About Me

I am currently pursuing a Ph.D. at the School of Computer Science and Technology, University of Science and Technology of China (USTC) under the supervision of Prof. Yanyong Zhang. Prior to that, I received my B.E. degree in 2020 from School of Computer Science at Chongqing University (CQU).

My research interest includes:

• Simultaneous Localization and Mapping (SLAM)
• Neural Radiance Fields (NeRF)
• 3D Gaussian Splatting (3DGS)

News

• 2025.12.02: Our paper PocketMap is accepted by IMWUT/UbiComp 2025!
• 2025.08.25: Our paper UrgenGo is accepted by MobiCom 2025!
• 2025.08.23: Our paper GS-Share is accepted by CGF 2025!
• 2025.06.26: Our paper SpatialSplat is accepted by ICCV 2025!
• 2025.04.11: Our paper STDArm is accepted by RSS 2025!
• 2025.03.04: Our paper UniSense is accepted by MobiSys 2025!
• 2025.01.28: Our paper CELLmap, OG-Gaussian, and MT-PCR are accepted by ICRA 2025!
• 2024.09.09: Our paper RDGait is accepted by IMWUT/UbiComp 2024!
• 2024.02.24: Our paper Map++ is accepted by MobiCom 2024!
• 2024.06.30: Our paper MM-Gaussian is accepted by IROS 2024!
• 2024.01.29: Our paper OCC-VO is accepted by ICRA 2024!
• 2023.07.18: Our dataset paper USTC FLICAR is accepted by IJRR!

Publications

IMWUT/UbiComp 2025

• PocketMap: An Interaction-centric 3D Map Serving System for Spatial Understanding on Mobile Devices
• Xinran Zhang, Wuyang Zhang, Hanqi Zhu, Yifan Duan, Jianmin Ji, Yanyong Zhang

• Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies

  link

MobiCom 2025

• UrgenGo: Urgency-Aware Transparent GPU Kernel Launching for Autonomous Driving
• Hanqi Zhu, Wuyang Zhang, Xinran Zhang, Ziyang Tao, Xinrui Lin, Yu Zhang, Jianmin Ji, Yanyong Zhang

• ACM MobiCom 2025: Proceedings of the 31st Annual International Conference on Mobile Computing and Networking

  arxiv BibTeX

CGF 2025

• GS-Share: Enabling High-ffdelity Map Sharing with Incremental Gaussian Splatting
• Xinran Zhang, Hanqi Zhu, Yifan Duan, Yanyong Zhang

• Computer Graphics Forum

  arxiv link BibTeX

ICCV 2025

• SpatialSplat: Efficient Semantic 3D from Sparse Unposed Images
• Yu Sheng, Jiajun Deng, Xinran Zhang, Yu Zhang, Bei Hua, Yanyong Zhang, Jianmin Ji

• International Conference on Computer Vision, ICCV 2025

  arxiv BibTeX

RSS 2025

• STDArm: Transfer Visuomotor Policy From Static Data Training to Dynamic Robot Manipulation
• Yifan Duan, Heng Li, Yilong Wu, Wenhao Yu, Xinran zhang, Yedong Shen, Jianmin Ji, Yanyong Zhang

• Robotics: Science and Systems 2025 (RSS)

  arxiv BibTeX

MobiSys 2025

• UniSense: Spatial-Uncertainty-Aware Collaborative Sensing for Autonomous Driving
• Haojie Ren, Wuyang Zhang, Shuyao Shi, Xinran Zhang, Lu Zhang, Yanyong Zhang

• The 23rd ACM International Conference on Mobile Systems, Applications, and Services

  link BibTeX

ICRA 2025

• CELLmap: Enhancing LiDAR SLAM through Elastic and Lightweight Spherical Map Representation
• Yifan Duan, Xinran Zhang, Yao Li, Guoliang You, Xiaomeng Chu, Jianmin Ji, Yanyong Zhang

• 2025 IEEE International Conference on Robotics and Automation (ICRA)

  link arxiv BibTeX

ICRA 2025

• OG-Gaussian: Occupancy Based Street Gaussians for Autonomous Driving
• Yedong Shen, Xinran Zhang, Yifan Duan, Shiqi Zhang, Heng Li, Yilong Wu, Jianmin Ji, Yanyong Zhang

• 2025 IEEE International Conference on Robotics and Automation (ICRA)

  link arxiv BibTeX

ICRA 2025

• MT-PCR: Leveraging Modality Transformation for Large-Scale Point Cloud Registration with Limited Overlap
• Yilong Wu, Yifan Duan, Yuxi Chen, Xinran Zhang, Yedong Shen, Jianmin Ji, Yanyong Zhang, Lu Zhang

• 2025 IEEE International Conference on Robotics and Automation (ICRA)

  arxiv BibTeX

IMWUT 2024

• RDGait: A mmWave Based Gait User Recognition System for Complex Indoor Environments Using Single-chip Radar
• Dequan Wang, Xinran Zhang, Kai Wang, Lingyu Wang, Xiaoran Fan, Yanyong Zhang

• Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies

  link code BibTeX

IROS 2024

• MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes
• Chenyang Wu, Yifan Duan, Xinran Zhang, Yu Sheng, Jianmin Ji, Yanyong Zhang

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

  link arxiv BibTeX

MobiCom 2024

• Map++: Towards User-Participatory Visual SLAM Systems with Efficient Map Expansion and Sharing
• Xinran Zhang, Hanqi Zhu, Yifan Duan, Wuyang Zhang, Longfei Shangguan, Yu Zhang, Jianmin Ji, Yanyong Zhang

• ACM MobiCom 2024: Proceedings of the 30th Annual International Conference on Mobile Computing and Networking

  link arxiv BibTeX

ICRA 2024

• OCC-VO: Dense Mapping via 3D Occupancy-Based Visual Odometry for Autonomous Driving
• Heng Li, Yifan Duan, Xinran Zhang, Haiyi Liu, Jianmin Ji, Yanyong Zhang

• 2024 IEEE International Conference on Robotics and Automation (ICRA)

  link arxiv code BibTeX

IJRR 2023

• USTC FLICAR: A sensors fusion dataset of LiDAR-inertial-camera for heavy-duty autonomous aerial work robots
• Ziming Wang, Yujiang Liu, Yifan Duan, Xingchen Li, Xinran Zhang, Jianmin Ji, Erbao Dong, Yanyong Zhang

• The International Journal of Robotics Research (IJRR)

  link arxiv Page BibTeX

Internships

• 2022.06 - 2022.11, Heterogenous Extreme Computing Group at Microsoft Research Asia (MSRA).