Junqiao (John) Zhao 赵君峤


Room 232, Telecom Building
Tongji University
4800 Cao'an Road, Jiading
201804 Shanghai, China

email: zhaojunqiao(AT)tongji.edu.cn

I am an associate professor at the Department of Computer Science and Engineering, and the Institute of Intelligent Vehicles of Tongji University. I obtained my PhD degree from the State Key Laboratory of Information Engineering on Surveying, Mapping and Remote Sensing (LIESMARS), Wuhan University, and my BSc from Southeast University. I did my PostDoc in the Section of GIS technology of the Delft University of Technology. And I also had been a visiting student to the Technique University of Munich and the Leibniz Univeristy of Hannover.


Research

I am currently working on Autonomous Driving and particularly in the spectra of Simultaneous Localization and Mapping (SLAM), Place recognition and Localization, and Reinforcement Learning .

I lead the TIEV (Tongji Intelligent Electric Vehicle) Lab and developed two autonomous driving platforms TIEV 途灵 and TIEV 途灵 Plus jointly with colleagues at Tongji Intelligent Vehicle Insistute. I also lead the developement of the TIEVSim simulator.


Courses


Project

I was the PI of the NSFC project "Multi-scale semantic landmarks-based SLAM for autonomous driving " (No. 41871370) 2019-2022. The co-PI of the sub-project of The National Key Research and Development Program of China " Construction and real-time control of Autonomous driving system twins " (No. 2020YFA0711402) 2020-2023. The co-PI of the sub-project of The National Key Research and Development Program of China " Traffic object sensing and localization with high precision maps " (No. 2021YFB2501104) 2021-2024. And I was the PI of the NSFC young scholar project "Automatic Simplification of 3D Building Models for Navigation Purpose" (No.41201379). And the PI of the Program for Young Excellent Talents in Tongji University "Automatic Reparation of 3D Building Models" (No.2014KJ027).

I had participated in several projects including:


Publications

Preprints

2024

  • N$^3$-Mapping: Normal Guided Neural Non-Projective Signed Distance Fields for Large-scale 3D Mapping. Shuangfu Song, Junqiao Zhao*, Kai Huang, Jiaye Lin, Chen Ye and Tiantian Feng. IEEE Robotics and Automation Letters (submitted), 2024.
    BibTeX
    @article{Song2024,
    	author = {Song, Shuangfu and Zhao*, Junqiao and Huang, Kai and Lin, Jiaye and Ye, Chen and Feng, Tiantian},
    	title = {N$^{3}$-Mapping: Normal Guided Neural Non-Projective Signed Distance Fields for Large-scale 3D Mapping},
    	journal = {IEEE Robotics and Automation Letters (submitted)},
    	year = {2024}
    }

2023

  • LIMOT: A Tightly-Couple System for LiDAR-Inertial Odometry and Multi-Object Tracking. Zhongyang Zhu, Junqiao Zhao*, Kai Huang, Xuebo Tian, Jiaye Lin and Chen Ye. IEEE International Conference on Robotics and Automation (submitted), 2023.
    BibTeX
    @article{ZhuZY2023,
    	author = {Zhu, Zhongyang and Zhao*, Junqiao and Huang, Kai and Tian, Xuebo and Lin, Jiaye and Ye, Chen},
    	title = {LIMOT: A Tightly-Couple System for LiDAR-Inertial Odometry and Multi-Object Tracking},
    	journal = {IEEE International Conference on Robotics and Automation (submitted)},
    	year = {2023}
    }
  • Vector Neurons-based Rotation-Invariant Descriptor for Lidar Place Recognition. Gengxuan Tian, Junqiao Zhao*, Yingfeng Cai, Fenglin Zhang, Wenjie Mu and Chen Ye. IEEE Transactions on Intelligent Vehicles (submitted), 2023.
    BibTeX
    @article{TianGX2023,
    	author = {Tian, Gengxuan and Zhao*, Junqiao and Cai, Yingfeng and Zhang, Fenglin and Mu, Wenjie and Ye, Chen},
    	title = {Vector Neurons-based Rotation-Invariant Descriptor for Lidar Place Recognition},
    	journal = {IEEE Transactions on Intelligent Vehicles (submitted)},
    	year = {2023}
    }

Conference papers

2023

  • Safe Reinforcement Learning with Dead-Ends Avoidance and Recovery. Xiao Zhang, Hai Zhang, Hongtu Zhou, Chang Huang, Di Zhang, Chen Ye* and Junqiao Zhao*. Accepted by RAL and will be presented on ICRA2014, 2023.
    BibTeX
    @article{ZhangXiao-2023,
    	author = {Zhang, Xiao and Zhang, Hai and Zhou, Hongtu and Huang, Chang and Zhang, Di and Ye*, Chen and Zhao*, Junqiao},
    	title = {Safe Reinforcement Learning with Dead-Ends Avoidance and Recovery},
    	journal = {Accepted by RAL and will be presented on ICRA2014},
    	year = {2023}
    }
  • How to Fine-tune the Model: Unified Model Shift and Model Bias Policy Optimization. Hai Zhang, Hang Yu, Junqiao Zhao*, Di Zhang, Chang Huang, Hongtu Zhou, Xiao Zhang and Chen Ye. In Neural Information Processing Systems (NIPS) (2023), 2023.
    BibTeX
    @conference{Zhang-finetune2023,
    
    }
  • Multi-agent Decision-making at Unsignalized Intersections with Reinforcement Learning from Demonstrations. Chang Huang, Junqiao Zhao*, Hongtu Zhou, Hai Zhang, Xiao Zhang and Chen Ye. In , IEEE IV2023, Anchorage, Alaska, 2023.
    BibTeX
    @conference{IV-2023chang,
    
    }
  • LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation. Kai Huang, Junqiao Zhao*, Zhongyang Zhu, Chen Ye and Tiantian Feng. Accepted by RAL and will be presented on ICRA2014, 2023.
    BibTeX
    @article{Huangkai2023,
    	author = {Huang, Kai and Zhao*, Junqiao and Zhu, Zhongyang and Ye, Chen and Feng, Tiantian},
    	title = {LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation},
    	journal = {Accepted by RAL and will be presented on ICRA2014},
    	year = {2023}
    }

2022

  • UPC-Faster-RCNN: A Dynamic Self-Labeling Algorithm for Open-Set Object Detection Based on Unknown Proposal Clustering. Yujun Liao, Yan Wu, Yujian Mo, Fenglin Liu, Yufei He and Junqiao Zhao. In , IEEE MFI2022, Cranfield, UK, 2022.
    BibTeX
    @conference{MFI-2022lyj,
    
    }
  • Patch-NetVLAD+: Learned patch descriptor and weighted matching strategy for place recognition. Yingfeng Cai, Junqiao Zhao*, Jiafeng Cui, Fenglin Zhang, Tiantian Feng and Chen Ye. In , IEEE MFI2022, Cranfield, UK, 2022.
    BibTeX
    @conference{MFI-2022cyf,
    
    }
  • Scale Estimation with Dual Quadrics for Monocular Object SLAM. Shuangfu Song, Junqiao Zhao*, Tiantian Feng, Chen Ye and Lu Xiong. In , IEEE IROS2022, Kyoto, Japan, 2022.
    BibTeX
    @conference{IROS-2022ssf,
    
    }

2021

  • Stereo Visual Inertial SLAM with Semi-direct Residual. Ran Ju, Junqiao Zhao*, Lu Xiong, Yanqun Han, Yuyao Huang and Zhuoping Yu. In , IEEE ITSC2021, Indianapolis, IN, US, 2021.
    BibTeX
    @conference{ITSC-2021Rj,
    
    }
  • GPU-Efficient Dense Convolutional Network for Real-time Semantic Segmentation. Xinneng Yang, Yan Wu, Junqiao Zhao and Feilin Liu. In , IEEE ICRA2021, Xian, China, 2021.
    BibTeX
    @conference{ICRA-2021Yxn,
    
    }
  • Robust Dual Quadric Initialization for Forward-Translating Camera Movements. Shujia Chen, Shuangfu Song, Junqiao Zhao*, Tiantian Feng, Chen Ye and Deyi Li. In , IEEE ICRA2021, Xian, China, 2021.
    BibTeX
    @conference{ICRA-2021Csj,
    
    }

2020

  • Dense Dual-Path Network for Real-time Semantic Segmentation. Xinneng Yang, Yan Wu, Junqiao Zhao and Feilin Liu. In Proceedings of the Asian Conference on Computer Vision (ACCV), November 2020.
    BibTeX
    @inproceedings{Yang_2020_ACCV,
    	author = {Yang, Xinneng and Wu, Yan and Zhao, Junqiao and Liu, Feilin},
    	title = {Dense Dual-Path Network for Real-time Semantic Segmentation},
    	booktitle = {Proceedings of the Asian Conference on Computer Vision (ACCV)},
    	year = {2020},
    	month = {November}
    }
  • Detecting Lane and Road Markings at A Distance with Perspective Transformer Layers. Zhuoping Yu, Xiaozhou Ren, Yuyao Huang, Wei Tian and Junqiao Zhao*. In , IEEE ITSC2020, Rhodes, Greece, 2020.
    BibTeX
    @conference{ITSC-2020Rxz,
    
    }

2019

  • DL-SLAM: Direct 2.5D LiDAR SLAM for Autonomous Driving. Jun Li, Junqiao Zhao*, Yuchen Kang, Xudong He, Chen Ye and Lu Sun. In , IEEE IV2019, Paris, France, 2019.
    BibTeX
    @conference{IV-2019lijun,
    
    }
  • A Novel Robust Lane Change Trajectory Planning Method for Autonomous Vehicle. Dequan Zeng, Zhuoping Yu, Lu Xiong, Junqiao Zhao, Peizhi Zhang, Zhiqiang Li, Zhiqiang Fu, Yao Jie and Zhou Yi. In , IEEE IV2019, Paris, France, 2019.
    BibTeX
    @conference{IV-2019dequan,
    
    }
  • VINS-Vehicle: A Tightly-Coupled Vehicle Dynamics Extension to Visual-Inertial State Estimator. Rong Kang, Mingyu Xu, Lu Xiong, Junqiao Zhao* and Peizhi Zhang. In , IEEE ITSC2019, Auckland, New Zealand, 2019.
    BibTeX
    @conference{ITSC-2019kr,
    
    }
  • PDFNet: Semantic Segmentation on Panoramic Images with Dynamic Loss Weights and Residual Fusion Block. Yan Wu, Linting Guan Wei Jiang and Junqiao Zhao. In , IEEE ICRA2019, Montreal, Canada, 2019.
    BibTeX
    @conference{ICRA-2019,
    
    }

2018

  • VH-HFCN based Parking Slot and Lane Markings Segmentation on Panoramic Surround View. Yan Wu, Tao Yang, Junqiao, Zhao*, Linting Guan and Wei Jiang. In , IEEE IV2018, Changshu, Jiangsu, China, 2018.
    BibTeX
    @conference{IV-2018wuyan,
    
    }
  • Vision-based Semantic Mapping and Localization for Autonomous Indoor Parking. Yewei Huang, Junqiao Zhao*, Xudong He, Shaoming Zhang and Tiantian Feng. In , IEEE IV2018, Changshu, Jiangsu, China, 2018.
    BibTeX
    @conference{IV-2018huang,
    
    }
  • Learn to Detect Objects Incrementally. Linting Guan, Yan Wu, Junqiao Zhao and Chen Ye. In , IEEE IV2018, Changshu, Jiangsu, China, 2018.
    BibTeX
    @conference{IV-2018guan,
    
    }
  • DLO: Direct LiDAR Odometry for 2.5D Outdoor Environment. Lu Sun, Junqiao Zhao*, Xudong He and Chen Ye. In , IEEE IV2018, Changshu, Jiangsu, China, 2018.
    BibTeX
    @conference{IV-2018,
    
    }
  • Automatic Vector-based Road Structure Mapping Using Multi-beam LiDAR. Xudong He, Junqiao Zhao*, Lu Sun, Yewei Huang, Xinglian Zhang, Jun Li and Chen Ye. In , IEEE ITSC2018, Maui, Hawaii, USA, 2018.
    BibTeX
    @conference{2018arXiv180407028H,
    
    }
  • TiEV: The Tongji Intelligent Electric Vehicle in the Intelligent Vehicle Future Challenge of China. Junqiao Zhao, Chen Ye*, Yan Wu, Linting Guan, Lewen Cai, Lu Sun, Tao Yang, Xudong He, Jun Li, Yongchao Ding, Xinglian Zhang, Xinchen Wang, Jinglin Huang, Enwei Zhang, Yewei Huang, Wei Jiang, Shaoming Zhang, Lu Xiong and Tiantian Feng. In , IEEE ITSC2018, Maui, Hawaii, USA, 2018.
    BibTeX
    @conference{2018arXiv180406210Z,
    
    }

Journal papers

2024

  • Learning Sequence Descriptor based on Spatio-Temporal Attention for Visual Place Recognition. Fenglin Zhang, Junqiao Zhao*, Yingfeng Cai, Gengxuan Tian, Wenjie Mu and Chen Ye. IEEE Robotics and Automation Letters (Accepted), 2024.
    BibTeX
    @article{ZhangFL2024,
    	author = {Zhang, Fenglin and Zhao*, Junqiao and Cai, Yingfeng and Tian, Gengxuan and Mu, Wenjie and Ye, Chen},
    	title = {Learning Sequence Descriptor based on Spatio-Temporal Attention for Visual Place Recognition},
    	journal = {IEEE Robotics and Automation Letters (Accepted)},
    	year = {2024}
    }

2023

  • Safe Reinforcement Learning with Dead-Ends Avoidance and Recovery. Xiao Zhang, Hai Zhang, Hongtu Zhou, Chang Huang, Di Zhang, Chen Ye* and Junqiao Zhao*. IEEE Robotics and Automation Letters (Accepted), 2023.
    BibTeX
    @article{ZhangXiao-2023,
    	author = {Zhang, Xiao and Zhang, Hai and Zhou, Hongtu and Huang, Chang and Zhang, Di and Ye*, Chen and Zhao*, Junqiao},
    	title = {Safe Reinforcement Learning with Dead-Ends Avoidance and Recovery},
    	journal = {IEEE Robotics and Automation Letters (Accepted)},
    	year = {2023}
    }
  • DL-SLOT: Dynamic LiDAR SLAM and object tracking based on collaborative graph optimization. Xuebo Tian, Zhongyang Zhu, Junqiao Zhao*, Gengxuan Tian and Chen Ye. IEEE Transactions on Intelligent Vehicles (Early Access), 2023.
    BibTeX
    @article{Tian_DLSLOT_2023,
    	author = {Tian, Xuebo and Zhu, Zhongyang and Zhao*, Junqiao and Tian, Gengxuan and Ye, Chen},
    	title = {DL-SLOT: Dynamic LiDAR SLAM and object tracking based on collaborative graph optimization},
    	journal = {IEEE Transactions on Intelligent Vehicles },
    	year = {2023},
    	volume = {(Early Access)}
    }
  • LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation. Kai Huang, Junqiao Zhao*, Zhongyang Zhu, Chen Ye and Tiantian Feng. IEEE Robotics and Automation Letters (Accepted), 2023.
    BibTeX
    @article{Huangkai2023,
    	author = {Huang, Kai and Zhao*, Junqiao and Zhu, Zhongyang and Ye, Chen and Feng, Tiantian},
    	title = {LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation},
    	journal = {IEEE Robotics and Automation Letters (Accepted)},
    	year = {2023}
    }

2022

  • Weighted octree-based 3D indoor pathfinding for multiple locomotion types. Junqiao Zhao, Qiaoyu Xu, Sisi Zlatanova, Liu Liu, Chen Ye and Tiantian Feng. International Journal of Applied Earth Observation and Geoinformation 112, 2022, pp. 102900.
    DOI BibTeX
    @article{ZHAO2022102900,
    	author = {Junqiao Zhao and Qiaoyu Xu and Sisi Zlatanova and Liu Liu and Chen Ye and Tiantian Feng},
    	title = {Weighted octree-based 3D indoor pathfinding for multiple locomotion types},
    	journal = {International Journal of Applied Earth Observation and Geoinformation},
    	year = {2022},
    	volume = {112},
    	pages = {102900}
    }
  • LIO-Vehicle: A Tightly-Coupled Vehicle Dynamics Extension of Lidar Inertial Odometry. Hongru Xiao, Yanqun Han, Junqiao Zhao*, Jiafeng Cui, Lu Xiong and Zhuoping Yu. IEEE Robotics and Automation Letters (RAL) 7, 2022, pp. 446-453.
    DOI BibTeX
    @article{RAL-2021Xhr,
    	author = {Xiao, Hongru and Han, Yanqun and Zhao*, Junqiao and Cui, Jiafeng and Xiong, Lu and Yu, Zhuoping},
    	title = {LIO-Vehicle: A Tightly-Coupled Vehicle Dynamics Extension of Lidar Inertial Odometry},
    	journal = {IEEE Robotics and Automation Letters (RAL)},
    	year = {2022},
    	volume = {7},
    	pages = {446-453}
    }
  • G-VIDO: A Vehicle Dynamics and Intermittent GNSS Aided Visual-Inertial State Estimator For Autonomous Driving. Lu Xiong, Rong Kang, Junqiao Zhao*, Peizhi Zhang, Mingyu Xu, Ran Ju, Chen Ye and Tiantian Feng. IEEE Transactions on Intelligent Transportation Systems 23 (8), 2022, pp. 11845-11861.
    DOI BibTeX
    @article{IEEEITS-2021Kf,
    	author = {Xiong, Lu and Kang, Rong and Zhao*, Junqiao and Zhang, Peizhi and Xu, Mingyu and Ju, Ran and Ye, Chen and Feng, Tiantian},
    	title = {G-VIDO: A Vehicle Dynamics and Intermittent GNSS Aided Visual-Inertial State Estimator For Autonomous Driving},
    	journal = {IEEE Transactions on Intelligent Transportation Systems},
    	year = {2022},
    	volume = {23},
    	number = {8},
    	pages = {11845-11861}
    }
  • 融合车辆动力学的双目视觉惯性SLAM研究. 余卓平, 鞠然, 韩燕群 and 赵君峤*. 华中科技大学学报(自然科学版), 2022.
    DOI BibTeX
    @article{HUST-2022Juran,
    	author = {余卓平 and 鞠然 and 韩燕群 and 赵君峤*},
    	title = {融合车辆动力学的双目视觉惯性SLAM研究},
    	journal = {华中科技大学学报(自然科学版)},
    	year = {2022}
    }

2021

  • Robust Dual Quadric Initialization for Forward-Translating Camera Movements. Shujia Chen, Shuangfu Song, Junqiao Zhao*, Tiantian Feng, Chen Ye and Deyi Li. IEEE Robotics and Automation Letters (RAL) 6 (3), 2021, pp. 4712-4719.
    DOI BibTeX
    @article{RAL-2021Csj,
    	author = {Chen, Shujia and Song, Shuangfu and Zhao*, Junqiao and Tiantian Feng and Ye, Chen and Li, Deyi},
    	title = {Robust Dual Quadric Initialization for Forward-Translating Camera Movements},
    	journal = {IEEE Robotics and Automation Letters (RAL)},
    	year = {2021},
    	volume = {6},
    	number = {3},
    	pages = {4712-4719}
    }
  • Pole-Curb Fusion based Robust and Efficient Autonomous Vehicle Localization System with Branch-and-Bound Global Optimization and Local Grid Map Method. Guang Chen, Fan Lu, Zhijun Li, Yinlong Liu, Jinhu Dong, Junqiao Zhao, Junwei Yu and Alois Knoll. IEEE Transactions on Vehicular Technology 70, 2021, pp. 11283-11294.
    DOI BibTeX
    @article{IEEETIV-2021Lf,
    	author = {Chen, Guang and Lu, Fan and Li, Zhijun and Liu, Yinlong and Dong, Jinhu and Zhao, Junqiao and Yu, Junwei and Knoll, Alois},
    	title = {Pole-Curb Fusion based Robust and Efficient Autonomous Vehicle Localization System with Branch-and-Bound Global Optimization and Local Grid Map Method},
    	journal = {IEEE Transactions on Vehicular Technology},
    	year = {2021},
    	volume = {70},
    	pages = {11283-11294}
    }

2018

  • HSW: Heuristic Shrink-wrapping for automatically repairing solid-based CityGML LOD2 building models. Junqiao Zhao, Hugo Ledoux, Jantien Stoter and Tiantian Feng. ISPRS Journal of Photogrammetry and Remote Sensing 146, 2018, pp. 289–304.
    BibTeX
    @article{zhao2018hsw,
    	author = {Zhao, Junqiao and Ledoux, Hugo and Stoter, Jantien and Feng, Tiantian},
    	title = {HSW: Heuristic Shrink-wrapping for automatically repairing solid-based CityGML LOD2 building models},
    	journal = {ISPRS Journal of Photogrammetry and Remote Sensing},
    	year = {2018},
    	volume = {146},
    	pages = {289--304}
    }

A full list of publications please refer to Google Scholar


Student supervision

PhD

Jiaye Lin (2023)

Wenjie Mu (2022)

Xufei Wang (2022)

Hongtu Zhou (2021)

Shuangfu Song (2020) (Jointly with Tiantian Feng)

Yujian Mo (2020) (Jointly with Yan Wu)

Kai Huang (2019) (Jointly with Tiantian Feng)

Yanqun Han (2020) (Jointly with Xinbo Chen)

MSc

Siyue Tao (2023)

Zihan Yuan (2023)

Di Zhang (2023)

Xiaolong Yu (2022)

Hai Zhang (2022)

Zhongyang Zhu (2022)

Chang Huang (2021)

Gengxuan Tian (2021)

Zhihong Chen (2020) (Jointly with Tiantian Feng)

Xiaowei Ouyang (2020)

Tengfei Huang (2020)

Yingfeng Cai (2020)

Xuebo Tian (2019) (Jointly with Deyi Li)

Shuangfu Song (2019) (Jointly with Tiantian Feng)

Shujia Chen (2018) (Jointly with Deyi Li)

Jianfeng LI (2018) (Jointly with Tiantian Feng)

Xinglian Zhang (2017) (Jointly with Tiantian Feng)

Jun Li (2017) (Jointly with Deyi Li)

Xudong He (2016)

Yewei Huang (2016) (Jointly with Tiantian Feng)

Shaobo Zhou (2015) (Jointly with Shaoming Zhang)

Mengqing Ji (2014) (Jointly with Changjun Jiang)

Sjors Donkers (2013) Automatic generation of CityGML LoD3 building models from IFC models. (Jointly with Hugo Ledoux)

BSc

Hang Yu, Haotian Pang, Zihao Yang, Xin Liu, Jie Wang, Shatong Zhu, Jialin Liu (from 2022)

Qingchen Kong, Yuhan Wang (from Jun 2021) Opensource AV Simulator (Supported by the National Key Research and Development Program of China)

Xiaodong Bi, Yifan Hu, Chenyu Tang, Yanting Tao(from Jun 2020) Opensource AV Simulator (Supported by the National Key Research and Development Program of China)

Zhenrui Qin, Jiancong Peng (from May 2019) TiEV Planner (Supported by NSFC)

Ziyue Zhang, Wenhao Zhang, Hui Wang (from May 2019) Opensource AV Simulator (Supported by the National Key Research and Development Program of China)

Luocheng Fang (from May 2019) 3D traffic object detection and tracking (Supported by National Student Innovation Trainning Program)

Jianting Chen, Yang Liu, Tianxiang Dong (from May 2015) Range finder based on Mono-vision and plate detection (Supported by National Student Innovation Training Program)

Yewei Huang, Haiting Wang, Kefei Zhan (from March 2014) Indoor localization based on structured image sets. (Supported by National Student Innovation Training Program)
(together with Shaoming Zhang)