Publications

2026

1. 

   CVPR 2026

   TeFlow: Enabling Multi-frame Supervision for Self-Supervised Feed-forward Scene Flow Estimation

   Qingwen Zhang, Chenhan Jiang, Xiaomeng Zhu, Yunqi Miao, Yushan Zhang, Olov Andersson, and Patric Jensfelt

   In Proceedings of the IEEE/CVF conference on computer vision and pattern recognition, 2026

   arXiv Bib Code

   @inproceedings{zhang2026teflow,
     title = {{TeFlow}: Enabling Multi-frame Supervision for Self-Supervised Feed-forward Scene Flow Estimation},
     author={Zhang, Qingwen and Jiang, Chenhan and Zhu, Xiaomeng and Miao, Yunqi and Zhang, Yushan and Andersson, Olov and Jensfelt, Patric},
     year = {2026},
     booktitle = {Proceedings of the IEEE/CVF conference on computer vision and pattern recognition},
     pages = {},
   }

2. 

   CVPR 2026

   FVGen: Scaling 3D Scene Datasets with Certainty-Aware Free-View Generation from Scene Geometry Reconstruction

   Chenhan Jiang, Yu Chen, Qingwen Zhang, Jifei Song, Songcen Xu, Dit-Yan Yeung, and Jiankang Deng

   In Proceedings of the IEEE/CVF conference on computer vision and pattern recognition, 2026

   Bib

   @inproceedings{jiang2026fvgen,
     title = {{FVGen}: Scaling 3D Scene Datasets with Certainty-Aware Free-View Generation from Scene Geometry Reconstruction},
     author={Jiang, Chenhan and Chen, Yu and Zhang, Qingwen and Song, Jifei and Xu, Songcen and Yeung, Dit-Yan and Deng, Jiankang},
     year = {2026},
     booktitle = {Proceedings of the IEEE/CVF conference on computer vision and pattern recognition},
     pages = {},
   }

3. 

   RAL 2026

   DoGFlow: Self-Supervised LiDAR Scene Flow via Cross-Modal Doppler Guidance

   Ajinkya Khoche, Qingwen Zhang, Yixi Cai, Sina Sharif Mansouri, and Patric Jensfelt

   IEEE Robotics and Automation Letters, 2026

   arXiv Bib Code Website

   @article{khoche2026dogflow,
     author={Khoche, Ajinkya and Zhang, Qingwen and Cai, Yixi and Mansouri, Sina Sharif and Jensfelt, Patric},
     journal = {IEEE Robotics and Automation Letters},
     title = {{DoGFlow}: Self-Supervised LiDAR Scene Flow via Cross-Modal Doppler Guidance},
     year = {2026},
     volume = {11},
     number = {3},
     pages = {3836-3843},
     doi = {10.1109/LRA.2026.3662592},
   }

4. 

   T-IV 2026

   MambaFlow: A Novel and Flow-Guided State Space Model for Scene Flow Estimation

   Jiehao Luo, Jintao Cheng, Qingwen Zhang, Bohuan Xue, Rui Fan, and Xiaoyu Tang

   IEEE Transactions on Intelligent Vehicles, 2026

   arXiv Bib Code

   @article{luo2026mambaflow,
     author={Luo, Jiehao and Cheng, Jintao and Zhang, Qingwen and Xue, Bohuan and Fan, Rui and Tang, Xiaoyu},
     journal = {IEEE Transactions on Intelligent Vehicles},
     title = {{MambaFlow}: A Novel and Flow-Guided State Space Model for Scene Flow Estimation},
     year = {2026},
     volume = {},
     number = {},
     pages = {1-11},
     doi = {10.1109/TIV.2026.3663171},
   }

2025

1. 

   NeurIPS 2025 (Spotlight)

   DeltaFlow: An Efficient Multi-frame Scene Flow Estimation Method

   Qingwen Zhang, Xiaomeng Zhu, Yushan Zhang, Yixi Cai, Olov Andersson, and Patric Jensfelt

   In The Thirty-ninth Annual Conference on Neural Information Processing Systems, 2025

   arXiv Bib Code

   @inproceedings{zhang2025deltaflow,
     title = {{DeltaFlow}: An Efficient Multi-frame Scene Flow Estimation Method},
     author={Zhang, Qingwen and Zhu, Xiaomeng and Zhang, Yushan and Cai, Yixi and Andersson, Olov and Jensfelt, Patric},
     year = {2025},
     booktitle = {The Thirty-ninth Annual Conference on Neural Information Processing Systems},
     url = {https://openreview.net/forum?id=T9qNDtvAJX},
   }

2. 

   TRO 2025

   HiMo: High-Speed Objects Motion Compensation in Point Clouds

   Qingwen Zhang, Ajinkya Khoche, Yi Yang, Li Ling, Sina Sharif Mansouri, Olov Andersson, and Patric Jensfelt

   IEEE Transactions on Robotics, 2025

   arXiv Bib Code Website

   @article{zhang2025himo,
     title = {{HiMo}: High-Speed Objects Motion Compensation in Point Clouds},
     author={Zhang, Qingwen and Khoche, Ajinkya and Yang, Yi and Ling, Li and Mansouri, Sina Sharif and Andersson, Olov and Jensfelt, Patric},
     journal = {IEEE Transactions on Robotics},
     year = {2025},
     volume = {41},
     pages = {5896-5911},
     doi = {10.1109/TRO.2025.3619042},
   }

3. 

   ICCV 2025

   AGO: Adaptive Grounding for Open World 3D Occupancy Prediction

   Peizheng Li, Shuxiao Ding, You Zhou, Qingwen Zhang, Onat Inak, Larissa Triess, Niklas Hanselmann, Marius Cordts, and Andreas Zell

   arXiv preprint arXiv:2504.10117, 2025

   arXiv Bib

   @article{li2025ago,
     title = {AGO: Adaptive Grounding for Open World 3D Occupancy Prediction},
     author={Li, Peizheng and Ding, Shuxiao and Zhou, You and Zhang, Qingwen and Inak, Onat and Triess, Larissa and Hanselmann, Niklas and Cordts, Marius and Zell, Andreas},
     journal = {arXiv preprint arXiv:2504.10117},
     year = {2025},
   }

4. 

   ICRA 2025

   SSF: Sparse Long-Range Scene Flow for Autonomous Driving

   Ajinkya Khoche, Qingwen Zhang, Laura Pereira Sanchez, Aron Asefaw, Sina Sharif Mansouri, and Patric Jensfelt

   In 2025 IEEE International Conference on Robotics and Automation (ICRA), 2025

   arXiv Bib Code

   @inproceedings{khoche2025ssf,
     author={Khoche, Ajinkya and Zhang, Qingwen and Sanchez, Laura Pereira and Asefaw, Aron and Mansouri, Sina Sharif and Jensfelt, Patric},
     title = {{SSF}: Sparse Long-Range Scene Flow for Autonomous Driving},
     booktitle = {2025 IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025},
     pages = {6394-6400},
     doi = {10.1109/ICRA55743.2025.11128770},
   }

2024

1. 

   ECCV 2024

   SeFlow: A Self-Supervised Scene Flow Method in Autonomous Driving

   Qingwen Zhang, Yi Yang, Peizheng Li, Olov Andersson, and Patric Jensfelt

   In European Conference on Computer Vision (ECCV), 2024

   arXiv Bib Code Poster

   @inproceedings{zhang2024seflow,
     author={Zhang, Qingwen and Yang, Yi and Li, Peizheng and Andersson, Olov and Jensfelt, Patric},
     title = {{SeFlow}: A Self-Supervised Scene Flow Method in Autonomous Driving},
     booktitle = {European Conference on Computer Vision (ECCV)},
     year = {2024},
     pages = {353–369},
     organization = {Springer},
     doi = {10.1007/978-3-031-73232-4_20},
   }

2. 

   IV 2024

   Hard Cases Detection in Motion Prediction by Vision-Language Foundation Models

   Yi Yang, Qingwen Zhang, Kei Ikemura, Nazre Batool, and John Folkesson

   In 2024 IEEE Intelligent Vehicles Symposium (IV), 2024

   arXiv Bib Code

   @inproceedings{yang2024hard,
     author={Yang, Yi and Zhang, Qingwen and Ikemura, Kei and Batool, Nazre and Folkesson, John},
     booktitle = {2024 IEEE Intelligent Vehicles Symposium (IV)},
     title = {Hard Cases Detection in Motion Prediction by Vision-Language Foundation Models},
     year = {2024},
     pages = {2405-2412},
   }

3. 

   RA-L 2024

   DUFOMap: Efficient Dynamic Awareness Mapping

   Daniel Duberg*, Qingwen Zhang*, MingKai Jia, and Patric Jensfelt

   IEEE Robotics and Automation Letters, 2024

   arXiv Bib Code Poster Website

   @article{daniel2024dufomap,
     author={Duberg, Daniel and Zhang, Qingwen and Jia, MingKai and Jensfelt, Patric},
     journal = {IEEE Robotics and Automation Letters},
     title = {{DUFOMap}: Efficient Dynamic Awareness Mapping},
     year = {2024},
     volume = {9},
     number = {6},
     pages = {5038-5045},
     doi = {10.1109/LRA.2024.3387658},
   }

4. 

   RA-L 2024

   BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps

   Mingkai Jia*, Qingwen Zhang*, Bowen Yang, Jin Wu, Ming Liu, and Patric Jensfelt

   IEEE Robotics and Automation Letters, 2024

   arXiv Bib Code

   @article{jia2024beautymap,
     author={Jia, Mingkai and Zhang, Qingwen and Yang, Bowen and Wu, Jin and Liu, Ming and Jensfelt, Patric},
     journal = {IEEE Robotics and Automation Letters},
     title = {{BeautyMap}: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps},
     year = {2024},
     volume = {9},
     number = {7},
     pages = {6256-6263},
     doi = {10.1109/LRA.2024.3402625},
   }

5. 

   ICRA 2024

   DeFlow: Decoder of Scene Flow Network in Autonomous Driving

   Qingwen Zhang, Yi Yang, Heng Fang, Ruoyu Geng, and Patric Jensfelt

   In 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024

   arXiv Bib Code Poster

   @inproceedings{zhang2024deflow,
     author={Zhang, Qingwen and Yang, Yi and Fang, Heng and Geng, Ruoyu and Jensfelt, Patric},
     booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
     title = {{DeFlow}: Decoder of Scene Flow Network in Autonomous Driving},
     year = {2024},
     pages = {2105-2111},
     doi = {10.1109/ICRA57147.2024.10610278},
   }

6. 

   WACV 2024 Workshop

   Human-centric autonomous systems with llms for user command reasoning

   Yi Yang, Qingwen Zhang, Ci Li, Daniel Simões Marta, Nazre Batool, and John Folkesson

   In Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision, 2024

   arXiv Bib Code

   @inproceedings{yang2023drivecmd,
     title = {Human-centric autonomous systems with llms for user command reasoning},
     author={Yang, Yi and Zhang, Qingwen and Li, Ci and Marta, Daniel Sim{\~o}es and Batool, Nazre and Folkesson, John},
     booktitle = {Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision},
     pages = {988--994},
     year = {2024},
   }

2023

1. 

   ITSC 2023

   A Dynamic Points Removal Benchmark in Point Cloud Maps

   Qingwen Zhang, Daniel Duberg, Ruoyu Geng, Mingkai Jia, Lujia Wang, and Patric Jensfelt

   In IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), 2023

   arXiv Bib Video Code Poster

   @inproceedings{zhang2023benchmark,
     author={Zhang, Qingwen and Duberg, Daniel and Geng, Ruoyu and Jia, Mingkai and Wang, Lujia and Jensfelt, Patric},
     booktitle = {IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)},
     title = {A Dynamic Points Removal Benchmark in Point Cloud Maps},
     year = {2023},
     pages = {608-614},
     doi = {10.1109/ITSC57777.2023.10422094},
   }

2. 

   T-ITS 2023

   A VT-HMM-Based Framework for Countdown Timer Traffic Light State Estimation

   Shuyang Zhang, Qingwen Zhang, Feiyi Chen, Jin Wu, Jianhao Jiao, and Lujia Wang

   In IEEE Transactions on Intelligent Transportation Systems, 2023

   Bib PDF Code

   @inproceedings{zhang2023vthmm,
     author={Zhang, Shuyang and Zhang, Qingwen and Chen, Feiyi and Wu, Jin and Jiao, Jianhao and Wang, Lujia},
     booktitle = {IEEE Transactions on Intelligent Transportation Systems},
     year = {2023},
     volume = {24},
     number = {9},
     pages = {9449-9461},
     doi = {10.1109/TITS.2023.3265985},
     title = {A VT-HMM-Based Framework for Countdown Timer Traffic Light State Estimation},
     journal = {arXiv preprint arXiv:2307.07260},
   }

3. 

   ITSC 2023

   RMP: A Random Mask Pretrain Framework for Motion Prediction

   Yi Yang, Qingwen Zhang, Thomas Gilles, Nazre Batool, and John Folkesson

   In IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), 2023

   arXiv Bib Code

   @inproceedings{yang2023rmp,
     author={Yang, Yi and Zhang, Qingwen and Gilles, Thomas and Batool, Nazre and Folkesson, John},
     booktitle = {IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)},
     title = {{RMP}: A Random Mask Pretrain Framework for Motion Prediction},
     year = {2023},
     volume = {},
     number = {},
     pages = {3717-3723},
     doi = {10.1109/ITSC57777.2023.10422522},
   }

4. 

   RAL 2023

   Real-Time Neural Dense Elevation Mapping for Urban Terrain With Uncertainty Estimations

   Bowen Yang, Qingwen Zhang, Ruoyu Geng, Lujia Wang, and Ming Liu

   IEEE Robotics and Automation Letters, 2023

   arXiv Bib Video Website

   @article{yang2023ndem,
     author={Yang, Bowen and Zhang, Qingwen and Geng, Ruoyu and Wang, Lujia and Liu, Ming},
     journal = {IEEE Robotics and Automation Letters},
     title = {Real-Time Neural Dense Elevation Mapping for Urban Terrain With Uncertainty Estimations},
     year = {2023},
     volume = {8},
     number = {2},
     pages = {696-703},
     doi = {10.1109/LRA.2022.3230325},
   }

2022

1. 

   IROS 2022

   MMFN: Multi-Modal-Fusion-Net for End-to-End Driving

   Qingwen Zhang, Mingkai Tang, Ruoyu Geng, Feiyi Chen, Ren Xin, and Lujia Wang

   In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

   arXiv Bib Code

   @inproceedings{zhang2022mmfn,
     title = {{MMFN}: Multi-Modal-Fusion-Net for End-to-End Driving},
     author={Zhang, Qingwen and Tang, Mingkai and Geng, Ruoyu and Chen, Feiyi and Xin, Ren and Wang, Lujia},
     booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {8638--8643},
     year = {2022},
     organization = {IEEE},
   }

2. 

   RAL 2022

   Efficient Speed Planning for Autonomous Driving in Dynamic Environment With Interaction Point Model

   Yingbing Chen, Ren Xin, Jie Cheng, Qingwen Zhang, Xiaodong Mei, Ming Liu, and Lujia Wang

   IEEE Robotics and Automation Letters, 2022

   arXiv Bib Code

   @article{chen2022ipm,
     author={Chen, Yingbing and Xin, Ren and Cheng, Jie and Zhang, Qingwen and Mei, Xiaodong and Liu, Ming and Wang, Lujia},
     journal = {IEEE Robotics and Automation Letters},
     title = {Efficient Speed Planning for Autonomous Driving in Dynamic Environment With Interaction Point Model},
     year = {2022},
     volume = {7},
     number = {4},
     pages = {11839-11846},
     doi = {10.1109/LRA.2022.3207555},
   }

3. 

   ICRA 2022

   Real-time trajectory planning for autonomous driving with gaussian process and incremental refinement

   Jie Cheng, Yingbing Chen, Qingwen Zhang, Lu Gan, Chengju Liu, and Ming Liu

   In International Conference on Robotics and Automation (ICRA), 2022

   arXiv Bib Code

   @inproceedings{cheng2022real,
     title = {Real-time trajectory planning for autonomous driving with gaussian process and incremental refinement},
     author={Cheng, Jie and Chen, Yingbing and Zhang, Qingwen and Gan, Lu and Liu, Chengju and Liu, Ming},
     booktitle = {International Conference on Robotics and Automation (ICRA)},
     pages = {8999--9005},
     year = {2022},
     organization = {IEEE},
   }

4. 

   ITSC 2022

   Automatic Multi-camera Multi-LiDAR Extrinsic Calibration using Geometric Corners

   Chen Feiyi, Zhang Shuyang, Wang Yutong, Xie Xupeng, Zhang Qingwen, Jianhao JIAO, and Ming Liu

   In IEEE 25th International Conference on Intelligent Transportation Systems (ITSC), 2022

   Bib PDF

   @inproceedings{feiyi2022aec,
     author={Feiyi, Chen and Shuyang, Zhang and Yutong, Wang and Xupeng, Xie and Qingwen, Zhang and JIAO, Jianhao and Liu, Ming},
     booktitle = {IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)},
     title = {Automatic Multi-camera Multi-LiDAR Extrinsic Calibration using Geometric Corners},
     year = {2022},
     pages = {4234-4240},
     organization = {IEEE},
   }