Jiajie Zhang (张嘉杰)
About Me
I am a graduate student at ShanghaiTech University pursuing a Master’s degree in Computer Science. Since 2023, I have been conducting research at the MARS Lab at ShanghaiTech University, advised by Professor Soeren Schwertfeger, focusing on cutting-edge areas including Mobile Robotics and Embodied AI.
Publications
Generation of Indoor Open Street Maps for Robot Navigation from CAD Files
Avaliable on arXiv preprint arXiv:2507.00552, 2025
This paper presents a complete and automated system to convert architectural Computer-Aided Design (CAD) files into a hierarchical topometric OpenStreetMap (OSM) representation for robust, life-long robot navigation. The method overcomes the limitations of traditional SLAM by leveraging permanent structural information, employing a multi-stage pipeline that includes topological segmentation, semantic text association, and multi-floor fusion to generate semantically rich and topologically correct maps.
Intelligent LiDAR Navigation: Leveraging External Information and Semantic Maps with LLM as Copilot
Accepted by IROS2025, 2025
This study enhances robot navigation by integrating Large Language Models (LLMs) with ROS move_base, using osmAG for semantic mapping. The approach combines human-like contextual understanding with traditional navigation, improving adaptability and robustness.
Published on MDPI Sensors, 2024
This paper introduces a novel neural surfel-based method for large-scale 3D scene reconstruction, addressing challenges in loop closure and bundle adjustment. By integrating neural descriptors with surfels and optimizing surfel associations, the approach achieves improved reconstruction accuracy and significantly reduces file sizes compared to traditional methods.
