I am a recent PhD graduate from Mechatronics and Robotic Systems (MaRS) Laboratory, Department of Mechanical Engineering, University of Hong Kong, supervised by Dr. Fu Zhang and co-supervised by Prof. James Lam. Previously I received my Bachelor’s Degree in School of Automation Science and Electrical Engineering, Beihang University (formerly known as Beijing University of Aeronautics and Astronautics) in 2020.

My research mainly focuses on LiDAR-based mapping with applications on Robotics. I am deeply interested in exploring elegant representations of the world, which would definitely unlock the boundless possibilities in Robotics.

News

• 2024.08.29： I have successfully defended my PhD!
• 2024.05.03： It is my great honor to be accepted as a member of the 30-strong cohort of the RSS Pioneer Workshop 2024.
• 2023.12.26： Our paper “MARS-LVIG dataset: A multi-sensor aerial robots SLAM dataset for LiDAR-visual-inertial-GNSS fusion” is accepted for publication in International Journal of Robotics Research (IJRR)[Link].
• 2023.09.30: My first-authored paper “Occupancy Grid Mapping without Ray-Casting for High-resolution Sensors” is accepted for publication in Transactions on Robotics (TRO). [Link]

Featured Publication

• Cai, Y., Kong F., Ren Y., Zhu F., Lin J., & Zhang, F., “Occupancy Grid Mapping without Ray-Casting for High-resolution Sensors” in IEEE Transactions on Robotics (TRO), 2023. [Link] [Github] [Video]
• Xu, W., Cai, Y. (co-first author), He, D., Lin, J., & Zhang, F, “FAST-LIO2: Fast Direct LiDAR-Inertial Odometry” in IEEE Transactions on Robotics (TRO), 2022. [Link] [Github(1.8k stars)] [Video]
• Lu, G., Cai, Y., Chen, N., Kong, F., Ren, Y., & Zhang, F., “Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights” in International Journal of Robotics Research (IJRR), 2023. [Link] [Video]
• Lin, J., Yuan, C., Cai, Y., Li, H., Zou, Y., Hong, X., & Zhang, F. (2023). “Immesh: An immediate lidar localization and meshing framework.” in IEEE Transactions on Robotics (TRO), 2023. [Link] [Github] [Video]
• Chen, N., Kong, F., Xu, W., Cai, Y., Li, H., He, D., Qin, Y. & Zhang, F. “A self-rotating, single-actuated UAV with extended sensor field of view for autonomous navigation,” in Science Robotics, 2023. [Link] [Video]
• Cai, Y., Xu, W., & Zhang, F, “ikd-Tree: An Incremental KD Tree for Robotic Applications”. [Link] [Github] [Video]