590 citations · 842 across the 24 of their papers we have counts for
24 papers
Hybrid Cross-Device Localization via Neural Metric Learning and Feature Fusion
Meixia Lin, Mingkai Liu, Shuxue Peng +5
We present a hybrid cross-device localization pipeline developed for the CroCoDL 2025 Challenge. Our approach integrates a shared retrieval encoder and two complementary localizati…
Crowd-Sourced NeRF: Collecting Data from Production Vehicles for 3D Street View Reconstruction
Tong Qin, Changze Li, Haoyang Ye +4
Recently, Neural Radiance Fields (NeRF) achieved impressive results in novel view synthesis. Block-NeRF showed the capability of leveraging NeRF to build large city-scale models. F…
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…
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…
High accuracy wide field imaging method in radio interferometry
Haoyang Ye, Steve F. Gull, Sze M. Tan +1
With the development of modern radio interferometers, wide-field continuum surveys have been planned and undertaken, for which accurate wide-field imaging methods are essential. Ba…
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…
Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
Jianhao Jiao, Haoyang Ye, Yilong Zhu +1
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization…
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…
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…
LINS: A Lidar-Inertial State Estimator for Robust and Efficient Navigation
Chao Qin, Haoyang Ye, Christian E. Pranata +3
We present LINS, a lightweight lidar-inertial state estimator, for real-time ego-motion estimation. The proposed method enables robust and efficient navigation for ground vehicles…
Optimal gridding and degridding in radio interferometry imaging
Haoyang Ye, Stephen F. Gull, Sze M. Tan +1
In radio interferometry imaging, the gridding procedure of convolving visibilities with a chosen gridding function is necessary to transform visibility values into uniformly sample…
Key Ingredients of Self-Driving Cars
Rui Fan, Jianhao Jiao, Haoyang Ye +3
Over the past decade, many research articles have been published in the area of autonomous driving. However, most of them focus only on a specific technological area, such as visua…
Automatic Calibration of Multiple 3D LiDARs in Urban Environments
Jianhao Jiao, Yang Yu, Qinghai Liao +2
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively aff…
Tightly Coupled 3D Lidar Inertial Odometry and Mapping
Haoyang Ye, Yuying Chen, Ming Liu
Ego-motion estimation is a fundamental requirement for most mobile robotic applications. By sensor fusion, we can compensate the deficiencies of stand-alone sensors and provide mor…
Hierarchical Trajectory Planning for Autonomous Driving in Low-speed Driving Scenarios Based on RRT and Optimization
Yuying Chen, Haoyang Ye, Ming Liu
Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed drivi…
Visual-based Autonomous Driving Deployment from a Stochastic and Uncertainty-aware Perspective
Lei Tai, Peng Yun, Yuying Chen +3
End-to-end visual-based imitation learning has been widely applied in autonomous driving. When deploying the trained visual-based driving policy, a deterministic command is usually…
Point-cloud-based place recognition using CNN feature extraction
Ting Sun, Ming Liu, Haoyang Ye +1
This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trai…
LiDAR and Inertial Fusion for Pose Estimation by Non-linear Optimization
Haoyang Ye, Ming Liu
Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approac…
Characterization of a RS-LiDAR for 3D Perception
Zhe Wang, Yang Liu, Qinghai Liao +3
High precision 3D LiDARs are still expensive and hard to acquire. This paper presents the characteristics of RS-LiDAR, a model of low-cost LiDAR with sufficient supplies, in compar…
Extrinsic Calibration of 3D Range Finder and Camera without Auxiliary Object or Human Intervention
Qinghai Liao, Ming Liu, Lei Tai +1
Fusion of heterogeneous extroceptive sensors is the most effient and effective way to representing the environment precisely, as it overcomes various defects of each homogeneous se…
PCA-aided Fully Convolutional Networks for Semantic Segmentation of Multi-channel fMRI
Lei Tai, Haoyang Ye, Qiong Ye +1
Semantic segmentation of functional magnetic resonance imaging (fMRI) makes great sense for pathology diagnosis and decision system of medical robots. The multi-channel fMRI provid…