The Intelligent Machine Research Lab IMRL at The University of Macau is a scientific unit that is devoted to conducting both fundamental and applied research in autonomous driving and mobile robotics. We exploit varieties of sensors (cameras, Lidars, Radars, GPS, wheel odometer, and IMU, etc) to fulfill tasks of machine perception, SLAM, autonomous navigation, motion planning, behavior prediction, Lidar sensing, and sensor fusion.

If you use our code for your academic research, please cite our work!

1. Free-Init: Free-Init: Mingle Zhao, Jiahao Wang, Tianxiao Gao, Chengzhong Xu, and Hui Kong, Free-Init: Scan-Free, Motion-Free, and Correspondence-Free Initialization for Doppler LiDAR-Inertial Systems, IEEE Robotics and Automation Letters (RA-L), 2024
2. UAV-Pathfinder: Kaijie Yin, Tian Gao, and Hui Kong, Pathfinder for Low-altitude Aircraft with Binary Neural Network, under review, ICRA'2025
3. Night-Voyager: Tianxiao Gao, Mingle Zhao, Cheng-Zhong Xu, and Hui Kong, Night-Voyager: Consistent and Efficient Nocturnal Vision-Aided State Estimation in Cross-Modal Maps, under review, IEEE Transactions on Robotics, 2024
4. ActiveLoopClosure Wei Gao, Zezhou Sun, Mingle Zhao, Chengzhong Xu, and Hui Kong, Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environment, IEEE International Conference on Intelligent Robotics and Systems (IROS), 2024
5. FMCW-LIO: Mingle Zhao, Jiahao Wang, Tianxiao Gao, Chengzhong Xu, and Hui Kong, FMCW-LIO: A Doppler LiDAR-Inertial Odometry, IEEE Robotics and Automation Letters (IEEE-RAL), 2024
6. UMAD: Dong Li, Lineng Chen, Chengzhong Xu, and Hui Kong, UMAD: University of Macau Anomaly Detection Benchmark Dataset, IEEE International Conference on Intelligent Robotics and Systems (IROS), 2024
7. Night-Rider: Tianxiao Gao, Mingle Zhao, Cheng-Zhong Xu, Hui Kong, Night-Rider: Nocturnal Vision-aided Localization in Streetlight Maps Using Invariant Extended Kalman Filtering, IEEE International Conference on Robotics and Automation (ICRA), 2024
8. GSB-Transformer: Tian Gao, Cheng-Zhong Xu, Le Zhang, Hui Kong, GSB: Group Superposition Binarization for Vision Transformer with Limited Training Samples, Neural Networks, 2024
9. Vessel-like-Structure-Segmentation: Huajun Liu, Jing Yang, Shidong Wang, Hui Kong, Qiang Chen, Haofeng Zhang, Learning to segment complex vessel-like structures with spectral transformer, Expert Systems with Applications, 2024
10. LiDAR-Semantic-Particles: Yuming Huang, Yi Gu, Cheng-Zhong Xu, and Hui Kong, Why semantics matters: A deep study on semantic particle-filtering localization in a LiDAR semantic pole-map, IEEE Transactions on Field Robotics, 2024
11. HPPLO-Net: Beibei Zhou, Yiming Tu, Zhong Jin, Chengzhong Xu, Hui Kong, HPPLO-Net: Unsupervised LiDAR Odometry Using Hierarchical Point-to-Plane Solver, IEEE Transactions on Intelligent Vehicles, 2023
12. Robotic-Exploration-Graph-Gain：Zezhou Sun, Banghe Wu, Cheng-Zhong Xu, and Hui Kong, Concave-Hull Induced Graph-Gain for Fast and Robust Robotic Exploration, IEEE Robotics and Automation Letters (RA-L), 2023
13. LiDAR-Road-Atlas: Banghe Wu, Chengzhong Xu, Hui Kong, Lidar Road-Atlas: An Efficient Map Representation for General 3d Urban Environment, https://arxiv.org/abs/2204.05727, Field Robotics, 2023
14. PTC-Net: Lineng Chen, Huan Wang, Hui Kong, Wankou Yang, Mingwu Ren，PTC-Net: Point-Wise Transformer with Sparse Convolution Network for Place Recognition, IEEE Robotics and Automation Letters (RA-L), 2023
15. CrackFormer-II: Huajun Liu, Jing Yang, Xianyu Miao, Christoph Mertz, and Hui Kong, CrackFormer Network for Pavement Crack Segmentation, IEEE Transactions on Intelligent Transportation Systems, 2023
16. Dual-Spectrum-Depth: Yubin Guo, Xinlei Qi, Jin Xie, Cheng-Zhong Xu, and Hui Kong, Unsupervised Cross-Spectrum Depth Estimation by Visible-light and Thermal Cameras, IEEE Transactions on Intelligent Transportation Systems, 2023
17. Lidar-CPC-BEV: Jiacheng Lu, Shuo Gu, Chengzhong Xu, Hui Kong, A Cylindrical Convolution Network for Dense Top-View Semantic Segmentation with LiDAR Point Clouds, Asian Conference on Computer Vision (ACCV), https://repository.um.edu.mo/handle/10692/112374, 2022
18. CrackFormer: Huajun Liu, Xiangyu Miao, Christoph Mertz, Chengzhong Xu, Hui Kong, CrackFormer: Transformer Network for Fine-Grained Crack Detection (ICCV), 2021
19. Cascaded-Non-Local-PointCloud-Seg: Mingmei Cheng, Le Hui, Jin Xie, Jian Yang and Hui Kong, Cascaded Non-local Neural Network for Point Cloud Semantic Segmentation, International Conference on Intelligent Robotics and Systems (IROS), 2020
20. homo-pose: Yaqing Ding, Jian Yang, Jean Ponce and Hui Kong, An efficient solution to the homography-based relative pose problem with a common reference direction, IEEE International Conference on Computer Vision (ICCV) 2019 (oral presentation)
21. LiDAR-Iris: Ying Wang, Zezhou Sun, Cheng-Zhong Xu, Sanjay Sarma, Jian Yang, and Hui Kong, LiDAR-Iris for Loop Closure Detection, IEEE International Conference on Intelligent Robotics and Systems (IROS) 2020 (oral presentation)
22. Active-SLAM-with-Cartographer: Zezhou Sun, Banghe Wu, Cheng-Zhong Xu, Sanjay Sarma, Jian Yang, and Hui Kong, Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration, IEEE International Conference on Intelligent Robotics and Systems (IROS) 2020 (oral presentation)
23. Two-view fusion CNN for road detection: Shuo Gu, Jian Yang, and Hui Kong, Two-View Fusion based Convolutional Neural Network for Urban Road Detection, IEEE International Conference on Intelligent Robotics and Systems (IROS) 2019 (oral presentation)
24. Lidar-histogram: Liang Chen, Jian Yang, and Hui Kong, Lidar-histogram for fast road and obstacle detection, IEEE International Conference on Robotics and Automation (ICRA) 2017.
25. gLoG-pathological-image-analysis: Hui Kong, Hatice Cinar Akakin, Sanjay E. Sarma, A generalized Laplacian of Gaussian filter for blob detection and its applications, IEEE Transactions on Cybernetics, 43(6), pp.1719-1733, 2013
26. gLoG-vanishing-point: Hui Kong, Sanjay E. Sarma, and Feng Tang. "Generalizing Laplacian of Gaussian filters for vanishing-point detection." IEEE Transactions on Intelligent Transportation Systems, 14(1), pp.408-418, 2013.

Come on to join us! We are always looking for students who have strong motivations in robotics/AI/computer-vision research and outstanding academic background in computer programming (C++/Python/Matlab etc.) and mathmatics. Please feel free to drop us an email at tom.hui.kong@gmail.com or huikong@um.edu.mo.