Jianhao Zheng (郑鉴浩)

I am a Ph.D. student in the Gradient Spaces Lab at Stanford University, advised by Prof. Iro Armeni. Since March 2026, I have also been a Research Scientist Intern at NVIDIA’s Dynamic Vision and Learning group, working with Prof. Laura Leal-Taixé. Previously, I received my M.Sc. in Robotics from EPFL, completed my master’s thesis at ETH Zürich with Iro Armeni, Daniel Barath, and Marc Pollefeys, and interned in robotics at Schindler. I received my B.E. in Mechanical Engineering from Shanghai Jiao Tong University. My research focuses on dynamic SLAM, 3D/4D reconstruction, and video generation.

Selected Publications

WildPose overview comparing camera trajectories in dynamic and static environments

WildPose: A Unified Framework for Robust Pose Estimation in the Wild

Jianhao Zheng, Liyuan Zhu, Zihan Zhu, Iro Armeni

CVPR, 2026

paper code website video

ReScene4D instance segmentation maintaining consistent object identities across changing indoor scenes

ReScene4D: Temporally Consistent Semantic Instance Segmentation of Evolving Indoor 3D Scenes

Emily Steiner, Jianhao Zheng, Henry Howard-Jenkins, Chris Xie, Iro Armeni

CVPR, 2026

paper code website

WildGS-SLAM reconstructing a scene and tracking the camera despite moving people

WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments

Jianhao Zheng*, Zihan Zhu*, Valentin Bieri, Marc Pollefeys, Songyou Peng, Iro Armeni

CVPR, 2025

paper code website video

MAP-ADAPT semantic map with different reconstruction resolutions for different regions

MAP-ADAPT: Real-Time Quality-Adaptive Semantic 3D Maps

Jianhao Zheng, Daniel Barath, Marc Pollefeys, Iro Armeni

ECCV, 2024

paper code website video

CrossLoc framework for aerial localization using real and synthetic images

CrossLoc: Scalable Aerial Localization Assisted by Multimodal Synthetic Data

Qi Yan, Jianhao Zheng, Simon Reding, Shanci Li, Iordan Doytchinov

CVPR, 2022

paper code website video

Comparison of model predictive controllers for micro aerial vehicle trajectory tracking

Linear and Nonlinear Model Predictive Control Strategies for Trajectory Tracking Micro Aerial Vehicles: A Comparative Study

Izzet Kagan Erunsal, Jianhao Zheng, Rodrigo Ventura, Alcherio Martinoli

IROS, 2022

paper video

Teaching

Teaching Assistant, CEE-342: Designing for Gradient Spaces, Stanford University (Spring 2024, 2025, 2026).
Teaching Assistant, EE-477: Multivariable Control and Coordination Systems, EPFL (Fall 2021).

Honors & Awards

Outstanding Reviewer (top 5%), CVPR 2026.
Outstanding Reviewer (top 3%), ICCV 2025.
CIFE Seed Research Grant — Vision-Based 4D Reconstruction and Localization for Dynamic Construction Scenes, 2024–2025.

Academic Service

Workshop co-organizer: Long-Term Perception workshops at IROS 2026 and IROS 2024.
Conference reviewer: CVPR, ECCV, ICCV, 3DV, NeurIPS, ICML, IROS, and ICRA.
Journal reviewer: IEEE Robotics and Automation Letters (RA-L) and IEEE Transactions on Visualization and Computer Graphics (TVCG).