Publications

He Zhang, Lingqiu Jin, Cang Ye (2020). The VCU-RVI Benchmark: Evaluating Visual Inertial Odometry for Indoor Navigation Applications with an RGB-D Camera. In Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Oct 25-29.

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He Zhang, Cang Ye (2020). DUI-VIO: Depth Uncertainty Incorporated Visual Inertial Odometry based on an RGB-D Camera. In Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Oct 25-29.

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He Zhang, Cang Ye (2020). A Visual Positioning System for Indoor Blind Navigation. In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Paris, May 31 - June 4.

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He Zhang, Cang Ye (2020). Plane-Aided Visual-Inertial Odometry for 6-DOF Pose Estimation of a Robotic Navigation Aid. IEEE Access, vol. 8, pp. 90042 - 90051.

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Lingqiu Jin, He Zhang, Cang Ye (2020). Camera Intrinsic Parameters Estimation by Visual Inertial Odometry for a Mobile Phone with Application to Assisted Navigation. IEEE/ASME Transactions on Mechatronics, pp.1-1.

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Lingqiu Jin, He Zhang, Cang Ye (2020). Human-Robot Interaction for Assisted Object Grasping by a Wearable Robotic Object Manipulation Aid for the Blind. In Proceedings of 1st IEEE International Conference on Human-Machine Systems (ICHMS), Rome, Sep. 7-9.

He Zhang, Lingqiu Jin, Cang Ye (2019). A Depth-Enhanced Visual Inertial Odometry for a Robotic Navigation Aid for Blind People. In Proceedings of Visual-Inertial Navigation$:$ Challenges and Applications Workshop at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, Nov. 4-8, 2019. (LORD Best Paper Award).

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He Zhang, Cang Ye (2019). Human-Robot Interaction for Assisted Wayfinding of a Robotic Navigation Aid for the Blind. In Proceedings of 12th International Conference on Human System Interaction (HSI), Richmond, June 25-27 (Best Paper Award).

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He Zhang, Lingqiu Jin, Hao Zhang, Cang Ye (2019). A Comparative Analysis of Visual-Inertial SLAM for Assisted Wayfinding of the Visually Impaired. In Proceedings of IEEE Winter Conference on Applications of Computer Vision (WACV), Hawaii, Jan. 7-11, pp. 210-217.

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Xiaoping Liu, He Zhang, Lingqiu Jin, Cang Ye (2018). A Wearable Robotic Object Manipulation Aid for the Visually Impaired. In Proceedings of 1st IEEE International Conference on Micro/Nano Sensors for AI, Healthcare, and Robotics (NSENS), Shenzhen, China, Dep. 5-7, pp. 5-9.

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Tao Shen, Md. Rayhan Afsar, He Zhang, Cang Ye, Xiangrong Shen (2018). Development of a Motorized Robotic Walker Guided by an Image Processing System for Human Walking Assistance and Rehabilitation. In Proceedings of ASME Dynamic Systems and Control (DSC) Conference, Atlanta, GA, Sep. 30-Oct. 3, Vol. 51890, p. V001T07A009.

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Md. Rayhan Afsar, Michael Wadsworth, Tao Shen, He Zhang, Cang Ye, Xiangrong Shen (2018). A Motorized Robotic Walker for Human Walking Assistance. In Proceedings of ASME Design of Medical Devices (DMD) Conference, Minneapolis, Minnesota, April 10–13, 2017, Vol. 40672, p. V001T05A013.

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He Zhang, Cang Ye (2017). Plane-Aided Visual-Inertial Odometry for Pose Estimation of a 3D Camera based Indoor Blind Navigation System. In Proceedings of British Machine Vision Conference (BMVC), London, Sep. 4-7.

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He Zhang, Cang Ye (2017). An Indoor Wayfinding System Based on Geometric Features Aided Graph SLAM for the Visually Impaired. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.25, pp. 1592-1604.

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He Zhang, Cang Ye (2017). RGB-D Camera Based Walking Pattern Recognition by Support Vector Machines for a Smart Rollator. International Journal of Intelligent Robotics and Applications, vol.1, pp.32-42.

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He Zhang, Cang Ye (2016). An RGB-D Camera based Walking Pattern Detection Method for Smart Rollators. In Proceedings of 11th International Symposium on Visual Computing (ISVC), Las Vegas, Dec. 14-16, pp. 624-633.

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He Zhang, Cang Ye (2016). An indoor navigation aid for the visually impaired. In Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO), Qingdao, China, Dec. 3-7, pp. 467-472 (Finalist of Best Conference Paper Award).

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He Zhang, Guoliang Liu, Zifeng Hou (2014). An Iterative Graph Optimization Approach for 2D SLAM. In 6th IROS Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV), Chicago, Sep. 14-18.

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He Zhang, Zifeng Hou, Nanjun Li, Shuang Song, Pengzhi Xu (2012). Duo-graph: An efficient and robust method for large-scale mapping for visual-guided robots. In Proceedings of 12th International Conference on Control, Automation, Robotics and Vision (ICARCV), Guangzhou, China, Dec. 5-7, 2012, pp. 323-328.

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He Zhang, Zifeng Hou, Nanjun Li, Shuang Song (2012). A Graph-Based Hierarchical SLAM Framework for Large-Scale Mapping. In Proceedings 5th International Conference on Intelligent Robotics and Applications (ICIRA), Montreal, Quebec, Oct. 3-5, 2012, vol. 7507, pp 439-448.

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