📝 Publications

(* denotes equal contribution; # indicates corresponding author)

World Model

• Thinker-WM: A Unified World Model with Shared Multimodal Representations for Embodied Intelligence [PDF] [Project] [Code] [Models]

  (arXiv 2026)

  Chen Liao (Core Author), Jiyuan Wang (Core Author), Xiongwei Zhao (Core Author), Peng Gao, Yiming Ma, Daqin Luo, Xiangming Xu, Baiyu Pan, Jichao Jiao, Hailin Shi

• Visual place recognition for coastal scenes with semantic and sequential constraints [PDF]

  Measurement (Measurement 2025)

  Rundong Zhou, Yang Wang, Yulong Gao, Xiongwei Zhao, Xiang Xu

• CircularMatch: Efficient Registration of Forest Terrestrial Point Clouds using Circular Neighborhood Descriptor [PDF]

  IEEE Geoscience and Remote Sensing Letters (IEEE GRSL 2025)

  Yijiao Sun, Yang Wang, Xiongwei Zhao, Qiming Wang, Wenhao Dou

• SplatPose: Geometry-Aware 6-DoF Pose Estimation from Single RGB Image via 3D Gaussian Splatting [PDF]

  In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

  Linqi Yang*, Xiongwei Zhao*, Qihao Sun, Ke Wang, Ao Chen, Peng Kang

• UGNA-VPR: A Novel Training Paradigm for Visual Place Recognition Based on Uncertainty-Guided NeRF Augmentation [PDF]

  IEEE Robotics and Automation Letters (RAL 2025)

  Yehui Shen, Lei Zhang, Qingqiu Li, Xiongwei Zhao, Yue Wang, Huimin Lu, Xieyuanli Chen

• A Graph-Based Method for Efficient Frontier Detection and Traversability Assessment in Autonomous Exploration

  IEEE Chinese Automation Congress (CAC 2025)

  Qiming Wang, Yulong Gao, Xiongwei Zhao, Yijiao Sun, Xiangyan Kong

• DART: Dual-level Autonomous Robotic Topology for Efficient Exploration in Unknown Environments [PDF]

  (arXiv 2025)

  Qiming Wang, Yulong Gao, Yang Wang, Xiongwei Zhao, Yijiao Sun, Xiangyan Kong

• Multimodal features and accurate place recognition with robust optimization for lidar–visual–inertial slam [PDF]

  IEEE Transactions on Instrumentation and Measurement (TIM 2024)

  Xiongwei Zhao, Congcong Wen, Sai Manoj Prakhya, Hongpei Yin, Rundong Zhou, Yijiao Sun, Jie Xu, Haojie Bai, Yang Wang

• R2DIO: A Robust and Real-Time Depth-Inertial Odometry Leveraging Multimodal Constraints for Challenging Environments [PDF]

  IEEE Transactions on Instrumentation and Measurement (TIM 2023)

  Jie Xu, Ruifeng Li, Song Huang, Xiongwei Zhao, Shuxin Qiu, Zhijun Chen, Lijun Zhao

• Multi-Feature Nonlinear Optimization Motion Estimation Based on RGB-D and Inertial Fusion [PDF]

  Sensors (Sensors 2020)

  Xiongwei Zhao, Cunxiao Miao, He Zhang

3D Perception

• An Iterative Task-Driven Framework for Resilient LiDAR Place Recognition in Adverse Weather [PDF]

  IEEE Transactions on Vehicular Technology (TVT 2026)

  Xiongwei Zhao, Xieyuanli Chen, Xu Zhu, Xingxiang Xie, Haojie Bai, Congcong Wen, Rundong Zhou, Qihao Sun

• ResLPR: A LiDAR Data Restoration Network and Benchmark for Robust Place Recognition Against Weather Corruptions [PDF]

  In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2025)

  Wenqing Kuang*, Xiongwei Zhao*, Yehui Shen, Congcong Wen, Huimin Lu, Zongtan Zhou, Xieyuanli Chen

• TripleMixer: A Triple-Domain Mixing Model for Point Cloud Denoising Under Adverse Weather [PDF]

  IEEE Transactions on Image Processing (TIP 2025)

  Xiongwei Zhao, Congcong Wen, Xu Zhu, Yang Wang, Haojie Bai, Wenhao Dou

2D Perception and LLM

• OMUDA: Omni-level Masking for Unsupervised Domain Adaptation in Semantic Segmentation

  (under review at TMM, 2025)

  Yang Ou, Xiongwei Zhao#, Xinye Yang, Yihan Wang, Yicheng Di, Rong Yuan, Xieyuanli Chen and Xu Zhu

• MQADet: A Plug-and-Play Paradigm for Enhancing Open-Vocabulary Object Detection via Multimodal Question Answering [PDF]

  (Scientific Reports 2025)

  Caixiong Li*, Xiongwei Zhao*, Jinhang Zhang, Xing Zhang, Qihao Sun, Zhou Wu

• A real-time scene parsing network for autonomous maritime transportation [PDF]

  IEEE Transactions on Instrumentation and Measurement (TIM 2022)

  Rundong Zhou, Yulong Gao, Yang Wang, Xingxiang Xie, Xiongwei Zhao

• Collision-free waterway segmentation for inland unmanned surface vehicles [PDF]

  IEEE Transactions on Instrumentation and Measurement (TIM 2022)

  Rundong Zhou, Yulong Gao, Peng Wu, Xiongwei Zhao, Wenhao Dou, Chenyang Sun, Yu Zhong, Yang Wang

Trajectory Planning and Control

• A PMBM forward-backward smoother for multi-target tracking of point sources [PDF]

  Journal of King Saud University Computer and Information Sciences (J. King Saud Univ. Comput. Inf. Sci. 2025)

  Xingxiang Xie, Xiongwei Zhao, Zhumei Song, Kening Li

• A Robust Cooperative Vehicle Coordination Framework for Intersection Crossing [PDF]

  IEEE Transactions on Vehicular Technology (TVT 2025)

  Haojie Bai, Jiping Luo, Huafu Li, Xiongwei Zhao, Yang Wang

• Robust Real-Time Coordination of CAVs: A Distributed Optimization Framework under Uncertainty [PDF]

  (arXiv 2025)

  Haojie Bai, Yang Wang, Cong Guo, Xiongwei Zhao, Hai Zhu

• Robust Motion Coordination with Covariance Steering Model Predictive Control in Bandwidth Limited Scenarios [PDF]

  IEEE International Conference on Robotics and Biomimetics (ROBIO 2024)

  Haojie Bai, Hai Zhu, Xiongwei Zhao, Huafu Li, Yang Wang

• Posterior Cramér–Rao lower bounds for extended target tracking with PMBM conjugate recursion [PDF]

  Electronics Letters (EL 2024)

  Xingxiang Xie, Xiongwei Zhao, Zhumei Song, Kening Li