About Me

I am currently pursuing a PhD at the School of Computer Science and Technology, University of Science and Technology of China (USTC) under the supervision of Prof. Yanyong Zhang. Prior to that, I received my B.E. degree in 2020 also from School of Computer Science and Technology at USTC.

My research interest includes:

• LiDAR-based SLAM
• Calibration
• 3D GS and NeRF
• Occupancy Prediction

News

• 2024.12.02: Our paper PHP is accepted by RA-L！
• 2024.08.14: Our paper EdgeCalib is accepted by RA-L！
• 2024.07.16: Our paper RayFormer is accepted by ACMMM 2024！
• 2024.06.30: Three papers CRPlace, MM-Gaussian and LDP are accepted by IROS 2024！
• 2024.03.25: Our paper FARFusion is accepted by RA-L！
• 2024.03.05: Our paper mmPlace is accepted by RA-L！
• 2024.01.29: Our paper OCC-VO is accepted by ICRA 2024！
• 2023.12.02: Our paper Map++ is accepted by MobiCom ‘24！
• 2023.10.02: Our paper ScanTrimmer is accepted by ROBIO 2023！
• 2023.07.18: Our dataset paper USTC FLICAR is accepted by IJRR！
• 2023.03.13: Our paper $P^3O$ is accepted by ICME 2023！
• 2022.06.30: My first paper PFilter is accepted by IROS 2022！
• 2022.06.30: Our paper FastBKRRT is accepted by ICRA 2021！

Publications

RA-L

• Perception Helps Planning: Facilitating Multi-Stage Lane-Level Integration via Double-Edge Structures
• Guoliang You, Xiaomeng Chu, Yifan Duan, Wenyu Zhang, Xingchen Li, Sha Zhang, Yao Li,Jianmin Ji, Yanyong Zhang

• IEEE Robotics and Automation Letters (RA-L)

  arxiv BibTeX

RA-L

• EdgeCalib: Multi-Frame Weighted Edge Features for Automatic Targetless LiDAR-Camera Calibration
• Xingchen Li, Yifan Duan, Beibei Wang, Haojie Ren, Guoliang You, Yu Sheng, Jianmin Ji, Yanyong Zhang

• IEEE Robotics and Automation Letters (RA-L)

  arxiv BibTeX

ACMMM

• RayFormer: Improving Query-Based Multi-Camera 3D Object Detection via Ray-Centric Strategies
• Xiaomeng Chu, Jiajun Deng, Guoliang You, Yifan Duan, Yao Li, Yanyong Zhang

• ACM MULTIMEDIA 2024 (ACMMM)

  arxiv BibTeX

IROS 2024

• CRPlace: Camera-Radar Fusion with BEV Representation for Place Recognition
• Shaowei Fu, Yifan Duan, Yao Li, Chengzhen Meng, Yingjie Wang, Jianmin Ji, Yanyong Zhang

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

  arxiv BibTeX

IROS 2024

• MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes
• Chenyang Wu, Yifan Duan, Xinran Zhang, Yu Sheng, Jianmin Ji, Yanyong Zhang

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

  arxiv BibTeX

IROS 2024

• LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance
• Wenhao Yu, Jie Peng, huanyu yang, Junrui Zhang, Yifan Duan, Jianmin Ji, Yanyong Zhang
• 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

RA-L

• FARFusion: A Practical Roadside Radar-Camera Fusion System for Far-Range Perception
• Yao Li, Yingjie Wang, Chengzhen Meng, Yifan Duan, Jianmin Ji, Yu Zhang, Yanyong Zhang

• IEEE Robotics and Automation Letters (RA-L)

  link BibTeX

RA-L

• mmPlace: Robust Place Recognition With Intermediate Frequency Signal of Low-Cost Single-Chip Millimeter Wave Radar
• Chengzhen Meng, Yifan Duan, Chenming He, Dequan Wang, Xiaoran Fan, Yanyong Zhang

• IEEE Robotics and Automation Letters (RA-L)

  arxiv code BibTeX

ICRA 2024

• OCC-VO: Dense Mapping via 3D Occupancy-Based Visual Odometry for Autonomous Driving
• Heng Li, Yifan Duan, Xinran Zhang, Haiyi Liu, Jianmin Ji, Yanyong Zhang

• 2024 IEEE International Conference on Robotics and Automation (ICRA)

  arxiv code BibTeX

MobiCom '24

• Map++: Towards User-Participatory Visual SLAM Systems with Efficient Map Expansion and Sharing
• Xinran Zhang, Hanqi Zhu, Yifan Duan, Wuyang Zhang, Longfei Shangguan, Yu Zhang, Jianmin Ji, Yanyong Zhang

• ACM MobiCom ‘24: Proceedings of the 30th Annual International Conference on Mobile Computing and Networking

  link BibTeX

ROBIO 2022

• ScanTrimmer: an Online Dynamic Objects Removal Framework in Laser Scan for Robust Localization
• Jing Wang, Yifan Duan, Jianmin Ji

• 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)

  link BibTeX

IJRR

• USTC FLICAR: A sensors fusion dataset of LiDAR-inertial-camera for heavy-duty autonomous aerial work robots
• Ziming Wang, Yujiang Liu, Yifan Duan, Xingchen Li, Xinran Zhang, Jianmin Ji, Erbao Dong, Yanyong Zhang

• The International Journal of Robotics Research (IJRR)

  arxiv Page BibTeX

ICME 2023

• $P^3O$: Transferring Visual Representations for Reinforcement Learning via Prompting
• Guoliang You, Xiaomeng Chu, Yifan Duan, Jie Peng, Jianmin Ji, Yu Zhang, Yanyong Zhang

• 2023 IEEE International Conference on Multimedia and Expo (ICME)

  arxiv BibTeX

IROS 2022

• PFilter: Building persistent maps through feature filtering for fast and accurate LiDAR-based slam
• Yifan Duan, Jie Peng, Yu Zhang, Jianmin Ji, Yanyong Zhang

• 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

  arxiv code Video BibTeX

ICRA 2021

• Towards an online RRT-based path planning algorithm for Ackermann-steering vehicles
• Jie Peng, Yu’An Chen, Yifan Duan, Yu Zhang, Jianmin Ji, Yanyong Zhang

• 2021 IEEE International Conference on Robotics and Automation (ICRA)

  link code BibTeX