61 citations · 175 across the 19 of their papers we have counts for
19 papers
Accurate Prior-centric Monocular Positioning with Offline LiDAR Fusion
Jinhao He, Huaiyang Huang, Shuyang Zhang +3
Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purp…
FSNet: Redesign Self-Supervised MonoDepth for Full-Scale Depth Prediction for Autonomous Driving
Yuxuan Liu, Zhenhua Xu, Huaiyang Huang +2
Predicting accurate depth with monocular images is important for low-cost robotic applications and autonomous driving. This study proposes a comprehensive self-supervised framework…
FusionPortable: A Multi-Sensor Campus-Scene Dataset for Evaluation of Localization and Mapping Accuracy on Diverse Platforms
Jianhao Jiao, Hexiang Wei, Tianshuai Hu +10
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. T…
On Bundle Adjustment for Multiview PointCloud Registration
Huaiyang Huang, Yuxiang Sun, Jin Wu +5
Multiview registration is used to estimate Rigid Body Transformations (RBTs) from multiple frames and reconstruct a scene with corresponding scans. Despite the success of pairwise…
Incorporating Learnt Local and Global Embeddings into Monocular Visual SLAM
Huaiyang Huang, Haoyang Ye, Yuxiang Sun +2
Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the…
Vision-Based Autonomous Car Racing Using Deep Imitative Reinforcement Learning
Peide Cai, Hengli Wang, Huaiyang Huang +2
Autonomous car racing is a challenging task in the robotic control area. Traditional modular methods require accurate mapping, localization and planning, which makes them computati…
Comparing Representations in Tracking for Event Camera-based SLAM
Jianhao Jiao, Huaiyang Huang, Liang Li +3
This paper investigates two typical image-type representations for event camera-based tracking: time surface (TS) and event map (EM). Based on the original TS-based tracker, we mak…
3D Surfel Map-Aided Visual Relocalization with Learned Descriptors
Haoyang Ye, Huaiyang Huang, Marco Hutter +2
In this paper, we introduce a method for visual relocalization using the geometric information from a 3D surfel map. A visual database is first built by global indices from the 3D…
Greedy-Based Feature Selection for Efficient LiDAR SLAM
Jianhao Jiao, Yilong Zhu, Haoyang Ye +5
Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data associati…
Geometric Structure Aided Visual Inertial Localization
Huaiyang Huang, Haoyang Ye, Jianhao Jiao +2
Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from d…
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…
GMMLoc: Structure Consistent Visual Localization with Gaussian Mixture Models
Huaiyang Huang, Haoyang Ye, Yuxiang Sun +1
Incorporating prior structure information into the visual state estimation could generally improve the localization performance. In this letter, we aim to address the paradox betwe…
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…
The Role of the Hercules Autonomous Vehicle During the COVID-19 Pandemic: An Autonomous Logistic Vehicle for Contactless Goods Transportation
Tianyu Liu, Qinghai Liao, Lu Gan +28
Since early 2020, the coronavirus disease 2019 (COVID-19) has spread rapidly across the world. As at the date of writing this article, the disease has been globally reported in 223…
Metric Monocular Localization Using Signed Distance Fields
Huaiyang Huang, Yuxiang Sun, Haoyang Ye +1
Metric localization plays a critical role in vision-based navigation. For overcoming the degradation of matching photometry under appearance changes, recent research resorted to in…
Monocular Direct Sparse Localization in a Prior 3D Surfel Map
Haoyang Ye, Huaiyang Huang, Ming Liu
In this paper, we introduce an approach to tracking the pose of a monocular camera in a prior surfel map. By rendering vertex and normal maps from the prior surfel map, the global…
A Robust Pavement Mapping System Based on Normal-Constrained Stereo Visual Odometry
Huaiyang Huang, Rui Fan, Yilong Zhu +2
Pavement condition is crucial for civil infrastructure maintenance. This task usually requires efficient road damage localization, which can be accomplished by the visual odometry…
Real-Time, Environmentally-Robust 3D LiDAR Localization
Yilong Zhu, Bohuan Xue, Linwei Zheng +3
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment usin…
Real-Time Dense Stereo Embedded in A UAV for Road Inspection
Rui Fan, Jianhao Jiao, Jie Pan +3
The condition assessment of road surfaces is essential to ensure their serviceability while still providing maximum road traffic safety. This paper presents a robust stereo vision…