2026
ARMOR: Adaptive meshing with reinforcement optimization of implicit fields for real-time 3D monitoring in unexposed scenes
Yizhe Zhang, Jianping Li†, Xin Zhao, Zhen Dong, Bisheng Yang
Adaptive Underground Meshing
ISPRS Journal of Photogrammetry and Remote Sensing 2026
ARMOR is a scene-adaptive framework for real-time 3D meshing in unexposed environments such as tunnels, caves, and lava tubes. The key idea is to jointly optimize geometry reconstruction and parameter tuning with spatio-temporal smoothing and reinforcement learning, enabling robust online meshing under diverse and unstructured scene conditions.
ARMOR: Adaptive meshing with reinforcement optimization of implicit fields for real-time 3D monitoring in unexposed scenes
Yizhe Zhang, Jianping Li†, Xin Zhao, Zhen Dong, Bisheng Yang
Adaptive Underground Meshing
ISPRS Journal of Photogrammetry and Remote Sensing 2026
ARMOR is a scene-adaptive framework for real-time 3D meshing in unexposed environments such as tunnels, caves, and lava tubes. The key idea is to jointly optimize geometry reconstruction and parameter tuning with spatio-temporal smoothing and reinforcement learning, enabling robust online meshing under diverse and unstructured scene conditions.
AWARE: Adaptive Whole-body Active Rotating Control for Enhanced LiDAR-Inertial Odometry under Human-in-the-Loop Interaction
Yizhe Zhang, Jianping Li†, Liangliang Yin, Zhen Dong, Bisheng Yang
Active Control & SLAM
arXiv Preprint 2026
AWARE is a human-in-the-loop active control framework for improving LiDAR-inertial odometry on resource-constrained UAVs in feature-sparse environments. The key idea is to exploit whole-body yaw rotations through an RL-guided differentiable MPC controller, enabling the UAV to actively seek informative viewpoints while preserving flight safety and operator intent.
AWARE: Adaptive Whole-body Active Rotating Control for Enhanced LiDAR-Inertial Odometry under Human-in-the-Loop Interaction
Yizhe Zhang, Jianping Li†, Liangliang Yin, Zhen Dong, Bisheng Yang
Active Control & SLAM
arXiv Preprint 2026
AWARE is a human-in-the-loop active control framework for improving LiDAR-inertial odometry on resource-constrained UAVs in feature-sparse environments. The key idea is to exploit whole-body yaw rotations through an RL-guided differentiable MPC controller, enabling the UAV to actively seek informative viewpoints while preserving flight safety and operator intent.
AGI2P: Benchmarking Aerial–Ground Image-to-Point cloud localization with a large-scale dataset
Yandi Yang, Jianping Li†, Youqi Liao, Yuhao Li, Ruizhe Niu, Yizhe Zhang, Zhen Dong, Bisheng Yang, Naser El-Sheimycc
Adaptive Underground Meshing
ISPRS Journal of Photogrammetry and Remote Sensing 2026
AGI2P is a large-scale benchmark for aerial–ground visual localization in dense urban environments, integrating ground-level mobile-mapping images with ALS point clouds from Wuhan, Hong Kong, and San Francisco (12 sequences, 69,000+ image–ALS pairs). The key idea is to use ALS as a scalable prior map and obtain accurate ground-truth poses via MLS-to-ALS alignment, enabling robust benchmarking of state-of-the-art I2P methods under challenging cross-view, cross-modal conditions.
AGI2P: Benchmarking Aerial–Ground Image-to-Point cloud localization with a large-scale dataset
Yandi Yang, Jianping Li†, Youqi Liao, Yuhao Li, Ruizhe Niu, Yizhe Zhang, Zhen Dong, Bisheng Yang, Naser El-Sheimycc
Adaptive Underground Meshing
ISPRS Journal of Photogrammetry and Remote Sensing 2026
AGI2P is a large-scale benchmark for aerial–ground visual localization in dense urban environments, integrating ground-level mobile-mapping images with ALS point clouds from Wuhan, Hong Kong, and San Francisco (12 sequences, 69,000+ image–ALS pairs). The key idea is to use ALS as a scalable prior map and obtain accurate ground-truth poses via MLS-to-ALS alignment, enabling robust benchmarking of state-of-the-art I2P methods under challenging cross-view, cross-modal conditions.
2024
NeRF-based Localization and Meshing with Wearable Laser Scanning System: A Case Study in Underground Environment
Yizhe Zhang, Jianping Li†, Xin Zhao, Youqi Liao, Zhen Dong, Bisheng Yang
Underground Meshing
ISPRS-Annals 2024 Oral
NeRF-based Localization and Meshing is a wearable framework for real-time localization and mesh reconstruction in complex underground environments. The key idea is to couple LiDAR-inertial odometry with a scan-block representation that synchronizes poses and sequential laser frames, enabling efficient NeRF-based meshing with improved local accuracy.
NeRF-based Localization and Meshing with Wearable Laser Scanning System: A Case Study in Underground Environment
Yizhe Zhang, Jianping Li†, Xin Zhao, Youqi Liao, Zhen Dong, Bisheng Yang
Underground Meshing
ISPRS-Annals 2024 Oral
NeRF-based Localization and Meshing is a wearable framework for real-time localization and mesh reconstruction in complex underground environments. The key idea is to couple LiDAR-inertial odometry with a scan-block representation that synchronizes poses and sequential laser frames, enabling efficient NeRF-based meshing with improved local accuracy.