About Me

I am a Ph.D. Candidate in autonomous systems, affiliated with both Aeronautics and Astronautics and Laboratory for Information and Decision Systems at MIT. I work on robotics, computer vision and machine learning with Prof. Sertac Karaman. My current research focuses on single-frame depth image estimation. I obtained my bachelor's degree in computer engineering from HKUST in 2013. Feel free to contact me at fcma@mit.edu.

Recent Updates

  • [Sept 5, 2018] Our work on "Invertibility of Convolutional Generative Networks from Partial Measurements" has been accepted to NIPS 2018.
  • [July 2, 2018] The paper, software, and video for our work on "Self-Supervised Depth Completion with LiDAR and Monocular Camera" have been released.
  • [May 12, 2018] Our work on "Self-Supervised Depth Completion with LiDAR and Monocular Camera" is ranked 1st on the KITTI Depth Completion Competition.
  • [March 26, 2018] Gave a talk on our work "Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image" at Nvidia GTC 2018.

Research Projects & Publications

Self-supervised Sparse-to-Dense: Self-supervised Depth Completion from LiDAR and Monocular Camera
Fangchang Ma, Guilherme Venturelli Cavalheiro, Sertac Karaman.
(under review)
(Ranked 1st on the KITTI Depth Completion Competition)
[pdf] [code] [video] [bibtex]
Invertibility of Convolutional Generative Networks from Partial Measurements
Fangchang Ma, Ulas Ayaz, Sertac Karaman.
Conference on Neural Information Processing Systems (NIPS), 2018
Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image
Fangchang Ma, Sertac Karaman.
International Conference on Robotics and Automation (ICRA), 2018
[pdf] [code] [video] [bibtex]
Sparse Depth Sensing for Resource-Constrained Robots
Fangchang Ma, Luca Carlone, Ulas Ayaz, Sertac Karaman.
International Conference on Intelligent Robots and Systems (IROS), 2016
arXiv:1703.01398, 2017
[pdf] [extended version] [code] [video] [bibtex]
On Sensing, Agility, and Computation Requirements for a Data-gathering Agile Robotic Vehicle
Fangchang Ma, Sertac Karaman.
International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014
arXiv:1704.02075, 2017
[pdf] [extended version] [bibtex]
Velocity estimator via fusing inertial measurements and multiple feature correspondences from a single camera
Guyue Zhou, Fangchang Ma, Zexiang Li, Tao Wang .
International Conference on Robotics and Biomimetics (ROBIO), 2013
[pdf] [bibtex]

Professional Activities