Personal Info
Up to now (2025.5), I have been employed by PICO (is a part of ByteDance Inc.) almost 3.5 years. With a decade-long career in robotics, autonomous systems and VR/AR, my core expertise centers on three principal domains:
- (Lidar)-Visual-Inertial SLAM Systems development for VR, UAVs and autonomous vehicles
-
UAV Flight Control Systems encompassing:
- Multi-sensor fusion (IMU/GNSS/Vision/Compass/Barometer)
- Navigation stack optimization (including high precision landing/takeoff)
- Some classical control algorithms
- Machine Learning Integration to support prediction
🔧 Technical Stack：
- C++ (including NEON / SSE) / Python
- ROS / Docker / Gazebo
- Matlab (Simulink, MDB, HIL, Stateflow Code Generation)
- OpenCV / Eigen / Ceres-Solver / PCL / EKF
Academic Volunteer (Reviewer):
- IEEE RA-L, NeurIPS'2025, ICRA'2025, ICPR'2024
Publication
-
SchurVINS: Schur Complement-Based Lightweight Visual Inertial Navigation System
First Author, 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR'2024) -
• Key Contributions:
- An equivalent residual model is proposed to deal with hyper high-dimension observations, which consists of gradient, Hessian and the corresponding observation covariance. This method is of great generality in EKF systems.
- A lightweight EKF-based landmark solver is proposed to estimate position of landmarks with high efficiency.
- A novel EKF-based VINS framework is developed to achieve ego-motion and landmark estimation simultaneously with high accuracy and efficiency.
• Arxiv： arxiv.org/pdf/2312.01616 -
Universal Online Temporal Calibration for Optimization-based Visual-Inertial Navigation Systems
First Author, 2025 IEEE International Conference on Robotics and Automation (ICRA'2025) -
• Key Contributions:
- A universal online temporal calibration strategy for optimization-based VINS algorithms is proposed.
- The proposed approach is integrated into the existing VINS framework to validate its feasibility.
- Comprehensive experiments are conducted to assess its impact on accuracy.
• Arxiv： arxiv.org/pdf/2312.01616 -
Stereo Visual Inertial Odometry with Online Baseline Calibration
First Author, 2020 IEEE International Conference on Robotics and Automation (ICRA'2020) -
• Key Contributions:
- A stereo VIO algorithm with online baseline estimation to overcome inaccurate stereo calibration.
- Evaluation on EuRoC to verify its effectiveness.
• Link： ieeexplore.ieee.org/document/9197581
• GitHub: github.com/bytedance/SchurVINS
• GitHub: github.com/bytedance/Ts_Online_Optimization