Search Results for author: Hanjiang Hu

Found 14 papers, 13 papers with code

Real-Time Safe Control of Neural Network Dynamic Models with Sound Approximation

1 code implementation20 Apr 2024 Hanjiang Hu, Jianglin Lan, Changliu Liu

For the online real-time optimization, we formulate the first-order Taylor approximation of the nonlinear worst-case safety constraint as an additional linear layer of NNDM with the l2 bounded bias term for the higher-order remainder.

Pixel-wise Smoothing for Certified Robustness against Camera Motion Perturbations

1 code implementation22 Sep 2023 Hanjiang Hu, Zuxin Liu, Linyi Li, Jiacheng Zhu, Ding Zhao

The current certification process for assessing robustness is costly and time-consuming due to the extensive number of image projections required for Monte Carlo sampling in the 3D camera motion space.

Autonomous Driving

Datasets and Benchmarks for Offline Safe Reinforcement Learning

3 code implementations15 Jun 2023 Zuxin Liu, Zijian Guo, Haohong Lin, Yihang Yao, Jiacheng Zhu, Zhepeng Cen, Hanjiang Hu, Wenhao Yu, Tingnan Zhang, Jie Tan, Ding Zhao

This paper presents a comprehensive benchmarking suite tailored to offline safe reinforcement learning (RL) challenges, aiming to foster progress in the development and evaluation of safe learning algorithms in both the training and deployment phases.

Autonomous Driving Benchmarking +4

Robustness Certification of Visual Perception Models via Camera Motion Smoothing

2 code implementations4 Oct 2022 Hanjiang Hu, Zuxin Liu, Linyi Li, Jiacheng Zhu, Ding Zhao

To this end, we study the robustness of the visual perception model under camera motion perturbations to investigate the influence of camera motion on robotic perception.

Image Classification

Investigating the Impact of Multi-LiDAR Placement on Object Detection for Autonomous Driving

1 code implementation CVPR 2022 Hanjiang Hu, Zuxin Liu, Sharad Chitlangia, Akhil Agnihotri, Ding Zhao

To this end, we introduce an easy-to-compute information-theoretic surrogate metric to quantitatively and fast evaluate LiDAR placement for 3D detection of different types of objects.

3D Object Detection Autonomous Driving +2

A Registration-aided Domain Adaptation Network for 3D Point Cloud Based Place Recognition

1 code implementation9 Dec 2020 Zhijian Qiao, Hanjiang Hu, Weiang Shi, Siyuan Chen, Zhe Liu, Hesheng Wang

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather variance.

3D Place Recognition Autonomous Driving +2

SeasonDepth: Cross-Season Monocular Depth Prediction Dataset and Benchmark under Multiple Environments

1 code implementation9 Nov 2020 Hanjiang Hu, Baoquan Yang, Zhijian Qiao, Shiqi Liu, Jiacheng Zhu, Zuxin Liu, Wenhao Ding, Ding Zhao, Hesheng Wang

Different environments pose a great challenge to the outdoor robust visual perception for long-term autonomous driving, and the generalization of learning-based algorithms on different environments is still an open problem.

Autonomous Driving Depth Estimation +4

DASGIL: Domain Adaptation for Semantic and Geometric-aware Image-based Localization

1 code implementation1 Oct 2020 Hanjiang Hu, Zhijian Qiao, Ming Cheng, Zhe Liu, Hesheng Wang

Long-Term visual localization under changing environments is a challenging problem in autonomous driving and mobile robotics due to season, illumination variance, etc.

Autonomous Driving Domain Adaptation +5

Retrieval-based Localization Based on Domain-invariant Feature Learning under Changing Environments

1 code implementation23 Sep 2019 Hanjiang Hu, Hesheng Wang, Zhe Liu, Chenguang Yang, Weidong Chen, Le Xie

To retrieve a target image from the database, the query image is first encoded using the encoder belonging to the query domain to obtain a domain-invariant feature vector.

Autonomous Driving Retrieval +2

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