Hanwen Cao 曹瀚文

I am a Ph.D. student at University of California, San Diego (UCSD). I do research at Extential Robotics Laboratory and am fortunate to be advised by Prof. Nikolay Atanasov.

Before moving to UCSD, I obtained my B.E. degree from Shanghai Jiaotong University, Shanghai, China. My undergraduate supervisor is Prof. Cewu Lu.

Email  /  Google Scholar  /  Github

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Research

I'm interested in robotics and computer vision.

PKF: Probabilistic Data Association Kalman Filter for Multi-Object Tracking>

Hanwen Cao, George J. Pappas, Nikolay Atanasov,
under review
project page / paper /

Probabilistic data association Kalman filter for multi-object tracking (MOT).

MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction>

Yulun Tian, Hanwen Cao, Sunghwan Kim Nikolay Atanasov,
RSS 2025
paper /

Deep SDF SLAM with neural implicit grid features.

Multi-Robot Object SLAM Using Distributed Variational Inference>

Hanwen Cao, Sriram Shreedharan, Nikolay Atanasov,
Robotics and Automation Letter (RA-L), 2024
project page / paper /

Distributed MSCKF (Multi-State Constrained Kalman Filter) for multi-robot SLAM.

SuctionNet-1Billion: A Large-Scale Benchmark for Suction Grasping

Hanwen Cao, Hao-Shu Fang, Wenhai Liu, Cewu Lu
RA-L, 2021
project page / paper /

A large-scale real-world dataset for suction grasping in cluttered scenes.

ASAP-Net: Attention and Structure Aware Point Cloud Sequence Segmentation

Hanwen Cao, Yongyi Lu, Cewu Lu Bo Pang, Gongshen Liu, Alan Yuille
BMVC, 2020
paper / code /

A flexible module for point cloud sequence segmentation.

Complex Sequential Understanding through the Awareness of Spatial and Temporal Concepts

Bo Pang, Kaiwen Zha, Hanwen Cao, Jiajun Tang, Minghui Yu, Cewu Lu
Nature Machine Intelligence, 2020
paper

A general model for complex sequential understanding.

Deep RNN Framework for Visual Sequential Applications

Bo Pang, Kaiwen Zha, Hanwen Cao, Cewu Lu
CVPR, 2019
paper / code /

A new deep RNN framework with better performance on visual sequential applications.


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