Robot Vision Group

National Laboratory of Pattern Recognition

Institute of Automation, Chinese Academy of Sciences

Selected Publications    All Publications

Selected Journal Papers:

  1. Hao Wei, Fulin Tang, Zewen Xu, Chaofan Zhang, Yihong Wu. A Point-Line VIO System with Novel Feature Hybrids and with Novel Line Predicting-Matching. IEEE Robotics and Automation Letters, 2021. 
  2. Pengju Zhang, Chaofan Zhang，Bingxi Liu, and Yihong Wu. Leveraging Local and Global Descriptors in Parallel to Search Correspondences for Visual Localization. Pattern Recognition, 2021.
  3. Bo Liu, Lihua Hu, Qiulei Dong, and Zhanyi Hu, An Iterative Co-Training Transductive Framework for Zero Shot Learning, IEEE Transactions on Image Processing, 30: 6943-6956, 2021.
  4. Bo Liu, Qiulei Dong, and Zhanyi Hu, Semantic-diversity Transfer Network for Generalized Zero-Shot Learning via Inner Disagreement Based OOD Detector, Knowledge-Based Systems, 229: 107337, 2021.
  5. Mengqi Rong, Hainan Cui, Zhanyi Hu, Hanqing Jiang, Hongmin Liu, Shuhan Shen. Active Learning Based 3D Semantic Labeling From Images and Videos. IEEE Transactions on Circuits and Systems for Video Technology, 2021.
  6. Xiang Gao, Lingjie Zhu, Zexiao Xie, Hongmin Liu, Shuhan Shen. Incremental Rotation Averaging. International Journal of Computer Vison, 129: 1202-1216, 2021.
  7. Jinxu Liu, Wei Gao, Zhanyi Hu, Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM, IEEE Robotics and Automation Letters, 6(2): 1670-1677, 2021.
  8. Xiang Gao, Shuhan Shen, Lingjie Zhu, Tianxin Shi, Zhiheng Wang, Zhanyi Hu. Complete Scene Reconstruction by Merging Images and Laser Scans. IEEE Transactions on Circuits and Systems for Video Technology, 30(10): 3688-3701, 2020.
  9. Qiulei Dong, Xiang Gao, Hainan Cui, Zhanyi Hu. Robust Camera Translation Estimation via Rank Enforcement. IEEE Transactions on Cybernetics, 2020, doi: 10.1109/TCYB.2020.2988679.
  10. Fulin Tang, Yihong Wu, Xiaohui Hou, Haibin Ling. 3D Mapping and 6D pose Computation for Real Time Augmented Reality on Cylindrical Objects. IEEE Transacitions on Circuits and Systems for Video Technology, Vol. 30, Issue 9, pp. 2887-2899, 2020.
  11. Yihong Wu, Haoren Wang, Fulin Tang, Zhiheng Wang. Efficient Conic Fitting with a Polar-N-Direction Geometric Distance. Pattern Recognition, Vol. 90, pp. 415-423, 2019.
  12. Qiulei Dong, Hong Wang. Latent-Smoothness Nonrigid Structure from Motion by Revisiting Multi-Linear Factorization. IEEE Transactions on Cybernetics, 49(9): 3557-3570, 2019.
  13. Xiang Gao, Shuhan Shen, Yang Zhou, Hainan Cui, Lingjie Zhu, Zhanyi Hu. Ancient Chinese Architecture 3D Preservation by Merging Ground and Aerial Point Clouds. ISPRS Journal of Photogrammetry and Remote Sensing, 2018.
  14. Lei He, Guanghui Wang, Zhanyi Hu, Learning Depth from Single Images with Deep Neural Network Embedding Focal Length, IEEE Transactions on Image Processing, 27(9): 4676-4689, 2018.
  15. Yangdong Liu, Wei Gao, Zhanyi Hu. Geometrically Stable Tracking for Depth Images Based 3D Reconstruction on Mobile Devices. ISPRS Journal of Photogrammetry and Remote Sensing, 2018.
  16. Qiulei Dong, Hong Wang, Zhanyi Hu. Commentary: Using Goal-Driven Deep Learning Models to Understand Sensory Cortex. Frontiers in Computational Neuroscience, 2018.
  17. Xiang Gao, Lihua Hu, Hainan Cui, Shuhan Shen, Zhanyi Hu. Accurate and Efficient Ground-to-Aerial Model Alignment. Pattern Recognition, 76(4): 288-302, 2018.
  18. Qiulei Dong, Hong Wang, and Zhanyi Hu. Statistics of Visual Responses to Object Stimuli from Primate AIT Neurons to DNN Neurons, Neural Computation, 30:447-476, 2018.
  19. Xiaomei Zhao, Yihong Wu, Guidong Song, Zhenye Li, Yazhuo Zhang, Yong Fan. A Deep Learning Model Integrating FCNNs and CRFs for Brain Tumor Segmentation. Medical Image Analysis. 43, pp. 98-111, Jan. 2018.
  20. Miao Yu, Shuhan Shen, Zhanyi Hu. Dynamic Graph Cuts in Parallel, IEEE Transactions on Image Processing, 26(8): 3775-3788, 2017.
  21. Qiulei Dong, Bo Liu, Zhanyi Hu. Comparison of IT Neural Response Statistics with Simulations, Frontiers in Computational Neuroscience, 2017.
  22. Hainan Cui, Shuhan Shen, Zhanyi Hu. Tracks Selection for Robust, Efficient and Scalable Large-Scale Structure from Motion. Pattern Recognition, 72: 341-354, 2017.
  23. Miao Yu, Shuhan Shen, Zhanyi Hu. Dynamic Parallel and Distributed Graph Cuts. IEEE Transactions on Image Processing, 25(12): 5511-5525, 2016.
  24. Fuchao Wu, Ming Zhang, Guanghui Wang, Zhanyi Hu. Triangulation and Metric of Lines Based on Geometric Error. Computer Vision and Image Understanding, 145: 111-127, 2016.
  25. Zhenhua Wang, Bin Fan, Fuchao Wu. Exploring Local and Overall Ordinal Information for Robust Feature Description. IEEE Transactions on Pattern Analysis and Machine Intelligence, 38(11): 2198 - 2211, 2015.
  26. Youji Feng, Lixin Fan, and Yihong Wu. Fast Localization in Large Scale Environments Using Supervised Indexing of Binary Features. IEEE Transactions on Image Processing, 25(1): 343-358, 2016.
  27. Fuchao Wu, Ming Zhang, Guanghui Wang, Zhanyi Hu. Algebraic Error Based Triangulation and Metric of Lines. PLOS ONE, 10(7):1-28, 2015.
  28. Hainan Cui, Shuhan Shen, Wei Gao, Zhanyi Hu. Efficient Large-Scale Structure from Motion by Fusing Auxiliary Imaging Information. IEEE Transactions on Image Processing, 22(11): 3561-3573, 2015.
  29. Yi Yang, Hengliang Luo, Huarong Xu, Fuchao Wu. Towards real-time traffic sign detection and classification. IEEE Transactions on Intelligent Transportation Systems, 17(7): 2022 - 2031, 2015.
  30. Yihong Wu, Zhanyi Hu, Youfu Li. Radial Distortion Invariants and Lens Evaluation under a Single-Optical-Axis Omnidirectional Camera. Computer Vision and Image Understanding, 126: 11-27, 2014.
  31. Shuhan Shen, Zhanyi Hu. How to Select Good Neighboring Images in Depth-Map Merging Based 3D Modeling. IEEE Transactions on Image Processing, 23(1): 308-318, 2014.
  32. Fuchao Wu, Ming Zhang, and Zhanyi Hu. Self-Calibration under the Cayley framework. International Journal of Computer Vision, 103(3): 372-398, 2013.
  33. Shuhan Shen. Accurate Multiple View 3D Reconstruction Using Patch Based Stereo for Large-Scale Scenes. IEEE Transactions on Image Processing, 22(5): 1901-1914, 2013.
  34. Kunfeng Shi, Qiulei Dong, and Fuchao Wu. Weighted Similarity-Invariant Linear Algorithm for Camera Calibration with Rotating 1D Objects. IEEE Transactions on Image Processing, 21(8): 3806-3812, 2012.
  35. Bin Fan, Fuchao Wu, and Zhanyi Hu. Rotationally Invariant Descriptors using Intensity Order Pooling. IEEE Transactions on Pattern Analysis and Machine Intelligence, 34(10): 2031-2045, 2012.
  36. Ming Tang and Xi Peng. Robust Tracking with Discriminative Ranking Lists. IEEE Transactions on Image Processing, 21(7): 3273-3281, 2012.
  37. Xiaoming Deng, Fuchao Wu, Yihong Wu, Fuqing Duan, Liang Chang and Hongan Wang. Self-calibration of Hybrid Central Catadioptric and Perspective Cameras. Computer Vision and Image Understanding, 116(6): 715-729, 2012.
  38. Bin Fan, Fuchao Wu, and Zhanyi Hu. Robust Line Matching through Line-point Invariants. Pattern Recognition, 45(2): 794-805, 2012.
  39. Fuchao Wu, Qiang Zhang, and Zhanyi Hu. Efficient Suboptimal Solutions to the Optimal Triangulation. International Journal of Computer Vision, 91(1): 77-106, 2011.
  40. Xiangru Li and Zhanyi Hu. Rejecting Mismatches by Correspondence Function. International Journal of Computer Vision, 89(1): 1-17, 2010.
  41. Shuhan Shen, Wenhuan Shi and Yuncai Liu. Monocular 3D Tracking of Inextensible Deformable Surfaces under L2-Norm. IEEE Transactions on Image Processing, 19(2): 512-521, 2010.
  42. Shuhan Shen, Wenjuan Ma, Wenhuan Shi and Yuncai Liu. Convex Optimization for Non-Rigid Stereo Reconstruction. IEEE Transactions on Image Processing, 19(3): 782-794, 2010.
  43. Shuhan Shen, Yuncai Liu and Wu-Sheng Lu. Monocular 3D Tracking of Deformable Surfaces Using Sequential Second Order Cone Programming. Pattern Recognition, 43(1): 244-254, 2010.
  44. Yansheng Ming and Zhanyi Hu. Modeling Stereopsis via Markov Random Field, Neural Computation, 22(8): 2161-2191, 2010.
  45. Fuchao Wu , Zhiheng Wang and Xuguang Wang. Feature Vector Field and Feature Matching. Pattern Recognition, 43: 3273-3281, 2010.
  46. Fuchao Wu, Zhiheng Wang, and Zhanyi Hu. Cayley transformation and numerical stability of calibration equations. International Journal of Computer Vision, 82(4):156-184, 2009.
  47. Qiulei Dong, Yihong Wu, and Zhanyi Hu. Pointwise Motion Image (PMI): A novel motion representation and its applications to abnormality detection and behavior recognition. IEEE Transactions on Circuits and Systems for Video Technology, 19(3): 407-416, 2009.
  48. Zhiheng Wang, Fuchao Wu, and Zhanyi Hu. MSLD: A robust descriptor for line matching. Pattern Recognition, 42(5): 941-953, 2009.
  49. Yihong Wu, Youfu Li, and Zhanyi Hu. Detecting and Handling Unreliable Points for Camera Parameter Estimation. International Journal of Computer Vision, 79(2): 209-223, 2008.
  50. Fuchao Wu, Fuqing Duan, Zhanyi Hu, and Yihong Wu. A new linear algorithm for calibrating central catadioptric cameras. Pattern Recognition, 41(10): 3166-3172, 2008.
  51. Xiangru Li, Zhanyi Hu, and Fuchao Wu. A Note on the Convergence of the Mean Shift. Pattern Recognition, 40(6): 1557-1562, 2007.
  52. Fuchao Wu, Liang Wang, and Zhanyi Hu. Can Image Measurement Errors Be Totally ‘Corrected’ by the Geometric Method? Pattern Recognition, 40(7): 1971-1980, 2007.
  53. B. Zhang, Youfu Li, and Yihong Wu. Self-Recalibration of a Structured Light System via Plane-Based Homography. Pattern Recognition, 40(4): 1368-1377, 2007.
  54. Fuchao Wu and Zhanyi Hu. The LLE and a linear mapping. Pattern Recognition, 39(9): 1799-1804, 2006.
  55. Fuchao Wu and Zhanyi Hu, and Haijiang Zhu. Camera Calibration with Moving One Dimensional Objects. Pattern Recognition, 38(5): 355-265, 2005.
  56. Xianghua Ying and Zhanyi Hu. Catadioptric Camera Calibration Using Geometric Invariants. IEEE Transactions on Pattern Analysis and Machine Intelligence, 26(10): 1260-1271, 2004.
  57. Xiaoqiao Meng and Zhanyi Hu. A New Easy Camera Calibration Technique Based on Circular Points. Pattern Recognition, 36(5): 1155-1164, 2003.
  58. Yihong Wu and Zhanyi Hu. The Invariant Representations of a Cone and a Twisted Cubic. IEEE Transactions on Pattern Analysis and Machine Intelligence, 25(10): 1329-1332, 2003.
  59. Zhanyi Hu and Fuchao Wu. A Note on the Number of Solutions of the Non-Coplanar P4P problem. IEEE Transactions on Pattern Analysis and Machine Intelligence, 24(4): 550-555, 2002.

Selected Conference Papers:

  1. Hao Wei, Fulin Tang, Chaofan Zhang, Yihong Wu. Highly Efficient Line Segment Tracking with an IMU-KLT Prediction and a Convex Geometric Distance Minimization. ICRA 2021.
  2. Bo Liu, Qiulei Dong, and Zhanyi Hu, Hardness Sampling for Self-Training Based Transductive Zero-Shot Learning, In Proc. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021.
  3. Siqi Fan, Qiulei Dong, Fenghua Zhu, et al. SCF-Net: Learning Spatial Contextual Features for Large-Scale Point Cloud Segmentation, In Proc. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021.
  4. Jinxu Liu, Wei Gao, Zhanyi Hu, Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements, ICRA 2021.
  5. Bingxi Liu, Fulin Tang, Yujie Fu, Yanquan Yang, Yihong Wu. A Flexible and Efficient Loop Closure Detection Based on Motion Knowledge. ICRA 2021(Oral).
  6. Bo Liu, Qiulei Dong, and Zhanyi Hu, Zero-shot learning from Adversarial feature residual to compact visual feature, AAAI, New York, USA, pp. 11547-11554, 2020.
  7. Lang Wu, Yihong Wu. Similarity Hierarchy Based Place Recognition by Deep Supervised Hashing for SLAM. IROS 2019.
  8. Jinxu Liu, Wei Gao, Zhanyi Hu. Visual-Inertial Odometry Tightly Coupled with Wheel Encoder Adopting Robust Initialization and Online Extrinsic Calibration. IROS 2019.
  9. Fulin Tang, Heping Li, Yihong Wu. FMD Stereo SLAM: Fusing MVG and Direct Formulation Towards Accurate and Fast Stereo SLAM. ICRA, 2019.
  10. Lingjie Zhu, Shuhan Shen, Xiang Gao, Zhanyi Hu. Large Scale Urban Scene Modeling from MVS Meshes. ECCV 2018.
  11. Hainan Cui, Xiang Gao, Shuhan Shen, Zhanyi Hu. HSfM: Hybrid Structure-from-Motion. CVPR 2017 (Spotlight).
  12. Yurun Tian, Bin Fan, Fuchao Wu. L2-Net: Deep Learning of Discriminative Patch Descriptor in Euclidean Space. CVPR 2017.
  13. Ming Tang, Jiayi Feng, Multi-kernel Correlation Filter for Visual Tracking, ICCV 2015.
  14. Yanhong Bi, Bin Fan, Fuchao Wu. Beyond Mahalanobis Metric: Cayley-Klein Metric Learning, CVPR 2015.
  15. Zhenhua Wang, Bin Fan and Fuchao Wu, Affine Subspace Representation for Feature Description, ECCV 2014.
  16. Zhijun Dai, Yihong Wu, Fengjun Zhang and Hongan Wang, A Novel Fast Method for L1 Problems in Multiview Geometry, ECCV 2012.
  17. Yancheng Bai and Ming Tang, Robust Tracking via Weakly Supervised Ranking SVM, CVPR 2012.
  18. Zhenhua Wang, Bin Fan, and Fuchao Wu, Local Intensity Order Pattern for Feature Description, ICCV 2011
  19. Bin Fan, Fuchao Wu, and Zhanyi Hu, Aggregating Gradient Distributions into Intensity Orders: A Novel Local Image Descriptor, CVPR 2011
  20. Bin Fan, Fuchao Wu, and Zhanyi Hu. Line Matching Leveraged By Point Correspondences. CVPR 2010.
  21. Liang Wang, Fuchao Wu, and Zhanyi Hu. Multi-Camera Calibration with One-Dimensional Objects under General Motions. ICCV 2007.
  22. Fuchao Wu, Fuqing Duan, and Zhanyi Hu. An Affine Invariant of Parallelograms and Its Application to Camera Calibration and 3D Reconstruction. ECCV 2006.
  23. Fuchao Wu, Zhanyi Hu, and Fuqing Duan, 8-Point Algorithm Revisited: Factorized 8-Point Algorithm. ICCV 2005.
  24. Yihong Wu and Zhanyi Hu. Geometric Invariants and Applications under Catadioptric Camera Model. ICCV 2005.
  25. Xianghua Ying and Zhanyi Hu. Can We Consider Central Catadioptric Cameras and Fisheye Cameras within a Unified Imaging Model. ECCV 2004
  26. Yihong Wu, HaiJiang Zhu, Zhanyi Hu, and Fuchao Wu. Camera Calibration from the quasi-affine invariance of two parallel circles. ECCV 2004.
  27. Xianghua Ying and Zhanyi Hu. Fisheye Lenses Distortion Correction Using Spherical Perspective Projection Constraint. ICCV 2003.