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Currently, i am focusing on world models and 3D Gaussian splatting (3DGS). I have a strong interest in 3D vision, robot vision, and embodied AI (perception). Since July 2021, I have been pursuing a five-year Ph.D. program at Nankai University, under the supervision of Professor Yongchun Fang. From 2017 to 2021, I spent an unforgettable time completing my undergraduate studies at Jilin University. Email / CV / Google Scholar / GitHub |
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SLAM in underground mine
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Tianci Wen, Zhiang Liu, Biao Lu, Yongchun Fang*, under review arxiv Scaffold-SLAM significantly outperforms state-of-the-art methods in photorealistic mapping quality across monocular, stereo, and RGB-D datasets. Highly grateful for the kindly support from Zhiang Liu. |
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Tianci Wen, Yongchun Fang*, Biao Lu, Xuebo Zhang, Chaoquan Tang RA-L with IROS , 2024, oral video / poster Carefully coupled multi-senors lets the robot localization and mapping robustly in real-world underground mines. Highly grateful for the kindly support from Xuebo Zhang, Zhixing Song, and Chaoquan Tang. |
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Tianci Wen, Wei Huang, Yihan Chen, Yongchun Fang* Start from Dec. 2023 Discription: We simultaneously integrated a LiDAR, camera, and IMU into a space of approximately 10 cubic centimeters. Various gaits and speeds of the snake robot were tested, all achieving high-precision localization and mapping (with errors within 2 cm compared to motion capture). |
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Tianci Wen, Biao Lu, Yongchun Fang* From the winter of 2021 to the summer of 2022 Discription: We implemented an indoor navigation framework for the wheeled-leg robot based on the ROS move_base framework and LiDAR-Inertial Odometry (LIO). |
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Tianci Wen, Yihan Chen, Shiwei Ren, Yongchun Fang*, Biao Lu Since the end of 2023 We are currently working on the software and hardware development, as well as the implementation, of a SLAM system for a giant industrial crane. |
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Zhixing Song: The guide in SLAM and research Haiming Gao: The guide in research direction |
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