About Me

I am Pengfei Li, a robotics master student in Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University.
I graduated from Zhejiang University with honors, majoring in Electrical Engineering. I was also a member of Advanced Class of Engineering Education(ACEE) in Chu Kochen Honor College.
In summer 2017, I took part in the International Summer Research Program in UCSD from July 6th to September 6th. I spent a very happy time working under the guidance of Prof. Atanasov as a research intern.
In summer 2016, I attended SENG Summer Camp For Elite Students in HKUST and visited some of the labs in SENG.
I am really interested in Robotics Design, Control and Sensing. I did some projects about wheeled robots, bipedal robots and exoskeleton based on artificial muscle. I strongly believe that 'Iron man' will come true in the near future. Currently, I am trying to employ some deep learning methods to extract semantic information from image squence.


Johns Hopkins University, Laboratory for Computational Sensing and Robotics 08/2018-Present
Master of Science in Engineering in Robotics (Robotics MSE), expected in 06/2020;
Zhejiang University (ZJU), College of Electrical Engineering 09/2014-07/2018
Bachelor of Engineering in Electrical Engineering and Automation, expected in 06/2018;
Cumulative GPA: 3.86/4.00 (88.26/100); Professional Ranking: 17/177.
Zhejiang University, Chu Kochen Honors College 05/2015-07/2018
Minor: Advanced Honor Class of Engineering Education (40 students selected from 5600,
received honors coursework training in Modern Engineering and cross-disciplinary sciences).
University of California, San Diego, Jacobs School of Engineering 07/2017-09/2017
Research Intern, International Summer Research Program
Advisor: Prof. Nikolay A. Atanasov
Project: Semantic Simultaneous Localization and Mapping (SLAM) in Robotic Mapping
and Navigation.


And most important, have the courage to follow your heart and intuition. They somehow already know what you truly want to become. Everything else is secondary.
-- Steve Jobs

State Key Lab of CAD & CG, Zhejiang University

Research Intern, Research on the Semantic Simultaneous Localization and Mapping (SLAM)
Advisor: Dr. Xiaowei Zhou

10/2017 - Present
  • Implemented Visual-Inertial Odometry (VIO) based on filter methods in MATLAB, compared the
    results with ground truth with KITTI dataset;
  • Detected landmarks (vechiles) based on 'Single Shot MultiBox Detector'; detected semantic
    keypoints on these landmarks based on 'staked hourglass'
  • Estimated the 6-DoF pose of landmarks in KITTI dataset, by optimizing the loss function with
    projective gradient descent; improved accuracy and convergence speed by applying the
    Gauss-Newton method on Lie Algebra (a real vector space)
  • Programed in ROS using C++ and Python; Visualized the results in Rviz
  • Trying to fuse the measurement in the image sequence, aiming to enhance the trajectory
    and map accuracy with the reconstructed 3D map of landmarks.

Existential Robotics Laboratory, University of California, San Diego

Research Intern, Research on the Simultaneous Localization and Mapping (SLAM)
Advisor: Prof. Nikolay A. Atanasov

  • Studied the different methods for robotics localization and mapping, including
    encoder model, occupancy grid mapping, Multi-State Constraint Kalman Filter (MSCKF),
    Kalman filter, recursive Bayesian filter, and PHD filter; analyzed the advantages and
    disadvantages of the aformentioned methods
  • Compared classical SLAM with Semantic SLAM; implemented Kalman filer and the
    Gaussian Mixture PHD filter with Matlab, as well as DPM and PHD filter in the ROS to
    construct a map of chairs in the simulation environment.
  • view report

Group of Networked Sensing and Control, Zhejiang University

Research Intern, Study on Unmanned Aerial Vehicle (UAV) Positioning based on Acoustic Array
Advisor: Prof. Zhiguo Shi

  • Applied MUSIC algorithm to estimate UAV’s Direction of Arrival (DOA);
  • Processed the data acquired from NI DAQ in Mtalab; programmed in the upper monitor via LabVIEW;
  • Our paper 'Feature Extracted DOA Estimation Algorithm Using Acoustic Array for Drone Surveilliance'
    was accepted by 2018 IEEE 87th Vehicular Technology Conference.

Zhejiang University Joint Robot Laboratory

Research Assistant & Team Leader, Research on the Gait Planning and
Modeling Analysis of Bipedal Robot, Aldebaran - ZJU Joint Robot Laboratory

  • Developed a robot control method based on the bipedal robot produced
    by Aldebaran Robotics;
  • Adopted the human-like inverted pendulum as the motion model and the ZMP
    theory to keep the balance of the robot;
  • Recognized a table tennis with the built-in camera based on the color feature;
  • controlled the robot to walk toward the ball and kick it;
  • Drove the bipedal robot to climb stairs.

Research Assistant & Team Leader, Robot Indoor Self-localization
and Multi-robot Communication Aldebaran - ZJU Joint Robot Laboratory

  • Applied NI Labview software to control the robot real-time
    via Wireless Local Area Networks;
  • Improved the kinematic mathematical model of robot and
    applied it to robot self-localization;
  • Implemented artificial potential field method and A* planner
    on the DaNI robot to acquire ideal path and to navigate;

Students Research Innovation Program of Zhejiang Province

Co-researcher, Passive Artificial Exoskeleton System based on Pneumatic Muscles
Advisor: Prof. Tao Liu

  • Implemented control system in MCU program to manage the gas flow;
  • Analyzed the structure and movement mechanism of human body; calculated the movement
    energy expenditure, the size of the cylinder, the maximum air pressure within the cylinder;
  • Applied for and obtained the national patent.

Supcon Cup Robotics Competition, Zhejiang University

Team Leader, Supcon Cup Robotics Competition
Robot Shopping Challenge

  • Designed the structure of the robot in Solidworks and AutoCAD,
    programmed in Arduino;
  • Involved in the hardware and software design to make the robot
    track the line on the ground and find path automatically;
  • Developed the visual recognition system by Open Source Computer
    Vision Library (OpenCV), aiming to take the right item on the shelf
    for scoring.

Honors & Awards

Outstanding Graduates of Zhejiang University, Awarded on Undergraduate Period 2018
First-class Scholarship for Outstanding Students (top 5%) 2016
Second-class Scholarship for Outstanding Students (top 10%); 2015
University-level outstanding student cadres; 2015
Mathematical Contest in Modeling (Honorable Mentions), COMAP (U.S.A); 2015
The Third Prize of Zhejiang University Mathematical Contest in Modeling; 2015
The Third Prize of China Undergraduate Physics Tournament in Zhejiang Province. 2015



C, C++, Matlab, Python, Verilog , HTML, Latex


ROS, Lab VIEW, Keil, Pspice, NI Multisim, SolidWorks, AutoCAD, ISE® Design Suite, Arduino.


Class of 2018, ACEE

Advanced Class of Engineering Education in Chu Kochen Honor College

Supervisor Dr. Zhou and me

ZJURV Group, State Key Lab of CAD&CG

My lovely girlfriend and me

We both graduated from Zhejiang University in 2018

A photo with pilot sculputure

USS Midway aircraft carrier

Prof. Chien and me

UC San Diego ISRP

Go boating in San Diego

Kayaking excursion in San Diego

Visit my friends in Los Angels

UC Los Angels

Supervisor Prof. Atanasov and my teammates

Exsitential Robotics Lab

Prof. CHENG and me

SENG Summer Camp


Get In Touch

Thank you so much for browsing my webpage. Hope you can give me an interview chance to talk about my research interests and experiences in detail. The followings are my contact information.

  • Send Message
  • Address

    Room 418, Mengminwei Building, Zijingang Campus, Zhejiang University, 866 Yuhangtang Road, Xihu District, 310058
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  • Phone

  • Email


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