I am currently pursuing my Ph.D. in the Robotics and Computer Vision Lab at Southern University of Science and Technology, under the guidance of Prof. Hong ZHANG, since September 2022. My research is centered around Robotics, with a special focus on robot perception and decision making. At present, I am developing a ‘Robot Person Following’ system, enabling the robot to follow/accompany the user consistently and naturally. The ultimate goal of this system is to enable robots to exhibit reliability and contextual intelligence, thereby enhancing the capabilities of personalized robot assistance.

🔥 News

• 2024.10: I will present our paper, Human Orientation Estimation Under Partial Occlusion, at IROS 2024 in Abu Dhabi. You can find me at the poster session on October 18th, from 9:00 AM to 12:00 PM, at No. 03.16.🥳📷
• 2024.07: Our “Person Re-Identification for Robot Person Following with Online Continual Learning” has been accepted by RAL2024. Final version and source code coming soon.
• 2024.06: Two papers “Human Orientation Estimation Under Partial Occlusion” and “GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection” have been accepted by IROS2024.

📝 Projects

Person Re-Identification for Robot Person Following

Hanjing Ye, Jieting Zhao, Yu Zhan, Weinan Chen, Li He, Hong Zhang

2024 IEEE Robotics and Automation Letters (RAL)

[paper] [github] [doi] [site]

Human Orientation Estimation Under Partial Occlusion

Jieting Zhao, Hanjing Ye, Yu Zhan, Hao Luan, Hong Zhang

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

[paper] [github] [doi] [video] [Chinese report (by ShenLan AI)]

Robot Person Following Under Partial Occlusion

Hanjing Ye, Jieting Zhao, Yaling Pan, Weinan Chen, Li He, Hong Zhang

2023 IEEE International Conference on Robotics and Automation (ICRA)

[paper] [github] [doi] [site]

Visual Place Recognition and Keyframe Selection

Hanjing Ye, Weinan Chen, Li He, Hong Zhang

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

[paper] [doi]

📚 Publications

Robot Person Following

1. Human Orientation Estimation Under Partial Observation.
   Jieting Zhao, Hanjing Ye, Yu Zhan, Hao Luan, Hong Zhang.
   IROS 2024. [paper] [github] [doi] [video] [Chinese report (by ShenLan AI)]
2. Person Re-Identification for Robot Person Following with Online Continual Learning.
   Hanjing Ye, Jieting Zhao, Yu Zhan, Weinan Chen, Li He, Hong Zhang.
   RAL 2024. [paper] [github] [doi] [site]
3. Robot Person Following Under Partial Occlusion.
   Hanjing Ye, Jieting Zhao, Yaling Pan, Weinan Chen, Li He, Hong Zhang.
   ICRA 2023. [paper] [github] [doi] [site]
4. Mapping While Following: 2D LiDAR SLAM in Indoor Dynamic Environments with a Person Tracker.
   Hanjing Ye, Guangcheng Chen, Weinan Chen, Li He, Yisheng Guan, Hong Zhang.
   ROBIO 2021. [paper] [doi]

Place Recognition

1. GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection.
   Jingwen Yu, Hanjing Ye, Jianhao Jiao, Ping Tan, Hong Zhang.
   IROS 2024. [paper] [github] [site]
2. Multi-scale Point Octree Encoding Network for Point Cloud based Place Recognition
   Zhilong Tang, Hanjing Ye, Hong Zhang.
   IROS 2023. [paper] [github] [doi]
3. Keyframe Selection with Information Occupancy Grid Model for Long-term Data Association.
   Weinan Chen$^\dagger$, Hanjing Ye$^\dagger$, Lei Zhu, Chao Tang, Changfei Fu, Hong Zhang.
   IROS 2022. [paper] [doi]
4. Condition-Invariant and Compact Visual Place Description by Convolutional Autoencoder.
   Hanjing Ye$^\dagger$, Weinan Chen$^\dagger$, Jingwen Yu, Li He, Yisheng Guan, Hong Zhang.
   Robotica 2023. [paper] [github] [doi]

🏫 Services and Activities

• IEEE TASE, RAL Reviewer
• IEEE ICRA, CASE Reviewer
• IEEE/RSJ IROS Reviewer
• IEEE ICRA 2021 Organizing Committee & Outstanding Volunteer