👋 Hi there, I'm Xiangcheng Hu

Visitor

📫 How to reach me

I don't know when I can graduate, but I'm open to positions in SLAM, AR/VR, Robotics and other relevant areas. Please feel free to send me an email ([email protected]). Thank you!

🎓 Education

• Ph.D. Candidate, Hong Kong University of Science and Technology (Sept. 2021 – now )

• Master's Degree in Software Engineering at Beihang University (Sept. 2018 – Feb. 2021)

• Bachelor's Degree in Detection Guidance and Control Technology at North University of China (Sept. 2013 – Jul. 2017)

🔬 Research Experience

• Visiting Ph.D student

  • Toronto Robotics and AI Laboratory, U of T (Mar. 2025 – Sept. 2025)
  • Long-term Localization and Ill-conditioned point cloud registration
  • Open-vocabulary Semantic mapping

• Ph.D candidate

  • Robotics Institute, Intelligent Autonomous Driving Center (IADC), HKUST (Sept. 2021 – now)
  • LiDAR-based Localization and Multi-session Mapping
  • Uncertainty Estimation
  • Large-scale outdoor mapping and localization

• Research Intern (Supervisor: Prof. Dongbin Zhao)

  • Institute of Automation, Chinese Academy of Sciences, Beijing (Apr. 2019 – Nov. 2019)
  • Multi-sensor fusion for localization and mapping in campus environments

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🤝 Collaborating Researchers

I have had the privilege to collaborate with talented researchers:

• Prof. Jin Wu, Dr. Jianhao Jiao, Prof. Xieyuanli Chen, Mr. Linwei Zheng, Mr. Hexiang Wei, Mr.Zuhao Zou, Dr. Huaiyang Huang, Dr. Zhenhua Xu

📚 Publications and Manuscripts

1. X. Hu, X. Chen et al. "DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration," arXiv:2509.06285
2. X. Hu, J. Wu et al. "MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System," arXiv:2408.03723
3. X. Hu, J. Wu et al. "MapEval: Towards Unified, Robust, and Efficient SLAM Map Evaluation Framework," IEEE Robotics and Automation Letters (RA-L), Feb. 2025. DOI:10.1109/LRA.2025.3548441
4. X. Hu*, J. Wu* et al. "AM-Align: Globally Optimal Estimation of Accelerometer-Magnetometer Misalignment," IEEE Transactions on Instrumentation and Measurement (T-IM), Sept. 2024. DOI: 10.1109/TIM.2025.3541657
5. X. Hu, L. Zheng et al. "PALoc: Advancing SLAM Benchmarking With Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation," IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 29, no. 6, pp. 4297-4308, Dec. 2024. DOI: 10.1109/TMECH.2024.3362902
6. J. Jiao*, H. Wei*, T. Hu*, X. Hu* et al. "FusionPortable: A Multi-Sensor Campus-Scene Dataset for Localization and Mapping Accuracy Evaluation," IROS 2022, pp. 3851-3856, Kyoto, Japan. DOI: 10.1109/IROS47612.2022.9982119
7. H. Wei*, J. Jiao*,X. Hu, et al. "FusionPortableV2: A Unified Multi-Sensor Dataset for Generalized SLAM Across Diverse Platforms and Scalable Environments," The International Journal of Robotics Research (IJRR). DOI: 10.1177/02783649241303525
8. Wu, J., Zheng, Y., Gao, Z., Jiang, Y., Hu, X., Zhu, Y., ... & Liu, M. (2022). Quadratic pose estimation problems: Globally optimal solutions, solvability/observability analysis, and uncertainty description. IEEE Transactions on Robotics(T-RO), 38(5), 3314-3335.
9. Chen Z, Qi Y, Feng D, Zhuang X, Chen H, Hu X, Wu J, Peng K, Lu P. Heterogeneous LiDAR dataset for benchmarking robust localization in diverse degenerate scenarios. The International Journal of Robotics Research (IJRR). 2024:02783649251344967.

📊 GitHub Stats

🔥 Important Repositories

Key repository from my PhD research process, containing SLAM tools, paper figure plotting scripts, dataset processing scripts, and more.