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Boyu Zhou

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15 papers

2 author rows

AAAI Conference 2026 Conference Paper

D²-VPR: A Parameter-efficient Visual-foundation-model-based Visual Place Recognition Method via Knowledge Distillation and Deformable Aggregation

Zheyuan Zhang
Jiwei Zhang
Boyu Zhou
Linzhimeng Duan
Hong Chen

Visual Place Recognition (VPR) aims to determine the geographic location of a query image by retrieving its most visually similar counterpart from a geo-tagged reference database. Recently, the emergence of the powerful visual foundation model, DINOv2, trained in a self-supervised manner on massive datasets, has significantly improved VPR performance. This improvement stems from DINOv2’s exceptional feature generalization capabilities but is often accompanied by increased model complexity and computational overhead that impede deployment on resource-constrained devices. To address this challenge, we propose D2-VPR, a Distillation- and Deformable-based framework that retains the strong feature extraction capabilities of visual foundation models while significantly reducing model parameters and achieving a more favorable performance-efficiency trade-off. Specifically, first, we employ a two-stage training strategy that integrates knowledge distillation and fine-tuning. Additionally, we introduce a Distillation Recovery Module (DRM) to better align the feature spaces between the teacher and student models, thereby minimizing knowledge transfer losses to the greatest extent possible. Second, we design a Top-Down-attention-based Deformable Aggregator (TDDA) that leverages global semantic features to dynamically and adaptively adjust the Regions of Interest (ROI) used for aggregation, thereby improving adaptability to irregular structures. Extensive experiments demonstrate that our method achieves competitive performance compared to state-of-the-art approaches. Meanwhile, it reduces the parameter count by approximately 64.2% (compared to CricaVPR).

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IROS Conference 2025 Conference Paper

AKF-LIO: LiDAR-Inertial Odometry with Gaussian Map by Adaptive Kalman Filter

Xupeng Xie
Ruoyu Geng
Jun Ma 0008
Boyu Zhou

Existing LiDAR-Inertial Odometry (LIO) systems typically use sensor-specific or environment-dependent measurement covariances during state estimation, leading to laborious parameter tuning and suboptimal performance in challenging conditions (e. g. , sensor degeneracy and noisy observations). Therefore, we propose an Adaptive Kalman Filter (AKF) framework that dynamically estimates time-varying noise covariances of LiDAR and Inertial Measurement Unit (IMU) measurements, enabling context-aware confidence weighting between sensors. During LiDAR degeneracy, the system prioritizes IMU data while suppressing contributions from unreliable inputs like moving objects or noisy point clouds. Furthermore, a compact Gaussian-based map representation is introduced to model environmental planarity and spatial noise. A correlated registration strategy ensures accurate plane normal estimation via pseudo-merge, even in unstructured environments like forests. Extensive experiments validate the robustness of the proposed system across diverse environments, including dynamic scenes and geometrically degraded scenarios. Our method achieves reliable localization results across all MARS-LVIG sequences and ranks 8th on the KITTI Odometry Benchmark. The code will be released at https://github.com/xpxie/AKF-LIO.git.

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IROS Conference 2025 Conference Paper

DynamicPose: Real-time and Robust 6D Object Pose Tracking for Fast-Moving Cameras and Objects

Tingbang Liang
Yixin Zeng 0005
Jiatong Xie
Boyu Zhou

We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicable to static or quasi-static scenes, and its performance significantly deteriorates when both the object and the camera move rapidly. To overcome these challenges, we propose three synergistic components: (1) A visual-inertial odometry compensates for the shift in the Region of Interest (ROI) caused by camera motion; (2) A depth-informed 2D tracker corrects ROI deviations caused by large object translation; (3) A VIO-guided Kalman filter predicts object rotation, generates multiple candidate poses, and then obtains the final pose by hierarchical refinement. The 6D pose tracking results guide subsequent 2D tracking and Kalman filter updates, forming a closed-loop system that ensures accurate pose initialization and precise pose tracking. Simulation and real-world experiments demonstrate the effectiveness of our method, achieving real-time and robust 6D pose tracking for fast-moving cameras and objects.

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IROS Conference 2025 Conference Paper

Perception-aware Planning for Quadrotor Flight in Unknown and Feature-limited Environments

Chenxin Yu
Zihong Lu
Jie Mei 0002
Boyu Zhou

Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face significant limitations in previously unknown environments with sparse localization features, which greatly limits their practical application. In this paper, we present a perception-aware planning method for quadrotor flight in unknown and feature-limited environments that properly allocates perception resources among environmental information during navigation. We introduce a viewpoint transition graph that allows for the adaptive selection of local target viewpoints, which guide the quadrotor to efficiently navigate to the goal while maintaining sufficient localizability and without being trapped in feature-limited regions. During the local planning, a novel yaw trajectory generation method that simultaneously considers exploration capability and localizability is presented. It constructs a localizable corridor via feature co-visibility evaluation to ensure localization robustness in a computationally efficient way. Through validations conducted in both simulation and real-world experiments, we demonstrate the feasibility and real-time performance of the proposed method. The source code is released for the reference of the community 1

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ICRA Conference 2024 Conference Paper

APACE: Agile and Perception-aware Trajectory Generation for Quadrotor Flights

Xinyi Chen 0002
Yichen Zhang
Boyu Zhou
Shaojie Shen

Various perception-aware planning approaches have attempted to enhance the state estimation accuracy during maneuvers, while the feature matchability among frames, a crucial factor influencing estimation accuracy, has often been overlooked. In this paper, we present APACE, an Agile and Perception-Aware trajeCtory gEneration framework for quadrotors aggressive flight, that takes into account feature matchability during trajectory planning. We seek to generate a perception-aware trajectory that reduces the error of visual-based estimator while satisfying the constraints on smoothness, safety, agility and the quadrotor dynamics. The perception objective is achieved by maximizing the number of covisible features while ensuring small enough parallax angles. Additionally, we propose a differentiable and accurate visibility model that allows decomposition of the trajectory planning problem for efficient optimization resolution. Through validations conducted in both a photorealistic simulator and real-world experiments, we demonstrate that the trajectories generated by our method significantly improve state estimation accuracy, with root mean square error (RMSE) reduced by up to an order of magnitude. The source code will be released to benefit the community 1.

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ICRA Conference 2024 Conference Paper

FC-Planner: A Skeleton-guided Planning Framework for Fast Aerial Coverage of Complex 3D Scenes

Chen Feng 0006
Haojia Li
Mingjie Zhang
Xinyi Chen 0002
Boyu Zhou
Shaojie Shen

3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To address these challenges, we propose FC-Planner, a skeleton-guided planning framework that can achieve fast aerial coverage of complex 3D scenes without pre-processing. We decompose the scene into several simple subspaces by a skeleton-based space decomposition (SSD). Additionally, the skeleton guides us to effortlessly determine free space. We utilize the skeleton to efficiently generate a minimal set of specialized and informative viewpoints for complete coverage. Based on SSD, a hierarchical planner effectively divides the large planning problem into independent sub-problems, enabling parallel planning for each subspace. The carefully designed global and local planning strategies are then incorporated to guarantee both high quality and efficiency in path generation. We conduct extensive benchmark and real-world tests, where FC-Planner computes over 10 times faster compared to state-of-the-art methods with shorter path and more complete coverage. The source code will be made publicly available to benefit the community 3. Project page: https://hkust-aerial-robotics.github.io/FC-Planner.

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ICRA Conference 2024 Conference Paper

Real-time Whole-body Motion Planning for Mobile Manipulators Using Environment-adaptive Search and Spatial-temporal Optimization

Chengkai Wu
Ruilin Wang
Mianzhi Song
Fei Gao 0011
Jie Mei 0002
Boyu Zhou

Mobile manipulators have recently gained significant attention in the robotics community due to their superior potential in industrial and service applications. However, the high degree of freedom associated with mobile manipulators poses challenges in achieving real-time whole-body motion planning. To bridge the gap, this paper presents a motion planning method capable of generating high-quality, safe, agile and feasible trajectories for mobile manipulators in real time. First, we present a novel environment-adaptive path searching method, which can generate paths in real-time in various environments by adaptively adjusting searching dimension based on environment complexity. Additionally, we propose a real-time spatial-temporal trajectory optimization method that takes into account the whole-body safety, agility and dynamic feasibility of mobile manipulators. Moreover, task constraints are applied to ensure that the trajectory can fulfill specific task requirements. Simulation and real-world experiments demonstrate that our method is capable of generating whole-body trajectories in real-time in challenging environments. We will release our code to benefit the community.

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IROS Conference 2024 Conference Paper

SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction

Mingjie Zhang
Chen Feng 0006
Zengzhi Li
Guiyong Zheng
Yiming Luo
Zhu Wang
Jinni Zhou
Shaojie Shen

Unmanned Aerial Vehicles (UAVs) have gained significant popularity in scene reconstruction. This paper presents SOAR, a LiDAR-Visual heterogeneous multi-UAV system specifically designed for fast autonomous reconstruction of complex environments. Our system comprises a LiDAR-equipped explorer with a large field-of-view (FoV), alongside photographers equipped with cameras. To ensure rapid acquisition of the scene’s surface geometry, we employ a surface frontier-based exploration strategy for the explorer. As the surface is progressively explored, we identify the uncovered areas and generate viewpoints incrementally. These viewpoints are then assigned to photographers through solving a Consistent Multiple Depot Multiple Traveling Salesman Problem (Consistent-MDMTSP), which optimizes scanning efficiency while ensuring task consistency. Finally, photographers utilize the assigned viewpoints to determine optimal coverage paths for acquiring images. We present extensive benchmarks in the realistic simulator, which validates the performance of SOAR compared with classical and state-of-the-art methods. For more details, please see our project page at sysu-star.github.io/SOAR.

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ICRA Conference 2023 Conference Paper

PredRecon: A Prediction-boosted Planning Framework for Fast and High-quality Autonomous Aerial Reconstruction

Chen Feng 0006
Haojia Li
Fei Gao 0011
Boyu Zhou
Shaojie Shen

Autonomous UAV path planning for 3D reconstruction has been actively studied in various applications for high-quality 3D models. However, most existing works have adopted explore-then-exploit, prior-based or exploration-based strategies, demonstrating inefficiency with repeated flight and low autonomy. In this paper, we propose PredRecon, a prediction-boosted planning framework that can autonomously generate paths for high 3D reconstruction quality. We obtain inspiration from humans can roughly infer the complete construction structure from partial observation. Hence, we devise a surface prediction module (SPM) to predict the coarse complete surfaces of the target from the current partial reconstruction. Then, the uncovered surfaces are produced by online volumetric mapping waiting for observation by UAV. Lastly, a hierarchical planner plans motions for 3D reconstruction, which sequentially finds efficient global coverage paths, plans local paths for maximizing the performance of Multi-View Stereo (MVS), and generates smooth trajectories for image-pose pairs acquisition. We conduct benchmarks in the realistic simulator, which validates the performance of PredRecon compared with the classical and state-of-the-art methods. The open-source code is released at https://github.com/HKUST-Aerial-Robotics/PredRecon.

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ICRA Conference 2022 Conference Paper

Exploration with Global Consistency Using Real-Time Re-integration and Active Loop Closure

Yichen Zhang
Boyu Zhou
Luqi Wang
Shaojie Shen

Despite recent progress of robotic exploration, most methods assume that drift-free localization is available, which is problematic in reality and causes severe distortion of the reconstructed map. In this work, we present a systematic exploration mapping and planning framework that deals with drifted localization, allowing efficient and globally consistent reconstruction. A real-time re-integration-based mapping approach along with a frame pruning mechanism is proposed, which rectifies map distortion effectively when drifted localization is corrected upon detecting loop-closure. Besides, an exploration planning method considering historical viewpoints is presented to enable active loop closing, which promotes a higher opportunity to correct localization errors and further improves the mapping quality. We evaluate both the mapping and planning methods as well as the entire system comprehensively in simulation and real-world experiments, showing their effectiveness in practice. The implementation of the proposed method will be made open-source for the benefit of the robotics community.

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IROS Conference 2022 Conference Paper

Fast 3D Sparse Topological Skeleton Graph Generation for Mobile Robot Global Planning

Xinyi Chen 0002
Boyu Zhou
Jiarong Lin
Yichen Zhang
Fu Zhang 0002
Shaojie Shen

In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is beneficial for more efficient global planning. Currently, existing solutions for skeleton graph generation suffer from several major limitations, including poor adaptiveness to different map representations, dependency on robot inspection trajectories and high computational overhead. In this paper, we propose an efficient and flexible algorithm generating a trajectory-independent 3D sparse topological skeleton graph capturing the spatial structure of the free space. In our method, an efficient ray sampling and validating mechanism are adopted to find distinctive free space regions, which contributes to skeleton graph vertices, with traversability between adjacent vertices as edges. A cycle formation scheme is also utilized to maintain skeleton graph compactness. Benchmark comparison with state-of-the-art works demonstrates that our approach generates sparse graphs in a substantially shorter time, giving high-quality global planning paths. Experiments conducted in real-world maps further validate the capability of our method in real-world scenarios. Our method will be made open source to benefit the community.

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ICRA Conference 2021 Conference Paper

Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning

Luqi Wang
Boyu Zhou
Chuhao Liu
Shaojie Shen

It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow disturbance can be a significant adverse factor during flights, causing potential safety issues, especially in narrow and confined indoor environments. Therefore, we propose a novel method to estimate and adapt indoor ego airflow disturbance of quadrotors, meanwhile applying it to trajectory planning. Firstly, the hover experiments for different quadrotors are conducted against the proximity effects. Then with the collected acceleration variance, the disturbances are modeled for the quadrotors according to the proposed formulation. The disturbance model is also verified under hover conditions in different reconstructed complex environments. Furthermore, the approximation of Hamilton-Jacobi reachability analysis is performed according to the estimated disturbances to facilitate the safe trajectory planning, which consists of kinodynamic path search as well as B-spline trajectory optimization. The whole planning framework is validated on multiple quadrotor platforms in different indoor environments.

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ICRA Conference 2020 Conference Paper

Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths

Boyu Zhou
Fei Gao 0011
Jie Pan 0004
Shaojie Shen

Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper, we propose a replanning method based on GTO addressing this issue systematically. A path-guided optimization (PGO) approach is devised to tackle infeasible local minima, which improves the replanning success rate significantly. A topological path searching algorithm is developed to capture a collection of distinct useful paths in 3-D environments, each of which then guides an independent trajectory optimization. It activates a more comprehensive exploration of the solution space and output superior replanned trajectories. Benchmark evaluation shows that our method outplays state-of-the-art methods regarding replanning success rate and optimality. Challenging experiments of aggressive autonomous flight are presented to demonstrate the robustness of our method. We will release our implementation as an open-source package 1.

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IROS Conference 2019 Conference Paper

FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots

Luxin Han
Fei Gao 0011
Boyu Zhou
Shaojie Shen

Euclidean Signed Distance Field (ESDF) is useful for online motion planning of aerial robots since it can easily query the distance and gradient information against obstacles. Fast incrementally built ESDF map is the bottleneck for conducting real-time motion planning. In this paper, we investigate this problem and propose a mapping system called FIESTA to build global ESDF map incrementally. By introducing two independent updating queues for inserting and deleting obstacles separately, and using Indexing Data Structures and Doubly Linked Lists for map maintenance, our algorithm updates as few as possible nodes using a BFS framework. Our ESDF map has high computational performance and produces near-optimal results. We show our method outperforms other up-to-date methods in term of performance and accuracy by both theory and experiments. We integrate FIESTA into a completed quadrotor system and validate it by both simulation and onboard experiments. We release our method as open-source software for the community 1 1 https://github.com/hlx1996/FIESTA

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IROS Conference 2018 Conference Paper

Optimal Time Allocation for Quadrotor Trajectory Generation

Fei Gao 0011
William Wu
Jie Pan 0004
Boyu Zhou
Shaojie Shen

In this paper, we present a framework to do optimal time allocation for quadrotor trajectory generation. Using this method, we can generate minimum-time piecewise polynomial trajectories for quadrotor flights. We decouple the quadrotor trajectory generation problem into two folds. Firstly we generate a smooth and safe curve which is parameterized by a virtual variable. This curve named spatial trajectory is independent of time and has fixed spatial properties. Then a mapping function which decides how the quadrotor moves along the spatial trajectory respecting kinodynamic limits is found by minimizing total trajectory time. The mapping function maps the virtual variable to time is named temporal trajectory. We formulate the minimum-time temporal trajectory generation problem as a convex program which can be efficiently solved. We show that the proposed method can corporate with various types of previous trajectory generation method to obtain the optimal time allocation. The proposed method is integrated into a customized light-weight quadrotor platform and is validated by presenting autonomous flights in indoor and outdoor environments. We release our code for time optimization as an open-source ros-package.

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