Shoudong Huang

205 papers A* 24A 31C 15Journal 108Unranked 25

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Affine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency. IEEE Trans. Robotics Yang Song, Liang Zhao, Shoudong Huang
2025	J	`jnl`	C2L-PR: Cross-Modal Camera-to-LiDAR Place Recognition via Modality Alignment and Orientation Voting. IEEE Trans. Intell. Veh. Huaiyuan Xu, Huaping Liu, Shoudong Huang, Yuxiang Sun
2025	A	`conf`	Correspondence-Free Multiview Point Cloud Registration via Depth-Guided Joint Optimisation. IROS Yiran Zhou, YingYu Wang, Shoudong Huang, Liang Zhao
2025	J	`jnl`	Correspondence-Free Multiview Point Cloud Registration via Depth-Guided Joint Optimisation. CoRR Yiran Zhou, YingYu Wang, Shoudong Huang, Liang Zhao
2025	A	`conf`	EDeformNet: Estimating Fishing Net Deformations from Sparse Observations. IROS Isira D. Wijegunawardana, Jaime Valls Miró, Iñaki Quincoces, Liang Zhao, Shoudong Huang
2025	J	`jnl`	Grid-based Submap Joining: An Efficient Algorithm for Simultaneously Optimizing Global Occupancy Map and Local Submap Frames. CoRR YingYu Wang, Liang Zhao, Shoudong Huang
2025	J	`jnl`	Guaranteed 2D Pose Graph SLAM With Bounded Noises: An Efficient Interval Approach. IEEE Trans Autom. Sci. Eng. Yang Song, Heng Yang, Liang Zhao, Shoudong Huang
2025	J	`jnl`	Marden-Based Homotopic Enclosed Safe Motion Corridor Generation for UAV Navigation in Complex Environments. IEEE Trans Autom. Sci. Eng. Chen Li, Xuelei Qi, Bao Chen, Shoudong Huang, Jaime Valls Miró, Hailong Huang, Wei Ni, Hongjun Ma
2025	J	`jnl`	Non-Rigid Structure-from-Motion via Differential Geometry with Recoverable Conformal Scale. CoRR Yongbo Chen, Yanhao Zhang, Shaifali Parashar, Liang Zhao, Shoudong Huang
2025	J	`jnl`	Nonrigid Structure-From-Motion via Differential Geometry With Recoverable Conformal Scale. IEEE Trans. Robotics Yongbo Chen, Yanhao Zhang, Shaifali Parashar, Liang Zhao, Shoudong Huang
2025	J	`jnl`	Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map. CoRR YingYu Wang, Liang Zhao, Shoudong Huang
2025	J	`jnl`	Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map. IEEE Trans. Robotics YingYu Wang, Liang Zhao, Shoudong Huang
2025	A*	`conf`	Partial-to-Full Registration based on Gradient-SDF for Computer-Assisted Orthopedic Surgery. ICRA Tiancheng Li, Peter Walker, Danial Hammoud, Liang Zhao, Shoudong Huang
2025	A	`conf`	Physical Human-Robot Collaboration-Assisted Acetabular Preparation for Total Hip Replacement Surgery. IROS Ziqi Wang, Tiancheng Li, Marc G. Carmichael, Shoudong Huang
2025	J	`jnl`	Robust 2D lidar-based SLAM in arboreal environments without IMU/GNSS. CoRR Paola Nazate-Burgos, Miguel Torres-Torriti, Sergio Aguilera Marinovic, Tito Arevalo-Ramirez, Shoudong Huang, Fernando Auat Cheein
2025	A	`conf`	Self-supervised 3D Reconstruction of Tibia and Fibula from Biplanar X-rays. IROS Kai Pan, Yanhao Zhang, Liang Zhao, Shoudong Huang
2025	J	`jnl`	SkyLoc: Cross-Modal Global Localization With a Sky-Looking Fish-Eye Camera and OpenStreetMap. IEEE Trans. Intell. Transp. Syst. Weixin Ma, Shoudong Huang, Yuxiang Sun
2024	J	`jnl`	A branch-and-bound based globally optimal solution to 2D multi-robot relative pose estimation problems. Autom. Heng Wang, Xinyu Zhao, Shoudong Huang, Qing Li, Yiyang Liu
2024	J	`jnl`	Affine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency. CoRR Yang Song, Liang Zhao, Shoudong Huang
2024	C	`conf`	Efficient and Accurate Template-based Reconstruction of Deformable Surfaces. ICARCV Dominik Slomma, Shoudong Huang, Liang Zhao
2024	A	`conf`	Grid-based Submap Joining: An Efficient Algorithm for Simultaneously Optimizing Global Occupancy Map and Local Submap Frames. IROS YingYu Wang, Liang Zhao, Shoudong Huang
2024	J	`jnl`	Occupancy-SLAM: Simultaneously Optimizing Robot Poses and Continuous Occupancy Map. CoRR Liang Zhao, YingYu Wang, Shoudong Huang
2024	J	`jnl`	Partial-to-Full Registration based on Gradient-SDF for Computer-Assisted Orthopedic Surgery. CoRR Tiancheng Li, Peter Walker, Danial Hammoud, Liang Zhao, Shoudong Huang
2024	J	`jnl`	SLAM-Based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization. IEEE Trans. Robotics Jiang Wang, Yuanzheng He, Daobilige Su, Katsutoshi Itoyama, Kazuhiro Nakadai, Junfeng Wu, Shoudong Huang, Youfu Li, He Kong
2024	J	`jnl`	SLAM-based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization. CoRR Jiang Wang, Yuanzheng He, Daobilige Su, Katsutoshi Itoyama, Kazuhiro Nakadai, Junfeng Wu, Shoudong Huang, Youfu Li, He Kong
2024	J	`jnl`	Selected papers from RSS2022. Int. J. Robotics Res. Shoudong Huang, Kris Hauser, Dylan A. Shell
2024	J	`jnl`	Triplet-Graph: Global Metric Localization Based on Semantic Triplet Graph for Autonomous Vehicles. IEEE Robotics Autom. Lett. Weixin Ma, Shoudong Huang, Yuxiang Sun
2024	J	`jnl`	iMCB-PGO: Incremental Minimum Cycle Basis Construction and Application to Online Pose Graph Optimization. IEEE Robotics Autom. Lett. Keyu Chen, Fang Bai, Shoudong Huang, Yuxiang Sun
2023	—	`conf`	3D Intra-articular Dense Reconstruction from Arthroscopic Images. ROBIO Yanhao Zhang, Chonghao Cheng, Raphael Falque, Liang Zhao, Shoudong Huang, Yongbo Chen
2023	A*	`conf`	3D Reconstruction of Tibia and Fibula using One General Model and Two X-ray Images. ICRA Kai Pan, Shuai Zhang, Liang Zhao, Shoudong Huang, Yanhao Zhang, Hua Wang, Qi Luo
2023	—	`conf`	A Closed-Form Solution to Electromagnetic Sensor Based Intraoperative Limb Length Measurement in Total Hip Arthroplasty. MICCAI (9) Tiancheng Li, Yang Song, Peter Walker, Kai Pan, Victor A. van de Graaf, Liang Zhao, Shoudong Huang
2023	J	`jnl`	CARE: Confidence-Rich Autonomous Robot Exploration Using Bayesian Kernel Inference and Optimization. IEEE Robotics Autom. Lett. Yang Xu, Ronghao Zheng, Senlin Zhang, Meiqin Liu, Shoudong Huang
2023	J	`jnl`	CARE: Confidence-rich Autonomous Robot Exploration using Bayesian Kernel Inference and Optimization. CoRR Yang Xu, Ronghao Zheng, Senlin Zhang, Meiqin Liu, Shoudong Huang
2023	J	`jnl`	Map-Based Visual-Inertial Localization: Consistency and Complexity. IEEE Robotics Autom. Lett. Zhuqing Zhang, Yanmei Jiao, Shoudong Huang, Rong Xiong, Yue Wang
2023	—	`conf`	Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization. SII Yuanzheng He, Jiang Wang, Daobilige Su, Kazuhiro Nakadai, Junfeng Wu, Shoudong Huang, Youfu Li, He Kong
2023	C	`conf`	SLAM-Based Joint Calibration of Differential RSS Sensor Array and Source Localization. IECON Linya Fu, Xu Qiao, Shoudong Huang, Guoqiang Mao, Zhiyun Lin, Youfu Li, He Kong
2023	J	`jnl`	Structure-to-Shape Aortic 3-D Deformation Reconstruction for Endovascular Interventions. IEEE Trans. Robotics Yanhao Zhang, Raphael Falque, Liang Zhao, Yongbo Chen, Shoudong Huang, Hongdong Li
2023	—	`conf`	The QUENDA-BOT: Autonomous Robot for Screw-Fixing Installation in Timber Building Construction. CASE Dinh Dang Khoa Le, Gibson Hu, Dikai Liu, Richardo Khonasty, Liang Zhao, Shoudong Huang, Pratik Shrestha, Ralph Belperio
2023	J	`jnl`	Toward Consistent and Efficient Map-Based Visual-Inertial Localization: Theory Framework and Filter Design. IEEE Trans. Robotics Zhuqing Zhang, Yang Song, Shoudong Huang, Rong Xiong, Yue Wang
2022	J	`jnl`	2021 IEEE RAS Winter School on Simultaneous Localization and Mapping in Deformable Environments [Education]. IEEE Robotics Autom. Mag. Shoudong Huang, Liang Zhao
2022	J	`jnl`	A Right Invariant Extended Kalman Filter for Object Based SLAM. IEEE Robotics Autom. Lett. Yang Song, Zhuqing Zhang, Jun Wu, Yue Wang, Liang Zhao, Shoudong Huang
2022	A	`conf`	Active SLAM in 3D deformable environments. IROS Mengya Xu, Liang Zhao, Shoudong Huang, Qi Hao
2022	J	`jnl`	Anchor Selection for SLAM Based on Graph Topology and Submodular Optimization. IEEE Trans. Robotics Yongbo Chen, Liang Zhao, Yanhao Zhang, Shoudong Huang, Gamini Dissanayake
2022	C	`conf`	Comparison Between MATLAB Bundle Adjustment Function and Parallax Bundle Adjustment. ICARCV Hongkyoon Byun, Liang Zhao, Jonghyuk Kim, Shoudong Huang
2022	—	`conf`	DSR: Direct Simultaneous Registration for Multiple 3D Images. MICCAI (6) Zhehua Mao, Liang Zhao, Shoudong Huang, Yiting Fan, Alex Pui-Wai Lee
2022	J	`jnl`	Map-based Visual-Inertial Localization: Consistency and Complexity. CoRR Zhuqing Zhang, Yanmei Jiao, Shoudong Huang, Yue Wang, Rong Xiong
2022	J	`jnl`	Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization. CoRR Yuanzheng He, Jiang Wang, Daobilige Su, Kazuhiro Nakadai, Junfeng Wu, Shoudong Huang, Youfu Li, He Kong
2022	—	`conf`	Occupancy-SLAM: Simultaneously Optimizing Robot Poses and Continuous Occupancy Map. Robotics: Science and Systems Liang Zhao, YingYu Wang, Shoudong Huang
2022	—	`ed.`	Robotics: Science and Systems XVIII, New York City, NY, USA, June 27 - July 1, 2022. Robotics: Science and Systems Kris Hauser, Dylan A. Shell, Shoudong Huang
2022	—	`conf`	SLAM-TKA: Real-time Intra-operative Measurement of Tibial Resection Plane in Conventional Total Knee Arthroplasty. MICCAI (8) Shuai Zhang, Liang Zhao, Shoudong Huang, Hua Wang, Qi Luo, Qi Hao
2022	J	`jnl`	SLAM-TKA: Real-time Intra-operative Measurement of Tibial Resection Plane in Conventional Total Knee Arthroplasty. CoRR Shuai Zhang, Liang Zhao, Shoudong Huang, Hua Wang, Qi Luo, Qi Hao
2022	J	`jnl`	Toward Consistent and Efficient Map-based Visual-inertial Localization: Theory Framework and Filter Design. CoRR Zhuqing Zhang, Yang Song, Shoudong Huang, Rong Xiong, Yue Wang
2021	J	`jnl`	2-Entity Random Sample Consensus for Robust Visual Localization: Framework, Methods, and Verifications. IEEE Trans. Ind. Electron. Yanmei Jiao, Yue Wang, Xiaqing Ding, Bo Fu, Shoudong Huang, Rong Xiong
2021	J	`jnl`	2D Laser SLAM With Closed Shape Features: Fourier Series Parameterization and Submap Joining. IEEE Robotics Autom. Lett. Jiaheng Zhao, Tiancheng Li, Tong Yang, Liang Zhao, Shoudong Huang
2021	J	`jnl`	3D LiDAR Map Compression for Efficient Localization on Resource Constrained Vehicles. IEEE Trans. Intell. Transp. Syst. Huan Yin, Yue Wang, Li Tang, Xiaqing Ding, Shoudong Huang, Rong Xiong
2021	A*	`conf`	3D Reconstruction of Deformable Colon Structures based on Preoperative Model and Deep Neural Network. ICRA Shuai Zhang, Liang Zhao, Shoudong Huang, Ruibin Ma, Boni Hu, Qi Hao
2021	J	`jnl`	A Right Invariant Extended Kalman Filter for Object based SLAM. CoRR Yang Song, Zhuqing Zhang, Jun Wu, Yue Wang, Liang Zhao, Shoudong Huang
2021	J	`jnl`	A Stacked LSTM-Based Approach for Reducing Semantic Pose Estimation Error. IEEE Trans. Instrum. Meas. Rana Azzam, Yusra Alkendi, Tarek Taha, Shoudong Huang, Yahya H. Zweiri
2021	J	`jnl`	Cramér-Rao Bounds and Optimal Design Metrics for Pose-Graph SLAM. IEEE Trans. Robotics Yongbo Chen, Shoudong Huang, Liang Zhao, Gamini Dissanayake
2021	J	`jnl`	Direct 3D ultrasound fusion for transesophageal echocardiography. Comput. Biol. Medicine Zhehua Mao, Liang Zhao, Shoudong Huang, Yiting Fan, Alex Pui-Wai Lee
2021	A	`conf`	Direct Bundle Adjustment for 3D Image Fusion with Application to Transesophageal Echocardiography. IROS Zhehua Mao, Liang Zhao, Shoudong Huang, Yiting Fan, Alex Pui-Wai Lee
2021	J	`jnl`	Direct Simultaneous Multi-Image Registration. CoRR Zhehua Mao, Liang Zhao, Shoudong Huang, Yiting Fan, Alex Pui-Wai Lee
2021	—	`conf`	Feature-Based SLAM: Why Simultaneous Localisation and Mapping? Robotics: Science and Systems Liang Zhao, Zhehua Mao, Shoudong Huang
2021	J	`jnl`	GEM: Online Globally Consistent Dense Elevation Mapping for Unstructured Terrain. IEEE Trans. Instrum. Meas. Yiyuan Pan, Xuecheng Xu, Xiaqing Ding, Shoudong Huang, Yue Wang, Rong Xiong
2021	J	`jnl`	GSAP: A Global Structure Attention Pooling Method for Graph-Based Visual Place Recognition. Remote. Sens. Yukun Yang, Bo Ma, Xiangdong Liu, Liang Zhao, Shoudong Huang
2021	J	`jnl`	IN2LAAMA: Inertial Lidar Localization Autocalibration and Mapping. IEEE Trans. Robotics Cedric Le Gentil, Teresa A. Vidal-Calleja, Shoudong Huang
2021	A*	`conf`	Invariant EKF based 2D Active SLAM with Exploration Task. ICRA Mengya Xu, Yang Song, Yongbo Chen, Shoudong Huang, Qi Hao
2021	J	`jnl`	Necessary and Sufficient Conditions for Observability of SLAM-Based TDOA Sensor Array Calibration and Source Localization. IEEE Trans. Robotics Daobilige Su, He Kong, Salah Sukkarieh, Shoudong Huang
2021	A	`conf`	Some Research Questions for SLAM in Deformable Environments. IROS Shoudong Huang, Yongbo Chen, Liang Zhao, Yanhao Zhang, Mengya Xu
2021	J	`jnl`	Toward Consistent Drift-free Visual Inertial Localization on Keyframe Based Map. CoRR Zhuqing Zhang, Yanmei Jiao, Shoudong Huang, Yue Wang, Rong Xiong
2020	J	`jnl`	2D Laser SLAM With General Features Represented by Implicit Functions. IEEE Robotics Autom. Lett. Jiaheng Zhao, Liang Zhao, Shoudong Huang, Yue Wang
2020	J	`jnl`	3D LiDAR-Based Global Localization Using Siamese Neural Network. IEEE Trans. Intell. Transp. Syst. Huan Yin, Yue Wang, Xiaqing Ding, Li Tang, Shoudong Huang, Rong Xiong
2020	J	`jnl`	Analysis of Minima for Geodesic and Chordal Cost for a Minimal 2-D Pose-Graph SLAM Problem. IEEE Robotics Autom. Lett. Felix H. Kong, Jiaheng Zhao, Liang Zhao, Shoudong Huang
2020	A*	`conf`	Aortic 3D Deformation Reconstruction using 2D X-ray Fluoroscopy and 3D Pre-operative Data for Endovascular Interventions. ICRA Yanhao Zhang, Liang Zhao, Shoudong Huang
2020	J	`jnl`	Broadcast Your Weaknesses: Cooperative Active Pose-Graph SLAM for Multiple Robots. IEEE Robotics Autom. Lett. Yongbo Chen, Liang Zhao, Ki Myung Brian Lee, Chanyeol Yoo, Shoudong Huang, Robert Fitch
2020	—	`conf`	Deep Learning Assisted Automatic Intra-operative 3D Aortic Deformation Reconstruction. MICCAI (4) Yanhao Zhang, Raphael Falque, Liang Zhao, Shoudong Huang, Boni Hu
2020	J	`jnl`	Dense Isometric Non-Rigid Shape-From-Motion Based on Graph Optimization and Edge Selection. IEEE Robotics Autom. Lett. Yongbo Chen, Liang Zhao, Yanhao Zhang, Shoudong Huang
2020	J	`jnl`	Dynamic Reconstruction of Deformable Soft-tissue with Stereo Scope in Minimal Invasive Surgery. CoRR Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang, Gamini Dissanayake
2020	A*	`conf`	Efficient two step optimization for large embedded deformation graph based SLAM. ICRA Jingwei Song, Fang Bai, Liang Zhao, Shoudong Huang, Rong Xiong
2020	J	`jnl`	Gaussian Process Preintegration for Inertial-Aided State Estimation. IEEE Robotics Autom. Lett. Cedric Le Gentil, Teresa A. Vidal-Calleja, Shoudong Huang
2020	A	`conf`	Globally optimal consensus maximization for robust visual inertial localization in point and line map. IROS Yanmei Jiao, Yue Wang, Bo Fu, Qimeng Tan, Lei Chen, Minhang Wang, Shoudong Huang, Rong Xiong
2020	J	`jnl`	Globally optimal consensus maximization for robust visual inertial localization in point and line map. CoRR Yanmei Jiao, Yue Wang, Bo Fu, Qimeng Tan, Lei Chen, Shoudong Huang, Rong Xiong
2019	—	`conf`	A Low-Power Single-Slope based 14-bit Column-Level ADC for 384×288 Uncooled Infrared Imager. ASICON Xueyou Shi, Dahe Liu, Zhongjian Chen, Guangyi Chen, Shoudong Huang, Wengao Lu, Yacong Zhang
2019	J	`jnl`	A review of optimisation strategies used in simultaneous localisation and mapping. J. Control. Decis. Shoudong Huang
2019	J	`jnl`	A submap joining algorithm for 3D reconstruction using an RGB-D camera based on point and plane features. Robotics Auton. Syst. Jun Wang, Jingwei Song, Liang Zhao, Shoudong Huang, Rong Xiong
2019	—	`conf`	An Automatic Slope-Calibrated Ramp Generator for Single-Slope ADCs. ASICON Shoudong Huang, Wengao Lu, Ye Zhou, Shanzhe Yu, Yacong Zhang, Xueyou Shi, Zhongjian Chen
2019	J	`jnl`	An observable time series based SLAM algorithm for deforming environment. CoRR Jingwei Song, Liang Zhao, Shoudong Huang, Gamini Dissanayake
2019	J	`jnl`	Analysis of minima for geodesic and chordal cost for a minimal 2D pose-graph SLAM problem. CoRR Felix H. Kong, Jiaheng Zhao, Liang Zhao, Shoudong Huang
2019	J	`jnl`	Conic Feature Based Simultaneous Localization and Mapping in Open Environment via 2D Lidar. IEEE Access Jiaheng Zhao, Shoudong Huang, Liang Zhao, Yongbo Chen, Xiao Luo
2019	J	`jnl`	Efficient two step optimization for large embedded deformation graph based SLAM. CoRR Jingwei Song, Fang Bai, Liang Zhao, Shoudong Huang, Rong Xiong
2019	J	`jnl`	IN2LAAMA: INertial Lidar Localisation Autocalibration And MApping. CoRR Cedric Le Gentil, Teresa A. Vidal-Calleja, Shoudong Huang
2019	A*	`conf`	IN2LAMA: INertial Lidar Localisation And MApping. ICRA Cedric Le Gentil, Teresa A. Vidal-Calleja, Shoudong Huang
2019	J	`jnl`	Linear SLAM: Linearising the SLAM problems using submap joining. Autom. Liang Zhao, Shoudong Huang, Gamini Dissanayake
2019	A*	`conf`	On-line 3D active pose-graph SLAM based on key poses using graph topology and sub-maps. ICRA Yongbo Chen, Shoudong Huang, Robert Fitch, Liang Zhao, Huan Yu, Di Yang
2019	A*	`conf`	Online Estimation of Ocean Current from Sparse GPS Data for Underwater Vehicles. ICRA Ki Myung Brian Lee, Chanyeol Yoo, Ben Hollings, Stuart Anstee, Shoudong Huang, Robert Fitch
2019	J	`jnl`	Online Estimation of Ocean Current from Sparse GPS Data for Underwater Vehicles. CoRR Ki Myung Brian Lee, Chanyeol Yoo, Ben Hollings, Stuart Anstee, Shoudong Huang, Robert Fitch
2019	J	`jnl`	Reliable Graphs for SLAM. Int. J. Robotics Res. Kasra Khosoussi, Matthew Giamou, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake, Jonathan P. How
2019	J	`jnl`	Robust Global Structure From Motion Pipeline With Parallax on Manifold Bundle Adjustment and Initialization. IEEE Robotics Autom. Lett. Liyang Liu, Teng Zhang, Brenton Leighton, Liang Zhao, Shoudong Huang, Gamini Dissanayake
2019	J	`jnl`	Topological local-metric framework for mobile robots navigation: a long term perspective. Auton. Robots Li Tang, Yue Wang, Xiaqing Ding, Huan Yin, Rong Xiong, Shoudong Huang
2018	A*	`conf`	3D Lidar-IMU Calibration Based on Upsampled Preintegrated Measurements for Motion Distortion Correction. ICRA Cedric Le Gentil, Teresa A. Vidal-Calleja, Shoudong Huang
2018	J	`jnl`	Comparison of two different objective functions in 2D point feature SLAM. Autom. Heng Wang, Shoudong Huang, Guang-Hong Yang, Gamini Dissanayake
2018	A	`conf`	Decentralised Mission Monitoring with Spatiotemporal Optimal Stopping. IROS Graeme Best, Shoudong Huang, Robert Fitch
2018	J	`jnl`	Dynamic Reconstruction of Deformable Soft-Tissue With Stereo Scope in Minimal Invasive Surgery. IEEE Robotics Autom. Lett. Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang, Gamini Dissanayake
2018	A*	`conf`	Efficient Active SLAM Based on Submap Joining, Graph Topology and Convex Optimization. ICRA Yongbo Chen, Shoudong Huang, Robert Fitch, Jianqiao Yu
2018	J	`jnl`	Linear SLAM: Linearising the SLAM Problems using Submap Joining. CoRR Liang Zhao, Shoudong Huang, Gamini Dissanayake
2018	J	`jnl`	MIS-SLAM: Real-Time Large-Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing. IEEE Robotics Autom. Lett. Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang, Gamini Dissanayake
2018	J	`jnl`	MIS-SLAM: Real-time Large Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing. CoRR Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang, Gamini Dissanayake
2018	J	`jnl`	Parallax Bundle Adjustment on Manifold with Convexified Initialization. CoRR Liyang Liu, Teng Zhang, Yi Liu, Brenton Leighton, Liang Zhao, Shoudong Huang, Gamini Dissanayake
2018	C	`conf`	Parallax Bundle Adjustment on Manifold with Improved Global Initialization. WAFR Liyang Liu, Teng Zhang, Yi Liu, Brenton Leighton, Liang Zhao, Shoudong Huang, Gamini Dissanayake
2018	A	`conf`	Predicting Objective Function Change in Pose-Graph Optimization. IROS Fang Bai, Teresa A. Vidal-Calleja, Shoudong Huang, Rong Xiong
2018	J	`jnl`	Robust Incremental SLAM Under Constrained Optimization Formulation. IEEE Robotics Autom. Lett. Fang Bai, Teresa A. Vidal-Calleja, Shoudong Huang
2017	—	`conf`	A Submap Joining Based RGB-D SLAM Algorithm Using Planes as Features. FSR Jun Wang, Jingwei Song, Liang Zhao, Shoudong Huang
2017	J	`jnl`	An Invariant-EKF VINS Algorithm for Improving Consistency. CoRR Teng Zhang, Kanzhi Wu, Daobilige Su, Shoudong Huang, Gamini Dissanayake
2017	A	`conf`	An invariant-EKF VINS algorithm for improving consistency. IROS Kanzhi Wu, Teng Zhang, Daobilige Su, Shoudong Huang, Gamini Dissanayake
2017	J	`jnl`	Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM. CoRR Teng Zhang, Kanzhi Wu, Jingwei Song, Shoudong Huang, Gamini Dissanayake
2017	J	`jnl`	Convergence and Consistency Analysis for a 3-D Invariant-EKF SLAM. IEEE Robotics Autom. Lett. Teng Zhang, Kanzhi Wu, Jingwei Song, Shoudong Huang, Gamini Dissanayake
2017	J	`jnl`	Device-Free Localization via an Extreme Learning Machine with Parameterized Geometrical Feature Extraction. Sensors Jie Zhang, Wendong Xiao, Sen Zhang, Shoudong Huang
2017	C	`conf`	Gaussian process model enabled particle filter for device-free localization. FUSION Biao Song, Hailong Wang, Wendong Xiao, Shoudong Huang, Lei Shi
2017	J	`jnl`	Special Issue on Localization and Mapping in Challenging Environments. Robotics Auton. Syst. Shoudong Huang, Gamini Dissanayake
2016	J	`jnl`	A Sparse Separable SLAM Back-End. IEEE Trans. Robotics Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
2016	J	`jnl`	A framework for multi-session RGBD SLAM in low dynamic workspace environment. CAAI Trans. Intell. Technol. Yue Wang, Shoudong Huang, Rong Xiong, Jun Wu
2016	C	`conf`	Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach. WAFR Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake
2016	J	`jnl`	Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach. CoRR Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake
2016	J	`jnl`	Fast, On-board, Model-aided Visual-Inertial Odometry System for Quadrotor Micro Aerial Vehicles. CoRR Dinuka M. W. Abeywardena, Shoudong Huang, Ben Barnes, Gamini Dissanayake, Sarath Kodagoda
2016	A*	`conf`	Fast, on-board, model-aided visual-inertial odometry system for quadrotor micro aerial vehicles. ICRA Dinuka M. W. Abeywardena, Shoudong Huang, Ben Barnes, Gamini Dissanayake, Sarath Kodagoda
2016	C	`conf`	Incremental SQP method for constrained optimization formulation in SLAM. ICARCV Fang Bai, Shoudong Huang, Teresa A. Vidal-Calleja, Qingling Zhang
2016	J	`jnl`	Maximizing the Weighted Number of Spanning Trees: Near-$t$-Optimal Graphs. CoRR Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake
2016	A*	`conf`	Tree-connectivity: Evaluating the graphical structure of SLAM. ICRA Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
2015	J	`jnl`	A new feature parametrization for monocular SLAM using line features. Robotica Liang Zhao, Shoudong Huang, Lei Yan, Gamini Dissanayake
2015	J	`jnl`	A pose pruning driven solution to pose feature GraphSLAM. Adv. Robotics Yue Wang, Rong Xiong, Shoudong Huang
2015	A*	`conf`	An approach to base placement for effective collaboration of multiple autonomous industrial robots. ICRA Mahdi Hassan, Dikai Liu, Gavin Paul, Shoudong Huang
2015	J	`jnl`	Building a dense surface map incrementally from semi-dense point cloud and RGBimages. Frontiers Inf. Technol. Electron. Eng. Qianshan Li, Rong Xiong, Shoudong Huang, Yi-Ming Huang
2015	J	`jnl`	Dimensionality reduction for point feature SLAM problems with spherical covariance matrices. Autom. Heng Wang, Shoudong Huang, Kasra Khosoussi, Udo Frese, Gamini Dissanayake, Bingbing Liu
2015	—	`conf`	Exploiting the Separable Structure of SLAM. Robotics: Science and Systems Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
2015	J	`jnl`	ParallaxBA: bundle adjustment using parallax angle feature parametrization. Int. J. Robotics Res. Liang Zhao, Shoudong Huang, Yanbiao Sun, Lei Yan, Gamini Dissanayake
2014	C	`conf`	Comparison of two strategies of path planning for underwater robot navigation under uncertainty. ICARCV Teng Zhang, Shoudong Huang, Dikai Liu
2014	A*	`conf`	Linear MonoSLAM: A linear approach to large-scale monocular SLAM problems. ICRA Liang Zhao, Shoudong Huang, Gamini Dissanayake
2014	A	`conf`	Novel insights into the impact of graph structure on SLAM. IROS Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
2014	J	`jnl`	Rescheduling policies for large-scale task allocation of autonomous straddle carriers under uncertainty at automated container terminals. Robotics Auton. Syst. Binghuang Cai, Shoudong Huang, Dikai Liu, Gamini Dissanayake
2014	C	`conf`	Task oriented area partitioning and allocation for optimal operation of multiple industrial robots in unstructured environments. ICARCV Mahdi Hassan, Dikai Liu, Shoudong Huang, Gamini Dissanayake
2014	C	`conf`	Towards dense moving object segmentation based robust dense RGB-D SLAM in dynamic scenarios. ICARCV Youbing Wang, Shoudong Huang
2013	J	`jnl`	A new crossover approach for solving the multiple travelling salesmen problem using genetic algorithms. Eur. J. Oper. Res. Shuai Yuan, Bradley Skinner, Shoudong Huang, Dikai Liu
2013	—	`conf`	Kullback-leibler divergence based graph pruning in robotic feature mapping. ECMR Yue Wang, Rong Xiong, Qianshan Li, Shoudong Huang
2013	A	`conf`	Linear SLAM: A linear solution to the feature-based and pose graph SLAM based on submap joining. IROS Liang Zhao, Shoudong Huang, Gamini Dissanayake
2013	—	`conf`	Moving away from simulations: Innovative assessment of Mechatronic subjects using remote laboratories. ITHET Sarath Kodagoda, Alen Alempijevic, Shoudong Huang, Michel de la Villefromoy, Michael Diponio, Luke Cogar
2013	J	`jnl`	Multiobjective Optimization for Autonomous Straddle Carrier Scheduling at Automated Container Terminals. IEEE Trans Autom. Sci. Eng. Binghuang Cai, Shoudong Huang, Dikai Liu, Shuai Yuan, Gamini Dissanayake, Haye Lau, Daniel Pagac
2013	J	`jnl`	Optimisation for job scheduling at automated container terminals using genetic algorithm. Comput. Ind. Eng. Bradley Skinner, Shuai Yuan, Shoudong Huang, Dikai Liu, Binghuang Cai, Gamini Dissanayake, Haye Lau, Andrew Bott, Daniel Pagac
2013	J	`jnl`	The nonlinearity structure of point feature SLAM problems with spherical covariance matrices. Autom. Heng Wang, Shoudong Huang, Udo Frese, Gamini Dissanayake
2013	A	`conf`	Towards a reliable SLAM back-end. IROS Gibson Hu, Kasra Khosoussi, Shoudong Huang
2012	A	`conf`	A convex optimization based approach for pose SLAM problems. IROS Minjie Liu, Shoudong Huang, Gamini Dissanayake, Heng Wang
2012	C	`conf`	A new state vector and a map joining algorithm for range-only SLAM. ICARCV Adizul Ahmad, Shoudong Huang, Jack Jianguo Wang, Gamini Dissanayake
2012	A	`conf`	A robust RGB-D SLAM algorithm. IROS Gibson Hu, Shoudong Huang, Liang Zhao, Alen Alempijevic, Gamini Dissanayake
2012	C	`conf`	Convergence comparison of least squares based bearing-only SLAM algorithms using different landmark parametrizations. ICARCV Adizul Ahmad, Liang Zhao, Shoudong Huang, Gamini Dissanayake
2012	C	`conf`	Low-cost visual tracking with an intelligent wheelchair for innovative assistive care. ICARCV Jaime Valls Miró, James Poon, Shoudong Huang
2012	—	`conf`	On the Structure of Nonlinearities in Pose Graph SLAM. Robotics: Science and Systems Heng Wang, Gibson Hu, Shoudong Huang, Gamini Dissanayake
2012	A*	`conf`	On the number of local minima to the point feature based SLAM problem. ICRA Shoudong Huang, Heng Wang, Udo Frese, Gamini Dissanayake
2012	A	`conf`	Towards robust vision-based self-localization of vehicles in dense urban environments. IROS Marian Himstedt, Alen Alempijevic, Liang Zhao, Shoudong Huang, Hans-Joachim Boehme
2011	J	`jnl`	A job grouping approach for planning container transfers at automated seaport container terminals. Adv. Eng. Informatics Shuai Yuan, Brad T. Skinner, Shoudong Huang, Dikai Liu, Gamini Dissanayake, Haye Lau, Daniel Pagac
2011	A*	`conf`	Feature based SLAM using laser sensor data with maximized information usage. ICRA Minjie Liu, Shoudong Huang, Gamini Dissanayake
2011	A	`conf`	Optimisation model and exact algorithm for Autonomous Straddle Carrier Scheduling at automated container terminals. IROS Binghuang Cai, Shoudong Huang, Dikai Liu, Shuai Yuan, Gamini Dissanayake, Haye Lau, Daniel Pagac
2011	A*	`conf`	Parallax angle parametrization for monocular SLAM. ICRA Liang Zhao, Shoudong Huang, Lei Yan, Gamini Dissanayake
2011	—	`book`	Simultaneous Localization and Mapping - Exactly Sparse Information Filters Zhan Wang, Shoudong Huang, Gamini Dissanayake
2010	A	`conf`	Evaluation of Pose Only SLAM. IROS Gibson Hu, Shoudong Huang, Gamini Dissanayake
2010	A	`conf`	How far is SLAM from a linear least squares problem? IROS Shoudong Huang, Yingwu Lai, Udo Frese, Gamini Dissanayake
2010	C	`conf`	Large-scale monocular SLAM by local bundle adjustment and map joining. ICARCV Liang Zhao, Shoudong Huang, Lei Yan, Jack Jianguo Wang, Gibson Hu, Gamini Dissanayake
2010	A*	`conf`	Mathematical modelling of container transfers for a fleet of autonomous straddle carriers. ICRA Shuai Yuan, Brad T. Skinner, Shoudong Huang, Dikai Liu, Gamini Dissanayake, Haye Lau, Daniel Pagac, Tim Pratley
2010	A	`conf`	Models for pushing objects with a mobile robot using single point contact. IROS Michael Behrens, Shoudong Huang, Gamini Dissanayake
2010	A	`conf`	Towards a consistent SLAM algorithm using B-Splines to represent environments. IROS Minjie Liu, Shoudong Huang, Gamini Dissanayake, Sarath Kodagoda
2009	—	`conf`	3D I-SLSJF: A consistent sparse local submap joining algorithm for building large-scale 3D Map. CDC Gibson Hu, Shoudong Huang, Gamini Dissanayake
2009	J	`jnl`	Iterated D-SLAM map joining: evaluating its performance in terms of consistency, accuracy and efficiency. Auton. Robots Shoudong Huang, Zhan Wang, Gamini Dissanayake, Udo Frese
2008	A*	`conf`	Active SLAM in structured environments. ICRA Cindy Leung, Shoudong Huang, Gamini Dissanayake
2008	J	`jnl`	Discounted MEAN bound for the optimal searcher path problem with non-uniform travel times. Eur. J. Oper. Res. Haye Lau, Shoudong Huang, Gamini Dissanayake
2008	A*	`conf`	Exact state and covariance sub-matrix recovery for submap based sparse EIF SLAM algorithm. ICRA Shoudong Huang, Zhan Wang, Gamini Dissanayake
2008	J	`jnl`	Sparse Local Submap Joining Filter for Building Large-Scale Maps. IEEE Trans. Robotics Shoudong Huang, Zhan Wang, Gamini Dissanayake
2007	J	`jnl`	Convergence and Consistency Analysis for Extended Kalman Filter Based SLAM. IEEE Trans. Robotics Shoudong Huang, Gamini Dissanayake
2007	J	`jnl`	D-SLAM: A Decoupled Solution to Simultaneous Localization and Mapping. Int. J. Robotics Res. Zhan Wang, Shoudong Huang, Gamini Dissanayake
2007	J	`jnl`	Dense 3D Map Construction for Indoor Search and Rescue. J. Field Robotics Lars-Peter Ellekilde, Shoudong Huang, Jaime Valls Miró, Gamini Dissanayake
2007	A	`conf`	Multi-agent search with interim positive information. IROS Haye Lau, Shoudong Huang, Gamini Dissanayake
2007	—	`conf`	Tradeoffs in SLAM with Sparse Information Filters. FSR Zhan Wang, Shoudong Huang, Gamini Dissanayake
2006	A	`conf`	Active SLAM using Model Predictive Control and Attractor based Exploration. IROS Cindy Leung, Shoudong Huang, Gamini Dissanayake
2006	A*	`conf`	Convergence Analysis for Extended Kalman Filter based SLAM. ICRA Shoudong Huang, Gamini Dissanayake
2006	A*	`conf`	Mapping Large Scale Environments using Relative Position Information among Landmarks. ICRA Shoudong Huang, Zhan Wang, Gamini Dissanayake
2006	J	`jnl`	Planning under uncertainty using model predictive control for information gathering. Robotics Auton. Syst. Cindy Leung, Shoudong Huang, Ngai Ming Kwok, Gamini Dissanayake
2006	A	`conf`	Probabilistic Search for a Moving Target in an Indoor Environment. IROS Haye Lau, Shoudong Huang, Gamini Dissanayake
2005	J	`jnl`	A unified approach to controller design for achieving ISS and related properties. IEEE Trans. Autom. Control. Shoudong Huang, Matthew R. James, Dragan Nesic, Peter M. Dower
2005	J	`jnl`	Analysis of input-to-state stability for discrete time nonlinear systems via dynamic programming. Autom. Shoudong Huang, Matthew R. James, Dragan Nesic, Peter M. Dower
2005	C	`conf`	D-SLAM: Decoupled Localization and Mapping for Autonomous Robots. ISRR Zhan Wang, Shoudong Huang, Gamini Dissanayake
2005	A	`conf`	Decoupling localization and mapping in SLAM using compact relative maps. IROS Zhan Wang, Shoudong Huang, Gamini Dissanayake
2005	—	`conf`	Implementation Issues and Experimental Evaluation of D-SLAM. FSR Zhan Wang, Shoudong Huang, Gamini Dissanayake
2005	J	`jnl`	L Syst. Control. Lett. Shoudong Huang, Matthew R. James, Zhong-Ping Jiang
2005	A*	`conf`	Multi-Step Look-Ahead Trajectory Planning in SLAM: Possibility and Necessity. ICRA Shoudong Huang, Ngai Ming Kwok, Gamini Dissanayake, Quang Phuc Ha, Gu Fang
2005	A	`conf`	Near minimum time path planning for bearing-only localisation and mapping. IROS Gu Fang, Gamini Dissanayake, Ngai Ming Kwok, Shoudong Huang
2005	A	`conf`	Optimal search for multiple targets in a built environment. IROS Haye Lau, Shoudong Huang, Gamini Dissanayake
2005	A	`conf`	Trajectory planning for multiple robots in bearing-only target localisation. IROS Cindy Leung, Shoudong Huang, Gamini Dissanayake, Tomonari Furukawa
2004	—	`conf`	Measurement feedback controller design to achieve input to state stability. CDC Shoudong Huang, Matthew R. James, Dragan Nesic, Peter M. Dower
2004	A	`conf`	Time optimal robot motion control in simultaneous localization and map building (SLAM) problem. IROS Shoudong Huang, Zhan Wang, Gamini Dissanayake
2003	—	`conf`	Analysis of input to state stability for discrete time nonlinear systems via dynamic programming. CDC Shoudong Huang, Matthew R. James, Dragan Nesic, Peter M. Dower
2003	—	`conf`	On practical input to state stabilization for nonlinear discrete-time systems: A dynamic programming approach. ECC Shoudong Huang, Matthew R. James, Dragan Nesic, Peter M. Dower
2003	J	`jnl`	l IEEE Trans. Autom. Control. Shoudong Huang, Matthew R. James
2002	—	`conf`	Control of uncertain bilinear systems using linear controllers: stability region estimation and controller design. CDC Shoudong Huang, James Lam
2002	—	`conf`	Local reliable control for linear systems with saturating actuators. CDC Shoudong Huang, J. Lam, Bing Chen
2002	J	`jnl`	Robust H ∞ reliable control for a class of uncertain neutral delay systems. Int. J. Syst. Sci. Haibo Wang, James Lam, Shengyuan Xu, Shoudong Huang
2002	—	`conf`	l CDC Matthew R. James, Shoudong Huang
2001	J	`jnl`	Reliable linear-quadratic control for symmetric composite systems. Int. J. Syst. Sci. Shoudong Huang, James Lam, Guang-Hong Yang
1999	J	`jnl`	Fault tolerant decentralized H IEEE Trans. Autom. Control. Shoudong Huang, James Lam, Guang-Hong Yang, Si-Ying Zhang