Xingguang (Starry) Zhong

Xingguang Zhong

PhD Student

Contact:
Email: zhong@nulligg.uni-bonn.de
Tel: +49 – 228 – 73 – 29 01
Office: Nussallee 15, EG, room 0.013

Address:
University of Bonn
Photogrammetry, IGG
Nussallee 15
53115 Bonn

Profiles: Google Scholar | Github

Research Interests

SLAM
Computer Vision
Robot Navigation

Short CV

Xingguang Zhong has been a PhD student at the Photogrammetry & Robotics Lab at the University of Bonn since November 2021 and graduated in 2026. Before his PhD studies, he received his Master’s degree in mechatronics engineering and Bachelor’s degree in mechanical engineering.

Publications

2026

X. Zhong, Y. Pan, L. Jin, M. Popović, J. Behley, and C. Stachniss, “Globally Consistent RGB-D SLAM with 2D Gaussian Splatting,” IEEE Trans. on Robotics (TRO), 2026. doi:10.1109/TRO.2026.3697159
[BibTeX] [PDF] [Code]

@article{zhong2026tro,
author = {X. Zhong and Y. Pan and L. Jin and M. Popovi\'c and J. Behley and C. Stachniss},
title = {{Globally Consistent RGB-D SLAM with 2D Gaussian Splatting}},
journal = tro,
year = 2026,
doi = {10.1109/TRO.2026.3697159},
issn = {1941-0468},
codeurl = {https://github.com/PRBonn/2DGS-SLAM},
url = {https://arxiv.org/pdf/2506.00970},
}

X. Zhong, L. Jin, M. Popović, J. Behley, and C. Stachniss, “Dynamic Visual SLAM using a General 3D Prior,” in Proc. of the IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR), 2026.
[BibTeX] [PDF] [Code]

@inproceedings{zhong2026cvpr,
author = {X. Zhong and L. Jin and M. Popovi\'c and J. Behley and C. Stachniss},
title = {{Dynamic Visual SLAM using a General 3D Prior}},
booktitle = cvpr,
year = 2026,
codeurl = {https://github.com/PRBonn/Pi3MOS-SLAM},
}

R. Marcuzzi, L. Nunes, E. A. Marks, X. Zhong, J. Behley, and C. Stachniss, “Vision-Based Panoptic Occupancy Prediction in Urban Environments,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2026.
[BibTeX] [PDF]

@inproceedings{marcuzzi2026icra,
author = {R. Marcuzzi and L. Nunes and E.A. Marks and X. Zhong and J. Behley and Stachniss, C.},
title = {{Vision-Based Panoptic Occupancy Prediction in Urban Environments}},
booktitle = icra,
year = {2026},
}

2025

Y. L. Chong, L. Nunes, F. Magistri, X. Zhong, J. Behley, and C. Stachniss, “Zero-Shot Semantic Segmentation for Robots in Agriculture,” in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2025.
[BibTeX] [PDF] [Code]

@inproceedings{chong2025iros,
author = {Y.L. Chong and L. Nunes and F. Magistri and X. Zhong and J. Behley and C. Stachniss},
title = {{Zero-Shot Semantic Segmentation for Robots in Agriculture}},
booktitle = iros,
year = 2025,
codeurl = {https://github.com/PRBonn/WeedsAreWeird},
videurl = {https://youtu.be/1ORs07F0RsE}
}

Y. Pan, X. Zhong, L. Jin, L. Wiesmann, M. Popović, J. Behley, and C. Stachniss, “PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map,” in Proc. of Robotics: Science and Systems (RSS), 2025.
[BibTeX] [PDF] [Code] [Video]

@inproceedings{pan2025rss,
author = {Y. Pan and X. Zhong and L. Jin and L. Wiesmann and M. Popovi\'c and J. Behley and C. Stachniss},
title = {{PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map}},
booktitle = rss,
year = 2025,
codeurl = {https://github.com/PRBonn/PINGS},
videourl = {https://youtu.be/bbAw_ZC_1fI}
}

X. Zhong, Y. Pan, L. Jin, M. Popović, J. Behley, and C. Stachniss, “Globally Consistent RGB-D SLAM with 2D Gaussian Splatting,” arXiv Preprint, vol. arXiv:2506.00970, 2025.
[BibTeX] [PDF] [Code]

@article{zhong2025arxiv,
author = {X. Zhong and Y. Pan and L. Jin and M. Popovi\'c and J. Behley and C. Stachniss},
title = {{Globally Consistent RGB-D SLAM with 2D Gaussian Splatting}},
journal = arxiv,
year = 2025,
volume = {arXiv:2506.00970},
codeurl = {https://github.com/PRBonn/2DGS-SLAM}
}

L. Jin, X. Zhong, Y. Pan, J. Behley, C. Stachniss, and M. Popović, “ActiveGS: Active Scene Reconstruction Using Gaussian Splatting,” IEEE Robotics and Automation Letters (RA-L), vol. 10, iss. 5, p. 4866–4873, 2025. doi:10.1109/LRA.2025.3555149
[BibTeX] [PDF] [Code]

@article{jin2025ral,
author = {L. Jin and X. Zhong and Y. Pan and J. Behley and C. Stachniss and M. Popovi\'c},
title = {{ActiveGS: Active Scene Reconstruction Using Gaussian Splatting}},
journal = ral,
year = {2025},
volume = {10},
number = {5},
pages = {4866--4873},
issn = {2377-3766},
doi = {10.1109/LRA.2025.3555149},
codeurl = {https://github.com/dmar-bonn/active-gs}
}

H. Kuang, Y. Pan, X. Zhong, L. Wiesmann, J. Behley, and C. Stachniss, “Improving Indoor Localization Accuracy by Using an Efficient Implicit Neural Map Representation,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2025.
[BibTeX] [PDF] [Code]

@inproceedings{kuang2025icra,
author = {H. Kuang and Y. Pan and X. Zhong and L. Wiesmann and J. Behley and Stachniss, C.},
title = {{Improving Indoor Localization Accuracy by Using an Efficient Implicit Neural Map Representation}},
booktitle = icra,
year = {2025},
codeurl = {https://github.com/PRBonn/enm-mcl}
}

2024

Y. Pan, X. Zhong, L. Wiesmann, T. Posewsky, J. Behley, and C. Stachniss, “PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency,” IEEE Trans. on Robotics (TRO), vol. 40, p. 4045–4064, 2024. doi:10.1109/TRO.2024.3422055
[BibTeX] [PDF] [Code]

@article{pan2024tro,
author = {Y. Pan and X. Zhong and L. Wiesmann and T. Posewsky and J. Behley and C. Stachniss},
title = {{PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency}},
journal = tro,
year = {2024},
pages = {4045--4064},
volume = {40},
doi = {10.1109/TRO.2024.3422055},
codeurl = {https://github.com/PRBonn/PIN_SLAM}
}

X. Zhong, Y. Pan, C. Stachniss, and J. Behley, “3D LiDAR Mapping in Dynamic Environments using a 4D Implicit Neural Representation,” in Proc. of the IEEE/CVF Conf. on Computer Vision and Pattern Recognition (CVPR), 2024. doi:10.1109/CVPR52733.2024.01460
[BibTeX] [PDF] [Code] [Video]

@inproceedings{zhong2024cvpr,
author = {X. Zhong and Y. Pan and C. Stachniss and J. Behley},
title = {{3D LiDAR Mapping in Dynamic Environments using a 4D Implicit Neural Representation}},
booktitle = cvpr,
year = 2024,
doi = {10.1109/CVPR52733.2024.01460},
codeurl = {https://github.com/PRBonn/4dNDF},
videourl = {https://youtu.be/pRNKRcTkxjs}
}

2023

X. Zhong, Y. Pan, J. Behley, and C. Stachniss, “SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations,” in Proc. of the IEEE Intl. Conf. on Robotics & Automation (ICRA), 2023.
[BibTeX] [PDF] [Code] [Video]

@inproceedings{zhong2023icra,
author = {Zhong, Xingguang and Pan, Yue and Behley, Jens and Stachniss, Cyrill},
title = {{SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations}},
booktitle = icra,
year = 2023,
codeurl = {https://github.com/PRBonn/SHINE_mapping},
videourl = {https://youtu.be/jRqIupJgQZE}
}