuan Zhou, Fu Zhang

Proceedings of the IEEE Intelligent Vehicles Symposium, 2023

Decentralized Swarm Trajectory Generation for LiDAR-based Aerial Tracking in Cluttered Environments.

Longji Yin, Fangcheng Zhu, Yunfan Ren, Fanze Kong, Fu Zhang

IROS, 2023

Bubble Explorer: Fast UAV Exploration in Large-Scale and Cluttered 3D-Environments Using Occlusion-Free Spheres.

Benxu Tang, Yunfan Ren, Fangcheng Zhu, Rui He, Siqi Liang, Fanze Kong, Fu Zhang

IROS, 2023

Tight Collision Probability for UAV Motion Planning in Uncertain Environment.

Tianyu Liu, Fu Zhang, Fei Gao, Jia Pan

IROS, 2023

HALO: A Safe, Coaxial, and Dual-Ducted UAV Without Servo.

Haotian Li, Nan Chen, Fanze Kong, Yuying Zou, Shenji Zhou, Dongjiao He, Fu Zhang

IROS, 2023

Swashplateless-Elevon Actuation for a Dual-Rotor Tail-Sitter VTOL UAV.

Nan Chen, Fanze Kong, Haotian Li, Jiayuan Liu, Ziwei Ye, Wei Xu, Fangcheng Zhu, Ximin Lyu, Fu Zhang

IROS, 2023

Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry.

Fangcheng Zhu, Yunfan Ren, Fanze Kong, Huajie Wu, Siqi Liang, Nan Chen, Wei Xu, Fu Zhang

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

STD: Stable Triangle Descriptor for 3D place recognition.

Chongjian Yuan, Jiarong Lin, Zuhao Zou, Xiaoping Hong, Fu Zhang

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Online Whole-Body Motion Planning for Quadrotor using Multi-Resolution Search.

Yunfan Ren, Siqi Liang, Fangcheng Zhu, Guozheng Lu, Fu Zhang

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Perch a Quadrotor on Planes by the Ceiling Effect.

Yuying Zou, Haotian Li, Yunfan Ren, Wei Xu, Yihang Li, Yixi Cai, Shenji Zhou, Fu Zhang

Proceedings of the 19th IEEE International Conference on Automation Science and Engineering, 2023

2022

FAST-LIO2: Fast Direct LiDAR-Inertial Odometry.

Wei Xu, Yixi Cai, Dongjiao He, Jiarong Lin, Fu Zhang

IEEE Trans. Robotics, 2022

Targetless Extrinsic Calibration of Multiple Small FoV LiDARs and Cameras Using Adaptive Voxelization.

Xiyuan Liu, Chongjian Yuan, Fu Zhang

IEEE Trans. Instrum. Meas., 2022

Robots' State Estimation and Observability Analysis Based on Statistical Motion Models.

Wei Xu, Dongjiao He, Yixi Cai, Fu Zhang

IEEE Trans. Control. Syst. Technol., 2022

STV-SC: Segmentation and Temporal Verification Enhanced Scan Context for Place Recognition in Unstructured Environment.

Xiaojie Tian, Peng Yi, Fu Zhang, Jinlong Lei, Yiguang Hong

Sensors, 2022

Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry.

Chongjian Yuan, Wei Xu, Xiyuan Liu, Xiaoping Hong, Fu Zhang

IEEE Robotics Autom. Lett., 2022

Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment.

Xiyuan Liu, Zheng Liu, Fanze Kong, Fu Zhang

CoRR, 2022

Decentralized LiDAR-inertial Swarm Odometry.

Fangcheng Zhu, Yunfan Ren, Fanze Kong, Huajie Wu, Siqi Liang, Nan Chen, Wei Xu, Fu Zhang

CoRR, 2022

R³LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator.

Jiarong Lin, Fu Zhang

CoRR, 2022

Robust and Online LiDAR-inertial Initialization.

Fangcheng Zhu, Yunfan Ren, Fu Zhang

CoRR, 2022

Robust Real-time LiDAR-inertial Initialization.

Fangcheng Zhu, Yunfan Ren, Fu Zhang

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry.

Chunran Zheng, Qingyan Zhu, Wei Xu, Xiyuan Liu, Qizhi Guo, Fu Zhang

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Bubble Planner: Planning High-speed Smooth Quadrotor Trajectories using Receding Corridors.

Yunfan Ren, Fangcheng Zhu, Wenyi Liu, Zhepei Wang, Yi Lin, Fei Gao, Fu Zhang

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning.

Xinyi Chen, Boyu Zhou, Jiarong Lin, Yichen Zhang, Fu Zhang, Shaojie Shen

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Star-Convex Constrained Optimization for Visibility Planning with Application to Aerial Inspection.

Tianyu Liu, Qianhao Wang, Xingguang Zhong, Zhepei Wang, Chao Xu, Fu Zhang, Fei Gao

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

R³LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package.

Jiarong Lin, Fu Zhang

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021

Pixel-Level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless Environments.

Chongjian Yuan, Xiyuan Liu, Xiaoping Hong, Fu Zhang

IEEE Robotics Autom. Lett., 2021

FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter.

Wei Xu, Fu Zhang

IEEE Robotics Autom. Lett., 2021

BALM: Bundle Adjustment for Lidar Mapping.

Zheng Liu, Fu Zhang

IEEE Robotics Autom. Lett., 2021

Extrinsic Calibration of Multiple LiDARs of Small FoV in Targetless Environments.

Xiyuan Liu, Fu Zhang

IEEE Robotics Autom. Lett., 2021

R $^2$ LIVE: A Robust, Real-Time, LiDAR-Inertial-Visual Tightly-Coupled State Estimator and Mapping.

Jiarong Lin, Chunran Zheng, Wei Xu, Fu Zhang

IEEE Robotics Autom. Lett., 2021

Avoiding Dynamic Small Obstacles With Onboard Sensing and Computation on Aerial Robots.

Fanze Kong, Wei Xu, Yixi Cai, Fu Zhang

IEEE Robotics Autom. Lett., 2021

R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package.

Jiarong Lin, Fu Zhang

CoRR, 2021

Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online 3D SLAM.

Chongjian Yuan, Wei Xu, Xiyuan Liu, Xiaoping Hong, Fu Zhang

CoRR, 2021

Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras.

Xiyuan Liu, Chongjian Yuan, Fu Zhang

CoRR, 2021

Model Predictive Control for Trajectory Tracking on Differentiable Manifolds.

Guozheng Lu, Wei Xu, Fu Zhang

CoRR, 2021

Control of a Tail-Sitter VTOL UAV Based on Recurrent Neural Networks.

Jinni Zhou, Hao Xu, Zexiang Li, Shaojie Shen, Fu Zhang

CoRR, 2021

Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots.

Fanze Kong, Wei Xu, Fu Zhang

CoRR, 2021

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping.

Jiarong Lin, Chunran Zheng, Wei Xu, Fu Zhang

CoRR, 2021

ikd-Tree: An Incremental K-D Tree for Robotic Applications.

Yixi Cai, Wei Xu, Fu Zhang

CoRR, 2021

Embedding manifold structures into Kalman filters.

Dongjiao He, Wei Xu, Fu Zhang

CoRR, 2021

2020

Learning Pugachev's Cobra Maneuver for Tail-Sitter UAVs Using Acceleration Model.

Wei Xu, Fu Zhang

IEEE Robotics Autom. Lett., 2020

Gemini: A Compact Yet Efficient Bi-Copter UAV for Indoor Applications.

Youming Qin, Wei Xu, Adrian Lee, Fu Zhang

IEEE Robotics Autom. Lett., 2020

Coordinate Descent Optimization for Winged-UAV Design.

Haowei Gu, Ximin Lyu, Zexiang Li, Fu Zhang

J. Intell. Robotic Syst., 2020

Low-cost Retina-like Robotic Lidars Based on Incommensurable Scanning.

Zheng Liu, Fu Zhang, Xiaoping Hong

CoRR, 2020

Hybrid aerial-ground locomotion with a single passive wheel.

Youming Qin, Yihang Li, Wei Xu, Fu Zhang

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs.

Jiarong Lin, Xiyuan Liu, Fu Zhang

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV.

Jiarong Lin, Fu Zhang

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Modeling, Identification, and Control of Non-minimum Phase Dynamics of Bi-copter UAVs.

Yihang Li, Youming Qin, Wei Xu, Fu Zhang

Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2020

2019

Perching and resting - A paradigm for UAV maneuvering with modularized landing gears.

Kaiyu Hang, Ximin Lyu, Haoran Song, Johannes A. Stork, Aaron M. Dollar, Danica Kragic, Fu Zhang

Sci. Robotics, 2019

A fast, complete, point cloud based loop closure for LiDAR odometry and mapping.

Jiarong Lin, Fu Zhang

CoRR, 2019

Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV.

Jiarong Lin, Fu Zhang

CoRR, 2019

Acceleration Based Iterative Learning Control for Pugachev's Cobra Maneuver with Quadrotor Tail-sitter VTOL UAVs.

Wei Xu, Haowei Gu, Fu Zhang

CoRR, 2019

Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes.

Wei Xu, Haowei Gu, Youming Qing, Jiarong Lin, Fu Zhang

CoRR, 2019

Flying through a narrow gap using neural network: an end-to-end planning and control approach.

Jiarong Lin, Luqi Wang, Fei Gao, Shaojie Shen, Fu Zhang

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

A Screen-Based Method for Automated Camera Intrinsic Calibration on Production Lines.

Wenliang Gao, Jiarong Lin, Fu Zhang, Shaojie Shen

Proceedings of the 15th IEEE International Conference on Automation Science and Engineering, 2019

2018

Real-Time Calibration of Gyro-Magnetometer Misalignment.

Fu Zhang, Jianyu Song

IEEE Robotics Autom. Lett., 2018

Simultaneous Self-Calibration of Nonorthogonality and Nonlinearity of Cost-Effective Multiaxis Inertially Stabilized Gimbal Systems.

Fu Zhang

IEEE Robotics Autom. Lett., 2018

Disturbance Observer Based Hovering Control of Quadrotor Tail-Sitter VTOL UAVs Using H_∞ Synthesis.

Ximin Lyu, Jinni Zhou, Haowei Gu, Zexiang Li, Shaojie Shen, Fu Zhang

IEEE Robotics Autom. Lett., 2018

A systematic design framework for iterative learning control with current feedback.

Minghui Zheng, Fu Zhang, Xiao Liang

IFAC J. Syst. Control., 2018

A Scalable Model-Based Learning Algorithm With Application to UAVs.

Xiao Liang, Minghui Zheng, Fu Zhang

IEEE Control. Syst. Lett., 2018

Synthesized Disturbance Observer for Vehicle Lateral Disturbance Rejection.

Shiying Zhou, Minghui Zheng, Fu Zhang, Masayoshi Tomizuka

Proceedings of the 2018 Annual American Control Conference, 2018

H_∞ Based Disturbance Observer Design for Non-minimum Phase Systems with Application to UAV Attitude Control.

Ximin Lyu, Minghui Zheng, Fu Zhang

Proceedings of the 2018 Annual American Control Conference, 2018

2017

A unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight.

Jinni Zhou, Ximin Lyu, Zexiang Li, Shaojie Shen, Fu Zhang

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

A hierarchical control approach for a quadrotor tail-sitter VTOL UAV and experimental verification.

Ximin Lyu, Haowei Gu, Jinni Zhou, Zexiang Li, Shaojie Shen, Fu Zhang

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Design and implementation of a quadrotor tail-sitter VTOL UAV.

Ximin Lyu, Haowei Gu, Ya Wang, Zexiang Li, Shaojie Shen, Fu Zhang

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017