Chunran ZHENG

Chunran ZHENG | 郑纯然

I obtained my B.Eng. degree in Automation with distinction from Xi'an Jiaotong University (XJTU) in July 2020. I am now a final-year Ph.D. candidate at the MaRS Lab, The University of Hong Kong (HKU). Recently, I was selected as TopMinds (天才少年) by Huawei and will soon join the Huawei Cloud Physical Intelligence Lab.

My research interests center on spatial intelligence powered by LiDAR-vision fusion. I have published 20 papers in leading journals and conferences, including T-RO, IJRR, RA-L, ICRA, and IROS. Among these, I am first or co-first author on five papers, two of which are in T-RO. For the full list, please visit my Google Scholar📈.

Beyond academia, I am passionate about open-source contributions. My research code on GitHub has collectively accumulated over 7.5k stars⭐. In particular, my first-authored FAST-LIVO series alone has surpassed 5.4k stars⭐ and garnered over 398k cross-platform video plays, setting trends in the field and becoming a widely adopted framework in both industry and academia.

Email / Github / Scholar / Zhihu / LinkedIn

News

[06/2025] 📄 Two papers, GS-SDF and Mesh-Learner, are accepted for presentation at IROS 2025.
[06/2025] 🎉 Our paper "FAST-LIVO2 on ARM Platforms: LiDAR-Inertial-Visual Odometry with Efficient Memory and Computation" is accepted for publication in Robotics and Automation Letters (RA-L) [arXiv]!
[05/2025] 🎉 Our paper "GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping" is accepted for publication in Transactions on Robotics (T-RO) [arXiv]!
[03/2025] 🔥 FAST-LIVO2 Ranks 4th🏆on IEEE T-RO's Most Popular List!
[01/2025] 📄 Three papers, M2Mapping, iBTC, and LAMM, are accepted for presentation at ICRA 2025.
[10/2024] 🎉 Our paper "FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry" is accepted for publication in Transactions on Robotics (T-RO) [arXiv]!

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Reviewer of:

• Journals: IEEE Transactions on Robotics (T-RO), International Journal of Robotics Research (IJRR), IEEE Robotics and Automation Letters (RA-L), International Journal of Computer Vision (IJCV), IEEE Transactions on Image Processing (TIP)

• Conferences: IEEE International Conference on Robotics and Automation (ICRA), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

	FAST-Calib: LiDAR-Camera Extrinsic Calibration in One Second Chunran Zheng, Fu Zhang In Revision Paper / Code An efficient target-based extrinsic calibration tool for LiDAR-camera systems (e.g., FAST-LIVO2), making extrinsic calibration as straightforward as intrinsic calibration.
	FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry Chunran Zheng, Qingyan Zhu, Wei Xu, Xiyuan Liu, Qizhi Guo, Fu Zhang IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 Paper / Code / Bilibili / YouTube A fast, sparse-direct LiDAR-inertial-visual odometry system built upon two tightly-coupled and direct odometry subsystems: a VIO subsystem and a LIO subsystem.
	FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry Chunran Zheng, Wei Xu, et al IEEE Transactions on Robotics (TRO), 2025 Paper / Code / Bilibili / YouTube FAST-LIVO2 is a supercharged upgrade of FAST-LIVO, integrating visual and LiDAR data within a single unified voxel map. The system achieves pixel-level reconstruction and robust onboard state estimation, even under severe LiDAR degeneration. It further demonstrates its capability through diverse downstream applications, including textured mesh, 3DGS, navigation, and airborne mapping, establishing a solid foundation for LiDAR-visual spatial AI.
	FAST-LIVO2 on ARM: State Estimation with Efficient Memory and Computation Bingyang Zhou, Chunran Zheng (co-first author), Ziming Wang, Fangcheng Zhu, Yixi Cai, Fu Zhang IEEE Robotics and Automation Letters (RA-L), 2025 Paper A lightweight adaptation of FAST-LIVO2 for ARM platforms (e.g., RK3588 and Orin NX).
	GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping Sheng Hong, Chunran Zheng (co-first author), Fu Zhang, Tong Qin, Shaojie Shen IEEE Transactions on Robotics (TRO), 2025 Paper / Code The first real-time Gaussian-based LIVO system enabling photorealistic and high-fidelity scene representation.
	LiDAR-Inertial-Visual Handhold and UAV Device Chunran Zheng, Sheng Hong, Tianyong Ye, Junjie He Open-source project Code Hardware-synchronized Handheld and UAV device for FAST-LIVO, delivering the first proven open-source solution for Modular 3D Scanner.

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