Chenghao Xu

PhD Student | EPFL

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"Anything one man can imagine, other men can make real." -Jules Verne

I am currently pursuing my Ph.D. superivsed by Prof. Olga Fink at École Polytechnique Fédérale de Lausanne (EPFL), Switzerland, and closely collaborating with Dr. Malcolm Mielle from Schindler. Before this, I completed my M.Sc. in Robotics at Delft University of Technology (TU Delft), Netherlands, and a B.Eng. in Mechanical Engineering with distinction from Southern University of Science and Technology, China.

During my master’s studies, I worked on robust dynamic visual SLAM systems and realistic dynamic environment simulations with Prof. Aamir Ahmad at the Max Planck Institute for Intelligent Systems (MPI-IS), Tübingen, Germany. In my undergraduate years, I conducted research on passive assistive exoskeletons and developed a functional prototype with Prof. Hongqiang Wang. I also collaborated with Prof. Jianwen Luo, focusing on the mechanical design of quadruped robots.

Inspired by the fantasies of Jules Verne and Isaac Asimov, I am captivated by the elegance of intelligent systems, which propels me to explore the intersections between the physical world and artificial intelligence. My current research interests lie in 3D vision and scene reconstruction, particularly in multimodal reconstruction for building assessment and renovation.

  News

Aug 08, 2024 My first paper DynaPix SLAM is accepted to DAGM GCPR 2024!
Jun 24, 2024 Our research on upper limb exoskeleton has been accepted by TMECH.
Apr 20, 2024 I’m thrilled to attend the ETH Robotics Summer School this summer!
May 07, 2023 Our work got accepted to ICRA 2023 Workshop on Active Methods in Autonomous Navigation.
May 06, 2023 Our work got accepted to ICRA 2023 Workshop on Pretraining for Robotics.
Dec 31, 2022 GRADE was accepted for presentation at NVIDIA GTC 2023.
Jun 30, 2022 I will work as a research assistant at MPI-IS this summer.
Feb 10, 2022 I will work on novel and impactful solutions with Spot robots in YES! Delft Impact Lab 🐕
Feb 01, 2022 I am currently working as a Computer Vision R&D Engineer at Lely Technologies 🐄
Jul 01, 2021 First time in Beijing: I will work as a control engineer at ROKAE Robotics.
Aug 25, 2020 Admission to Master Robotics at Delft University of Technology 🏰
Jun 30, 2020 I graduated from Southern University of Science and Technolgy with Excellent Graduate Honor!

  Selected Publications

  1. PAPER
    Exploiting Semantic Scene Reconstruction for Estimating Building Envelope Characteristics
    C. Xu, M. Mielle, A. Laborde, A. Wassem, and 2 more authors
    arXiv preprint, 2024
  2. PAPER
    DynaPix SLAM: A Pixel-Based Dynamic Visual SLAM Approach
    C. Xu*, E. Bonetto*, and A. Ahmad
    DAGM German Conference on Pattern Recognition (GCPR), 2024
  3. PAPER
    Implementation of a Long-Lasting, Untethered, Lightweight, Upper Limb Exoskeleton
    H. Liu, K. Fang, L. Chen, C. Xu, and 7 more authors
    IEEE/ASME Transactions on Mechatronics (TMECH), 2024
  4. PAPER
    GRADE: Generating Realistic Animated Dynamic Environments for Robotics Research
    E. Bonetto, C. Xu, and A. Ahmad
    arXiv preprint, Oct 2023
  5. TALK
    Breaking the Wall of Intensive Work Above Head: Design of Passive Upper-Limb Exoskeleton
    C. Xu
    Falling Walls Lab, Nov 2019

  Featured Projects

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Machine Learning for Car Racing Games
Developed the Random Forest and Convolutional Neural Network models for multi-class classification, which used the current top-view image as input and outputted the control action (accelerate, steer left/right, brake).
Obstacle Detection and Avoidance for Autonomous Vehicle
Developed software on ROS to achieve autonomous driving in a simulated test track. Designed ROS nodes to detect obstacles and pedestrians from LiDAR pointclouds and camera images using PCL and OpenCV, and use these detections to generate simple control instructions.