Journal Publications


  1. RISAS: A Novel Rotation, Illumination and Scale Invariant RGB-D Feature;
    Kanzhi Wu*, Xiaoyang Li*, Ravindra Ranasinghe, Gamini Dissanayake and Yong Liu;
    submitted to IEEE Transaction on Cybernetics;
    * indicates the equal contribution of the first 2 authors;

  2. Convergence and Consistency Analysis for a 3-D Invariant-EKF SLAM;
    Teng Zhang, Kanzhi Wu, Jingwei Song, Shoudong Huang and Gamini Dissanayake;
    IEEE Robotics and Automation Letter;

Conference Publications


  1. An Invariant-EKF VINS Algorithm for Improving Consistency;
    Kanzhi Wu*, Teng Zhang*, Daobilige Su, Shoudong Huang and Gamini Dissanayake;
    IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, Oct 2017;

  2. Planar Scan Matching Using Incident Angle;
    Jixin Lv, Yue Wang, Kanzhi Wu*, Gamini Dissanayake, Yukinori Kobayashi and Rong Xiong;
    IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, Oct 2017;

  3. Gyro-Aided Camera-Odometer Online Calibration and Localization;
    Dongxuan Li, Kevin Eckenhoff, Kanzhi Wu, Yue Wang, Rong Xiong and Guoquan Huang;
    American Control Conference, Seattle, US, May 2017;

  4. Convergence and Consistency Analysis for a 3-D Invariant-EKF SLAM;
    Teng Zhang, Kanzhi Wu, Jingwei Song, Shoudong Huang and Gamini Dissanayake;
    International Conference on Robotics and Automation, Singapore, Singapore, May 2017;

  5. RISAS: A Novel Rotation, Illumination, Scale Invariant Appearance and Shape Feature;
    Kanzhi Wu, Xiaoyang Li, Ravindra Ranasinghe, Gamini Dissanayake and Yong Liu;
    International Conference on Robotics and Automation, Singapore, Singapore, May 2017;

  6. Active Object Detection and Pose Estimation in General Belief Space;
    Kanzhi Wu, Ravindra Ranasinghe, Gamini Dissanayake;
    Robot-Environment Interaction for Perception and Manipulation: Interactive Perception Meets Reinforcement Learning and Optimal Control at Robotic Science and Systems, Michigan, US, Jun 2016;
    [pdf]

  7. Active Recognition and Pose Estimation of Household Objects in Clutter;
    Kanzhi Wu, Ravindra Ranasinghe, Gamini Dissanayake;
    IEEE International Conference on Robotics and Automation, Seattle, US, May 2015;
    [pdf]

  8. A Fast Pipeline for Textured Object Recognition in Clutter using an RGB-D Sensor;
    Kanzhi Wu, Ravindra Ranasinghe, Gamini Dissanayake;
    IEEE International Conference on Automation, Robotics and Computer Vision, Singapore, Dec 2014;
    [pdf]

Thesis


Under Examination