Papers
9
Total Citations
687
H-Index
7
About
Lionel Heng is a leading researcher in autonomous robotics, specializing in vision-controlled micro aerial vehicles (MAVs), multi-camera calibration, and simultaneous localization and mapping (SLAM). His seminal work, "Vision-Controlled Micro Flying Robots" (2014, 297 citations), laid the foundation for autonomous navigation and mapping in GPS-denied environments, enabling MAVs to perform critical tasks like search and rescue, surveillance, and inspection. Heng's development of CamOdoCal (2013, 182 citations) revolutionized multi-camera calibration by providing automatic intrinsic and extrinsic calibration for rigs with generic cameras and odometry, a tool widely adopted in robotics. He further advanced the field with self-calibration and visual SLAM for multi-camera systems on MAVs (2015, 73 citations), enhancing perceptual awareness in complex environments. His direct visual odometry algorithm for fisheye-stereo cameras (2017, 49 citations) achieved robust semi-dense reconstruction and motion estimation. Heng also contributed to swarm robotics through the EU-funded SFly project (2012), enabling autonomous mapping and surveillance by swarms of MAVs. With over 600 citations across his top papers, Heng's work has profoundly impacted autonomous navigation, calibration, and multi-robot systems.
Research Focus
Key Achievements
Top Papers
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- 4Direct visual odometry for a fisheye-stereo camera49 citations · 2017
- 5SFly: Swarm of micro flying robots36 citations · 2012
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- 7Real-time 3D navigation for autonomous vision-guided MAVs20 citations · 2015
- 8Vision-Controlled Micro Flying Robots5 citations · 2014
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