Wang Han

(王晗)

Computer Vision & Robotics & Autonomous Driving Researcher

Education

PhD in Robotics & Computer Vision

Nanyang Technological University, Singapore
2017 - 2021

BEng in Electrical & Electronics Engineering

Nanyang Technological University, Singapore
2011 - 2016

Internet of Things, School of Electrical Engineering

Xi'an Jiaotong University
2010 - 2011

Work Experience

Research Lead

Huawei Technologies, Singapore
2021-2023

Reseach Assistant

Nanyang Technological University, Singapore
2017 - 2021

Internship, Researcher

STMicroelectronics, Singapore
2014 - 2015

Additional Link

Introduction
EN | 中文

Han Wang received the Ph.D. degree in Electrical & Electronics Engineering, Nanyang Technological University (NTU), Singapore, under supervision of Professor Xie Lihua. His reseasrch interests include Indoor Positioning System (IPS), Simultaneous Localization And Mapping (SLAM), Visual Place Recogntion (VPR), Loop Closure Detection (LCD) and path planning. His project experience includes robotics oprating system (ROS), unmanned aerial vehicle (UAV), and automated guided vehicle (AGV). He is the reviewer of CVPR, ICRA, NIPS, IROS, TRO, RAL, TMECH, ICUAS, ICCA, ICARCV, SCIS, CCC, etc. Feel free to email him at wh200720041@gmail.com if you are interested in the topics.

Selected Conference Publication

Inertial-Only Positioning for Human & Car Localization

Feb 2023
Han Wang
Video

PyPose: A Library for Robot Learning with Physics-based Optimization

June 2023
Chen Wang, Han Wang, Lihua Xie, Sebastian Scherer, et al.
  • PDF

    IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2023

    Home

    Seamless 5G-Inertial Indoor Positioning System

    Sep 2022
    Han Wang
  • PDF

    IEEE International Conference on Robotics and Automation (ICRA) 2023

    Video

    Tightly Coupled 5G-Visual-Inertial-QR SLAM for Warehouse Manipulation

    Mar 2022
    Han Wang
  • PDF

    IEEE International Conference on Robotics and Automation (ICRA) 2023

    Video

    F-LOAM: Fast LiDAR Odometry And Mapping

    June 2021
    Han Wang, Chen Wang, Chun-Lin Chen and Lihua Xie
  • PDF

    IEEE/RSJ International Conference on Intelligent Robots and Systems 2021 (IROS)

    Video

    Lightweight 3-D Localization and Mapping for Solid-State LiDAR

    Feb 2021
    Han Wang, Chen Wang and Lihua Xie
  • PDF

    IEEE International Conference on Robotics and Automation (ICRA) 2021

    Video

    Intensity-SLAM:

    Intensity Assisted Localization and Mapping for Large Scale Environment

    Mar 2021
    Han Wang, Chen Wang and Lihua Xie
  • PDF

    IEEE International Conference on Robotics and Automation (ICRA) 2021

    Video

    Online Visual Place Recognition via Saliency Re-identification

    July 2020
    Han Wang, Chen Wang and Lihua Xie
  • PDF

    IEEE/RSJ International Conference on Intelligent Robots and Systems 2020 (IROS)

    Video

    Intensity Scan Context:

    Coding Intensity and Geometry Relations for Loop Closure Detection

    May 2020
    Han Wang, Chen Wang and Lihua Xie
  • PDF

    IEEE International Conference on Robotics and Automation 2020 (ICRA)

    Video

    Fast Loop Closure Detection via Binary Content

    June 2019
    Han Wang, Juncheng Li, Maopeng Ran, Lihua Xie
  • PDF

    IEEE International Conference on Control and Automation 2019 (ICCA)

    Video

    MPC-based Unified Trajectory Planning

    and Tracking Control Approach for Automated Guided Vehicles

    June 2018
    Juncheng Li, Maopeng Ran, Han Wang and Lihua Xie
  • PDF

    IEEE International Conference on Control and Automation 2019 (ICCA)

  • Video

    Feasible Computationally Efficient

    Path Planning for UAV Collision Avoidance

    June 2018
    Han Wang, Muqing Cao, Hao Jiang, Lihua Xie
  • PDF

    IEEE International Conference on Control and Automation 2018 (ICCA)

    Video

    Selected Journal Articles

    Multi-modal Semantic SLAM for Complex Dynamic Environments

    2022
    Han Wang, Jing Ying Ko and Lihua Xie
  • PDF

    submitted to IEEE Robotics and Automation Letters, 2022

    Video

    Lightweight 3-D Localization and Mapping for Solid-State LiDAR

    Feb 2021
    Han Wang, Chen Wang and Lihua Xie
  • PDF

    IEEE Robotics and Automation Letters, 2021

    Video

    Intensity-SLAM:

    Intensity Assisted Localization and Mapping for Large Scale Environment

    Feb 2021
    Han Wang, Chen Wang and Lihua Xie
  • PDF

    IEEE Robotics and Automation Letters, 2021

    Video

    A Behavior-Based Mobile Robot Navigation Method

    with Deep Reinforcement Learning

    Oct 2020
    Juncheng Li, Maopeng Ran, Han Wang and Lihua Xie
  • PDF

    Unmanned Systems, 2020

  • Video

    Open Source Projects

  • Code

    Fast Lidar Odometry And Mapping (F-LOAM)

    • Ranked 7th in KITTI dataset
    • 20Hz processing speed
  • Video
  • Code

    Intensity Scan Context based Lidar SLAM (ISC-LOAM)

    • Ranked 9th in KITTI dataset
    • Full SLAM structure with backend optimization
  • Video
  • Code

    Simulation Toolkit for Warehouse Robot

    • Provide simulation of warehouse environment
    • A simple demonstration of robot localization and navigation
  • Video
  • Code

    Loop Closure Detection via Saliency Re-identification

    • Re-formulate visual place recognition as a saliency re-identification problem
    • Increased computational efficiency and performance compared to traditional bag of word model
  • Video
  • Code

    SSL_SLAM: 3D Localization and Scene Reconstruction for Solid-State Lidar

    • Localization with the latest solid-state Lidar
    • Colored scene reconstruction
  • Video
  • Code

    SSL_SLAM2: Fast 3D Localization and Mapping with global optimization

    • Separate mapping and localization module
    • Global map optimization
    • Colored scene reconstruction
  • Video
  • Code

    Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment

    • Intensity assisted SLAM
    • Full SLAM struction with loop closure detection and global optimization
  • Video

    Project Experience

    2022 - Now
    Huawei Technologies Co., Ltd.
    Indoor Positioning System (IPS) is an emerging technology that is widely applied in indoor navigation, urgent evacuation, human activity analysis, etc. We propose a unified and versatile framework to seamlessly fuse traditional IPS with prior knowledge and onboard perception system to solve the challenges.

    Demo List

    Seamless 5G-Inertial Indoor Positioning System

    Inertial-Only Positioning for Human & Car Localization

    2021 - 2022
    Huawei Technologies Co., Ltd.
    Localization of forklift in the warehouse environment is important for asset inventory, material tracking, etc. In this work, we provide cm-level long-term localization to achieve the task via fusion of 5G, QR code and vision.

    Demo List

    Tightly Coupled 5G-Visual-Inertial SLAM for Warehouse Manipulation

    2018 - Now
    In Collabration with Delta Electronics, Taiwan
    This project aims to develop a highly integrated AGV (automated guided vehicle) cooperative system for material handling and conveying in smart and reconfigurable manufacturing to meet the demand of LVHM production. The system is autonomous and intelligent in terms of optimal transportation path planning, reconfigurability, fault tolerance, and cost effectiveness.

    Demo List

    Autonomous AGV navigation and precision docking

    Autonomous AGV trasporation with robot arm integration

    Active navigation and mapping with MPC based trajectory optimization

    Long term SLAM in dynamic environment

    2016 - 2018
    In Collabration with ST Engineering, Singapore
    The project aims to develop light-weight obstacle detection and avoidance technology for UAVs that are operating in a GPSless, indoor environment. Traditionally, obstacle detection is achieved using a LiDAR or a camera. However, LiDAR operates only in the 2D plane, has limited viewing angles and is often costly to implement. Hence, in this project, it is proposed to develop a light-weight 3D obstacle avoidance technology based on time of flight sensors such as those from Intersil. The obstacle detection and avoidance system will be integrated with the UWB based localization and navigation system to achieve safe navigation in complex GPSless, indoor environments.

    Demo List

    UAV collision avoidance demo under different obstacle environment

    UAV collision avoidance test by Muqing Cao

    2014-2015
    In Collabration with STMicroelectronics, Singapore
    This project aims to develop speech recognition system to manipulate drones. Most drones requires manual or remote manipulation to take off and land. Existing speech recognition requires either online training or huge computational cost. In this project an offline speech recognition algorithm is designed and implemented to STM32 on board processor. The UAV is able to listen to voice command and execute task without manual control. We won the 1st place in Singapore Amazing Flying Machine Competition.
    2013 - 2014
    Undergraduate Research on Campus (URECA)
    The project aims to develop an intelligent task planning algorithm for container terminal operation. Epuck robot is used to simulated individual transportation truck in the container terminal map designed based on real container terminal in Singapore. The algorithm optimizes the time cost under various parallel tasks input to the system. In the meantime, collision avoidance is garanteed.

    Demo List

    Multi robot task distribution and collabration in simulated container terminal map

    Competition & Awards

    Smartphone Indoor Localization Challenge
    International Conference on Indoor Positioning and Indoor Navigation, 2022

    2nd Place

    RobotX International Challenge 2018

    Judge's Special Award

    RoboMaster 2018

    2nd place in Group Stage

    RobotX International Challenge 2016

    Team Leader, 6th Place

    RobotX International Challenge 2014

    Best Teamwork Award

    Singapore Flying Machine Competition 2016

    2nd Place

    Singapore Flying Machine Competition 2015

    1st Place

    President Research Scholar Award 2014

    1st Place

    Selected Research Results

    Participated research projects or valuable research works selected from our research group

  • Video
    Non-Iterative SLAM
    Receive the Best Paper Award in robotic planning at ICAR 2017
  • Video
    Correlation Flow
    Robust Optical Flow Using Kernel Cross-Correlators, presented at ICRA 2018
  • Video
    UAV Inspection of 3D Structures
    GPS-less Localization and Path planning for UAV Inspection of 3D Structures
  • Video
    Autonomous Vision-UWB-Aided Landing UAV System
    Integrated UWB-Vision Approach for Autonomous Docking of UAVs in GPS-Denied Environments
  • Video
    WiFi-based Non intrusive Indoor Positioning System
    Non-intrusive WiFi-based indoor positioning systemwith a user-friendly web interface
  • Video
    UAV Formation & Light Show
    SG50-Marina Bay Sands UAV Formation Show