Peiliang Li



I am Peiliang Li, a forth-year Ph.D student in HKUST UAV Group at the Robotics Institute of Hong Kong University of Science and Technology supervised by Prof. Shaojie Shen. During my first Ph.D year, I mainly focus on visual inertial

state estimation (VINS-Mono, VINS-Mobile) and its application (UAV navigation, Augmented Reality). After that I employ

the 3D geometry methods inspired from VINS to solve the 3D object detection and tracking problem. I was an intern in Apple AI research team during 2019 summer, worked with Oncel Tuzel, and in DJI, during 2018 summer, worked with Xiaozhi Chen and Cong Zhao. I received my B.Eng. degree in electrical science and technology from USTC.

I'm interested in 3D Computer Vision, visual inertial fusion, and Machine Learning with particularly looking for their combination to solve the 3D objects detection, tracking and ego-motion estimation for autonomous driving.

Contact: peiliang.uav at gmail dot com;

[Scholar] [CV] [github]


Peiliang Li, Tong Qin, Shaojie Shen

European Conference on Computer Vision (ECCV 2018)

Stereo Vision-based Semantic 3D Object and Ego-motion Tracking for Autonomous Driving

VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator

Tong Qin, Peiliang Li, Shaojie Shen

IEEE Transactions on Robotics (TRO 2018 Best Paper Honorable Mention)

Relocalization, Global Optimization, and Map Merging for Monocular Visual-Inertial SLAM

Tong Qin, Peiliang Li,Shaojie Shen

International Conference on Robotics and Automation (ICRA 2018)

Monocular Visual-Inertial State Estimation for Mobile Augmented Reality

Peiliang Li, Tong Qin, Botao Hu, Fengyuan Zhu, Shaojie Shen

International Symposium on Mixed and Augmented Reality (ISMAR 2017)




Peiliang Li, Xiaozhi Chen, Shaojie Shen

IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2019)

Stereo R-CNN based 3D Object Detection for Autonomous Driving


•  [Feb 2019]  One paper accepted by CVPR 2019.

•  [Jan 2019]  I will intern at Apple AI research team during 2019 summer.

•  [Apr 2019]  Our journal paper VINS-Mono received the Honorable Mention for the 2018 IEEE T-RO Best Paper award!

•  [Apr 2019]  The code of Stereo R-CNN is released here!


Multi-Sensor 3D Object Box Refinement for Autonomous Driving

Peiliang Li, Siqi Liu, Shaojie Shen

Arxiv 2019  Results on KITTI val:




•  [Feb 2020]  One paper about 3D object tracking is accepted by CVPR 2020.