5 papers
Preserve, Then Resolve: Many-to-Many Association and Robust Estimation with General-Purpose Visual Features
Haodong Jiang, Mingzhe Li, Junfeng Wu
The semantic transferability of general-purpose visual features does not guarantee geometric consistency across images. Using frozen DINOv3 features, we show that geometrically cor…
Fully Distributed State Estimation for Multi-agent Systems and its Application in Cooperative Localization
Shuaiting Huang, Haodong Jiang, Chengcheng Zhao +2
In this paper, we investigate the distributed state estimation problem for a continuous-time linear multi-agent system (MAS) composed of agents and monitored by the ag…
Bilateral Differentially Private Vertical Federated Boosted Decision Trees
Bokang Zhang, Zhikun Zhang, Haodong Jiang +5
Federated learning is a distributed machine learning paradigm that enables collaborative training across multiple parties while ensuring data privacy. Gradient Boosting Decision Tr…
SCORE: Saturated Consensus Relocalization in Semantic Line Maps
Haodong Jiang, Xiang Zheng, Yanglin Zhang +4
We present SCORE, a visual relocalization system that achieves unprecedented map compactness by adopting semantically labeled 3D line maps. SCORE requires only 0.01\%-0.1\% of the…
Inteval Analysis for two spherical functions arising from robust Perspective-n-Lines problem
Xiang Zheng, Haodong Jiang, Junfeng Wu
This report presents a comprehensive interval analysis of two spherical functions derived from the robust Perspective-n-Lines (PnL) problem. The study is motivated by the applicati…