Lingzhu Xiang

I am a PhD student at University of Toronto Institute for Aerospace Studies, with advisor Professor Jonathan Kelly. My research focuses on visual-inertial navigation, multi-sensor calibration, and robust and active perception.

Previously, Master of Science (2015, Department of Computer Science, Brown University, advised by Professor Chad Jenkins). Bachelor of Science (2012, Department of Machine Intelligence, Peking University, advised by Professor Huijing Zhao).

I am a proud contributor to open source communities. Your Linux kernel probably has my code.


  • Zhiqiang Sui, Lingzhu Xiang, Odest Chadwicke Jenkins, Karthik Desingh. "Goal-directed Robot Manipulation through Axiomatic Scene Estimation." International Journal of Robotics Research (IJRR), to appear.
  • Xiangyu Chen, Moju Zhao, Lingzhu Xiang, Fumihito Sugai, Hiroaki Yaguchi, Kei Okada, Masayuki Inaba. "Development of a Low-Cost Ultra-Tiny Line Laser Range Sensor." Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.
  • Lingzhu Xiang, Zhile Ren, Mengrui Ni, Odest Chadwicke Jenkins. "Robust Graph SLAM in Dynamic Environments with Moving Landmarks." Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. [pdf]
  • Xiangyu Chen, Lingzhu Xiang, Huijing Zhao, Hongbin Zha. "An Automatic Steering and Tracking System for Autonomous Vehicles based on EPS." The 8th Joint Workshop on Machine Perception and Robotics (MPR2012), 2012. [pdf]


Google internship 2016

Developed algorithms and tools (May–August) to improve large-scale bundling adjustment and reduce errors in imagery used in Google Maps and other products.


Main developer of libfreenect2, the open source drivers for the Kinect for Windows v2 device. I reverse engineered the calibrated depth decoding, and created various hardware acceleration (CUDA, hardware codecs) drivers for Intel, NVIDIA, and Tegra platforms.


Reverse engineered Suitable Technologies' Beam telepresence robot to provide a ROS package rosbeam for motor control, odometry access, camera feeds, and documentation on its internal communication protocols and structures. See also my Master's degree report (PDF) on the applications.

PR2 human following demos

Developed human following demos of PR2 for RoboCup 2014. The work was later demonstrated for my advisor's talk at the World Science Festival 2014 (video, code).

Self-driving cars

With the POSS group at Peking University (2011–2012), I developed motion planning systems for wheel steering control of a self-driving car platform. Implemented high-precision wheel odometry estimator, control interfaces, networking API, and visualization.

Linux kernel

At Red Hat (2012–2013) I tested and patched a bunch of bugs among the UEFI subsystem. I also maintained code for several stable kernel branches. You can find some code or backports signed off by me on, me on Bugzilla, or on mailing lists.

[This demo requires HTML5 canvas support.]

RRT-Connect algorithm (click to start)

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Institute for Aerospace Studies
4925 Dufferin St.
Toronto, Ontario M3H 5T6
lingzhu at this domain (without www)
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