Bio

I am a PhD student at the University of Manchester, supervised by Dr. Zhenhong Li, Prof. Andrew Weightman, and Prof. Zhengtao Ding. Prior to starting my PhD journey, I gained several years of work experience in the field of autonomous mobile robots, particularly in SLAM research, at LDROBOT and BAIDU in succession, from 2017. I received my B.Eng. in Mechanical Design, Manufacturing and Automation and M.Eng. in Mechatronics Engineering in 2014 and 2017, respectively, both from the Huazhong University of Science and Technology (HUST) in China.

My research interests include autonomous mobile robots and surgical robots, with a focus on sensor fusion, localization and mapping, state estimation, and path planning in real-world environments.

In this page, you may know more about me.

CV: CV
Link: GitHub
Email: tank.wenzhi.bai@gmail.com

Skills

Programming Languages: C/C++ (very strong), Python (fair), Shell (fair)
Algorithm Libraries: OpenCV, Eigen, Ceres Solver, OpenGL, PCL
Tools: Linux/Ubuntu, ROS, Git, CMake, Embedded System

Honors

The Excellent Postgraduate Graduate	May 2017
The Merits Postgraduate Student (Top 5%) The National Scholarship for Postgraduates (Top 2%, 20,000 RMB)	Dec. 2015
The Excellent Graduate	Jun. 2014
The Merits Student (Top 5%) The National Scholarship (Top 2%, 8,000 RMB)	Dec. 2013
The Outstanding Individual in the Undergraduate Innovation Activities (TOP 10%)	Dec. 2012

Awards

Best Conference Paper in the 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)	Nov. 2023
Best Presentation in the IEEE RAS Winter School on SLAM in Deformable Environments	Jul. 2021
The First Place of the Central China Division and the National Second Place in the RoboMaster of the 14th National Undergraduate Robot Competition	Aug. 2015
The First Place in the National Undergraduate Electronic Design Competition (Subject: The Control System of Unmanned Aerial Vehicles), Hubei Division	Nov. 2013
The First Place in the National Undergraduate Mechanical Products Digital Design Competition	May 2013
The First Place in the 5th National Undergraduate Mechanical Innovation Design Competition, Hubei Sectional Preliminaries	May 2012

Publications

	IMTP: Intention-Matching Trajectory Prediction for Autonomous Vehicles Wenzhi BAI, Luwen Yu, Andrew Weightman, Zhengtao Ding, Zhiqiang Zhang, Shengquan Xie, Zhenhong Li the 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2023 [pdf]
	Correction Algorithm of LIDAR Data for Mobile Robots Wenzhi BAI, Gen LI and Liya HAN International Conference on Intelligent Robotics and Applications (ICIRA), 2017 [pdf]
	Study on Lidar-based Map-building for Service Robots Wenzhi BAI Huazhong University of Science and Technology, ME thesis, 2017 [pdf]

Projects

	ANP (Autonomous Navigation Pilot) Aug. 2021 - Now Senior Algorithm Engineer, BAIDU APOLLO HIGHLIGHTS: ● Constructed the decision frame of navigation lane change and efficiency lane change by using FSM ● Constructed quadratic programming problem to optimize lateral trajectory and longitudinal trajectory and solved with the Gaussian pseudo-spectral method ● Estimated 2D/3D states of obstacles by Kalman Filter. For data association, the Mahalanobis distance is used for single-sensor data association, and the KM algorithm is used for multi-sensor data association
	AVP (Autonomous Valet Parking) Jun. 2019 - Apr. 2020 Senior Algorithm Engineer, BAIDU APOLLO HIGHLIGHTS: ● Realized the vehicle dynamic relocalization and parameters initialization through getting the optimal solution by RANSAC and Bundle Adjustment ● Built basic modules such as data buffer manager, transformation manager, OpenGL visual debugging tool, etc., which provided the solid foundation for the whole SFM system ● Constructed a set of automatic testing and recording module ● Realized the online automatic calibration module of camera external parameters
	APA (Automatic Parking Assist) Nov. 2018 - Jun. 2019 Senior Algorithm Engineer, BAIDU APOLLO HIGHLIGHTS: ● Constructed the Bayesian Probabilistic Occupancy Grid Map by Ultrasonic Radars ● Applied the Kalman Filter and Hough Transform to estimate parking spaces
	Lidar-based Vacuum Cleaning Robot Jul. 2017 - Nov. 2018 Algorithm Engineer/Pre-research Project Team Leader, LDROBOT HIGHLIGHTS: ● Developed and optimized the Lidar-based SLAM module ● Constructed the SLAM automatic test system ● Preliminary study of contactless visual obstacle avoidance based on depth camera ● Shipped more than 100,000 units by the time of my departure
	Autonomous Mobile Platform Control System Mar. 2016 - Jun. 2017 Lidar-based SLAM Algorithm Design HIGHLIGHTS: ● Developed the Lidar-based SLAM module by transfering Cartographer
	CNC Sewing Equipment CAD/CAM Software Oct. 2013 - Dec. 2015 Software Development/Team Leader HIGHLIGHTS: ● Funded by HUST Graduate Base of Innovation and Entrepreneurship and finished the project with "Excellent" results ● Exhibited in CISMA (China International Sewing Machinery & Accessories Show)
	HUST RoboMaster STAR Club Sept. 2014 - Oct. 2015 Founder & Leader HIGHLIGHTS: ● Set up a club of more than 40 students on campus, and obtained various support fundings of 400,000 RMB ● Served as the chief architect of the technical direction of the team ● Won the First Place of Central China Division and the National Second Place in the RoboMaster of 14th National Undergraduate Robot Competition
	University History Museum Navigation Robot Jun. 2012 - Oct. 2012 Researcher HIGHLIGHTS: ● Took charge of three-wheel omnidirectional chassis design of navigation robot and adopted Mecanum Wheel ● Widely reported by the media

Selected Patents

Parking Space Detection Method and Device, Electronic Equipment, Vehicle and Storage Medium (substantive examination)
Jan. 2020
Chinese Patent Application No.: 202010071956.6

Sweeping Robot (granted)
Sept. 2018
Chinese Patent Application No.: 201821597985.0

Navigation Obstacle Avoidance Method for Cleaning Robot and Terminal Device (substantive examination)
Sept. 2018
Chinese Patent Application No.: 201811129776.8

Method for Obtaining Sewing Path of Cut Pieces (granted)
Apr. 2015
Chinese Patent Application No.: 201510152963.8

A CNC Sewing Equipment based on Visual Control (granted)
Apr. 2015
Chinese Patent Application No.: 201510152938.X