Search Results for author: Yanyong Zhang

Found 22 papers, 9 papers with code

Voxel R-CNN: Towards High Performance Voxel-based 3D Object Detection

5 code implementations31 Dec 2020 Jiajun Deng, Shaoshuai Shi, Peiwei Li, Wengang Zhou, Yanyong Zhang, Houqiang Li

In this paper, we take a slightly different viewpoint -- we find that precise positioning of raw points is not essential for high performance 3D object detection and that the coarse voxel granularity can also offer sufficient detection accuracy.

3D Object Detection object-detection +2

TransVG++: End-to-End Visual Grounding with Language Conditioned Vision Transformer

1 code implementation14 Jun 2022 Jiajun Deng, Zhengyuan Yang, Daqing Liu, Tianlang Chen, Wengang Zhou, Yanyong Zhang, Houqiang Li, Wanli Ouyang

For another, we devise Language Conditioned Vision Transformer that removes external fusion modules and reuses the uni-modal ViT for vision-language fusion at the intermediate layers.

Visual Grounding

From Multi-View to Hollow-3D: Hallucinated Hollow-3D R-CNN for 3D Object Detection

1 code implementation30 Jul 2021 Jiajun Deng, Wengang Zhou, Yanyong Zhang, Houqiang Li

To this end, in this work, we regard point clouds as hollow-3D data and propose a new architecture, namely Hallucinated Hollow-3D R-CNN ($\text{H}^2$3D R-CNN), to address the problem of 3D object detection.

3D Object Detection object-detection +1

TLP: A Deep Learning-based Cost Model for Tensor Program Tuning

1 code implementation7 Nov 2022 Yi Zhai, Yu Zhang, Shuo Liu, Xiaomeng Chu, Jie Peng, Jianmin Ji, Yanyong Zhang

Instead of extracting features from the tensor program itself, TLP extracts features from the schedule primitives.

Multi-Task Learning

Bi-LRFusion: Bi-Directional LiDAR-Radar Fusion for 3D Dynamic Object Detection

1 code implementation CVPR 2023 Yingjie Wang, Jiajun Deng, Yao Li, Jinshui Hu, Cong Liu, Yu Zhang, Jianmin Ji, Wanli Ouyang, Yanyong Zhang

LiDAR and Radar are two complementary sensing approaches in that LiDAR specializes in capturing an object's 3D shape while Radar provides longer detection ranges as well as velocity hints.

object-detection Object Detection

UniBrain: Universal Brain MRI Diagnosis with Hierarchical Knowledge-enhanced Pre-training

1 code implementation13 Sep 2023 Jiayu Lei, Lisong Dai, Haoyun Jiang, Chaoyi Wu, Xiaoman Zhang, Yao Zhang, Jiangchao Yao, Weidi Xie, Yanyong Zhang, Yuehua Li, Ya zhang, Yanfeng Wang

Magnetic resonance imaging~(MRI) have played a crucial role in brain disease diagnosis, with which a range of computer-aided artificial intelligence methods have been proposed.

Neighbor-Vote: Improving Monocular 3D Object Detection through Neighbor Distance Voting

1 code implementation6 Jul 2021 Xiaomeng Chu, Jiajun Deng, Yao Li, Zhenxun Yuan, Yanyong Zhang, Jianmin Ji, Yu Zhang

As cameras are increasingly deployed in new application domains such as autonomous driving, performing 3D object detection on monocular images becomes an important task for visual scene understanding.

Autonomous Driving Monocular 3D Object Detection +4

Two-dimensional Anti-jamming Mobile Communication Based on Reinforcement Learning

no code implementations19 Dec 2017 Liang Xiao, Guoan Han, Donghua Jiang, Hongzi Zhu, Yanyong Zhang, H. Vincent Poor

It is shown that, by applying reinforcement learning techniques, a mobile device can achieve an optimal communication policy without the need to know the jamming and interference model and the radio channel model in a dynamic game framework.

reinforcement-learning Reinforcement Learning (RL) +1

Multi-Modal 3D Object Detection in Autonomous Driving: a Survey

no code implementations24 Jun 2021 Yingjie Wang, Qiuyu Mao, Hanqi Zhu, Jiajun Deng, Yu Zhang, Jianmin Ji, Houqiang Li, Yanyong Zhang

In this survey, we first introduce the background of popular sensors used for self-driving, their data properties, and the corresponding object detection algorithms.

3D Object Detection Autonomous Driving +3

Reinforcement Learning for Robot Navigation with Adaptive Forward Simulation Time (AFST) in a Semi-Markov Model

1 code implementation13 Aug 2021 Yu'an Chen, Ruosong Ye, Ziyang Tao, Hongjian Liu, Guangda Chen, Jie Peng, Jun Ma, Yu Zhang, Jianmin Ji, Yanyong Zhang

Deep reinforcement learning (DRL) algorithms have proven effective in robot navigation, especially in unknown environments, by directly mapping perception inputs into robot control commands.

reinforcement-learning Reinforcement Learning (RL) +1

VPFNet: Improving 3D Object Detection with Virtual Point based LiDAR and Stereo Data Fusion

no code implementations29 Nov 2021 Hanqi Zhu, Jiajun Deng, Yu Zhang, Jianmin Ji, Qiuyu Mao, Houqiang Li, Yanyong Zhang

However, this approach often suffers from the mismatch between the resolution of point clouds and RGB images, leading to sub-optimal performance.

3D Object Detection Data Augmentation +2

OA-BEV: Bringing Object Awareness to Bird's-Eye-View Representation for Multi-Camera 3D Object Detection

no code implementations13 Jan 2023 Xiaomeng Chu, Jiajun Deng, Yuan Zhao, Jianmin Ji, Yu Zhang, Houqiang Li, Yanyong Zhang

To this end, we propose OA-BEV, a network that can be plugged into the BEV-based 3D object detection framework to bring out the objects by incorporating object-aware pseudo-3D features and depth features.

3D Object Detection Object +1

TrajMatch: Towards Automatic Spatio-temporal Calibration for Roadside LiDARs through Trajectory Matching

no code implementations4 Feb 2023 Haojie Ren, Sha Zhang, Sugang Li, Yao Li, Xinchen Li, Jianmin Ji, Yu Zhang, Yanyong Zhang

In this paper, we propose TrajMatch -- the first system that can automatically calibrate for roadside LiDARs in both time and space.

$P^{3}O$: Transferring Visual Representations for Reinforcement Learning via Prompting

no code implementations22 Mar 2023 Guoliang You, Xiaomeng Chu, Yifan Duan, Jie Peng, Jianmin Ji, Yu Zhang, Yanyong Zhang

In particular, we specify a prompt-transformer for representation conversion and propose a two-step training process to train the prompt-transformer for the target environment, while the rest of the DRL pipeline remains unchanged.

reinforcement-learning

Deep Reinforcement Learning for Localizability-Enhanced Navigation in Dynamic Human Environments

no code implementations22 Mar 2023 Yuan Chen, Quecheng Qiu, Xiangyu Liu, Guangda Chen, Shunyi Yao, Jie Peng, Jianmin Ji, Yanyong Zhang

The planner learns to assign different importance to the geometric features and encourages the robot to navigate through areas that are helpful for laser localization.

Navigate reinforcement-learning

USTC FLICAR: A Sensors Fusion Dataset of LiDAR-Inertial-Camera for Heavy-duty Autonomous Aerial Work Robots

no code implementations4 Apr 2023 ZiMing Wang, Yujiang Liu, Yifan Duan, Xingchen Li, Xinran Zhang, Jianmin Ji, Erbao Dong, Yanyong Zhang

In this paper, we present the USTC FLICAR Dataset, which is dedicated to the development of simultaneous localization and mapping and precise 3D reconstruction of the workspace for heavy-duty autonomous aerial work robots.

3D Reconstruction Autonomous Driving +2

EdgeCalib: Multi-Frame Weighted Edge Features for Automatic Targetless LiDAR-Camera Calibration

no code implementations25 Oct 2023 Xingchen Li, Yifan Duan, Beibei Wang, Haojie Ren, Guoliang You, Yu Sheng, Jianmin Ji, Yanyong Zhang

The edge features, which are prevalent in various environments, are aligned in both images and point clouds to determine the extrinsic parameters.

Camera Calibration

DGR: A General Graph Desmoothing Framework for Recommendation via Global and Local Perspectives

no code implementations7 Mar 2024 Leilei Ding, Dazhong Shen, Chao Wang, Tianfu Wang, Le Zhang, Hui Xiong, Yanyong Zhang

Graph Convolutional Networks (GCNs) have become pivotal in recommendation systems for learning user and item embeddings by leveraging the user-item interaction graph's node information and topology.

Recommendation Systems

PoIFusion: Multi-Modal 3D Object Detection via Fusion at Points of Interest

no code implementations14 Mar 2024 Jiajun Deng, Sha Zhang, Feras Dayoub, Wanli Ouyang, Yanyong Zhang, Ian Reid

In this work, we present PoIFusion, a simple yet effective multi-modal 3D object detection framework to fuse the information of RGB images and LiDAR point clouds at the point of interest (abbreviated as PoI).

3D Object Detection Object +1

Agent3D-Zero: An Agent for Zero-shot 3D Understanding

no code implementations18 Mar 2024 Sha Zhang, Di Huang, Jiajun Deng, Shixiang Tang, Wanli Ouyang, Tong He, Yanyong Zhang

The ability to understand and reason the 3D real world is a crucial milestone towards artificial general intelligence.

Language Modelling Scene Understanding

HVDistill: Transferring Knowledge from Images to Point Clouds via Unsupervised Hybrid-View Distillation

1 code implementation18 Mar 2024 Sha Zhang, Jiajun Deng, Lei Bai, Houqiang Li, Wanli Ouyang, Yanyong Zhang

We present a hybrid-view-based knowledge distillation framework, termed HVDistill, to guide the feature learning of a point cloud neural network with a pre-trained image network in an unsupervised man- ner.

Knowledge Distillation NER +1

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