11 citations · 17 across the 15 of their papers we have counts for
16 papers
SFVO: Decoupled Confidence-Guided Stereo-Flow Visual Odometry with Bidirectional PnP
Kai Zhang, Guoyang Zhao, Jun Ma
Deep learning-based visual odometry (VO) has achieved significant progress, yet most existing methods focus on a monocular approach, which suffers from scale ambiguity. Stereo VO p…
Traffic Sign Recognition in Autonomous Driving: Dataset, Benchmark, and Field Experiment
Guoyang Zhao, Weiqing Qi, Kai Zhang +7
Traffic Sign Recognition (TSR) is a core perception capability for autonomous driving, where robustness to cross-region variation, long-tailed categories, and semantic ambiguity is…
ALORE: Autonomous Large-Object Rearrangement with a Legged Manipulator
Zhihai Bi, Yushan Zhang, Kai Chen +3
Endowing robots with the ability to rearrange various large and heavy objects, such as furniture, can substantially alleviate human workload. However, this task is extremely challe…
Real-to-Sim for Highly Cluttered Environments via Physics-Consistent Inter-Object Reasoning
Tianyi Xiang, Jiahang Cao, Sikai Guo +3
Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios…
SAMP: Spatial Anchor-based Motion Policy for Collision-Aware Robotic Manipulators
Kai Chen, Zhihai Bi, Guoyang Zhao +4
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's…
MonoGlass3D: Monocular 3D Glass Detection with Plane Regression and Adaptive Feature Fusion
Kai Zhang, Guoyang Zhao, Jianxing Shi +3
Detecting and localizing glass in 3D environments poses significant challenges for visual perception systems, as the optical properties of glass often hinder conventional sensors f…
Decision-Driven Semantic Object Exploration for Legged Robots via Confidence-Calibrated Perception and Topological Subgoal Selection
Guoyang Zhao, Yudong Li, Weiqing Qi +5
Conventional navigation pipelines for legged robots remain largely geometry-centric, relying on dense SLAM representations that are fragile under rapid motion and offer limited sup…
Task-Oriented Pre-Training for Drivable Area Detection
Fulong Ma, Guoyang Zhao, Weiqing Qi +2
Pre-training techniques play a crucial role in deep learning, enhancing models' performance across a variety of tasks. By initially training on large datasets and subsequently fine…
Erase, then Redraw: A Novel Data Augmentation Approach for Free Space Detection Using Diffusion Model
Fulong Ma, Weiqing Qi, Guoyang Zhao +2
Data augmentation is one of the most common tools in deep learning, underpinning many recent advances including tasks such as classification, detection, and semantic segmentation.…
TSCLIP: Robust CLIP Fine-Tuning for Worldwide Cross-Regional Traffic Sign Recognition
Guoyang Zhao, Fulong Ma, Weiqing Qi +4
Traffic sign is a critical map feature for navigation and traffic control. Nevertheless, current methods for traffic sign recognition rely on traditional deep learning models, whic…
FisheyeDepth: A Real Scale Self-Supervised Depth Estimation Model for Fisheye Camera
Guoyang Zhao, Yuxuan Liu, Weiqing Qi +3
Accurate depth estimation is crucial for 3D scene comprehension in robotics and autonomous vehicles. Fisheye cameras, known for their wide field of view, have inherent geometric be…
CLRKDNet: Speeding up Lane Detection with Knowledge Distillation
Weiqing Qi, Guoyang Zhao, Fulong Ma +2
Road lanes are integral components of the visual perception systems in intelligent vehicles, playing a pivotal role in safe navigation. In lane detection tasks, balancing accuracy…
Monocular 3D lane detection for Autonomous Driving: Recent Achievements, Challenges, and Outlooks
Fulong Ma, Weiqing Qi, Guoyang Zhao +5
3D lane detection is essential in autonomous driving as it extracts structural and traffic information from the road in three-dimensional space, aiding self-driving cars in logical…
OmniColor: A Global Camera Pose Optimization Approach of LiDAR-360Camera Fusion for Colorizing Point Clouds
Bonan Liu, Guoyang Zhao, Jianhao Jiao +6
A Colored point cloud, as a simple and efficient 3D representation, has many advantages in various fields, including robotic navigation and scene reconstruction. This representatio…
CurbNet: Curb Detection Framework Based on LiDAR Point Cloud Segmentation
Guoyang Zhao, Fulong Ma, Weiqing Qi +3
Curb detection is a crucial function in intelligent driving, essential for determining drivable areas on the road. However, the complexity of road environments makes curb detection…
Every Dataset Counts: Scaling up Monocular 3D Object Detection with Joint Datasets Training
Fulong Ma, Xiaoyang Yan, Guoyang Zhao +4
Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, w…