84 citations · 188 across the 29 of their papers we have counts for
29 papers
Explicit Attention-Enhanced Fusion for RGB-Thermal Perception Tasks
Mingjian Liang, Junjie Hu, Chenyu Bao +3
Recently, RGB-Thermal based perception has shown significant advances. Thermal information provides useful clues when visual cameras suffer from poor lighting conditions, such as l…
RGB-D-Inertial SLAM in Indoor Dynamic Environments with Long-term Large Occlusion
Ran Long, Christian Rauch, Vladimir Ivan +2
This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects ove…
Peer Learning for Unbiased Scene Graph Generation
Liguang Zhou, Junjie Hu, Yuhongze Zhou +2
Unbiased scene graph generation (USGG) is a challenging task that requires predicting diverse and heavily imbalanced predicates between objects in an image. To address this, we pro…
Lifelong-MonoDepth: Lifelong Learning for Multi-Domain Monocular Metric Depth Estimation
Junjie Hu, Chenyou Fan, Liguang Zhou +3
With the rapid advancements in autonomous driving and robot navigation, there is a growing demand for lifelong learning models capable of estimating metric (absolute) depth. Lifelo…
Attentional Graph Convolutional Network for Structure-aware Audio-Visual Scene Classification
Liguang Zhou, Yuhongze Zhou, Xiaonan Qi +3
Audio-Visual scene understanding is a challenging problem due to the unstructured spatial-temporal relations that exist in the audio signals and spatial layouts of different object…
TMSTC*: A Turn-minimizing Algorithm For Multi-robot Coverage Path Planning
Junjie Lu, Bi Zeng, Jingtao Tang +1
Coverage path planning is a major application for mobile robots, which requires robots to move along a planned path to cover the entire map. For large-scale tasks, coverage path pl…
MultiRoboLearn: An open-source Framework for Multi-robot Deep Reinforcement Learning
Junfeng Chen, Fuqin Deng, Yuan Gao +4
It is well known that it is difficult to have a reliable and robust framework to link multi-agent deep reinforcement learning algorithms with practical multi-robot applications. To…
Learning to Coordinate for a Worker-Station Multi-robot System in Planar Coverage Tasks
Jingtao Tang, Yuan Gao, Tin Lun Lam
For massive large-scale tasks, a multi-robot system (MRS) can effectively improve efficiency by utilizing each robot's different capabilities, mobility, and functionality. In this…
Dense Depth Distillation with Out-of-Distribution Simulated Images
Junjie Hu, Chenyou Fan, Mete Ozay +2
We study data-free knowledge distillation (KD) for monocular depth estimation (MDE), which learns a lightweight model for real-world depth perception tasks by compressing it from a…
Context-aware Mixture-of-Experts for Unbiased Scene Graph Generation
Liguang Zhou, Yuhongze Zhou, Tin Lun Lam +1
Scene graph generation (SGG) has gained tremendous progress in recent years. However, its underlying long-tailed distribution of predicate classes is a challenging problem. For ext…
Feature Pyramid Attention based Residual Neural Network for Environmental Sound Classification
Liguang Zhou, Yuhongze Zhou, Xiaonan Qi +3
Environmental sound classification (ESC) is a challenging problem due to the unstructured spatial-temporal relations that exist in the sound signals. Recently, many studies have fo…
Deep Depth Completion from Extremely Sparse Data: A Survey
Junjie Hu, Chenyu Bao, Mete Ozay +4
Depth completion aims at predicting dense pixel-wise depth from an extremely sparse map captured from a depth sensor, e.g., LiDARs. It plays an essential role in various applicatio…
Whole-Body Control for Velocity-Controlled Mobile Collaborative Robots Using Coupling Dynamic Movement Primitives
Zhangjie Tu, Tianwei Zhang, Lei Yan +1
In this paper, we propose a unified whole-body control framework for velocity-controlled mobile collaborative robots which can distribute task motion into the arm and mobile base a…
RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects
Ran Long, Christian Rauch, Tianwei Zhang +3
This work presents a novel dense RGB-D SLAM approach for dynamic planar environments that enables simultaneous multi-object tracking, camera localisation and background reconstruct…
Abnormal Occupancy Grid Map Recognition using Attention Network
Fuqin Deng, Hua Feng, Mingjian Liang +6
The occupancy grid map is a critical component of autonomous positioning and navigation in the mobile robotic system, as many other systems' performance depends heavily on it. To g…
FEANet: Feature-Enhanced Attention Network for RGB-Thermal Real-time Semantic Segmentation
Fuqin Deng, Hua Feng, Mingjian Liang +7
The RGB-Thermal (RGB-T) information for semantic segmentation has been extensively explored in recent years. However, most existing RGB-T semantic segmentation usually compromises…
AB-Mapper: Attention and BicNet Based Multi-agent Path Finding for Dynamic Crowded Environment
Huifeng Guan, Yuan Gao, Min Zhao +3
Multi-agent path finding in dynamic crowded environments is of great academic and practical value for multi-robot systems in the real world. To improve the effectiveness and effici…
Meta Reinforcement Learning Based Sensor Scanning in 3D Uncertain Environments for Heterogeneous Multi-Robot Systems
Junfeng Chen, Yuan Gao, Junjie Hu +2
We study a novel problem that tackles learning based sensor scanning in 3D and uncertain environments with heterogeneous multi-robot systems. Our motivation is two-fold: first, 3D…
View Blind-spot as Inpainting: Self-Supervised Denoising with Mask Guided Residual Convolution
Yuhongze Zhou, Liguang Zhou, Tin Lun Lam +1
In recent years, self-supervised denoising methods have shown impressive performance, which circumvent painstaking collection procedure of noisy-clean image pairs in supervised den…
Learn2Agree: Fitting with Multiple Annotators without Objective Ground Truth
Chongyang Wang, Yuan Gao, Chenyou Fan +4
The annotation of domain experts is important for some medical applications where the objective ground truth is ambiguous to define, e.g., the rehabilitation for some chronic disea…
AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments
Tianwei Zhang, Huayan Zhang, Xiaofei Li +3
Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic e…
PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time
Huayan Zhang, Tianwei Zhang, Tin Lun Lam +1
Dynamic environments that include unstructured moving objects pose a hard problem for Simultaneous Localization and Mapping (SLAM) performance. The motion of rigid objects can be t…
Object-to-Scene: Learning to Transfer Object Knowledge to Indoor Scene Recognition
Bo Miao, Liguang Zhou, Ajmal Mian +2
Accurate perception of the surrounding scene is helpful for robots to make reasonable judgments and behaviours. Therefore, developing effective scene representation and recognition…
BORM: Bayesian Object Relation Model for Indoor Scene Recognition
Liguang Zhou, Jun Cen, Xingchao Wang +3
Scene recognition is a fundamental task in robotic perception. For human beings, scene recognition is reasonable because they have abundant object knowledge of the real world. The…