Jin Wu(吴荩/吳藎)


Jin Wu, Bachelor in Applied Science

I am Jin Wu from China. I was born in May, 1994, in Zhenjiang, Jiangsu, China. My research falls within the algorithmic foundations for robotics with particular focuses on attitude/pose estimation and related mechatronic systems design/control, numerical optimization, deep learning, and high-performance computing, with applications in aerospace engineering, space sciences, industrial/mobile robotics, computer vision, structural chemistry, computer animation, and consumer electronics. I started C++ programming since 2004, the MFC programming in 2006, and the Qt programming in 2009. I obtained my Bachelor's degree from University of Electronic Science and Technolology of China (UESTC, 電子科技大學, founded in 1956, QS Ranking 456, 2024), supervised by Prof. Zebo Zhou and Prof. Rui Li, co-supervised by Prof. Bin Gao and Prof. Yuhua Cheng. In 2013, I was a visiting student with Groep T, Katholieke Universiteit Leuven (KU Leuven, 比利時天主教魯汶大學, a 575 year-old university founded by Martin V in 1425, QS Ranking 76, 2024). I worked as a shareholder of several companies of unmanned aerial vehicle (UAV) services since 2012. Previously, I worked as an engineer in Tencent Robotics X (騰訊機器人), under the administration of Dr. Zhengyou Zhang. I worked as an active educator of open-source UAV systems like PX4 and ArduPilot on embedded programming and optimization in China from 2015 to 2018. Currently, I serve as a PhD Candidate in Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology (HKUST, 香港科技大學, a young University founded in 1991, QS Ranking 60, 2024), Hong Kong SAR, China, under the supervision of Prof. Wei Zhang(張薇 教授).

Till now, my related research works have been reported in over 140 journal and conference papers, which include top-tier publications, such as 《IEEE Transactions on Robotics (T-RO)》, 《IEEE Transactions on Circuits and Systems (T-CAS)》, 《IEEE/ASME Transactions on Mechatronics (T-MECH》, 《IEEE Transactions on Automation Science and Engineering (T-ASE》, 《IEEE Transactions on Cybernetics (T-CYB)》, 《IEEE Transactions on Aerospace and Electronic Systems (T-AES)》, 《AIAA Journal of Guidance Control and Dynamics (JGCD)》, and 《IFAC Automatica》. I have been selected as the Stanford Top 2% Scientist (斯坦福世界前2%科學家) by Stanford University and published by Elsevier Inc., in 2019, 2020, 2021 and 2022. As of 2023, my research work has received over 2000 citations, summarized by Google Scholar. Since 2018, I have been closely working with Prof. Chengxi Zhang (張承璽 教授, Jiangnan University), Prof. Chong Li (李崇 教授, Ocean University of China), and Prof. Yi Jiang (姜藝 教授, CityU of Hong Kong). My closest regular collaborators in HKUST include Xiangcheng Hu, Bohuan Xue, Yilong Zhu and Dr. Jianhao Jiao


My Personal Links: [Google Scholar, ResearchGate, CSDN Blog, Github, LinkedIn ]

Research Interests

  • Aerospace Engineering and Space Robotics

  • Mechatronics and Numerical Optimization

  • Integrated Navigation and Multi-sensor Fusion

  • Machine Vision and 3D Reconstruction

  • Rigid-body Dynamics and Robotic Calibration

  • Structual Chemistry and Hybridyzation Theory

  • Embedded Systems, Electronics and Programming

  • Development on Qt, iOS and Android


(Left) Attitude/Velocity/Position Estimation and Sensor Calibration for UAV Systems; (Right) Participated Quadruped Robot in Tencent Robotics X


Navigation of Autonomous Vehicles and Networks



(Left) Human Motion Tracking, Recognition and Deformation; (Right) Miniaturized Inertial Measurement Unit (IMU) with Geomagnetic Aid for Robot State Estimation


Other Academic Services and Awards

    1. Outstanding Reviewer for IEEE Transactions on Instrumentation and Measurement link.
    2. Reviewer Award for IEEE Sensors Journal and Asian Journal of Control.
    3. Special-Session Chair for IEEE ICGNC 2022
    4. Track Chair for IEEE International Conference on Consumer Electronics, 2024, Las Vegas, USA. link
    5. Chair for IEEE CTSoc Gaming, Entertainment and Media (GEM), 2024, Turin, Italy link
    6. Special Session Chair for IEEE ITSC, 2023, Bizkaia, Spain. link
    7. Editorial Member of Frontiers in Aerospace Engineering link
    8. Committee Member of IEEE Consumer Technology Society link
    9. Publication Liaison of Sensors and Actuators Section of IEEE Consumer Technology Society.
    10. Guest Editor of Symmetry Recent Progress in Robot Control Systems Vol. I(Leading Guest Editor: Prof. Chengxi Zhang (Jiangnan University)) link
    11. Guest Editor of Symmetry Recent Progress in Robot Control Systems Vol. II (Leading Guest Editor: Prof. Chengxi Zhang (Jiangnan University)) link
    12. Guest Editor of Applied Sciences Autonomous Formation Systems: Guidance, Dynamics and Control (Leading Guest Editor: Prof. Jihe Wang (Sun-Yat Sen University)) link
    13. Guest Editor of Sustainability (Leading Guest Editor: Prof. Shunyi Zhao (Jiangnan University))
    14. Guest Editor of Aerospace Satellite Formation Flying: Dynamics and Control (Leading Guest Editor: Dr. Danil Ivanov (Russian Academy of Sciences)) link

Selected Publications

  1. Wu, J. (2019). Optimal Continuous Unit Quaternions from Rotation Matrices. AIAA J. Guid. Control Dyn. (JGCD). DOI: 10.2514/1.G004043, (code)

  2. Wu, J. (2019) Real-time Magnetometer Disturbance Estimation via Online Nonlinear Programming. IEEE Sensors J.. DOI: 10.1109/JSEN.2019.2901925, (code)

  3. Wu, J. (2019) MARG Attitude Estimation Using Gradient-Descent Linear Kalman Filter. IEEE Trans. Autom. Sci. Eng. (T-ASE). DOI: 10.1109/TASE.2020.2978106, (code)

  4. Wu, J. (2020) Unified Attitude Determination Problem from Vector Observations and Hand-eye Measurements. IEEE Trans. Aerosp. Elect. Syst. (T-AES). DOI: 10.1109/TAES.2020.2982482, (code)

  5. Wu, J. (2020) Rigid 3D Registration: A Simple Method Free of SVD and Eigen-Decomposition. IEEE Trans. Instrum. Meas. (T-IM). DOI: 10.1109/TIM.2020.2987495, (code)

  6. Jiang, Y., Gao, W., Wu, J., Chai, T., Lewis, F.(2022) Reinforcement Learning and Cooperative H∞ Output Regulation of Linear Continuous-Time Multi-Agent Systems. Automatica. DOI: 10.1016/j.automatica.2022.110768

  7. Wu, J., Zheng, Y., Gao, Z., Jiang, Y., Hu, X., Zhu, Y., Jiao, J. (2022) Quadratic Pose Estimation Problems: Globally Optimal Solutions, Solvability/Observability Analysis and Uncertainty Description. IEEE Trans. Robotics (T-RO). DOI: 10.1109/TRO.2022.3155880, (C++/MATLAB/Octave/Python/ROS Codes), (supplementary material)

  8. Wu, J., Zhou, Z., Chen, J., Fourati, H. and Li, R. (2016). Fast Complementary Filter for Attitude Estimation Using Low-Cost MARG Sensors. IEEE Sensors J.. DOI: 10.1109/JSEN.2016.2589660, (code).

  9. Wu, J., Zhou, Z., Gao, B., Li, R., Cheng, Y. and Fourati, H. (2018). Fast Linear Quaternion Attitude Estimator Using Vector Observations. IEEE Trans. Autom. Sci. Eng. (T-ASE). DOI: 10.1109/TASE.2017.2699221, (code)(ESI Highly Cited Paper 2017-2019,ESI高被引论文2017-2019)

  10. Wu, J., Zhou, Z., Fourati, H. and Cheng, Y. (2018) A Super Fast Attitude Determination Algorithm with Accelerometer and Magnetometer. IEEE Trans. Consum. Elect. (T-CE). DOI: 10.1109/TCE.2018.2859625, (code)

  11. Wu, J., Zhou, Z., Fourati, H., Li, R. (2019) Generalized Linear Quaternion Complementary Filter for Attitude Estimation from Multi-Sensor Observations: An Optimization Approach. IEEE Trans. Autom. Sci. Eng. (T-ASE). DOI: 10.1109/TASE.2018.2888908, (code)

  12. Wu, J. and Qi, Y. (2019) Computationally Efficient Robust Algorithm for Generalized Sensor Calibration Problem AR = RB. IEEE Sensors J.. DOI: 10.1109/JSEN.2019.2924668, (code)

  13. Wu, J., Sun, Y., Wang, M. (2019) Hand-eye Calibration: 4D Procrustes Analysis. IEEE Trans. Instrum. Meas. (T-IM). DOI: 10.1109/TIM.2019.2930710, (code), (data)

  14. Wu, J., Li, R. and Zhou, Z. (2019) Fast Symbolic 3-D Registration Solution. IEEE Trans. Autom. Sci. Eng. (T-ASE). DOI: 10.1109/TASE.2019.2942324, (code - MATLAB), (code - C++)

  15. Wu, J., Zhang, C., Zhou, Z. (2020) Correspondence Matching and Time Delay Estimation for Hand-eye Calibration. IEEE Trans. Instrum. Meas. (T-IM). DOI: 10.1109/TIM.2020.2987657

  16. Wu, J., Huang, Y., Jin, C., Wu, Y., Yu, C. (2020) SE(n)++: An Efficient Solution to Multiple Pose Estimation Problems. IEEE Trans. Cybern. (T-CYB). DOI: 10.1109/TCYB.2020.3015039 (code)

  17. Wu, J., Wang, M., Fourati, H., Li, H., Zhang, C., Jiang, Y., Hu, X. (2022) Generalized n-Dimensional Rigid Registration: Theory and Applications. IEEE Trans. Cybern. (T-CYB). DOI: 10.1109/TCYB.2022.3168938 (code)

  18. Wu, J., Zhu, Y., Zou, Z., Dai, M., Zhang, C., Jiang, Y., Li, C. (2020) Globally Optimal Symbolic Hand-Eye Calibration. IEEE/ASME Trans. Mechatronics (T-MECH). DOI: 10.1109/TMECH.2020.3019306

  19. Sun, R., Shan, A., Zhang, C., Wu, J., Jia, Q. (2020) Quantized Fault-Tolerant Control for Attitude Stabilization with Fixed-Time Disturbance Observer. AIAA J. Guid. Control Dyn. (JGCD). DOI: 10.2514/1.G005465

  20. Wu, J., Jiang, Y., Li, C., Sun, R., Zhang, C., Yu, Y., Zhu, Y. (2020) Circuit Synthesis of 3-D Rotation Orthonormalization. IEEE Trans. Circuit. Syst. II: Exp. Briefs (T-CAS2). DOI: 10.1109/TCSII.2020.3027025

  21. Fan, R., Wang, H., Cai, P., Wu, J., Bocus, J., Qiao, L. (2021) Learning Collision-Free Space Detection from Stereo Images: Homography Matrix Brings Better Data Augmentation. IEEE/ASME Trans. Mechatronics (T-MECH). DOI: 10.1109/TMECH.2021.3061077

  22. Wu, J., Wang#, M., Jiang*, Y., Yi, B., Fan, R. (2021) Simultaneous Hand-Eye/Robot-World/Camera-IMU Calibration. IEEE/ASME Trans. Mechatronics (T-MECH). DOI: 10.1109/TMECH.2021.3103995 (code)

  23. Wu, J., Li, C., Zhang, C., Jiang, Y., Huang, Y. (2021) Trust-Region Solver of A Nonlinear Magnetometer Disturbance Estimation Problem. IEEE Sensors J.. DOI: 10.1109/JSEN.2021.3092678 (code)

  24. Wu, J., Wang, C., Li, C., Jiang, Y., Zhang, C., Huang, Y., Qi, Y., Jiao, J., Fan, R., Zhang, W. (2024) On Similarity Transformation Problems: Globally Optimal Results and Applications. IEEE Trans. Instrum. Meas. (T-IM). (code)

  25. Wang, Y., Hou, J., Li, C., Wu, J., Jiang, Y., Hung, J. (2022) Ultra-fast Mode Reversal Coriolis Gyroscopes. IEEE/ASME Trans. Mechatronics (T-MECH). DOI: 10.1109/TMECH.2022.3192393

  26. Jiao, J., Wei, H., Chen, F., Wu, J. (2023) LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With A Globally Optimal Solution. IEEE/ASME Trans. Mechatronics (T-MECH). DOI: 10.1109/TMECH.2023.3259444 (code)

  27. Jiao, J., Geng, R., Li, Y., Xin, R., Yang, B., Wu, J., Kanoulas, D., Fan, R. (2024) Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments. IEEE Trans. Autom. Sci. Eng. (T-ASE). (code)

  28. Wang, Z., Wang, M., Wu, J., Huang, Y., Zhang, Y. (2022) A Computationally Efficient Outlier-Robust Cubature Kalman Filter for Underwater Gravity Matching Navigation. IEEE Trans. Instrum. Meas. (T-IM). DOI: 10.1109/TIM.2022.3141153

  29. Zou, Z., Li, L., Hu, X., Zhu, Y., Wu, J. (2023) Robust Equipment-Free Calibration of Low-Cost Inertial Measurement Units. IEEE Trans. Instrum. Meas. (T-VT). DOI: 10.1109/TIM.2023.3234081

  30. Zhou, Z., Wu, J. (2020) Cascaded Indirect Kalman Filters for Land-Vehicle Attitude Estimation with MARG Sensors and GNSS Observations. IEEE Trans. Vehicular Tech. (T-VT). DOI: 10.1109/TVT.2021.3067659

  31. Liu, H., Tang, M., Jia, M., Wu, J. et al. (2024) VHDMap-SE: A Universal Vectorized High-definition Map Aided Vehicle State Estimator. IEEE Trans. Intell. Vehicles (T-IV). DOI: 10.1109/TIV.2024.3388204

  32. Zhang, C., Ahn, C., Xiao, B., Wu, J. (2020) On Attitude Tracking Control with Communication-Saving: An Integrated Quantized and Event-Based Scheme. IEEE Trans. Circuit. Syst. II: Exp. Briefs (T-CAS2). DOI: 10.1109/TCSII.2020.3047679

  33. Zhang, C., Ahn, C., Wu, J., He, W., Jiang, Y. (2021) Robustification of Learning Observers to Uncertainty Identification via Time-varying Learning Intensity. IEEE Trans. Circuit. Syst. II: Exp. Briefs (T-CAS2). DOI: 10.1109/TCSII.2021.3107161

  34. Wang, X., Li, C., Wang, X., Tan, L., Wu, J. (2022) Spatio–Temporal Attention-Based Deep Learning Framework for Mesoscale Eddy Trajectory Prediction. IEEE J. Sel. Topic Appl. Earth Obs. Remote Sens. (JSTARS). DOI: 10.1109/JSTARS.2022.3174239

  35. Dai, M., Zhang, C., Xiao, B., Wu, J. (2021) Event-Triggered Policy to Spacecraft Attitude Stabilization With Actuator Output Nonlinearities. IEEE Trans. Circuit. Syst. II: Exp. Briefs (T-CAS2). DOI: 10.1109/TCSII.2021.3056761

  36. Dai, M., Ahn, C., Zhang, C., Wei, C. Wu, J. (2021) On Prescribed Performance Synchronization to QUAD Nonlinear Multi-Agent Networks. IEEE Trans. Circuit. Syst. II: Exp. Briefs (T-CAS2). DOI: 10.1109/TCSII.2021.3118553

  37. Dai, M., Ahn, C., Zhang, C., Gui, M. Wu, J. (2021) Performance Adjustable Event-Triggered Synchronization Policies to Nonlinear Multi-Agent Systems. IEEE Systems J.. DOI: 10.1109/JSYST.2021.3089721

  38. Zhang, S., Zhang, Q., Chen, F., Wu, J. (2020) A VT-HMM-based Framework for Countdown Timer Traffic Light State Estimation. IEEE Trans. Intell. Transp. Syst. (T-ITS). DOI: 10.1109/TITS.2023.3265985 (code)

  39. Wang, Z., Xu, J., Gong, Z., Wu, J. (2021) Path Following for Unmanned Combat Aerial Vehicles using Three-dimensional Nonlinear Guidance. IEEE/ASME Trans. Mechatronics (T-MECH). DOI: 10.1109/TMECH.2021.3110262

  40. Qi, Y., Jiang, J., Wu, J., Wang, J., Wang, C., Shan, J. (2019) Autonomous Landing Solution of Low-Cost Quadrotor on a Moving Platform. Robotics and Autonomous Systems. DOI: 10.1016/j.robot.2019.05.004

  41. Wang, J., Zhang, C., Ahn, C., Wu, J. (2023) Continuous-Discrete Cubature Kalman Filter with Log-Euclidean Metric-based Covariance Integration. IEEE Trans. Circuit. Syst. II: Exp. Briefs (T-CAS2).

  42. Jiang, Y., Zhang, K., Wu, J., Zhang, C., Xue, W., Chai, T., Lewis, F.(2021) H∞ based Minimal Energy Adaptive Control with Preset Convergence Rate. IEEE Trans. Cybern. (T-CYB). DOI: 10.1109/TCYB.2021.3061894

  43. Chen, X., Liu, H., Wang, C., Wu, J., Song, R. (2022) LoPF: An Online LiDAR-only Person-Following Framework. IEEE Trans. Instrum. Meas. (T-IM). DOI: 10.1109/TIM.2022.3212521

  44. Zhang, C., Ahn, C., Wu, J., He, W., Jiang, Y. (2021) Robustification of Learning Observers to Uncertainty Identification via Time-varying Learning Intensity. IEEE Trans. Circuit. Syst. II: Exp. Briefs (T-CAS2). DOI: 10.1109/TCSII.2021.3107161

  45. Ma, N., Fan, J., Wang, W., Wu, J., Jiang, Y., Xie, L., Fan, R. (2022) Computer Vision for Road Imaging and Pothole Detection: A State-of-the-Art Review of Systems and Algorithms. Transport. Safety Environ.. DOI: 10.1093/tse/tdac026 (Best Paper Award in 2022!)

  46. Wang, X., Wang, X.-S., Yu, M., Li, C., Song, D., Ren, P., Wu, J. (2021) MesoGRU: Deep Learning Framework for Mesoscale Eddy Trajectory Prediction. IEEE Geosci. Remote Sens. Lett. (GRSL). DOI: 10.1109/LGRS.2021.3087835

  47. Wang, X., Wang, X.-S., Li, C., Tan, L., Wu, J. (2021) Spatio–Temporal Attention-Based Deep Learning Framework for Mesoscale Eddy Trajectory Prediction. IEEE J. Select. Topics Appl. Earth Observ. Remote Sens. (JSTARS). DOI: 10.1109/JSTARS.2022.3174239

  48. Chen, F., Li, L., Zhang, S., Wu, J. (2022) PBACalib: Targetless Extrinsic Calibration for High-Resolution LiDAR-Camera System Based on Plane-Constrained Bundle Adjustment. IEEE Robot. Autom. Lett. (RAL). DOI: 10.1109/LRA.2022.3226026 (code)

  49. Huang, H., Sun, Y., Wu, J., Jiao, J., Hu, X., Zheng, L. (2021) On Bundle Adjustment for Multiview Point Cloud Registration. IEEE Robot. Autom. Lett. (RAL). DOI: 10.1109/LRA.2021.3105686

  50. Jia, M., Zhang, Q., Yang, B., Wu, J., Jensfelt, P. (2021) BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps. IEEE Robot. Autom. Lett. (RAL).

  51. Zhao, S., Zhang, C., Wu, J., Liu, F. (2023) Localization of underground pipe jacking machinery: A reliable, real-time and robust INS/OD solution. IFAC Control Eng. Pract. (CEP). DOI: 10.1016/j.conengprac.2023.105711

  52. Hu, X., Zheng, L., Wu, J., Tang, X., et al. (2024) PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation. IEEE/ASME Trans. Mechatronics (T-MECH). DOI: 10.1109/TMECH.2024.3362902 (code)

  53. Zhong, S., Qi, Y., Wu, J., et al. (2024) DCL-SLAM: A distributed collaborative lidar slam framework for a robotic swarm. IEEE Sensors J.. DOI: 10.1109/JSEN.2023.3345541 (code)

  54. Huang, X., Wu, J., et al. (2024) LEPS: A lightweight and effective single-stage detector for pothole segmentation. IEEE Sensors J.. DOI: 10.1109/JSEN.2023.3330335

  55. Jia, Q., Zhang, X, Wu, J., et al. (2024) Reconfigurable Fault-Tolerant Attitude Tracking for Spacecraft with Unknown Nonlinear Dynamics using Neural Network Estimators with Learning-Type Weight Updating. Nonlinear Dynamics (Springer) . DOI: 10.1007/s11071-024-09502-1

  56. Xue, B., Wu, J., et al. (2024) Visual-Marker Based Localization for Flat-Variation Scene. IEEE Trans. Instrum. Meas. (T-IM). DOI: 10.1109/TIM.2024.3372231

  57. Wu, J., Ding, J., Deng, M. (2019) Robust Rotation Interpolation Based on SO(n) Geodesic Distance. Springer ICVS 2019. DOI: 10.1007/978-3-030-34995-0_12

  58. Wu, J., Zhou, Z., Song, M. (2019) Convexity Analysis of Optimization Framework of Attitude Determination from Vector Observations. IEEE CoDIT 2019. DOI: 10.1109/CoDIT.2019.8820652

  59. Wu, J., Sarabandi, S., Jiao, J., Huang, H., Xue, B., Geng, R. (2023) Completely Rational SO(n) Orthonormalization. 2023 IEEE Conference on Robotics and Automation (ICRA), London, UK. DOI: 10.1109/ICRA48891.2023.10160464

  60. Ma, F., Liu, Y., Qi, W., Wu, J. (2023) Self-Supervised Drivable Area Segmentation Using LiDAR’s Depth Information for Autonomous Driving. 2023 IEEE/RSJ Conference on Intelligent Robotic Systems (IROS), Detroit, USA. DOI: 10.1109/ICRA48891.2023.10160464

  61. Zhong, S., Chen, H., Qi, Y., Wu, J., Wen, W. (2024) CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms. 2024 IEEE Conference on Robotics and Automation (ICRA), Yokohama, Japan. (code)

  62. Chen, Z., Zhong, S., Chen, H., Qi, Y., Wu, J., Wen, W. (2024) RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments. 2024 IEEE Conference on Robotics and Automation (ICRA), Yokohama, Japan.

  63. Zhang, S., He, J., Xue, B., Wu, J. (2024) An Image Acquisition Scheme for Visual Odometry based on Image Bracketing and Online Attribute Control. 2024 IEEE Conference on Robotics and Automation (ICRA), Yokohama, Japan.

  64. Han, Y., Long, Z., Wu, J., Fan, R. (2024) Generalized Correspondence Matching via Flexible Hierarchical Refnement and Patch Descriptor Distillation. 2024 IEEE Conference on Robotics and Automation (ICRA), Yokohama, Japan.

  65. Cheng, J., Zeng, K., Huang, Z., Wu, J., Chen, X., Tang, X., Fan, R. (2024) MF-MOS: A Motion-Focused Model for Moving Object Segmentation. 2024 IEEE Conference on Robotics and Automation (ICRA), Yokohama, Japan. (code)

  66. Wu, J., Zhou, Z., Fourati, H. (2021) Lasso Wahba's Problem and Its Analytical Solution for Spacecraft Attitude Determination. 2021 IEEE Conference on Automation Science and Engineering (CASE), Lyon, France. DOI: 10.1109/CASE49439.2021.9551389

  67. Wu, J., Zhang, S., Zhu, Y., Geng, R., Fu, Z. (2021) Differential Information Aided 3-D Registration for Accurate Navigation and Scene Reconstruction. 2021 IEEE Conference on Robotics and Automation (ICRA), Xi'An, China. DOI: 10.1109/ICRA48506.2021.9560754

  68. Jiao, J., Wei, H., Hu, T., Hu, X., Zhu, Y., He, Z., Wu, J., Yu, J., Xie, X., Huang, H., Geng, R. (2022) FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms. 2022 IEEE/RSJ Conference on Intelligent Robotic Systems (IROS), Kyoto, Japan. DOI: 10.1109/IROS47612.2022.9982119 (dataset)