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<!DOCTYPE HTML>
<html lang="en">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<title>Xingpeng Wang</title>
<meta name="author" content="Xingpeng Wang">
<meta name="description" content="Personal website of Xingpeng Wang (汪星鹏), master's student at the Fast Lab, Zhejiang University. Research on SLAM and multi-sensor (GNSS) fusion localization.">
<meta name="viewport" content="width=device-width, initial-scale=1">
<link rel="shortcut icon" href="data/favicon/favicon.ico" type="image/x-icon">
<link rel="stylesheet" type="text/css" href="stylesheet.css">
</head>
<body>
<table
style="width:100%;max-width:840px;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tbody>
<tr style="padding:0px">
<td style="padding:0px">
<!-- ============ Header / Intro ============ -->
<table
style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tbody>
<tr style="padding:0px">
<td style="padding:2.5%;width:100%;vertical-align:middle">
<p class="name" style="text-align: center;">
Xingpeng Wang
</p>
<p style="text-align: center; font-size: 16px; margin-top: 4px;">汪星鹏</p>
<p>
I am a master's student at the <a href="http://zju-fast.com/">Fast Lab</a>, College of Control
Science and Engineering, <a href="https://www.zju.edu.cn/">Zhejiang University</a> (2023–2026).
I received my B.Eng. from the School of Mechanical Engineering, <a href="https://www.jiangnan.edu.cn/">Jiangnan
University</a> in 2023.
<br><br>
我是浙江大学控制科学与工程学院 <a href="http://zju-fast.com/">Fast Lab</a> 的硕士研究生，本科毕业于江南大学机械工程学院。
</p>
<p>
My research focuses on <strong>SLAM and multi-sensor (GNSS) fusion localization</strong>.
<br>
我的研究方向是 <strong>SLAM、GNSS 等多传感器融合定位</strong>。
</p>
<p style="text-align:left">
<a href="mailto:22332102@zju.edu.cn" style="margin-right: 20px;">Email</a>
<a href="https://github.com/deeplerming" style="margin-right: 20px;">GitHub</a>
<span style="color:#888;">(+86) 184 5565 6782</span>
</p>
</td>
</tr>
</tbody>
</table>
<!-- ============ Education ============ -->
<table
style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tbody>
<tr>
<td style="padding:20px 20px 0px 20px;width:100%;vertical-align:middle">
<h2>Education</h2>
</td>
</tr>
<tr>
<td style="padding:8px 20px;width:100%;vertical-align:middle">
<strong>Zhejiang University</strong> — M.Eng., College of Control Science and Engineering, Fast Lab
<span style="float:right;color:#888;">2023.9 – 2026.6</span>
<br>
<span style="color:#555;">研究方向：SLAM、GNSS 等多传感器融合定位</span>
</td>
</tr>
<tr>
<td style="padding:8px 20px;width:100%;vertical-align:middle">
<strong>Jiangnan University</strong> — B.Eng., School of Mechanical Engineering
<span style="float:right;color:#888;">2019.9 – 2023.6</span>
<br>
<span style="color:#555;">毕业设计：基于语义分割的芯片缺陷检测系统设计</span>
</td>
</tr>
</tbody>
</table>
<!-- ============ Research Experience ============ -->
<table
style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tbody>
<tr>
<td style="padding:20px 20px 0px 20px;width:100%;vertical-align:middle">
<h2>Research Experience</h2>
</td>
</tr>
<tr>
<td style="padding:14px 20px;width:100%;vertical-align:top">
<span class="papertitle">High-Precision Positioning for Single-Frequency GNSS Receivers via Relative
Observations</span>
<span style="float:right;color:#888;">2025 – 2026</span>
<br>
<span style="color:#555;">通过相对观测实现单频 GNSS 接收机的高精度定位</span>
<ul style="margin-top:6px;text-align:justify;">
<li>提出了一种相对观测与单频 GNSS 测量的融合方法，使单频 GNSS 接收机能实现分米级定位。</li>
<li>通过引入多种低成本（轮速计）相对观测先验，对 GNSS 载波相位差分周跳进行有效检测和修复。</li>
<li>通过引入虚拟锚点约束，进一步减小了时间差分载波相位中的累计漂移，定位误差减少约 50%。</li>
<li>在多种复杂环境下进行实机测试，所提出方法可在 GNSS 失效 2.5 秒后仍保持分米级定位精度。</li>
</ul>
</td>
</tr>
<tr>
<td style="padding:14px 20px;width:100%;vertical-align:top">
<span class="papertitle">Infrastructure-Free High-Precision Multi-Robot Swarm Localization</span>
<span style="float:right;color:#888;">2024 – 2025</span>
<br>
<span style="color:#555;">不依赖固定 GNSS 基站的多机器人高精度集群定位系统</span>
<ul style="margin-top:6px;text-align:justify;">
<li>提出了一种不依赖固定基站的多机器人高精度集群定位系统，动基站上部署 Mid-360 激光雷达和一个单频接收机，移动站仅安装单频接收机，即可实现多机器人全局厘米级定位。</li>
<li>引入动基线载波相位差分模型以及周跳检测监督方案，接收机间相对位置估计精度达 5cm 以内。</li>
</ul>
</td>
</tr>
<tr>
<td style="padding:14px 20px;width:100%;vertical-align:top">
<span class="papertitle">EAR-SLAM: Environment-Aware Robust Localization for Terrestrial-Aerial Bimodal
Vehicles</span>
<span style="float:right;color:#888;">2023 – 2024</span>
<br>
<span style="color:#555;">基于环境感知的空地两栖机器人鲁棒定位系统</span>
<a href="https://www.bilibili.com/video/BV1N4QnYqEUL/?share_source=copy_web&vd_source=8a04d759aa7f8bf8916bafb4dae034f6">Video</a>,
<a href="https://ieeexplore.ieee.org/document/11128310">Paper</a>
<ul style="margin-top:6px;text-align:justify;">
<li>提出了一种专门为基于轮速计设计的环境感知鲁棒定位系统，紧耦合了来自摄像头、惯性测量单元 (IMU)、编码器和单点激光距离传感器的数据，可实现厘米级定位精度。</li>
<li>提出了一种异常感知方法，可以感知异常传感器并相应地动态调整优化权重，从而提高定位精度。</li>
<li>在包括斜坡、草地等各种环境下的 15 个数据集中进行了实机测试，验证了系统的稳定性。</li>
</ul>
</td>
</tr>
<tr>
<td style="padding:14px 20px;width:100%;vertical-align:top">
<span class="papertitle">Large-Scale Scenario Depth Completion for Time-of-Flight Cameras</span>
<span style="float:right;color:#888;">2024 – 2025</span>
<br>
<span style="color:#555;">面向大场景的 ToF 相机深度补全</span>
<ul style="margin-top:6px;text-align:justify;">
<li>通过深度补全扩展 ToF 相机的深度范围至 40m，以提升其在大规模室内外场景的下游任务表现。</li>
<li>在移动重建而非传统静止累积的范式下，构建了首个基于激光三维重建的 ToF 深度补全数据集。</li>
<li>在无人机实机实验中用 Ego-Planner 对算法进行了验证，证明了算法在实际应用中的可行性。</li>
</ul>
</td>
</tr>
</tbody>
</table>
<!-- ============ Project Experience ============ -->
<table
style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tbody>
<tr>
<td style="padding:20px 20px 0px 20px;width:100%;vertical-align:middle">
<h2>Project Experience</h2>
</td>
</tr>
<tr>
<td style="padding:14px 20px;width:100%;vertical-align:top">
<span class="papertitle">Continuous, Drift-Free State Estimation for Intelligent Vehicles via
Tightly-Coupled GNSS/LiDAR/IMU</span>
<span style="float:right;color:#888;">2023 – 2024</span>
<br>
<span style="color:#555;">紧耦合 GNSS/LiDAR/IMU 的智能车辆连续、无漂移状态估计器</span>
<ul style="margin-top:6px;text-align:justify;">
<li>针对连续定位时里程计的累计漂移问题，将 GNSS 伪距、多普勒观测值与 LiDAR 点云配准残差、IMU 积分结果加入到迭代误差卡尔曼滤波器中，实现高精度、低漂移的状态估计。</li>
<li>对 GNSS 接收机得到的卫星观测数据中的角度、信号强度等参数进行筛选和处理，以提高定位精度。</li>
<li>加入了室内外切换功能，使车辆能够在不同环境下自动切换定位策略，提高定位的连续性和稳定性。</li>
</ul>
</td>
</tr>
<tr>
<td style="padding:14px 20px;width:100%;vertical-align:top">
<span class="papertitle">High-Precision Loop-Closure Localization for Forestry Surveying</span>
<span style="float:right;color:#888;">2023 – 2024</span>
<br>
<span style="color:#555;">林业测绘环境中的高精度回环定位系统</span>
<ul style="margin-top:6px;text-align:justify;">
<li>林业测绘过程中树木的高度和密度变化较大，设计了一种基于树木几何关系的高精度回环定位系统。</li>
<li>利用柱状特征确定局部地图中树的位置，再由稳定且能保证旋转不变性的三角描述子来锚定每一帧观测的树间几何关系，从而快速确定是否触发回环，约束状态估计。</li>
<li>在广西、重庆等多个林场进行了测绘实地测试，建图得到的林业畜牧量精度相比 FAST-LIO 提升 30%。</li>
</ul>
</td>
</tr>
</tbody>
</table>
<!-- ============ Publications & Patents ============ -->
<table
style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tbody>
<tr>
<td style="padding:20px 20px 0px 20px;width:100%;vertical-align:middle">
<h2>Publications & Patents</h2>
<p style="color:#888;font-size:13px;">* equal contribution · <sup>†</sup>corresponding author</p>
</td>
</tr>
<tr>
<td style="padding:10px 20px;width:100%;vertical-align:top">
<a href="https://ieeexplore.ieee.org/document/11128310"><span class="papertitle">EAR-SLAM: Environment-Aware
Robust Localization System for Terrestrial-Aerial Bimodal Vehicles</span></a>
<br>
W. He, <strong>X. Wang</strong>, P. Wang, et al.
<br>
<em>IEEE International Conference on Robotics and Automation (ICRA)</em>, 2025
</td>
</tr>
<tr>
<td style="padding:10px 20px;width:100%;vertical-align:top">
<span class="papertitle">Empowering a Single-Frequency GNSS Receiver to Achieve High-Precision
Positioning with Relative Observations</span>
<br>
<strong>Xingpeng Wang</strong>, Ziwen Qu, Chao Xu, Yanjun Cao<sup>†</sup>
<br>
<em>IEEE Robotics and Automation Letters (RA-L)</em>, under review
</td>
</tr>
<tr>
<td style="padding:10px 20px;width:100%;vertical-align:top">
<span class="papertitle">ToFormer: Large-Scale Scenario Depth Completion for Time-of-Flight Camera</span>
<br>
Juncheng Chen, Tiancheng Lai, <strong>Xingpeng Wang</strong>, Bingxin Liao, Baozhe Zhang, Chao Xu<sup>†</sup>, Yanjun Cao<sup>†</sup>
<br>
<em>IEEE Transactions on Automation Science and Engineering (T-ASE)</em>, under review
</td>
</tr>
<tr>
<td style="padding:10px 20px;width:100%;vertical-align:top">
<span class="papertitle">Explore From Sketch: Accelerating UAV Exploration in Large-scale Environments
with Prior Maps</span>
<br>
Tiancheng Lai, Yuman Gao, Xiangyu Li, Ruitian Pang, <strong>Xingpeng Wang</strong>, Yanjun Cao<sup>†</sup>
</td>
</tr>
</tbody>
</table>
<!-- ============ Footer ============ -->
<table
style="width:100%;border:0px;border-spacing:0px;border-collapse:separate;margin-right:auto;margin-left:auto;">
<tbody>
<tr>
<td style="padding:0px">
<br>
<p style="text-align:center;font-size:small;color:#888;">
Thanks for the website template offered by <a
href="https://github.com/jonbarron/jonbarron_website">Jon Barron</a>.
</p>
</td>
</tr>
</tbody>
</table>
</td>
</tr>
</tbody>
</table>
</body>
</html>