Ray (Rui) Zhang 张锐

Toyota Research Institute

4440 El Camino Real

Los Altos, CA 94022

I’m currently a Research Scientist at Toyota Research Institute, where I develop realtime perception algorithms for autonomous robots. My research interest lies in the theory and applications of robot perception, computer vision, and geometric deep learning methods.

Previously, I completed my Robotics PhD at Computational Autonomy and Robotics Laboratory (CURLY) and the Perceptual Robotics Laboratory (PeRL) at University of Michigan, Ann Arbor, adviced by Professor Maani Ghaffari and Professor Ryan Eustice. I also had collabrations with Professor Jessy Grizzle and research internships at Amazon Lab126 and Mathworks. Additionally, I served as a student investor in the space of Robotics/AI at Wolverine Venture Fund.

news

Jun 1, 2026	One paper accepted at CVPR 26 (Highlight).
May 1, 2026	One paper accepted at ECC 26
Dec 1, 2025	One paper accepted at TPAMI.

selected publications

Full list on Google Scholar

CVPR

Generalized-CVO: Fast and Correspondence-Free Local Point Cloud Registration with Second Order Riemannian Optimization

Zhang, Ray, Greiff, Marcus, Lew, Thomas, and Subosits, John

In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Jun 2026
TPAMI

RKHS-BA: A Robust Correspondence-Free Multi-View Bundle Adjustment Framework for Semantic Point Clouds

Zhang, Ray, Song, Jingwei, Gao, Xiang, Wu, Junzhe, Liu, Tiany, Zhang, Jinyuan, Eustice, Ryan, and Ghaffari, Maani

IEEE Transactions on Pattern Analysis and Machine Intelligence Jun 2025
ECCV

Correspondence-Free SE (3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning

Zhang, Ray, Zhou, Zheming, Sun, Min, Ghasemalizadeh, Omid, Kuo, Cheng-Hao, Eustice, Ryan, Ghaffari, Maani, and Sen, Arnie

Proceedings of the European conference on computer vision Jun 2024

projects

Generalized-CVO
Fast and correspondence-free point cloud registration in RKHS with second-order Riemannian optimization

code