794 citations · 875 across the 16 of their papers we have counts for
16 papers
Salient Sparse Visual Odometry With Pose-Only Supervision
Siyu Chen, Kangcheng Liu, Chen Wang +3
Visual Odometry (VO) is vital for the navigation of autonomous systems, providing accurate position and orientation estimates at reasonable costs. While traditional VO methods exce…
Path Planning for Multiple Tethered Robots Using Topological Braids
Muqing Cao, Kun Cao, Shenghai Yuan +3
Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on…
3D Semantic Segmentation in the Wild: Learning Generalized Models for Adverse-Condition Point Clouds
Aoran Xiao, Jiaxing Huang, Weihao Xuan +6
Robust point cloud parsing under all-weather conditions is crucial to level-5 autonomy in autonomous driving. However, how to learn a universal 3D semantic segmentation (3DSS) mode…
DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels
Muqing Cao, Xinhang Xu, Shenghai Yuan +3
We present the dynamic model and control of DoubleBee, a novel hybrid aerial-ground vehicle consisting of two propellers mounted on tilting servo motors and two motor-driven wheels…
SVCNet: Scribble-based Video Colorization Network with Temporal Aggregation
Yuzhi Zhao, Lai-Man Po, Kangcheng Liu +5
In this paper, we propose a scribble-based video colorization network with temporal aggregation called SVCNet. It can colorize monochrome videos based on different user-given color…
Generalized 3D Self-supervised Learning Framework via Prompted Foreground-Aware Feature Contrast
Kangcheng Liu, Xinhu Zheng, Chaoqun Wang +3
Contrastive learning has recently demonstrated great potential for unsupervised pre-training in 3D scene understanding tasks. However, most existing work randomly selects point fea…
Learning-Based Defect Recognitions for Autonomous UAV Inspections
Kangcheng Liu
Automatic crack detection and segmentation play a significant role in the whole system of unmanned aerial vehicle inspections. In this paper, we have implemented a deep learning fr…
A LiDAR-Inertial-Visual SLAM System with Loop Detection
Kangcheng Liu
We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognitio…
An Integrated Visual System for Unmanned Aerial Vehicles Tracking and Landing on the Ground Vehicles
Kangcheng Liu
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have develope…
An Enhanced LiDAR-Inertial SLAM System for Robotics Localization and Mapping
Kangcheng Liu
The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improve…
A Light-Weight LiDAR-Inertial SLAM System with Loop Closing
Kangcheng Liu, Huosen Ou
In this work, we propose a lightweight integrated LiDAR-Inertial SLAM system with high efficiency and a great loop closure capacity. We found that the current State-of-the-art LiDA…
An Integrated LiDAR-SLAM System for Complex Environment with Noisy Point Clouds
Kangcheng Liu
The current LiDAR SLAM (Simultaneous Localization and Mapping) system suffers greatly from low accuracy and limited robustness when faced with complicated circumstances. From our e…
Semi-Supervised Confidence-Level-based Contrastive Discrimination for Class-Imbalanced Semantic Segmentation
Kangcheng Liu
To overcome the data-hungry challenge, we have proposed a semi-supervised contrastive learning framework for the task of class-imbalanced semantic segmentation. First and foremost,…
FG-Net: Fast Large-Scale LiDAR Point Clouds Understanding Network Leveraging Correlated Feature Mining and Geometric-Aware Modelling
Kangcheng Liu, Zhi Gao, Feng Lin +1
This work presents FG-Net, a general deep learning framework for large-scale point clouds understanding without voxelizations, which achieves accurate and real-time performance wit…
Legacy Photo Editing with Learned Noise Prior
Zhao Yuzhi, Po Lai-Man, Wang Xuehui +5
There are quite a number of photographs captured under undesirable conditions in the last century. Thus, they are often noisy, regionally incomplete, and grayscale formatted. Conve…
MMDetection: Open MMLab Detection Toolbox and Benchmark
Kai Chen, Jiaqi Wang, Jiangmiao Pang +22
We present MMDetection, an object detection toolbox that contains a rich set of object detection and instance segmentation methods as well as related components and modules. The to…