Yixiao Feng

I am currently a research intern at Qiyuan Lab focusing on all-weather asychronous multi-modal continuous-time SLAM and cross-modality image matching. I am closely collaborating with Dr. Yongliang Shi.

I received my M.EngSc degree in Robotics at University of New South Wales (UNSW) in 2024, supervised by Dr. Jose Guivant. Prior to that, I obtained my B.Eng. degree from Beijing University of Chemical Technology (BUCT) in 2022.

From Oct 2021 to Dec 2022, I was a research intern at the DISCOVER Lab, Institute for AI Industry Research, Tsinghua University, specializing in large-scale localization, advised by Dr. Yongliang Shi and Prof. Guyue Zhou.

I am actively looking for the PhD opportunity in Fall 2025.

                 

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Recent News

  • [2024/12] 🎓 I've graduated from UNSW and obtained my M.EngSc degree in Robotics.
  • [2024/01] 🥳 Our work of BM-Loc was accepted by ICRA 2024.

Publications

*: equal contribution; †: corresponding author(s)
dise Block-Map-Based Localization in Large-Scale Environment
Yixiao Feng*, Zhou Jiang*, Yongliang Shi†, Yunlong Feng, Xiangyu Chen, Hao Zhao, Guyue Zhou

ICRA 2024 Oral
[Paper] [Video]

We first proposed a localization method based on Block-Map (BM) for large scenes, and provide a method for generating BMs and corresponding map-switching strategies. We also proposed a factor graph optimization method with different marginalization strategies for two cases where the robot moves within the same map or traverses between different maps. The final results showed that our method achieved a per-frame computation time up to 150% faster compared to using a global map.

Education

University of New South Wales (UNSW), Australia

M.EngSc in Robotics (with Excellence), supervised by Dr. Jose Guivant
Feb. 2023 - Dec. 2024

Beijing University of Chemical Technology (BUCT), China

B.Eng. in Mechanical Design, Manufacturing and Its Automation
Sep. 2018 - Jun. 2022
Ex-president of SIE Robotics Club


Research Experiences

Qiyuan Lab

Research Intern, working with Dr. Yongliang Shi
Dec. 2024 - Present

Institute for AI Industry Research, Tsinghua University

Research Intern, DISCOVER Lab, supervised by Dr. Yongliang Shi and Prof. Guyue Zhou
Oct. 2021 - Dec. 2022

Selected Projects
dise Large-Scale Globally Consistent Mapping using Solid-state LiDAR-based Place Recognition
Yixiao Feng


• Improved ImMesh through factor graph optimization by introducing STD loop-closure factors, and proposed a globally consistent mapping framework.
• Collected a LiDAR-inertial dataset consisting of 6 sequences with challenging low-texture scenarios, such as long staircases.
• Achieved SOTA localization accuracy on our self-collected dataset, meanwhile demonstrating the effectiveness of the globally consistent mapping framework.

dise Obstacle Avoidance for Indoor Racing Unmanned Vehicles
Yixiao Feng, Xiangyu Chen, Zhengxiao Han, Guyue Zhou

• Designed a multi-sensor fusion localization algorithm utilizing particle filtering and graph optimization.
• Utilized A* algorithm for global path planning and Timed Elastic Band (TEB) algorithm for local path planning and successfully avoided all tested dynamic and static obstacles.

dise Home Service Robot
Yixiao Feng, Zhengxiao Han, Yang Yang, Yi Zhu, Zeyu Ren, Xiang Gao, Chaowei Wang, Kexin Song

RoboCup @Home 2021


• Implemented Cartographer algorithm for robot localization and mapping using a single line LiDAR and an IMU.
• Designed a human following algorithm using the point cloud centroid on the tracked target, and implemented Openpose to recognize specific gestures to start and stop following.
• Developed a vision-based robotic grasping system combining YOLO-v3 object detection with point cloud processing for precise object localization.



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