269 citations · 1.5k across the 54 of their papers we have counts for
13 papers · 1 filter
Rethinking Road Surface 3D Reconstruction and Pothole Detection: From Perspective Transformation to Disparity Map Segmentation
Rui Fan, Umar Ozgunalp, Yuan Wang +2
Potholes are one of the most common forms of road damage, which can severely affect driving comfort, road safety and vehicle condition. Pothole detection is typically performed by…
Computer Stereo Vision for Autonomous Driving
Rui Fan, Li Wang, Mohammud Junaid Bocus +1
As an important component of autonomous systems, autonomous car perception has had a big leap with recent advances in parallel computing architectures. With the use of tiny but ful…
Learning Collision-Free Space Detection from Stereo Images: Homography Matrix Brings Better Data Augmentation
Rui Fan, Hengli Wang, Peide Cai +4
Collision-free space detection is a critical component of autonomous vehicle perception. The state-of-the-art algorithms are typically based on supervised learning. The performance…
Conditional Link Prediction of Category-Implicit Keypoint Detection
Ellen Yi-Ge, Rui Fan, Zechun Liu +1
Keypoints of objects reflect their concise abstractions, while the corresponding connection links (CL) build the skeleton by detecting the intrinsic relations between keypoints. Ex…
CoT-AMFlow: Adaptive Modulation Network with Co-Teaching Strategy for Unsupervised Optical Flow Estimation
Hengli Wang, Rui Fan, Ming Liu
The interpretation of ego motion and scene change is a fundamental task for mobile robots. Optical flow information can be employed to estimate motion in the surroundings. Recently…
Loop-box: Multi-Agent Direct SLAM Triggered by Single Loop Closure for Large-Scale Mapping
M Usman Maqbool Bhutta, Manohar Kuse, Rui Fan +2
In this paper, we present a multi-agent framework for real-time large-scale 3D reconstruction applications. In SLAM, researchers usually build and update a 3D map after applying no…
Agile Reactive Navigation for A Non-Holonomic Mobile Robot Using A Pixel Processor Array
Yanan Liu, Laurie Bose, Colin Greatwood +6
This paper presents an agile reactive navigation strategy for driving a non-holonomic ground vehicle around a preset course of gates in a cluttered environment using a low-cost pro…
Applying Surface Normal Information in Drivable Area and Road Anomaly Detection for Ground Mobile Robots
Hengli Wang, Rui Fan, Yuxiang Sun +1
The joint detection of drivable areas and road anomalies is a crucial task for ground mobile robots. In recent years, many impressive semantic segmentation networks, which can be u…
SNE-RoadSeg: Incorporating Surface Normal Information into Semantic Segmentation for Accurate Freespace Detection
Rui Fan, Hengli Wang, Peide Cai +1
Freespace detection is an essential component of visual perception for self-driving cars. The recent efforts made in data-fusion convolutional neural networks (CNNs) have significa…
ATG-PVD: Ticketing Parking Violations on A Drone
Hengli Wang, Yuxuan Liu, Huaiyang Huang +8
In this paper, we introduce a novel suspect-and-investigate framework, which can be easily embedded in a drone for automated parking violation detection (PVD). Our proposed framewo…
We Learn Better Road Pothole Detection: from Attention Aggregation to Adversarial Domain Adaptation
Rui Fan, Hengli Wang, Mohammud J. Bocus +1
Manual visual inspection performed by certified inspectors is still the main form of road pothole detection. This process is, however, not only tedious, time-consuming and costly,…
Three-Filters-to-Normal: An Accurate and Ultrafast Surface Normal Estimator
Rui Fan, Hengli Wang, Bohuan Xue +4
This paper proposes three-filters-to-normal (3F2N), an accurate and ultrafast surface normal estimator (SNE), which is designed for structured range sensor data, e.g., depth/dispar…
Active Perception with A Monocular Camera for Multiscopic Vision
Weihao Yuan, Rui Fan, Michael Yu Wang +1
We design a multiscopic vision system that utilizes a low-cost monocular RGB camera to acquire accurate depth estimation for robotic applications. Unlike multi-view stereo with ima…