Search Results for author: Haoyang Ye

Found 15 papers, 6 papers with code

3D Surfel Map-Aided Visual Relocalization with Learned Descriptors

no code implementations8 Apr 2021 Haoyang Ye, Huaiyang Huang, Marco Hutter, Timothy Sandy, Ming Liu

In this paper, we introduce a method for visual relocalization using the geometric information from a 3D surfel map.

Camera Relocalization

Geometric Structure Aided Visual Inertial Localization

1 code implementation9 Nov 2020 Huaiyang Huang, Haoyang Ye, Jianhao Jiao, Yuxiang Sun, Ming Liu

To take the advantages of both, in this work, we present a complete visual inertial localization system based on a hybrid map representation to reduce the computational cost and increase the positioning accuracy.

Autonomous Navigation Visual Localization

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration

2 code implementations27 Oct 2020 Jianhao Jiao, Haoyang Ye, Yilong Zhu, Ming Liu

This paper proposes a system to achieve robust and simultaneous extrinsic calibration, odometry, and mapping for multiple LiDARs.

Simultaneous Localization and Mapping

GMMLoc: Structure Consistent Visual Localization with Gaussian Mixture Models

1 code implementation24 Jun 2020 Huaiyang Huang, Haoyang Ye, Yuxiang Sun, Ming Liu

Incorporating prior structure information into the visual state estimation could generally improve the localization performance.

Simultaneous Localization and Mapping Visual Localization

Monocular Direct Sparse Localization in a Prior 3D Surfel Map

no code implementations23 Feb 2020 Haoyang Ye, Huaiyang Huang, Ming Liu

The tracked points with and without the global planar information involve both global and local constraints of frames to the system.

Camera Localization

Optimal gridding and degridding in radio interferometry imaging

1 code implementation17 Jun 2019 Haoyang Ye, Stephen F. Gull, Sze M. Tan, Bojan Nikolic

In radio interferometry imaging, the gridding procedure of convolving visibilities with a chosen gridding function is necessary to transform visibility values into uniformly sampled grid points.

Instrumentation and Methods for Astrophysics

Key Ingredients of Self-Driving Cars

no code implementations7 Jun 2019 Rui Fan, Jianhao Jiao, Haoyang Ye, Yang Yu, Ioannis Pitas, Ming Liu

Over the past decade, many research articles have been published in the area of autonomous driving.

Autonomous Driving Self-Driving Cars

Automatic Calibration of Multiple 3D LiDARs in Urban Environments

no code implementations13 May 2019 Jianhao Jiao, Yang Yu, Qinghai Liao, Haoyang Ye, Ming Liu

Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements.

Autonomous Vehicles

Tightly Coupled 3D Lidar Inertial Odometry and Mapping

1 code implementation15 Apr 2019 Haoyang Ye, Yuying Chen, Ming Liu

By sensor fusion, we can compensate the deficiencies of stand-alone sensors and provide more reliable estimations.

Motion Estimation Sensor Fusion

Point-cloud-based place recognition using CNN feature extraction

no code implementations23 Oct 2018 Ting Sun, Ming Liu, Haoyang Ye, Dit-yan Yeung

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction.

Extrinsic Calibration of 3D Range Finder and Camera without Auxiliary Object or Human Intervention

no code implementations2 Mar 2017 Qinghai Liao, Ming Liu, Lei Tai, Haoyang Ye

In this paper, we proposed a novel extrinsic calibration approach for the extrinsic calibration of range and image sensors.

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