Xiang Fei

Carnegie Mellon University

About Me

I am an incoming PhD student at Carnegie Mellon University (CMU), advised by Prof. Sebastian Scherer at the AirLab. Prior to that, I also earned my M.S. degree in Robotics from CMU Robotics Institute in 2026, advised by Prof. Howie Choset at the Biorobotics Lab. Before joining CMU, I received my Bachelor’s degree in Computer Science and Engineering from the Chinese University of Hong Kong, Shenzhen (CUHKSZ) in 2024, advised by Prof. Junhua Zhao.

My research interests lie in achieving learned, robust, and generalizable spatial perception for robotics.

Outside of research, I enjoy basketball, hiking and touring, race car, LEGO, PC games, and accompanying my fiancée Waiwai! Check out my misc page for more non-research stuff :)

Research Interests: Robotics; Simultaneous Localization and Mapping; Deep Learning; Multi-sensor Fusion.

Recent News

All News»

[Jun 2026] Our paper “DeformX: A Versatile Co-Simulation Framework for Deformable Linear Objects” has been accepted by IROS 2026 🥳. Code will be released upon published, welcome to follow it!

[Apr 2026] I passed my Master thesis defense!

[Mar 2026] I’ve accepted the PhD offer at CMU! Looking forward to my PhD life 🎉!

[Jun 2025] Our paper Bag of Word Groups (BoWG): A Robust and Efficient Loop Closure Detection Method Under Perceptual Aliasing has been accepted by IROS 2025 🥳.

[Aug 2024] Our paper Carbon market risk estimation using quantum conditional generative adversarial network and amplitude estimation is published by Energy Conversion and Economics.

Publications

Xiang Fei, Yuheng Qiu, Can Xu, Yutian Chen, Ruogu Li, Wenshan Wang, Sebastian Scherer

June, 2026 Under Review

MAC-I²: Learned Metrics-Aware Covariance for Robust Visual-Inertial Initialization and Calibration

Yi Yang, Xiang Fei, Lehong Wang, Chenghao Li, Zilin Dai, Henry Kou, Lu Li, Howie Choset

June, 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2026

DeformX: A Versatile Co-Simulation Framework for Deformable Linear Objects

Xiang Fei, Tina Tian, Howie Choset, Lu Li

October, 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

Bag of Word Groups (BoWG): A Robust and Efficient Loop Closure Detection Method Under Perceptual Aliasing

See all publications

Other Research Projects

Visual-Laser-Inertial SLAM for 3D Reconstruction of Confined Pipes

This work extended a compact, low-cast visual-laser-inertial SLAM-based 3D scanner to narrow pipe environments.

Photorealistic-3D-Reconstruction-with-Multi-view-Stereo

Multi-View Stereo with Broad Adaptive Checkerboard Sampling and Dynamic Multi-Hypothesis Joint View Selection, improvements based on ACMM

3D Reconstruction of the Gastrointestinal Tract and Sinus Surface

This task involved creating 3D reconstructions of the gastrointestinal tract and sinus surface using a monocular endoscope. The main goal of this project was to document the endoscopy process in 3D and to help doctors realize a more comprehensive examination.

Experience

Research Assistant of CMU

CMU - AirLab

Oct 2024 – Present Pittsburgh

Mentor: Prof. Sebastian Scherer

Research Assistant of CMU

CMU - Biorobotics Lab

Jun 2023 – Present Pittsburgh

Mentor: Prof. Howie Choset

Undergraduate Researcher of AIRS

Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS)

Dec 2021 – May 2024 Shenzhen

Mentor: Prof. Junhua Zhao

Research Assistant of CUHKSZ

CUHKSZ - Energy Internet Lab

Dec 2021 – May 2024 Shenzhen

Mentor: Prof. Junhua Zhao

Undergraduate Researcher of Human Language Technology Laboratory

Shenzhen Research Institute of Big Data - Human Language Technology Laboratory

Sep 2022 – Feb 2023 Shenzhen

Mentor: Prof. Haizhou Li

Computer Vision Algorithm Engineer

Winning Health Technology Group Co.,Ltd

Jul 2022 – Sep 2022 Shanghai

Teaching Assistant of CUHKSZ (Discrete Mathematics)

CUHKSZ

Sep 2022 – Dec 2022 Shenzhen

Back-end Developer (Department Head)

Shenzhen TeaBreak Network Technology Co., Ltd

Dec 2020 – Jan 2022 Shenzhen