Builder · Learner · Researcher · Engineer · Coder

Yufeng Liu

Research Associate at Nanyang Technological University, working at the Centre for Advanced Robotics Technology Innovation (CARTIN) on resilient SLAM, multi-sensor fusion, thermal-radar perception, and 3D reconstruction for autonomous navigation in perception-degraded environments.

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Featured Projects

Primary Contributions

Research and engineering projects where I made primary technical contributions across dense mapping, robust SLAM, sensor synchronization, and degradation-aware fusion.

Thermal Dense Mapping with Odometry-Guided Foundation Depth Estimation previewThermal Dense Mapping
3D ReconstructionResearchNTU CARTINHTXsgSCDF

Thermal Dense Mapping with Odometry-Guided Foundation Depth Estimation

Fireground-oriented dense mapping from thermal imagery, built on a thermal-radar-inertial SLAM backbone for smoke, water spray, fire, darkness, and other perception-degraded environments. The current prototype uses odometry-guided Depth Anything 3 inference and reaches about 0.5 Hz online dense reconstruction on an RTX 5090 laptop.

Thermal Imaging4D RadarInertial SLAMFoundation Depth EstimationDense Mapping
Robust Stereo Thermal-Radar-Inertial SLAM for Fireground Environments previewRobust SLAM
SLAMResearchNTU CARTINHTXsgSCDF

Robust Stereo Thermal-Radar-Inertial SLAM for Fireground Environments

Real-time stereo thermal-radar-inertial localization for fireground-style environments, validated across smoke, water mist, fire, warehouse, indoor-outdoor, and semi-outdoor trials, with normalized APE below 1% of trajectory length on ground-truth sequences.

Stereo Thermal Camera4D RadarIMUFireground RoboticsRobust Localization
Multi-Sensor Timestamp Synchronization System previewSensor Sync
Sensor SynchronizationEngineeringHardware-Software SystemNTU CARTINHTXsgSCDF

Multi-Sensor Timestamp Synchronization System

A hardware-software synchronization stack that aligns stereo thermal cameras, IMU, radar, and robot data through PTP network time, MCU-generated trigger pulses, and driver-level timestamp assignment for repeatable multi-sensor data collection.

Hardware SyncSoftware SyncPTPTrigger SystemSensor Suite
Degradation-Aware LiDAR-Thermal-Inertial SLAM previewDegradation-Aware SLAM
SLAMResearch PaperOpen SourceHITSZ nROS-Lab

Degradation-Aware LiDAR-Thermal-Inertial SLAM

A RA-L paper and open-source SLAM framework that adaptively fuses LiDAR, thermal imagery, and inertial measurements for robust state estimation in smoke, darkness, and other perception-degraded environments.

LiDARThermal CameraIMUDegradation-Aware FusionRA-L 2025Open Source

More Projects

Additional collaborative projects with focused contributions across fireground perception, robotic teleoperation, and published thermal odometry.

Thermal-Radar BEV Occupancy for Fireground Robotics previewFireground BEV Occupancy
Occupancy MappingResearchNTU CARTINHTXsgSCDF

Thermal-Radar BEV Occupancy for Fireground Robotics

Thermal-radar occupancy prediction for degraded visibility, achieving about 40 mIoU in perception-degraded scenes while running as a 1 Hz prototype on an RTX 2080 Ti.

Edge-Based Monocular Thermal-Inertial Odometry previewThermal Odometry
Thermal-Inertial OdometryResearch PaperHITSZ nROS-Lab

Edge-Based Monocular Thermal-Inertial Odometry

A RA-L paper on real-time monocular thermal-inertial odometry that uses thermal edge structures, adaptive DT-KLT tracking, and sliding-window optimization for localization under darkness, smoke, and weak visible texture.

VR-Guided Remote Control for a Mobile Sensor Gimbal previewVR Gimbal
TeleoperationRobotics SystemHITSZ nROS-Lab

VR-Guided Remote Control for a Mobile Sensor Gimbal

A teleoperated pitch-yaw sensor gimbal for mobile robots, combining mechanical design, embedded real-time control, VR interaction, and onboard multi-sensor SLAM support for intuitive viewpoint control.

Publications

Peer-reviewed work on thermal, LiDAR, and inertial odometry for robust robotic perception.

Journal Articles

YL

About

I am a Research Associate at NTU CARTIN, supervised by Prof. Danwei Wang. My work focuses on building deployable perception and SLAM systems for robots operating in smoke, darkness, weak texture, and other degraded sensing conditions.

I received my M.Sc. in Computer Control and Automation from Nanyang Technological University, supervised by Prof. Danwei Wang and Dr. Jun Zhang, and my B.Eng. in Automation from Harbin Institute of Technology (Shenzhen), supervised by Prof. Haoyao Chen and Dr. Yu Wang.

Research Interests

Resilient SLAM Multi-Sensor Fusion Thermal-Radar Perception 3D Reconstruction Autonomous Navigation

Robotics

ROS · SLAM · Sensor Fusion · Field Deployment

Perception

Thermal Camera · LiDAR · 4D Radar · IMU

Mapping

Dense Mapping · BEV Occupancy · 3D Reconstruction

Engineering

C++ · Python · Embedded Integration · Timestamp Sync