Publications
My research explores LiDAR-inertial-visual SLAM, calibration, implicit-explicit combined 3D reconstruction, and semantic mapping.
Full list: Google Scholar
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FAST-Calib: LiDAR-Camera Extrinsic Calibration in One Second
Chunran Zheng, Fu Zhang
In Revision
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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
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FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
Chunran Zheng, Wei Xu, et al
IEEE Transactions on Robotics
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FAST-LIVO2 on ARM: State Estimation with Efficient Memory and Computation
Bingyang Zhou, Chunran Zheng (co-first author), Fu Zhang
IEEE Robotics and Automation Letters
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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
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R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping
Jiarong Lin, Chunran Zheng, Wei Xu, Fu Zhang
IEEE Robotics and Automation Letters
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Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems
Jianheng Liu, Chunran Zheng, Yunfei Wan, Bowen Wang, Yixi Cai, Fu Zhang
IEEE International Conference on Robotics and Automation (ICRA) 2025
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GS-SDF: LiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering and Reconstruction
Jianheng Liu, Yunfei Wan, Bowen Wang, Chunran Zheng, Jiarong Lin, Fu Zhang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025
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CamVox: A Low-cost and Accurate Lidar-assisted Visual SLAM System
Yuewen Zhu, Chunran Zheng, Chongjian Yuan, Xu Huang, Xiaoping Hong
IEEE International Conference on Robotics and Automation (ICRA) 2021
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iBTC: An Image-assisting Binary and Triangle Combined Descriptor for Place Recognition by Fusing LiDAR and Camera Measurements
Zuhao Zou, Chunran Zheng, Chongjian Yuan, Shunbo Zhou, Kaiwen Xue, Fu Zhang
IEEE Robotics and Automation Letters (RA-L) 2024
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Rollvox: Real-Time and High-Quality LiDAR Colorization with Rolling Shutter Camera
Sheng Hong, Chunran Zheng, Huan Yin, Shaojie Shen
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023
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MFCalib: Single-shot and Automatic Extrinsic Calibration for LiDAR and Camera in Targetless Environments Based on Multi-Feature Edge
Tianyong Ye, Wei Xu, Chunran Zheng, Yukang Cui
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024
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LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-Time 3D Radiance Field Map Rendering
Sheng Hong, Junjie He, Xinhu Zheng, Chunran Zheng
IEEE Robotics and Automation Letters (RA-L)
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MARS-LVIG dataset: A multi-sensor aerial robots SLAM dataset for LiDAR-visual-inertial-GNSS fusion
Haotian Li, Yuying Zou, Nan Chen, Jiarong Lin, Xiyuan Liu, Wei Xu, Chunran Zheng, Rundong Li, Dongjiao He, Fanze Kong, Yixi Cai, Zheng Liu, Shunbo Zhou, Kaiwen Xue, Fu Zhang
The International Journal of Robotics Research (IJRR) 2024
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Voxel-slam: A complete, accurate, and versatile lidar-inertial slam system
Zheng Liu, Haotian Li, Chongjian Yuan, Xiyuan Liu, Jiarong Lin, Rundong Li, Chunran Zheng, Bingyang Zhou, Wenyi Liu, Fu Zhang
In Revision
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Adaptive Risk-Aware Multi-Target Tracking and Monitoring With Network Reconfiguration
Yukang Cui, Jianing Wang, Chunran Zheng, Hong Lin, Zhiguang Feng, Tingwen Huang
IEEE Transactions on Circuits and Systems I: Regular Papers
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Large-Scale Multi-Session Point-Cloud Map Merging
Hairuo Wei, Rundong Li, Yixi Cai, Chongjian Yuan, Yunfan Ren, Zuhao Zou, Huajie Wu, Chunran Zheng, Shunbo Zhou, Kaiwen Xue, Fu Zhang
IEEE Robotics and Automation Letters (RA-L) 2025
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Mesh-Learner: Texturing Mesh with Spherical Harmonics
Yunfei Wan, Jianheng Liu, Chunran Zheng, Jiarong Lin and Fu Zhang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025
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Byzantine-Resilient lmpulsive Control for Bipartite Consensus of Heterogeneous Multiagent Systems
Yukang Cui, Zongheng Zhang, Bo Min, Chunran Zheng, Jun Shen, Tingwen Huang
IEEE Transactions on Circuits and Systems I: Regular Papers
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Smart glove integrated with tunable MWNTs/PDMS fibers made of a one-step extrusion method for finger dexterity, gesture, and temperature recognition
Yingchun Li, Chunran Zheng, Shuai Liu, Liang Huang, Tianshu Fang, Jasmine Xinze Li, Feng Xu, Fei Li
ACS Applied Materials & Interfaces
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Bilibili