1 code implementation • 28 Sep 2022 • Shreyas Kulkarni, Peng Yin, Sebastian Scherer
Additionally, we introduce a semantic consistency loss that encourages realistic renderings of novel views.
no code implementations • 22 Sep 2022 • Jingtian Yan, Xingqiao Lin, Zhongqiang Ren, Shiqi Zhao, Jieqiong Yu, Chao Cao, Peng Yin, Ji Zhang, Sebastian Scherer
To intelligently balance the robustness of sub-map merging and exploration efficiency, we develop a new approach for lidar-based multi-agent exploration, which can direct one agent to repeat another agent's trajectory in an \emph{adaptive} manner based on the quality indicator of the sub-map merging process.
no code implementations • 14 Sep 2022 • Peng Yin, Ivan Cisneros, Ji Zhang, Howie Choset, Sebastian Scherer
The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures.
1 code implementation • 9 Sep 2022 • Peng Yin, Shiqi Zhao, Ivan Cisneros, Abulikemu Abuduweili, Guoquan Huang, Micheal Milford, Changliu Liu, Howie Choset, Sebastian Scherer
A summary of this work and our datasets and evaluation API is publicly available to the robotics community at: https://github. com/MetaSLAM/GPRS.
Loop Closure Detection Simultaneous Localization and Mapping
no code implementations • 30 Aug 2022 • Peng Yin, Abulikemu Abuduweili, Shiqi Zhao, Changliu Liu, Sebastian Scherer
We present BioSLAM, a lifelong SLAM framework for learning various new appearances incrementally and maintaining accurate place recognition for previously visited areas.
no code implementations • 9 Aug 2022 • Fan Hu, Dongqi Wang, Huazhen Huang, Yishen Hu, Peng Yin
Based on these findings, we utilized a monte carlo based reinforcement learning generative model to generate novel multi-property compounds with both in vitro and in vivo efficacy, thus bridging the gap between target-based and cell-based drug discovery.
1 code implementation • 19 Jul 2022 • Ivan Cisneros, Peng Yin, Ji Zhang, Howie Choset, Sebastian Scherer
We present the ALTO dataset, a vision-focused dataset for the development and benchmarking of Visual Place Recognition and Localization methods for Unmanned Aerial Vehicles.
no code implementations • 14 Jul 2022 • Peng Yin, Haowen Lai, Shiqi Zhao, Ruohai Ge, Ji Zhang, Howie Choset, Sebastian Scherer
We present AutoMerge, a LiDAR data processing framework for assembling a large number of map segments into a complete map.
no code implementations • 6 Jul 2022 • Shiqi Zhao, Peng Yin, Ge Yi, Sebastian Scherer
Our previous work provides a viewpoint-invariant descriptor to deal with viewpoint differences; however, the global descriptor suffers from a low signal-noise ratio in unsupervised clustering, reducing the distinguishable feature extraction ability.
no code implementations • 23 Nov 2021 • Haowen Lai, Peng Yin, Sebastian Scherer
Recent years have witnessed the increasing application of place recognition in various environments, such as city roads, large buildings, and a mix of indoor and outdoor places.
2 code implementations • 20 Sep 2021 • Ziyue Feng, Longlong Jing, Peng Yin, YingLi Tian, Bing Li
Unlike the existing methods that use sparse LiDAR mainly in a manner of time-consuming iterative post-processing, our model fuses monocular image features and sparse LiDAR features to predict initial depth maps.
Ranked #1 on Depth Completion on KITTI
no code implementations • 1 Aug 2021 • Peng Yin, Lingyun Xu, Ziyue Feng, Anton Egorov, Bing Li
Accurate localization on autonomous driving cars is essential for autonomy and driving safety, especially for complex urban streets and search-and-rescue subterranean environments where high-accurate GPS is not available.
no code implementations • 29 May 2021 • Fan Hu, Lei Wang, Yishen Hu, Dongqi Wang, Weijie Wang, Jianbing Jiang, Nan Li, Peng Yin
The identification of protein-ligand interaction plays a key role in biochemical research and drug discovery.
no code implementations • 27 May 2021 • Peng Yin, Lingyun Xu, Ji Zhang, Howie Choset, Sebastian Scherer
Based on such features, we further design a spherical convolution network to learn viewpoint-invariant symmetric place descriptors.
no code implementations • 27 May 2021 • Peng Yin, Lingyun Xu, Jianmin Ji, Sebastian Scherer, Howie Choset
One of the main obstacles to 3D semantic segmentation is the significant amount of endeavor required to generate expensive point-wise annotations for fully supervised training.
no code implementations • 2 Mar 2020 • Fan Hu, Jiaxin Jiang, Peng Yin
Then, the fine-tuned model was used to select commercially available drugs against SARS-CoV-2 protein targets.
no code implementations • 29 Nov 2019 • Peng Yin, Jianing Qian, Yibo Cao, David Held, Howie Choset
In this paper, we introduce a fusion-based depth prediction method, called FusionMapping.
no code implementations • 26 Feb 2019 • Peng Yin, Rangaprasad Arun Srivatsan, Yin Chen, Xueqian Li, Hongda Zhang, Lingyun Xu, Lu Li, Zhenzhong Jia, Jianmin Ji, Yuqing He
We propose MRS-VPR, a multi-resolution, sampling-based place recognition method, which can significantly improve the matching efficiency and accuracy in sequential matching.
no code implementations • 26 Feb 2019 • Peng Yin, Lingyun Xu, Xueqian Li, Chen Yin, Yingli Li, Rangaprasad Arun Srivatsan, Lu Li, Jianmin Ji, Yuqing He
Visual Place Recognition (VPR) is an important component in both computer vision and robotics applications, thanks to its ability to determine whether a place has been visited and where specifically.
2 code implementations • ICCV 2019 • Zhe Liu, Shunbo Zhou, Chuanzhe Suo, Yingtian Liu, Peng Yin, Hesheng Wang, Yun-hui Liu
Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments.
Ranked #5 on 3D Place Recognition on CS-Campus3D