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<h2>Xingxin Chen</h2>
<h3>Master's student</h3>
<h3>
<a href="http://www.cse.zju.edu.cn/" target="_blank" rel="noopener">
<span>College of Control Science and Engineering, Zhejiang University</span>
</a>
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<!-- <td>
<br>
<a href="cv/Ukcheol_cv_2021March.pdf"><b>CV</b></a>
| <a href="https://scholar.google.co.kr/citations?user=ZvxI80EAAAAJ&hl=ko"><b>Google Scholar</b></a>
| <a href="https://github.com/UkcheolShin"><b>Github</b></a>
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<br>
<p>I am a master's student advised by Professor <a href="https://person.zju.edu.cn/zhangyu#0">Yu Zhang</a>, at <a href="http://www.cse.zju.edu.cn/" target="_blank" rel="noopener">College of Control Science and Engineering</a>,
<a href="https://www.zju.edu.cn/" target="_blank" rel="noopener">Zhejiang University</a>.
<p> My research interests lie in <b>Visual (+ Inertial/LiDAR/Wheel) SLAM</b>. Currently,
I am focusing on thermal SLAM in challenging environments, such as poor illumination and smoke.
I am also working at visual-inertial-wheel odometry for autonomous driving system.
<!-- I am also making efforts to implement a robust SLAM system by fusing LiDAR, thermal, and inertial sensors. -->
<!-- <ul> -->
<!-- <li>Thermal-Inertial SLAM</li> -->
<!-- <li>Thermal-LiDAR-Inertial SLAM</li> -->
<!-- <li>Multi sensor fusion</li> -->
<!-- <li>Multi-Spectral SLAM</li> -->
<!-- </ul> -->
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<p class="course">[email protected]</p>
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<p class="course">Bldg N1, Rm 211, 291 Daehak-ro, Yuseong-gu, Daejeon, Korea, 34141</p>
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<p class="course">+86 15578035914</p>
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<h3>Education</h3>
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<p class="course">MS in Control Engineering, 2021 - 2024</p>
<p class="institution">Zhejiang University (ZJU)</p>
<!-- <p class="institution">Thesis: "Noise-Aware Camera Exposure Control for Robust Robot Vision"</p> -->
<!-- <p class="institution">Advisor: Prof. In So Kweon</p> -->
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<p class="course">BS in Measurement and Control Technology and Instruments, 2017 - 2021</p>
<p class="institution">University of Electronic Science and Technology of China (UESTC)</p>
<!-- <p class="institution">Project: "Real-Time Ethernet Protocol based Omni Directional Mobile Robot"</p> -->
<!-- <p class="institution">Advisor: Prof. Byoung Wook Choi</p> -->
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<h1>Research Experiences</h1>
<!-- <h3 id="experience">Research Experiences</h3> -->
<!-- <ul>
<li> <div style="float:left"><b>Korea Advanced Institute of Science and Technology</b>, Daejeon, Korea</div> <div style="float:right">Sep 2017 - Present</div> <br>
Research Assistant, Robotics and Computer Vision Lab (Advisor: In So Kweon).
</li>
<li> <div style="float:left"><b>Seoul National University of Science and Technology</b>, Seoul, Korea</div> <div style="float:right">Mar 2015 - Jun 2017</div> <br>
Research Intern, Embedded System Lab (Advisor: Byoung Wook Choi). <br>
Research topics : Embedded Linux, Real-time Operating System, Real-time Ethernet Protocol.
</li>
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<li>
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<img src="/papers/images/horizon_logo.png" class="img-responsive" alt="">
</div>
<div class="description">
<p class="position"> <b>SLAM Algorithm Intern</b></p>
<p class="company">
<a href="https://cn.horizon.cc/">Horizon Robotics</a>, Shanghai, China. 2023/05 - 2023/08
</p>
<p class="title">- Visual-Inertial-Wheel Odometry for Autonomous Driving</p>
<p class="title">- Online Camera-to-ground Pitch Estimation for Autonomous Driving </p>
<!-- <p class="abstrast"><b>Project Introduction:</b> For indoor AR navigation, visual SLAM methods frequently degrade in challenging environments such as low texture and fast motion.
Aided with IMU, the robustness can be improved. However, IMU propagation faces the challenging of accumulated error due to the inherent noise and bias.
The project aims to improve the robustness of visual-inertial SLAM by integrating an learned inertial odometry. -->
<!-- When the VIO loses tracking, the system
switches to inertial dead reckoning mode. The position are predicted by an deep neural network, using inertial measuments only. Once the visual tracking
recovers, the VIO continue to perform pose estimation using traditional methods. After that, the system will perform pose graph optimization if loop closure or global localization (low frequency, provided by pre-built map)
is available. The proposed deep inertial method can provide relatively accurate pose estimation about 15s, which is much longer than the imu propagation (about 1s). -->
</p>
<!-- <p class="venue"> IEEE Winter Conference on Applications of Computer Vision (<b>WACV</b>), 2023 <span style="font-weight:normal"> </span></p> -->
<p class="resources">
[
<!-- <a href="https://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20220607&DB=EPODOC&CC=CN&NR=114593735A">patent</a> / -->
video
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/orbbec_orb3_tlio.png" class="img-responsive" alt="">
</div>
<div class="description">
<p class="position"> <b>SLAM Algorithm Intern</b></p>
<p class="company">
<a href="https://www.orbbec.com.cn/">ORBBEC</a>, Shenzhen, China. 2021/05 - 2021/08
</p>
<p class="title">Deep Inertial Navigation Aided Visual-Inertial SLAM in Visually Degraded Environments</p>
<!-- <p class="abstrast"><b>Project Introduction:</b> For indoor AR navigation, visual SLAM methods frequently degrade in challenging environments such as low texture and fast motion.
Aided with IMU, the robustness can be improved. However, IMU propagation faces the challenging of accumulated error due to the inherent noise and bias.
The project aims to improve the robustness of visual-inertial SLAM by integrating an learned inertial odometry. -->
<!-- When the VIO loses tracking, the system
switches to inertial dead reckoning mode. The position are predicted by an deep neural network, using inertial measuments only. Once the visual tracking
recovers, the VIO continue to perform pose estimation using traditional methods. After that, the system will perform pose graph optimization if loop closure or global localization (low frequency, provided by pre-built map)
is available. The proposed deep inertial method can provide relatively accurate pose estimation about 15s, which is much longer than the imu propagation (about 1s). -->
</p>
<!-- <p class="venue"> IEEE Winter Conference on Applications of Computer Vision (<b>WACV</b>), 2023 <span style="font-weight:normal"> </span></p> -->
<p class="resources">
[
<a href="https://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20220607&DB=EPODOC&CC=CN&NR=114593735A">patent</a> /
<a href="https://qvyjbjed2tq.feishu.cn/docx/KPGJd6kbEo7a4RxTlAycac8ynke">video</a>
]
</p>
</div>
</li>
</ul>
</div>
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</section>
<section id="papers" class="home-section wg-papers " style="padding: 20px 0 20px 0;" >
<div class="container">
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<div class="col-lg-12">
<h1>Projects</h1>
</div>
<div class="row">
<ul class="ul-papers">
<li>
<div class="img">
<img src="/papers/images/2023_ral_TDVO.png" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">Thermal-Depth Odometry in Challenging Illumination Conditions</p>
<p class="authors"> <b>Xingxin Chen</b>, WeiChen Dai, Jiajun Jiang, Bin He, Yu Zhang*</p>
<p class="venue"> IEEE Robotics and Automation Letters (<b>RA-L</b>), 2023 <span style="font-weight:normal"></span></p>
<!-- <p class="venue"> IEEE/RSJ International Conference on Intelligent Robots and Systems (<b>IROS</b>), 2022 <span style="font-weight:bolder;color:#BB2222">Oral presentation</span> <span style="font-weight:normal"> </span></p> -->
<!-- <p class="status"> Accepted</p>-->
<p class="resources">
[
<a href="https://ieeexplore.ieee.org/document/10111061">paper</a> /
<!-- paper (coming soon) / -->
<a href="https://qvyjbjed2tq.feishu.cn/docx/Bw03dobquoqL5ExbGBIcNnuknFq">video</a>
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/2022_ral_tio.jpg" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">Thermal-Inertial SLAM for the Environments with Challenging Illumination</p>
<p class="authors"> Jiajun Jiang, <b>Xingxin Chen</b>, WeiChen Dai, Zelin Gao, Yu Zhang*</p>
<p class="venue"> IEEE Robotics and Automation Letters (<b>RA-L</b>), 2022 <span style="font-weight:normal"></span></p>
<p class="venue"> IEEE/RSJ International Conference on Intelligent Robots and Systems (<b>IROS</b>), 2022 <span style="font-weight:bolder;color:#BB2222">Oral presentation</span> <span style="font-weight:normal"> </span></p>
<p class="resources">
[
<a href="https://ieeexplore.ieee.org/document/9804793">paper</a> /
<!-- <a href="https://drive.google.com/file/d/1N9TlDAkrBKBFngHlCF11OUleW0f5MqED/view?usp=sharing">IROS presentation</a> / -->
<a href="https://qvyjbjed2tq.feishu.cn/docx/Jbc2d7kOboi1nPxxQeIcUV8dnah">demo & IROS presentation</a>
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/LTIO.png" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">LiDAR-Thermal-Inertial Odometry against Sensor Degeneration</p>
<p class="status">2022/12 - 2023/03</p>
<!-- <p class="authors"> Jiajun Jiang, <b>Xingxin Chen</b>, WeiChen Dai, Zelin Gao, Yu Zhang</p> -->
<!-- <p class="venue"> IEEE Robotics and Automation Letters (<b>RA-L</b>), 2022 <span style="font-weight:normal"></span></p> -->
<!-- <p class="venue"> IEEE/RSJ International Conference on Intelligent Robots and Systems (<b>IROS</b>), 2022 <span style="font-weight:bolder;color:#BB2222">Oral presentation</span> <span style="font-weight:normal"> </span></p> -->
<p class="resources">
[
<!-- <a href="https://ieeexplore.ieee.org/document/9804793">paper</a> / -->
<!-- <a href="https://drive.google.com/file/d/1N9TlDAkrBKBFngHlCF11OUleW0f5MqED/view?usp=sharing">IROS presentation</a> / -->
video
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/UGV.jpg" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">Low-speed Unmanned Vehicle System</p>
<p class="status">2022/06 - 2022/09</p>
<p class="status">Responsible for RTK + GPS localization module</p>
<!-- <p class="venue"> IEEE/RSJ International Conference on Intelligent Robots and Systems (<b>IROS</b>), 2022 <span style="font-weight:bolder;color:#BB2222">Oral presentation</span> <span style="font-weight:normal"> </span></p> -->
<p class="resources">
[
<!-- <a href="https://ieeexplore.ieee.org/document/9804793">paper</a> / -->
<!-- <a href="https://drive.google.com/file/d/1N9TlDAkrBKBFngHlCF11OUleW0f5MqED/view?usp=sharing">IROS presentation</a> / -->
<a href="https://qvyjbjed2tq.feishu.cn/docx/FRD9dCMNvoSJfGxXdF2ch4A4n7d">video</a>
]
</p>
</div>
</li>
<!-- <li>
<div class="img">
<img src="/papers/images/2022_RAL_ThermalMonoDepth.gif" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">Maximizing Self-supervision from Thermal Image for Effective Self-supervised Learning of Depth and Ego-motion</p>
<p class="authors"> <b>Ukcheol Shin</b>, Kyunghyun Lee, Byeong-Uk Lee, In So Kweon</p>
<p class="venue"> IEEE Robotics and Automation Letters, 2022 (<b>RA-L</b>) <span style="font-weight:normal"></span></p>
<p class="venue"> IEEE/RSJ International Conference on Intelligent Robots and Systems (<b>IROS</b>), 2022 <span style="font-weight:bolder;color:#BB2222">Oral presentation</span> <span style="font-weight:normal"> </span></p>
<p class="resources">
[
<a href="https://arxiv.org/abs/2201.04387">paper</a> /
<a href="https://github.com/UkcheolShin/ThermalMonoDepth">code</a> /
<a href="https://sites.google.com/view/thermal-monodepth-project-page">project</a> /
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/2021_iccv_DRL_ISP.png" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">DRL-ISP: Multi-Objective Camera ISP with Deep Reinforcement Learning</p>
<p class="authors"><b>Ukcheol Shin*</b>, Kyunghyun Lee*, In So Kweon (* equal contribution)</p>
<p class="venue"> IEEE/RSJ International Conference on Intelligent Robots and Systems (<b>IROS</b>), 2022 <span style="font-weight:bolder;color:#BB2222">Oral presentation</span> <span style="font-weight:normal"> </span></p>
<p class="resources">
[
<a href="https://arxiv.org/abs/2207.03081">paper</a> /
<a href="https://github.com/UkcheolShin/DRL-ISP">code</a> /
<a href="https://sites.google.com/view/drl-isp">project</a>
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/2022_cvpr_uda_cope.png" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">UDA-COPE: Unsupervised Domain Adaptation for Category-level Object Pose Estimation</p>
<p class="authors"> Taeyeop Lee, Byeong-Uk Lee, Inkyu Shin, Jaesung Choe, <b>Ukcheol Shin</b>, In So Kweon, Kuk-Jin Yoon</p>
<p class="venue"> Proceedings of the IEEE conference on computer vision and pattern recognition (<b>CVPR</b>), 2022 <span style="font-weight:normal"></span></p>
<p class="resources">
[
<a href="https://arxiv.org/abs/2111.12580">paper</a> /
code /
<a href="https://sites.google.com/view/taeyeop-lee/making-the-world-a-better-place/uda-cope-cvpr22">project</a>
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/2021_Tsfm_teaser3.gif" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title"> Self-supervised Depth and Ego-motion Estimation for Monocular Thermal Video using Multi-spectral Consistency Loss</p>
<p class="authors"><b>Ukcheol Shin</b>, Kyunghyun Lee, Seokju Lee, In So Kweon</p>
<p class="venue"> IEEE Robotics and Automation Letters, 2021 (<b>RA-L</b>) <span style="font-weight:normal"></span></p>
<p class="venue"> IEEE International Conference on Robotics and Automation (<b>ICRA</b>), 2022 <span style="font-weight:bolder;color:#BB2222">Oral presentation</span> <span style="font-weight:normal"></span></p>
<p class="resources">
[
<a href="https://ieeexplore.ieee.org/abstract/document/9662239">paper</a> /
<a href="https://github.com/UkcheolShin/ThermalSfMLearner-MS">code</a> /
<a href="https://sites.google.com/view/t-sfmlearner">project</a>
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/2021_ral_MSGDAT.gif" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">MS-UDA: Multi-Spectral Unsupervised Domain Adaptation for Thermal Image Semantic Segmentation</p>
<p class="authors"> YeongHyeon Kim, <b>Ukcheol Shin</b>, Jinsun Park, In So Kweon</p>
<p class="venue"> IEEE Robotics and Automation Letters, 2021 (<b>RA-L</b>) <span style="font-weight:normal"></span></p>
<p class="venue"> IEEE/RSJ International Conference on Intelligent Robots and Systems (<b>IROS</b>), 2021 <span style="font-weight:bolder;color:#BB2222">Oral presentation</span> <span style="font-weight:normal"> </span></p>
<p class="resources">
[
<a href="https://ieeexplore.ieee.org/document/9468936">paper</a> /
<a href="https://github.com/yeong5366/MS-UDA">code</a> /
<a href="https://github.com/yeong5366/MS-UDA">project</a>
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/2020_nips.png" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">An Efficient Asynchronous Method for Integrating Evolutionary and Gradient-based Policy Search</p>
<p class="authors">Kyunghyun Lee, Byeong-Uk Lee, <b>Ukcheol Shin</b>, In So Kweon</p>
<p class="venue"> Conference on Neural Information Processing Systems (<b>NeurIPS</b>), 2020 <span style="font-weight:bolder;color:#BB2222">Oral presentation</span> <span style="font-weight:normal">(Acceptance: 105/9454 ≈ 1.1%) <span style="font-weight:normal"></span></p>
<p class="resources">
[
<a href="https://arxiv.org/abs/2012.05417">paper</a>
<a href="https://github.com/KyunghyunLee/aes-rl">code</a> /
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/2019_IROS19_sesnor.png" class="img-responsive" alt="" >
</div>
<div class="description">
<p class="title">Vehicular multi-camera sensor system for automated visual inspection of electric power distribution equipment</p>
<p class="authors">Jinsun Park, <b>Ukcheol Shin</b>, Gyumin Shim, Kyungdon Joo, Francois Rameau, Junhyeok Kim, Dong-Geol Choi, In So Kweon</p>
<p class="venue">IEEE/RSJ International Conference on Intelligent Robots and Systems (<b>IROS</b>), 2019 <span style="font-weight:bolder;color:#BB2222">Oral presentation</span> <span style="font-weight:normal"> <span style="font-weight:normal"></span></p>
<p class="resources">
[
<a href="https://ieeexplore.ieee.org/abstract/document/8968085">paper</a>
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/2019_IROS19_AE.png" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">Camera exposure control for robust robot vision with noise-aware image quality assessment</p>
<p class="authors"><b>Ukcheol Shin</b>, Jinsun Park, Gyumin Shim, Francois Rameau, In So Kweon</p>
<p class="venue">IEEE/RSJ International Conference on Intelligent Robots and Systems (<b>IROS</b>), 2019 <span style="font-weight:bolder;color:#BB2222">Oral presentation</span> <span style="font-weight:normal"> <span style="font-weight:normal"></span></p>
<p class="resources">
[
<a href="https://arxiv.org/abs/1905.13066">paper</a> /
<a href="https://github.com/UkcheolShin/Noise-AwareCameraExposureControl">dataset</a> /
<a href="https://github.com/UkcheolShin/Noise-AwareCameraExposureControl">code</a> /
<a href="https://sites.google.com/view/noise-aware-exposure-control/%ED%99%88">project</a>
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/2017_RTOS.png" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">Performance evaluation of real-time mechanisms on open embedded hardware platforms</p>
<p class="authors"><b>Ukcheol Shin</b>, Byoung Wook Choi</p>
<p class="venue"> Journal of Institute of Control, Robotics and Systems, 2017 <span style="font-weight:normal"></span></p>
<p class="resources">
[
<a href="https://www.semanticscholar.org/paper/Performance-Evaluation-of-Real-time-Mechanisms-on-Shin-Choi/c7b64944583a21452008f0c41f3d17452eaad646?p2df">paper</a>
]
</p>
</div>
</li>
<li>
<div class="img">
<img src="/papers/images/2016_RTOS.png" class="img-responsive" alt="">
</div>
<div class="description">
<p class="title">Development and control of an omnidirectional mobile robot on an ethercat network</p>
<p class="authors">Raimarius Delgado, <b>UkCheol Shin</b>, Chang Hwi Hong, Byoung Wook Choi</p>
<p class="venue">International Journal of Applied Engineering Research, 2016 </p>
<p class="resources">
[
<a href="https://www.researchgate.net/profile/Raimarius-Delgado/publication/310461468_Development_and_Control_of_an_Omnidirectional_Mobile_Robot_on_an_EtherCAT_Network/links/582e628308aef19cb813e6ff/Development-and-Control-of-an-Omnidirectional-Mobile-Robot-on-an-EtherCAT-Network.pdf">paper</a>
]
</p>
</div>
</li> -->
</ul>
</div>
</div>
</div>
</section>
<!--
<section id="awards" class="home-section wg-blank " style="padding: 20px 0 20px 0;" >
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<h1>Awards & Honors</h1>
<ul>
<li>Bronze Prize, 27th HumanTech Paper Award, Samsung Electronics Co., Ltd. 2021 ($5,000)</li>
<li>Outstanding Reviewer Award, European Conference on Computer Vision, Free Registration, 2020</li>
<li>KAIST-Samsung Industry-University Cooperation Best Paper Award ($3,000), 2020</li>
<li>Microsoft Research Asia (MSRA) Ph.D. Fellowship 2019 Winner ($10,000)</li>
<li>Global Ph.D. Fellowship, National Research Foundation of Korea ($60,000 + 3-year full scholarship)</li>
<li>1st Place Award in ChaLearn LAP 2018 Inpainting Challenge Track2 - Video Decaptioning (ECCV 2018 challenge)</li>
<li>Honorable Mention, 25th HumanTech Paper Award, Samsung Electronics Co., Ltd. 2019 ($2,000)</li>
<li>International Computer Vision Summer School (ICVSS) 2018, Sicily, Italy</li>
</ul>
</div>
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</section> -->
<!-- <section id="activities" class="home-section wg-blank " style="padding: 20px 0 20px 0;" >
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<h1>Academic Activities</h1>
<h2 id="reviewer">Reviewer</h2>
<ul>
<li>IEEE Robotics and Automation Letters (<b>RA-L</b>) 2022</li>
<li>IEEE International Conference on Robotics and Automation (<b>IROS</b>) 2022</li>
<li>International Conference on Machine Learning (<b>ICML</b>) 2022</li>
<li>International Conference on Learning Representations(<b>ICLR</b>) 2022</li>
<li>Conference on Neural Information Processing Systems (<b>NeurIPS</b>) 2021, 2022</li>
<li>AAAI Conference on Artificial Intelligence (<b>AAAI</b>) 2021, 2022</li>
</ul>
</div>
</div>
</div>
</section> -->
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