no code implementations • 15 Jan 2025 • Sheng Hong, Chunran Zheng, Yishu Shen, Changze Li, Fu Zhang, Tong Qin, Shaojie Shen
Our map system comprises a global Gaussian map and a sliding window of Gaussians, along with an IESKF-based odometry.
no code implementations • 2 Dec 2024 • Qiyuan Shen, Hengwang Zhao, Weihao Yan, Chunxiang Wang, Tong Qin, Ming Yang
In this paper, we propose a cross-modal visual relocalization system in prior LiDAR maps utilizing intensity textures, which consists of three main modules: map projection, coarse retrieval, and fine relocalization.
no code implementations • 8 Nov 2024 • Zhen Gao, Xingyu Zhou, Boyu Ning, Yu Su, Tong Qin, Dusit Niyato
The advent of ultra-massive multiple-input-multiple output systems holds great promise for next-generation communications, yet their channels exhibit hybrid far- and near- field beam-squint (HFBS) effect.
1 code implementation • 4 Aug 2024 • Changze Li, Ziheng Ji, Zhe Chen, Tong Qin, Ming Yang
Real-vehicle experiments further validate the feasibility and effectiveness of the method proposed in this paper.
no code implementations • 11 Jul 2024 • Hang Wu, Zhenghao Zhang, Siyuan Lin, Xiangru Mu, Qiang Zhao, Ming Yang, Tong Qin
Robust localization is the cornerstone of autonomous driving, especially in challenging urban environments where GPS signals suffer from multipath errors.
no code implementations • 11 Jul 2024 • Hang Wu, Zhenghao Zhang, Siyuan Lin, Tong Qin, Jin Pan, Qiang Zhao, Chunjing Xu, Ming Yang
In this paper, we propose BLOS-BEV, a novel BEV segmentation model that incorporates SD maps for accurate beyond line-of-sight perception, up to 200m.
no code implementations • 24 Jun 2024 • Tong Qin, Changze Li, Haoyang Ye, Shaowei Wan, Minzhen Li, Hongwei Liu, Ming Yang
This approach solves the key problem of large-scale reconstruction, that is where the data comes from and how to use them.
no code implementations • CVPR 2024 • Tianchen Deng, Guole Shen, Tong Qin, Jianyu Wang, Wentao Zhao, Jingchuan Wang, Danwei Wang, Weidong Chen
To this end, we introduce PLGSLAM, a neural visual SLAM system capable of high-fidelity surface reconstruction and robust camera tracking in real-time.
no code implementations • 2 May 2023 • Wenchao Ding, Jieru Zhao, Yubin Chu, Haihui Huang, Tong Qin, Chunjing Xu, Yuxiang Guan, Zhongxue Gan
However, how to cognize the ``road'' for automated vehicles where there is no well-defined ``roads'' remains an open problem.
no code implementations • 28 Dec 2022 • Liheng Bian, Haoze Song, Lintao Peng, Xuyang Chang, Xi Yang, Roarke Horstmeyer, Lin Ye, Tong Qin, Dezhi Zheng, Jun Zhang
Benefiting from its single-photon sensitivity, single-photon avalanche diode (SPAD) array has been widely applied in various fields such as fluorescence lifetime imaging and quantum computing.
1 code implementation • 4 Jun 2021 • Tong Qin, Yuxin Zheng, Tongqing Chen, Yilun Chen, Qing Su
Finally, the semantic map is compressed and distributed to production cars, which use this map for localization.
3 code implementations • 3 Jul 2020 • Tong Qin, Tongqing Chen, Yilun Chen, Qing Su
In this paper, we exploit robust semantic features to build the map and localize vehicles in parking lots.
no code implementations • 2 Jun 2020 • Tong Qin, Zhen Chen, John Jakeman, Dongbin Xiu
To circumvent the difficulty presented by the non-autonomous nature of the system, our method transforms the solution state into piecewise integration of the system over a discrete set of time instances.
no code implementations • 11 Feb 2020 • Jun Hou, Tong Qin, Kailiang Wu, Dongbin Xiu
A novel correction algorithm is proposed for multi-class classification problems with corrupted training data.
no code implementations • 24 May 2019 • Kailiang Wu, Tong Qin, Dongbin Xiu
We present a numerical approach for approximating unknown Hamiltonian systems using observation data.
4 code implementations • 11 Jan 2019 • Tong Qin, Shaozu Cao, Jie Pan, Shaojie Shen
We highlight that our system is a general framework, which can easily fuse various global sensors in a unified pose graph optimization.
4 code implementations • 11 Jan 2019 • Tong Qin, Jie Pan, Shaozu Cao, Shaojie Shen
We validate the performance of our system on public datasets and through real-world experiments with multiple sensors.
no code implementations • 13 Nov 2018 • Tong Qin, Kailiang Wu, Dongbin Xiu
We demonstrate that the ResNet block can be considered as a one-step method that is exact in temporal integration.
no code implementations • 21 Aug 2018 • Kejie Qiu, Tong Qin, Hongwen Xie, Shaojie Shen
By introducing an additional constraint in the time domain, our monocular visual-inertial tracking system can obtain continuous six degree of freedom (6-DoF) pose estimation without scale ambiguity.
1 code implementation • 2 Aug 2018 • Tong Qin, Shaojie Shen
Visual and inertial fusion is a popular technology for 6-DOF state estimation in recent years.
no code implementations • ECCV 2018 • Peiliang Li, Tong Qin, Shaojie Shen
We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios.
1 code implementation • 22 May 2018 • Tong Qin, Ling Zhou, Dongbin Xiu
For neural networks (NNs) with rectified linear unit (ReLU) or binary activation functions, we show that their training can be accomplished in a reduced parameter space.
1 code implementation • 5 Mar 2018 • Tong Qin, Perliang Li, Shaojie Shen
In this paper, we propose a monocular visual-inertial SLAM system, which can relocalize camera and get the absolute pose in a previous-built map.
11 code implementations • 13 Aug 2017 • Tong Qin, Peiliang Li, Shaojie Shen
A monocular visual-inertial system (VINS), consisting of a camera and a low-cost inertial measurement unit (IMU), forms the minimum sensor suite for metric six degrees-of-freedom (DOF) state estimation.
Robotics