Publications

2025

1. IEEE T-RO

   

   SG-Reg: Generalizable and Efficient Scene Graph Registration

   Chuhao Liu, Zhijian Qiao, Jieqi Shi, Ke Wang, Peize Liu, and Shaojie Shen

   IEEE Transactions on Robotics (T-RO), 2025

   arXiv Bib Video Code

   @article{lch2025sgreg,
     title = {{SG-Reg}: Generalizable and Efficient Scene Graph Registration},
     author = {Liu, Chuhao and Qiao, Zhijian and Shi, Jieqi and Wang, Ke and Liu, Peize and Shen, Shaojie},
     journal = {IEEE Transactions on Robotics (T-RO)},
     year = {2025},
     publisher = {IEEE},
   }

2. IEEE T-ASE

   

   Speak the Same Language: Global LiDAR Registration on BIM Using Pose Hough Transform

   Zhijian Qiao, Haoming Huang, Chuhao Liu, Shaojie Shen, Fumin Zhang, and Huan Yin

   IEEE Transactions on Automation Science and Engineering (T-ASE), 2025

   arXiv Bib Video Code

   @article{qiao2024speak,
     title = {{Speak the Same Language}: Global LiDAR Registration on BIM Using Pose Hough Transform},
     author = {Qiao, Zhijian and Huang, Haoming and Liu, Chuhao and Shen, Shaojie and Zhang, Fumin and Yin, Huan},
     journal = {IEEE Transactions on Automation Science and Engineering (T-ASE)},
     publisher = {IEEE},
     year = {2025},
   }

3. ICRA

   

   SLABIM: A SLAM-BIM Coupled Dataset in HKUST Main Building

   Haoming Huang, Zhijian Qiao, Zehuan Yu, Chuhao Liu, Shaojie Shen, Fumin Zhang, and Huan Yin

   In IEEE International Conference on Robotics and Automation (ICRA), 2025

   arXiv Bib Video Code

   @inproceedings{huang2025slabim,
     title = {{SLABIM}: A SLAM-BIM Coupled Dataset in HKUST Main Building},
     author = {Huang, Haoming and Qiao, Zhijian and Yu, Zehuan and Liu, Chuhao and Shen, Shaojie and Zhang, Fumin and Yin, Huan},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025},
   }

2024

1. IEEE RA-L

   

   FM-Fusion: Instance-aware Semantic Mapping Boosted by Vision-Language Foundation Models

   Chuhao Liu, Ke Wang, Jieqi Shi, Zhijian Qiao, and Shaojie Shen

   IEEE Robotics and Automation Letters (RA-L), 2024

   arXiv Bib Video Code

   @article{liu2024fmfusion,
     title = {{FM-Fusion}: Instance-aware Semantic Mapping Boosted by Vision-Language Foundation Models},
     author = {Liu, Chuhao and Wang, Ke and Shi, Jieqi and Qiao, Zhijian and Shen, Shaojie},
     journal = {IEEE Robotics and Automation Letters ({RA-L})},
     year = {2024},
     publisher = {IEEE},
   }

2. IEEE RA-L

   

   Multi-View Depth Estimation by Using Adaptive Point Graph to Fuse Single-View Depth Probabilities

   Ke Wang, Chuhao Liu, Zhanwen Liu, Fangwei Xiao, Yisheng An, Xiangmo Zhao, and Shaojie Shen

   IEEE Robotics and Automation Letters (RA-L), 2024

   Bib

   @article{wke2024depth,
     author = {Wang, Ke and Liu, Chuhao and Liu, Zhanwen and Xiao, Fangwei and An, Yisheng and Zhao, Xiangmo and Shen, Shaojie},
     journal = {IEEE Robotics and Automation Letters ({RA-L})},
     title = {Multi-View Depth Estimation by Using Adaptive Point Graph to Fuse Single-View Depth Probabilities},
     year = {2024},
     volume = {9},
     number = {7},
     pages = {6400-6407},
     publisher = {IEEE},
   }

2023

1. ICRA

   

   Towards View-invariant and Accurate Loop Detection based on Scene Graph

   Chuhao Liu, and Shaojie Shen

   In IEEE International Conference on Robotics and Automation (ICRA), 2023

   arXiv Bib

   @inproceedings{liu2023towards,
     title = {Towards View-invariant and Accurate Loop Detection based on Scene Graph},
     author = {Liu, Chuhao and Shen, Shaojie},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {2127--2133},
     year = {2023},
     organization = {IEEE},
   }

2022

1. Sensors

   

   Geometric Calibration for Cameras with Inconsistent Imaging Capabilities

   Ke Wang, Chuhao Liu, and Shaojie Shen

   Sensors, 2022

   Bib

   @article{wke2022calibration,
     author = {Wang, Ke and Liu, Chuhao and Shen, Shaojie},
     title = {Geometric Calibration for Cameras with Inconsistent Imaging Capabilities},
     journal = {Sensors},
     volume = {22},
     year = {2022},
     number = {7},
     article-number = {2739},
     pubmedid = {35408352},
     issn = {1424-8220},
   }

2021

1. ICRA

   

   Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning

   Luqi Wang, Boyu Zhou, Chuhao Liu, and Shaojie Shen

   In IEEE International Conference on Robotics and Automation (ICRA), 2021

   Bib Video

   @inproceedings{luqi2021airflow,
     author = {Wang, Luqi and Zhou, Boyu and Liu, Chuhao and Shen, Shaojie},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     title = {Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning},
     year = {2021},
     volume = {},
     number = {},
     pages = {384-390},
   }

2. IEEE RA-L

   

   Depth estimation under motion with single pair rolling shutter stereo images

   Ke Wang, Chuhao Liu, Kaixuan Wang, and Shaojie Shen

   IEEE Robotics and Automation Letters (RA-L), 2021

   Bib

   @article{wke2021depth,
     title = {Depth estimation under motion with single pair rolling shutter stereo images},
     author = {Wang, Ke and Liu, Chuhao and Wang, Kaixuan and Shen, Shaojie},
     journal = {IEEE Robotics and Automation Letters ({RA-L})},
     volume = {6},
     number = {2},
     pages = {3160--3167},
     year = {2021},
     publisher = {IEEE},
   }

2020

1. IROS

   

   An Augmented Reality Interaction Interface for Autonomous Drone

   Chuhao Liu, and Shaojie Shen

   IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020

   arXiv Bib Video

   @article{lch2020ardrone,
     title = {An Augmented Reality Interaction Interface for Autonomous Drone},
     author = {Liu, Chuhao and Shen, Shaojie},
     journal = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     organization = {IEEE},
     year = {2020},
   }

2019

1. IEEE RA-L

   

   Robust and efficient quadrotor trajectory generation for fast autonomous flight

   Boyu Zhou, Fei Gao, Luqi Wang, Chuhao Liu, and Shaojie Shen

   IEEE Robotics and Automation Letters (RA-L), 2019

   arXiv Bib Video Code

   @article{zhou2019robust,
     title = {Robust and efficient quadrotor trajectory generation for fast autonomous flight},
     author = {Zhou, Boyu and Gao, Fei and Wang, Luqi and Liu, Chuhao and Shen, Shaojie},
     journal = {IEEE Robotics and Automation Letters ({RA-L})},
     volume = {4},
     number = {4},
     pages = {3529--3536},
     year = {2019},
     publisher = {IEEE},
   }