415 citations · 480 across the 26 of their papers we have counts for
27 papers
Dr.Occ: Depth- and Region-Guided 3D Occupancy from Surround-View Cameras for Autonomous Driving
Xubo Zhu, Haoyang Zhang, Fei He +4
3D semantic occupancy prediction is crucial for autonomous driving perception, offering comprehensive geometric scene understanding and semantic recognition. However, existing meth…
UniCalib: Targetless LiDAR-Camera Calibration via Probabilistic Flow on Unified Depth Representations
Shu Han, Xubo Zhu, Ji Wu +4
Precise LiDAR-camera calibration is crucial for integrating these two sensors into robotic systems to achieve robust perception. In applications like autonomous driving, online tar…
LiDAR-enhanced 3D Gaussian Splatting Mapping
Jian Shen, Huai Yu, Ji Wu +2
This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDA…
QuadricsReg: Large-Scale Point Cloud Registration using Quadric Primitives
Ji Wu, Huai Yu, Shu Han +4
In the realm of large-scale point cloud registration, designing a compact symbolic representation is crucial for efficiently processing vast amounts of data, ensuring registration…
Frequency-Adaptive Low-Latency Object Detection Using Events and Frames
Haitian Zhang, Xiangyuan Wang, Chang Xu +5
Fusing Events and RGB images for object detection leverages the robustness of Event cameras in adverse environments and the rich semantic information provided by RGB cameras. Howev…
MCVO: A Generic Visual Odometry for Arbitrarily Arranged Multi-Cameras
Huai Yu, Junhao Wang, Yao He +2
Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems ha…
Unsupervised Multi-view UAV Image Geo-localization via Iterative Rendering
Haoyuan Li, Chang Xu, Wen Yang +3
Unmanned Aerial Vehicle (UAV) Cross-View Geo-Localization (CVGL) presents significant challenges due to the view discrepancy between oblique UAV images and overhead satellite image…
Learning Cross-view Visual Geo-localization without Ground Truth
Haoyuan Li, Chang Xu, Wen Yang +2
Cross-View Geo-Localization (CVGL) involves determining the geographical location of a query image by matching it with a corresponding GPS-tagged reference image. Current state-of-…
FE-DeTr: Keypoint Detection and Tracking in Low-quality Image Frames with Events
Xiangyuan Wang, Kuangyi Chen, Wen Yang +3
Keypoint detection and tracking in traditional image frames are often compromised by image quality issues such as motion blur and extreme lighting conditions. Event cameras offer p…
Rethinking Scale Imbalance in Semi-supervised Object Detection for Aerial Images
Ruixiang Zhang, Chang Xu, Fang Xu +4
This paper focuses on the scale imbalance problem of semi-supervised object detection(SSOD) in aerial images. Compared to natural images, objects in aerial images show smaller size…
QuadricsNet: Learning Concise Representation for Geometric Primitives in Point Clouds
Ji Wu, Huai Yu, Wen Yang +1
This paper presents a novel framework to learn a concise geometric primitive representation for 3D point clouds. Different from representing each type of primitive individually, we…
2D-3D Pose Tracking with Multi-View Constraints
Huai Yu, Kuangyi Chen, Wen Yang +2
Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localizatio…
Dynamic Coarse-to-Fine Learning for Oriented Tiny Object Detection
Chang Xu, Jian Ding, Jinwang Wang +4
Detecting arbitrarily oriented tiny objects poses intense challenges to existing detectors, especially for label assignment. Despite the exploration of adaptive label assignment in…
Attention-Enhanced Cross-modal Localization Between 360 Images and Point Clouds
Zhipeng Zhao, Huai Yu, Chenwei Lyv +2
Visual localization plays an important role for intelligent robots and autonomous driving, especially when the accuracy of GNSS is unreliable. Recently, camera localization in LiDA…
Detecting Line Segments in Motion-blurred Images with Events
Huai Yu, Hao Li, Wen Yang +2
Making line segment detectors more reliable under motion blurs is one of the most important challenges for practical applications, such as visual SLAM and 3D reconstruction. Existi…
Unsupervised Multi-View Object Segmentation Using Radiance Field Propagation
Xinhang Liu, Jiaben Chen, Huai Yu +2
We present radiance field propagation (RFP), a novel approach to segmenting objects in 3D during reconstruction given only unlabeled multi-view images of a scene. RFP is derived fr…
PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, Dasong Gao, Kuan Xu +34
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physic…
RFLA: Gaussian Receptive Field based Label Assignment for Tiny Object Detection
Chang Xu, Jinwang Wang, Wen Yang +3
Detecting tiny objects is one of the main obstacles hindering the development of object detection. The performance of generic object detectors tends to drastically deteriorate on t…
Detecting tiny objects in aerial images: A normalized Wasserstein distance and a new benchmark
Chang Xu, Jinwang Wang, Wen Yang +3
Tiny object detection (TOD) in aerial images is challenging since a tiny object only contains a few pixels. State-of-the-art object detectors do not provide satisfactory results on…
Toward Efficient and Robust Multiple Camera Visual-inertial Odometry
Yao He, Huai Yu, Wen Yang +1
Efficiency and robustness are the essential criteria for the visual-inertial odometry (VIO) system. To process massive visual data, the high cost on CPU resources and computation l…
Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics
Weikun Zhen, Huai Yu, Yaoyu Hu +1
In Simultaneous Localization And Mapping (SLAM) problems, high-level landmarks have the potential to build compact and informative maps compared to traditional point-based landmark…
Targetless Extrinsic Calibration of Stereo Cameras, Thermal Cameras, and Laser Sensors in the Wild
Taimeng Fu, Huai Yu, Wen Yang +2
The fusion of multi-modal sensors has become increasingly popular in autonomous driving and intelligent robots since it can provide richer information than any single sensor, enhan…
ORStereo: Occlusion-Aware Recurrent Stereo Matching for 4K-Resolution Images
Yaoyu Hu, Wenshan Wang, Huai Yu +2
Stereo reconstruction models trained on small images do not generalize well to high-resolution data. Training a model on high-resolution image size faces difficulties of data avail…
ULSD: Unified Line Segment Detection across Pinhole, Fisheye, and Spherical Cameras
Hao Li, Huai Yu, Wen Yang +2
Line segment detection is essential for high-level tasks in computer vision and robotics. Currently, most stateof-the-art (SOTA) methods are dedicated to detecting straight line se…