Welcome
I am a Professor at School of Robotics and National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University (HNU). I was a PostDoctoral Researcher at Computer Vision for Human-Computer Interaction (CV:HCI) Lab, Karlsruhe Institute of Technology (KIT), where I worked with Prof. Rainer Stiefelhagen. I obtained my PhD degree in Information Sensing and Instrumentation from Zhejiang University (ZJU). My PhD research was jointly advised by Prof. Kaiwei Wang and Prof. Jian Bai at State Key Laboratory of Modern Optical Instrumentation, ZJU, as well as Prof. Luis Miguel Bergasa at Robotics and eSafety (RobeSafe) Research Group, University of Alcalá (UAH). Before my PhD, I obtained my dual B.S. degrees in Measurement Technology and Instrumentation from Beijing Institute of Technology (BIT) and Economics from Peking University (PKU).

杨恺伦,湖南大学机器人学院教授、博士生导师、硕士生导师、入选国家高层次青年人才计划、湖南大学岳麓学者。 围绕多模态、高维度、全视角计算光学和计算视觉开展研究,以支撑自动驾驶、盲人辅助、智能交通系统、智能运动分析等应用。 2014年6月获北京理工大学测控技术与仪器和北京大学经济学双学位,2019年6月获浙江大学测试计量技术及仪器博士学位。 2017年9月至2018年9月在西班牙阿尔卡拉大学(UAH)机器人与电子安全(RobeSafe)研究组进行博士联合培养。 2019年11月至2023年1月在德国卡尔斯鲁厄理工学院(KIT)计算机视觉与人机交互(CV:HCI)实验室开展博士后研究。 在IEEE汇刊TIP、T-ITS、TMM、T-ASE、T-IV、TIM、TCI与计算机视觉、人工智能、机器人、多媒体顶会CVPR、ECCV、AAAI、ICRA、IROS、MM等期刊会议上发表论文100余篇。 现拥有及与他人合有专利40余项,4项形成技术转移,盲人视觉辅助眼镜项目获共青团中央举办的“创青春”创新创业大赛全国总冠军。 担任Robot Learning期刊AE、 智能机器人与系统国际会议ISoIRS 2024 Local Chair、 机器人顶会IEEE ICRA 2023 AE、智能车旗舰会议IEEE IV 2022 BSL研讨会主席。 获智能车旗舰会议IEEE IV 2021最佳论文奖,ECCV 2022、ACCV 2022杰出审稿人奖。 指导学生毕业在卡尔斯鲁厄理工学院、牛津大学、华为、字节跳动、蔚来汽车等单位深造或工作。

现有若干博士后、博士生、直博生、硕士生、研究助理招生名额。 教育最重要的目标莫过于塑造独立之人格、自由之精神,鼓励尝试,宽容失败,培养怀有家国情怀、志在改造人生、改造社会、改造世界的知识阶层。 深刻地认识到大学教育不仅仅是传授知识,甚至也不止培养能力,更为重要的是营造平等的学术氛围并在与同学交互的过程中启发科学思考和科学研究,形成“独立之人格”。 课题组注重营造平等的交流与探讨的气氛,提倡以co-work的形式相互合作。 Computer Vision for Panoramic Understanding Lab (CV:PU) 研究小组非常年轻,沟通融洽, 除了本小组成员外,还与卡尔斯鲁厄理工学院、浙江大学光电学院、湖南大学机器人学院的其他导师的学生一起共同学习与科研,可以充分交叉协作创新。 如果您对 {computer vision, deep learning, scene understanding, autonomous driving} 感兴趣,想到湖南大学机器人学院攻读博士、硕士学位, 或者想和我们开展科研合作,请发送邮件到 {kailun.yang at hnu.edu.cn} 。

Publications

Preprints 2024 2023 2022 2021 2020 2019 2018 2017 2016 2015

Preprints

J. Zhang, K. Yang, H. Shi, S. Reiß, K. Peng, C. Ma, H. Fu, P.H.S. Torr, K. Wang, R. Stiefelhagen.
Behind Every Domain There is a Shift: Adapting Distortion-aware Vision Transformers for Panoramic Semantic Segmentation.
[PDF] [DATA+CODE]
Q. Jiang, S. Gao, Y. Gao, K. Yang, Z. Yi, H. Shi, L. Sun, K. Wang.
Minimalist and High-Quality Panoramic Imaging with PSF-aware Transformers.
[PDF] [DATA+CODE]
H. Shi, C. Pang, J. Zhang, K. Yang, Y. Wu, H. Ni, Y. Lin, R. Stiefelhagen, K. Wang.
CoBEV: Elevating Roadside 3D Object Detection with Depth and Height Complementarity.
[PDF] [CODE]
X. Zhang, K. Yang, J. Lin, J. Yuan, Z. Li, S. Li.
VPUFormer: Visual Prompt Unified Transformer for Interactive Image Segmentation.
[PDF] [CODE]
J. Lin, J. Chen, K. Yang, A. Roitberg, S. Li, Z. Li, S. Li.
AdaptiveClick: Clicks-aware Transformer with Adaptive Focal Loss for Interactive Image Segmentation.
[PDF] [CODE]
R. Liu, K. Yang, A. Roitberg, J. Zhang, K. Peng, H. Liu, Y. Wang, R. Stiefelhagen.
TransKD: Transformer Knowledge Distillation for Efficient Semantic Segmentation.
[PDF] [CODE]
X. He, K. Yang, J. Zheng, J. Yuan, L.M. Bergasa, H. Zhang, Z. Li.
S3-MonoDETR: Supervised Shape&Scale-perceptive Deformable Transformer for Monocular 3D Object Detection.
[PDF] [CODE]
K. Peng, D. Wen, D. Schneider, J. Zhang, K. Yang, M.S. Sarfraz, R. Stiefelhagen, A. Roitberg.
RelaMiX: Exploring Few-Shot Adaptation in Video-based Action Recognition.
[PDF] [DATA+CODE]
J. Chen, J. Lin, Z. Xiao, H. Fu, K. Nai, K. Yang, Z. Li.
EPCFormer: Expression Prompt Collaboration Transformer for Universal Referring Video Object Segmentation.
[PDF] [CODE]
X. Yin, H. Shi, J. Chen, Z. Wang, Y. Ye, H. Ni, K. Yang, K. Wang.
Rethinking Event-based Human Pose Estimation with 3D Event Representations.
[PDF] [VIDEO] [DATA+CODE]
Z. Wang, K. Yang, H. Shi, Y. Zhang, F. Gao, K. Wang.
LF-PGVIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras using Points and Geodesic Segments.
[PDF] [CODE]
H. Shi, Q. Jiang, K. Yang, X. Yin, H. Ni, K. Wang.
Beyond the Field-of-View: Enhancing Scene Visibility and Perception with Clip-Recurrent Transformer.
[PDF] [DATA+CODE]
Y. Ye, H. Shi, K. Yang, Z. Wang, X. Yin, Y. Lin, M. Liu, Y. Wang, K. Wang.
Towards Anytime Optical Flow Estimation with Event Cameras.
[PDF] [CODE]
Y. Cao, H. Zhang, X. Lu, Z. Xiao, K. Yang, Y. Wang.
Towards Source-free Domain Adaptive Semantic Segmentation via Importance-aware and Prototype-contrast Learning.
[PDF] [CODE]
Q. Jiang, H. Shi, S. Gao, J. Zhang, K. Yang, L. Sun, K. Wang.
Computational Optics Meet Domain Adaptation: Transferring Semantic Segmentation Beyond Aberrations.
[PDF] [DATA+CODE]
F. Teng, J. Zhang, K. Peng, Y. Wang, R. Stiefelhagen, K. Yang.
OAFuser: Towards Omni-Aperture Fusion for Light Field Semantic Segmentation.
[PDF] [CODE]
K. Peng, D. Schneider, A. Roitberg, K. Yang, J. Zhang, C. Deng, K. Zhang, M.S. Sarfraz, R. Stiefelhagen.
MuscleMap: Towards Video-based Activated Muscle Group Estimation.
[PDF] [DATA+CODE]
Y. Chen, K. Peng, A. Roitberg, D. Schneider, J. Zhang, J. Zheng, R. Liu, Y. Chen, K. Yang, R. Stiefelhagen.
Unveiling the Hidden Realm: Self-supervised Skeleton-based Action Recognition in Occluded Environments.
[PDF] [CODE]
F. Teng, J. Zhang, J. Liu, K. Peng, X. Cheng, Z. Li, K. Yang.
LF Tracy: A Unified Single-Pipeline Approach for Salient Object Detection in Light Field Cameras.
[PDF] [CODE]
J. Jiao, X. Cheng, W. Chen, X. Yin, H. Shi, K. Yang.
Towards Precise 3D Human Pose Estimation with Multi-Perspective Spatial-Temporal Relational Transformers.
[PDF]
R. Liu, J. Zhang, K. Peng, Y. Chen, K. Cao, J. Zheng, M.S. Sarfraz, K. Yang, R. Stiefelhagen.
Fourier Prompt Tuning for Modality-Incomplete Scene Segmentation.
[PDF] [CODE]

2024

J. Zheng, J. Zhang, K. Yang, K. Peng, R. Stiefelhagen.
MateRobot: Material Recognition in Wearable Robotics for People with Visual Impairments.
In IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 2024. [PDF] [VIDEO] [CODE]
Y. Wei, K. Peng, A. Roitberg, J. Zhang, J. Zheng, R. Liu, Y. Chen, K. Yang, R. Stiefelhagen.
Elevating Skeleton-based Action Recognition with Efficient Multi-modality Self-supervision.
In IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), Seoul, Korea, April 2024. [PDF] [CODE]
K. Peng, C. Yin, J. Zheng, R. Liu, D. Schneider, J. Zhang, K. Yang, M.S. Sarfraz, R. Stiefelhagen, A. Roitberg.
Navigating Open Set Scenarios for Skeleton-based Action Recognition.
In AAAI Conference on Artificial Intelligence (AAAI), Vancouver, Canada, February 2024. [PDF] [DATA+CODE]
Z. Teng, J. Zhang, K. Yang, K. Peng, H. Shi, S. Reiß, K. Cao, R. Stiefelhagen.
360BEV: Panoramic Semantic Mapping for Indoor Bird's-Eye View.
In IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Waikoloa, HI, United States, January 2024. [PDF] [DATA+CODE]

2023

J. Zhang, H. Liu, K. Yang, X. Hu, R. Liu, R. Stiefelhagen.
CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation with Transformers.
IEEE Transactions on Intelligent Transportation Systems, 2023. [PDF] [CODE]
A. Jaus, K. Yang, R. Stiefelhagen.
Panoramic Panoptic Segmentation: Insights Into Surrounding Parsing for Mobile Agents via Unsupervised Contrastive Learning.
IEEE Transactions on Intelligent Transportation Systems, 2023. [PDF] [DATA+CODE]
H. Shi, Y. Zhou, K. Yang, X. Yin, Z. Wang, Y. Ye, Z. Yin, S. Meng, P. Li, K. Wang.
PanoFlow: Learning 360° Optical Flow for Surrounding Temporal Understanding.
IEEE Transactions on Intelligent Transportation Systems, 2023. [PDF] [VIDEO] [DATA+CODE]
K. Peng, A. Roitberg, K. Yang, J. Zhang, R. Stiefelhagen.
Delving Deep into One-Shot Skeleton-based Action Recognition with Diverse Occlusions.
IEEE Transactions on Multimedia, 2023. [PDF] [DATA+CODE]
Z. Wang, K. Yang, H. Shi, P. Li, F. Gao, J. Bai, K. Wang.
LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agents.
IEEE Transactions on Automation Science and Engineering, 2023. [PDF] [DATA+CODE]
Z. Yi, H. Shi, K. Yang, Q. Jiang, Y. Ye, Z. Wang, H. Ni, K. Wang.
FocusFlow: Boosting Key-Points Optical Flow Estimation for Autonomous Driving.
IEEE Transactions on Intelligent Vehicles, 2023. [PDF] [CODE]
X. He, F. Yang, K. Yang, J. Lin, H. Fu, M. Wang, J. Yuan, Z. Li.
SSD-MonoDETR: Supervised Scale-aware Deformable Transformer for Monocular 3D Object Detection.
IEEE Transactions on Intelligent Vehicles, 2023. [PDF] [CODE]
S. Li, K. Yang, H. Shi, J. Zhang, J. Lin, Z. Teng, Z. Li.
Bi-Mapper: Holistic BEV Semantic Mapping for Autonomous Driving.
IEEE Robotics and Automation Letters, 2023. [PDF] [CODE]
K. Cao, R. Liu, Z. Wang, K. Peng, J. Zhang, J. Zheng, Z. Teng, K. Yang, R. Stiefelhagen.
Tightly-Coupled LiDAR-Visual SLAM Based on Geometric Features for Mobile Agents.
In IEEE International Conference on Robotics and Biomimetics (ROBIO), Samui, Thailand, December 2023. [PDF]
R. Liu, J. Zhang, K. Peng, J. Zheng, K. Cao, Y. Chen, K. Yang, R. Stiefelhagen.
Open Scene Understanding: Grounded Situation Recognition Meets Segment Anything for Helping People with Visual Impairments.
In International Workshop on Assistive Computer Vision and Robotics (ACVR) with IEEE/CVF International Conference on Computer Vision (ICCV), Paris, France, October 2023. [PDF] [CODE]
G. Zhong, J. Yuan, P. Wang, K. Yang, W. Guan, Z. Li.
Contrast-augmented Diffusion Model with Fine-grained Sequence Alignment for Markup-to-Image Generation.
In ACM International Conference on Multimedia (MM), Ottawa, ON, Canada, October 2023. [PDF] [CODE]
Z. Shi, H. Shi, K. Yang, Z. Yin, Y. Lin, K. Wang.
PanoVPR: Towards Unified Perspective-to-Equirectangular Visual Place Recognition via Sliding Windows across the Panoramic View.
In IEEE International Conference on Intelligent Transportation Systems (ITSC), Bilbao, Spain, September 2023. [PDF] [DATA+CODE]
J. Zhang, R. Liu, H. Shi, K. Yang, S. Reiß, K. Peng, H. Fu, K. Wang, R. Stiefelhagen.
Delivering Arbitrary-Modal Semantic Segmentation.
In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Vancouver, Canada, June 2023. [PDF] [VIDEO] [DATA+CODE]
H. Shi, Y. Li, K. Yang, J. Zhang, K. Peng, A. Roitberg, Y. Ye, H. Ni, K. Wang, R. Stiefelhagen.
FishDreamer: Towards Fisheye Semantic Completion via Unified Image Outpainting and Segmentation.
In Omnidirectional Computer Vision (OmniCV) Workshop with IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Vancouver, Canada, June 2023. [PDF] [DATA+CODE]
M. Knaeble, G. Sailer, Z. Chen, T. Schwarz, K. Yang, M. Nadj, R. Stiefelhagen, A. Maedche.
AutoChemplete - Making Chemical Structural Formulas Accessible.
In International Web for All Conference (W4A), Austin, TX, United States, April 2023. [PDF]
C. Chen, J. Zhang, K. Yang, K. Peng, R. Stiefelhagen.
Trans4Map: Revisiting Holistic Bird's-Eye-View Mapping from Egocentric Images to Allocentric Semantics with Vision Transformers.
In IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Waikoloa, HI, United States, January 2023. [PDF] [VIDEO] [CODE]

2022

J. Zhang, K. Yang, A. Constantinescu, K. Peng, K. Müller, R. Stiefelhagen.
Trans4Trans: Efficient Transformer for Transparent Object and Semantic Scene Segmentation in Real-World Navigation Assistance.
IEEE Transactions on Intelligent Transportation Systems, 2022. [PDF] [CODE]
K. Peng, J. Fei, K. Yang, A. Roitberg, J. Zhang, F. Bieder, P. Heidenreich, C. Stiller, R. Stiefelhagen.
MASS: Multi-Attentional Semantic Segmentation of LiDAR Data for Dense Top-View Understanding.
IEEE Transactions on Intelligent Transportation Systems, 2022. [PDF] [VIDEO] [CODE]
A. Roitberg, K. Peng, D. Schneider, K. Yang, M. Koulakis, M. Martinez, R. Stiefelhagen.
Is my Model Overconfident? Towards Uncertainty-aware Driver Observation with Reliable and Interpretable Confidence Estimates.
IEEE Transactions on Intelligent Transportation Systems, 2022. [PDF]
S. Gao, K. Yang, H. Shi, K. Wang, J. Bai.
Review on Panoramic Imaging and Its Applications in Scene Understanding.
IEEE Transactions on Instrumentation and Measurement, 2022. [PDF]
Q. Jiang, H. Shi, L. Sun, S. Gao, K. Yang, K. Wang.
Annular Computational Imaging: Capture Clear Panoramic Images through Simple Lens.
IEEE Transactions on Computational Imaging, 2022. [PDF] [DATA+CODE]
J. Wang, K. Yang, S. Gao, L. Sun, C. Zhu, K. Wang, J. Bai.
High-performance Panoramic Annular Lens Design for Real-time Semantic Segmentation on Aerial Imagery.
Optical Engineering, 2022. [PDF] [DATA]
Q. Wang, J. Zhang, K. Yang, K. Peng, R. Stiefelhagen.
MatchFormer: Interleaving Attention in Transformers for Feature Matching.
In Asian Conference on Computer Vision (ACCV), Macau, China, December 2022. [PDF] [CODE]
Z. Wang, K. Yang, H. Shi, P. Li, F. Gao, K. Wang.
LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Plane.
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 2022. [PDF] [VIDEO] [DATA+CODE]
K. Peng, A. Roitberg, K. Yang, J. Zhang, R. Stiefelhagen.
TransDARC: Transformer-based Driver Activity Recognition with Latent Space Feature Calibration.
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 2022. [PDF] [VIDEO] [CODE]
L. Sun, C. Sakardis, J. Liang, Q. Jiang, K. Yang, P. Sun, Y. Ye, K. Wang, L. Van Gool.
Event-Based Fusion for Motion Deblurring with Cross-modal Attention.
In European Conference on Computer Vision (ECCV), Tel Aviv, Israel, October 2022. [Oral] [PDF] [DATA+CODE]
P.-C. Wei, K. Peng, A. Roitberg, K. Yang, J. Zhang, R. Stiefelhagen.
Multi-modal Depression Estimation based on Sub-attentional Fusion.
In International Workshop on Assistive Computer Vision and Robotics (ACVR) with European Conference on Computer Vision (ECCV), Tel Aviv, Israel, October 2022. [PDF]
J. Chen, H. Shi, Y. Ye, K. Yang, L. Sun, K. Wang.
Efficient Human Pose Estimation via 3D Event Point Cloud.
In International Conference on 3D Vision (3DV), Prague, Czechia, September 2022. [PDF] [VIDEO] [CODE]
L. Schölch, J. Steinhäuser, M. Beichter, C. Seibold, K. Yang, M. Knaeble, T. Schwarz, A. Maedche, R. Stiefelhagen.
Towards Automatic Parsing of Structured Visual Content through the Use of Synthetic Data.
In International Conference on Pattern Recognition (ICPR), Montréal Québec, Canada, August 2022. [PDF] [DATA]
W. Ou, J. Zhang, K. Peng, K. Yang, G. Jaworek, K. Müller, R. Stiefelhagen.
Indoor Navigation Assistance for Visually Impaired People via Dynamic SLAM and Panoptic Segmentation with an RGB-D Sensor.
In Joint International Conference on Digital Inclusion, Assistive Technology & Accessibility (ICCHP-AAATE), Lecco, Italy, July 2022. [PDF] [VIDEO]
M. Knaeble, Z. Chen, T. Schwarz, G. Sailer, K. Yang, R. Stiefelhagen, A. Maedche.
Accessible Chemical Structural Formulas through Interactive Document Labeling.
In Joint International Conference on Digital Inclusion, Assistive Technology & Accessibility (ICCHP-AAATE), Lecco, Italy, July 2022. [PDF]
J. Zhang, K. Yang, C. Ma, S. Reiß, K. Peng, R. Stiefelhagen.
Bending Reality: Distortion-aware Transformers for Adapting to Panoramic Semantic Segmentation.
In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), New Orleans, LA, United States, June 2022. [PDF] [CODE]
H. Shi, Y. Zhou, K. Yang, X. Yin, K. Wang.
CSFlow: Learning Optical Flow via Cross Strip Correlation for Autonomous Driving.
In IEEE Intelligent Vehicles Symposium (IV), Aachen, Germany, June 2022. [Oral] [PDF] [CODE]
X. Luo, J. Zhang, K. Yang, A. Roitberg, K. Peng, R. Stiefelhagen.
Towards Robust Semantic Segmentation of Accident Scenes via Multi-Source Mixed Sampling and Meta-Learning.
In Workshop on Autonomous Driving (WAD) with IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), New Orleans, LA, United States, June 2022. [PDF] [CODE]
K. Peng, A. Roitberg, K. Yang, J. Zhang, R. Stiefelhagen.
Should I take a walk? Estimating Energy Expenditure from Video Data.
In International Workshop on Computer Vision for Physiological Measurement (CVPM) with IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), New Orleans, LA, United States, June 2022. [PDF] [DATA+CODE]

2021

J. Zhang, C. Ma, K. Yang, A. Roitberg, K. Peng, R. Stiefelhagen.
Transfer beyond the Field of View: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation.
IEEE Transactions on Intelligent Transportation Systems, 2021. [PDF] [DATA+CODE]
J. Zhang, K. Yang, R. Stiefelhagen.
Exploring Event-driven Dynamic Context for Accident Scene Segmentation.
IEEE Transactions on Intelligent Transportation Systems, 2021. [PDF] [DATA+CODE]
K. Yang, X. Hu, R. Stiefelhagen.
Is Context-Aware CNN Ready for the Surroundings? Panoramic Semantic Segmentation in the Wild.
IEEE Transactions on Image Processing, 2021. [PDF] [DATA]
K. Xiang, K. Yang, K. Wang.
Polarization-driven Semantic Segmentation via Efficient Attention-bridged Fusion.
Optics Express, 2021. [PDF] [DATA] [CODE]
H. Chen, W. Hu, K. Yang, J. Bai, K. Wang.
Panoramic annular SLAM with loop closure and global optimization.
Applied Optics, 2021. [PDF]
K. Zhou, K. Yang, K. Wang.
Panoramic Depth Estimation via Supervised and Unsupervised Learning in Indoor Scenes.
Applied Optics, 2021. [PDF] [CODE]
Z. Ji, W. Hu, Z. Wang, K. Yang, K. Wang.
Seeing through Events: Real-Time Moving Object Sonification for Visually Impaired People using Event-Based Camera.
Sensors, 2021. [PDF] [VIDEO] [CODE]
H. Chen, K. Yang, W. Hu, J. Bai, K. Wang.
Semantic Visual Odometry based on Panoramic Annular Imaging.
Acta Optica Sinica, 2021. [PDF]
K. Peng, A. Roitberg, D. Schneider, M. Koulakis, K. Yang, R. Stiefelhagen.
Affect-DML: Context-Aware One-Shot Recognition of Human Affect using Deep Metric Learning.
In IEEE International Conference on Automatic Face and Gesture Recognition (FG), Jodhpur, India (Virtual), December 2021. [PDF] [CODE]
H. Tan, C. Chen, X. Luo, J. Zhang, C. Seibold, K. Yang, R. Stiefelhagen.
Flying Guide Dog: Walkable Path Discovery for the Visually Impaired Utilizing Drones and Transformer-based Semantic Segmentation.
In IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, December 2021. [PDF] [VIDEO] [DATA+CODE]
R. Yan, K. Yang, K. Wang.
NLFNet: Non-Local Fusion Towards Generalized Multimodal Semantic Segmentation across RGB-Depth, Polarization, and Thermal Images.
In IEEE International Conference on Robotics and Biomimetics (ROBIO), Sanya, China, December 2021. [PDF]
H. Liu, R. Liu, K. Yang, J. Zhang, K. Peng, R. Stiefelhagen.
HIDA: Towards Holistic Indoor Understanding for the Visually Impaired via Semantic Instance Segmentation with a Wearable Solid-State LiDAR Sensor.
In International Workshop on Assistive Computer Vision and Robotics (ACVR) with IEEE/CVF International Conference on Computer Vision (ICCV), Montreal, Canada (Virtual), October 2021. [PDF] [VIDEO]
J. Zhang, K. Yang, A. Constantinescu, K. Peng, K. Müller, R. Stiefelhagen.
Trans4Trans: Efficient Transformer for Transparent Object Segmentation to Help Visually Impaired People Navigate in the Real World.
In International Workshop on Assistive Computer Vision and Robotics (ACVR) with IEEE/CVF International Conference on Computer Vision (ICCV), Montreal, Canada (Virtual), October 2021. [PDF] [CODE] [UNITE.AI] [The Good AI]
J. Zhang, K. Yang, R. Stiefelhagen.
ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-based Data.
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic (Virtual), September 2021. [PDF] [VIDEO] [DATA+CODE]
C. Ma, J. Zhang, K. Yang, A. Roitberg, R. Stiefelhagen.
DensePASS: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation with Attention-Augmented Context Exchange.
In IEEE International Conference on Intelligent Transportation Systems (ITSC), Indianapolis, IN, United States (Virtual), September 2021. [PDF] [DATA+CODE]
L. Sun, J. Wang, K. Yang, K. Wu, X. Zhou, K. Wang, J. Bai.
Aerial-PASS: Panoramic Annular Scene Segmentation in Drone Videos.
In European Conference on Mobile Robots (ECMR), Bonn, Germany (Virtual), August 2021. [PDF] [VIDEO] [DATA]
A. Jaus, K. Yang, R. Stiefelhagen.
Panoramic Panoptic Segmentation: Towards Complete Surrounding Understanding via Unsupervised Contrastive Learning.
In IEEE Intelligent Vehicles Symposium (IV), Nagoya, Japan (Virtual), July 2021. [Best Paper Award] [PDF] [DATA+CODE]
S. Chen, K. Yang, R. Stiefelhagen.
DR-TANet: Dynamic Receptive Temporal Attention Network for Street Scene Change Detection.
In IEEE Intelligent Vehicles Symposium (IV), Nagoya, Japan (Virtual), July 2021. [PDF] [CODE]
W. Mao, J. Zhang, K. Yang, R. Stiefelhagen.
Panoptic Lintention Network: Towards Efficient Navigational Perception for the Visually Impaired.
In IEEE International Conference on Real-time Computing and Robotics (RCAR), Xining, China, July 2021. [PDF] [VIDEO] [CODE]
Y. Zhang, H. Chen, K. Yang, J. Zhang, R. Stiefelhagen.
Perception Framework through Real-Time Semantic Segmentation and Scene Recognition on a Wearable System for the Visually Impaired.
In IEEE International Conference on Real-time Computing and Robotics (RCAR), Xining, China, July 2021. [PDF]
K. Yang, J. Zhang, S. Reiß, X. Hu, R. Stiefelhagen.
Capturing Omni-Range Context for Omnidirectional Segmentation.
In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Nashville, TN, United States (Virtual), June 2021. [PDF] [DATA+CODE] [Zhihu] [WeChat]

2020

K. Yang, X. Hu, Y. Fang, K. Wang, R. Stiefelhagen.
Omnisupervised Omnidirectional Semantic Segmentation.
IEEE Transactions on Intelligent Transportation Systems, 2020. [PDF] [DATA+CODE]
L. Sun, K. Yang, X. Hu, W. Hu, K. Wang.
Real-time Fusion Network for RGB-D Semantic Segmentation Incorporating Unexpected Obstacle Detection for Road-driving Images.
IEEE Robotics and Automation Letters with IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, United States (Virtual), October 2020. [PDF] [CODE]
M. Martinez, K. Yang, A. Constantinescu, R. Stiefelhagen.
Helping the Blind to Get through COVID-19: Social Distancing Assistant Using Real-Time Semantic Segmentation on RGB-D Video.
Sensors, 2020. [Highlighted as an Editors' Pick] [PDF] [DATA+CODE]
W. Hu, K. Wang, K. Yang, R. Cheng, Y. Ye, L. Sun, Z. Xu.
A Comparative Study in Real-Time Scene Sonification for Visually Impaired People.
Sensors, 2020. [PDF]
Y. Fang, K. Yang, R. Cheng, L. Sun, K. Wang.
A Panoramic Localizer Based on Coarse-to-Fine Descriptors for Navigation Assistance.
Sensors, 2020. [PDF] [DATA]
W. Mao, J. Zhang, K. Yang, R. Stiefelhagen.
Can we cover navigational perception needs of the visually impaired by panoptic segmentation?
In arXiv, 2020. [PDF]
K. Yang, X. Hu, K. Wang, R. Stiefelhagen.
In Defense of Multi-Source Omni-Supervised Efficient ConvNet for Robust Semantic Segmentation in Heterogeneous Unseen Domains.
In IEEE Intelligent Vehicles Symposium (IV), Las Vegas, NV, United States (Virtual), October 2020. [PDF] [DATA+CODE]
K. Yang, X. Hu, H. Chen, K. Xiang, K. Wang, R. Stiefelhagen.
DS-PASS: Detail-Sensitive Panoramic Annular Semantic Segmentation through SwaftNet for Surrounding Sensing.
In IEEE Intelligent Vehicles Symposium (IV), Las Vegas, NV, United States (Virtual), October 2020. [PDF] [VIDEO] [DATA+CODE]
Y. Fang, K. Wang, R. Cheng, K. Yang.
CFVL: A Coarse-to-Fine Vehicle Localizer with Omnidirectional Perception across Severe Appearance Variations.
In IEEE Intelligent Vehicles Symposium (IV), Las Vegas, NV, United States (Virtual), October 2020. [PDF] [DATA]
Y. Ye, K. Yang, K. Xiang, J. Wang, K. Wang.
Universal Semantic Segmentation for Fisheye Urban Driving Images.
In IEEE International Conference on Systems, Man, and Cybernetics (SMC), Toronto, Canada (Virtual), October 2020. [PDF] [CODE]
K. Zhou, K. Wang, K. Yang.
PADENet: An Efficient and Robust Panoramic Monocular Depth Estimation Network for Outdoor Scenes.
In IEEE Intelligent Transportation Systems Conference (ITSC), Rhodes, Greece (Virtual), September 2020. [PDF] [CODE]
H. Chen, Y. Zhang, K. Yang, M. Martinez, K. Müller, R. Stiefelhagen.
Can We Unify Perception and Localization in Assisted Navigation? An Indoor Semantic Visual Positioning System for Visually Impaired People.
In International Conference on Computers Helping People with Special Needs (ICCHP), Lecco, Italy (Virtual), September 2020. [PDF] [CODE]
K. Zhou, K. Wang, K. Yang.
A Robust Monocular Depth Estimation Framework Based on Light-Weight ERF-PSPNet for Day-Night Driving Scenes.
In International Conference on Graphics, Images and Interactive Techniques (CGIIT), Sanya, China (Virtual), February 2020. [PDF] [DATA]

2019

K. Yang, X. Hu, L.M. Bergasa, E. Romera, K. Wang.
PASS: Panoramic Annular Semantic Segmentation.
IEEE Transactions on Intelligent Transportation Systems, 2019. [PDF] [DATA+CODE]
K. Yang, L.M. Bergasa, E. Romera, K. Wang.
Robustifying Semantic Cognition of Traversability across Wearable RGB-Depth Cameras.
Applied Optics, 2019. [Highlighted as an Editors' Pick] [PDF] [DATA1] [DATA2] [CODE]
W. Hu, K. Wang, H. Chen, R. Cheng, K. Yang.
An Indoor Positioning Framework Based on Panoramic Visual Odometry for Visually Impaired People.
Measurement Science and Technology, 2019. [PDF] [CODE]
H. Chen, K. Wang, W. Hu, K. Yang, R. Cheng, J. Bai.
PALVO: Visual odometry based on panoramic annular lens.
Optics Express, 2019. [HTML] [PDF]
H. Li, K. Wang, K. Yang, R. Cheng, C. Wang, L. Fei.
Unconstrained Self-Calibration of Stereo Camera on Visually Impaired Assistance Devices.
Applied Optics, 2019. [PDF]
N. Long, K. Wang, R. Cheng, W. Hu, K. Yang.
Unifying Obstacle Detection, Recognition and Fusion Based on Millimeter Wave Radar and RGB-Depth Sensors for the Visually Impaired.
Review of Scientific Instruments, 2019. [HTML] [PDF]
N. Long, K. Wang, R. Cheng, K. Yang, W. Hu, J. Bai.
Assisting the visually impaired: Multi-target warning through millimeter wave radar and RGB-depth sensors.
Journal of Electronic Imaging, 2019. [PDF]
K. Xiang, K. Wang, K. Yang.
Importance-Aware Semantic Segmentation with Efficient Pyramidal Context Network for Navigational Assistant Systems.
In IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, October 2019. [PDF] [arxiv] [CODE]
R. Cheng, K. Wang, S. Lin, W. Hu, K. Yang, X. Huang, H. Li, D. Sun, J. Bai.
Panoramic Annular Localizer: Tackling the Variation Challenges of Outdoor Localization Using Panoramic Annular Images and Active Deep Descriptors.
In IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, October 2019. [PDF] [arxiv] [DATA+CODE]
X. Hu, K. Yang, L. Fei, K. Wang.
ACNet: Attention Based Network to Exploit Complementary Features for RGBD Semantic Segmentation.
In IEEE International Conference on Image Processing (ICIP), Taipei, China, September 2019. [Main Publication in Google Scholar Metrics] [PDF] [arxiv] [CODE] [PaperWeekly] [ZhiHu] [BLOG]
D. Sun, X. Huang, K. Yang.
A Multimodal Vision Sensor for Autonomous Driving.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [arxiv] [Presentation] [CODE] [BLOG]
K. Xiang, K. Wang, K. Yang.
A Comparative Study of High-Recall Real-Time Semantic Segmentation Based on Swift Factorized Network.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [arxiv] [Presentation] [CODE]
J. Wang, J. Bai, X. Huang, X. Zhou, L. Zhao, K. Yan, J. Hou, K. Yang.
Transparent object sensing with enhanced prior from deep convolutional neural network.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [Presentation]
Y. Xu, K. Wang, K. Yang, D. Sun, J. Fu.
Semantic Segmentation of Panoramic Images Using a Synthetic Dataset.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [arxiv] [Presentation] [VIDEO] [DATA+CODE]
C. Xu, K. Wang, K. Yang, R. Cheng, J. Bai.
Semantic scene understanding on mobile device with illumination invariance for the visually impaired.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [DATA]
L. Sun, K. Wang, K. Yang, K. Xiang.
See Clearer at Night: Towards Robust Nighttime Semantic Segmentation through Day-Night Image Conversion.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [arxiv] [Presentation] [DATA] [CODE] [AITechTalk] [ZhiHu]
Y. Fang, K. Wang, R. Cheng, K. Yang, J. Bai.
Visual place recognition based on multi-level descriptors for the visually impaired people.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [Presentation]
J. Shen, K. Wang, K. Yang, K. Xiang, L. Fei, X. Hu, H. Li and H. Chen.
A Depth Estimation Framework Based on Unsupervised Learning and Cross-Modal Translation.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [Presentation]
K. Yang, X. Hu, L.M. Bergasa, E. Romera, X. Huang, D. Sun, K. Wang.
Can we PASS beyond the Field of View? Panoramic Annular Semantic Segmentation for Real-World Surrounding Perception.
In IEEE Intelligent Vehicles Symposium (IV), Paris, France, June 2019. [PDF] [VIDEO] [DATA+CODE] [BLOG]
E. Romera, L.M. Bergasa, K. Yang, J.M. Álvarez, R. Barea.
Bridging the Day and Night Domain Gap for Semantic Segmentation.
In IEEE Intelligent Vehicles Symposium (IV), Paris, France, June 2019. [PDF] [DATA]
K. Xiang, K. Wang, L. Fei, K. Yang.
Store Sign Text Recognition for Wearable Navigation Assistance System.
In International Conference on Graphics, Images and Interactive Techniques (CGIIT), Guangzhou, China, February 2019. [PDF] [BLOG]
Y. Ye, K. Wang, W. Hu, H. Li, K. Yang, L. Sun, Z. Chen.
A Wearable Vision-To-Audio Sensory Substitution Device for Blind Assistance and the Correlated Neural Substrates.
In International Conference on Graphics, Images and Interactive Techniques (CGIIT), Guangzhou, China, February 2019. [PDF]

2018

K. Yang, K. Wang, L.M. Bergasa, E. Romera, W. Hu, D. Sun, J. Sun, R. Cheng, T. Chen, E. López.
Unifying Terrain Awareness for the Visually Impaired through Real-Time Semantic Segmentation.
Sensors, 2018. Belongs to the Special Issue [Wearable Smart Devices] [HTML] [PDF] [DATA1] [DATA2] [TensorFlow] [PyTorch] [NVIDIA TX1/TX2 Implementation]
K. Yang, K. Wang, H. Chen, J. Bai.
Reducing the minimum range of a RGB-depth sensor to aid navigation in visually impaired individuals.
Applied Optics, 2018. [Highlighted as an Editors' Pick] [PDF]
S. Lin, R. Cheng, K. Wang, K. Yang.
Visual Localizer: Outdoor Localization Based on ConvNet Descriptor and Global Optimization for Visually Impaired Pedestrians.
Sensors, 2018. Belongs to the Special Issue [Sensor Technologies for Caring People with Disabilities] [HTML] [PDF] [DATA]
R. Cheng, K. Wang, K. Yang, N. Long, J. Bai, D. Liu.
Real-time pedestrian crossing lights detection algorithm for the visually impaired.
Multimedia Tools and Applications, 2018. [PDF] [DATA]
K. Yang, R. Cheng, L.M. Bergasa, E. Romera, K. Wang, N. Long.
Intersection perception through real-time semantic segmentation to assist navigation of visually impaired pedestrians.
In IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, December 2018. [PDF] [DATA1] [DATA2] [BLOG]
K. Yang, L.M. Bergasa, E. Romera, J. Wang, K. Wang, E. López.
Perception framework of water hazards beyond traversability for real-world navigation assistance systems.
In IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, December 2018. [PDF] [DATA]
K. Yang, L.M. Bergasa, E. Romera, X. Huang, K. Wang.
Predicting polarization beyond semantics for wearable robotics.
In IEEE-RAS International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018. [Spotlight Paper] [PDF] [DATA] [PyTorch] [BLOG]
J. Wang, K. Yang, W. Hu, K. Wang.
An environmental perception and navigational assistance system for visually impaired persons based on semantic stixels and sound interaction.
In IEEE International Conference on Systems, Man, and Cybernetics (SMC), Miyazaki, Japan, October 2018. [PDF] [BLOG]
N. Long, K. Wang, R. Cheng, W. Hu, K. Yang.
Low Power Millimeter Wave Radar System for the Visually Impaired.
In IET International Radar Conference (IRC), Nanjing, China, October 2018. [Excellent Paper Award] [PDF] [BLOG]
Y. Ye, K. Wang, W. Hu, K. Yang.
Study on the brain mechanisum in visual assistance for the blind.
In West-Lake Photonics Symposium (WPS), Hangzhou, China, October 2018. [PDF]
Z. Huang, K. Wang, K. Yang, R. Cheng, J. Bai.
Glass detection and recognition based on the fusion of ultrasonic sensor and RGB-D sensor for the visually impaired.
In West-Lake Photonics Symposium (WPS), Hangzhou, China, October 2018. [PDF]
N. Long, K. Wang, R. Cheng, K. Yang, W. Hu, J. Bai.
Mutiple Target Warning through Millimeter Wave Radar and RGB-Depth Sensors.
In West-Lake Photonics Symposium (WPS), Hangzhou, China, October 2018. [PDF]
K. Yang, L.M. Bergasa, E. Romera, D. Sun, K. Wang, R. Barea.
Semantic perception of curbs beyond traversability for real-world navigation assistance systems.
In IEEE International Conference on Vehicular Electronics and Safety (ICVES), Madrid, Spain, September 2018. [PDF] [DATA1] [DATA2] [BLOG]
L. Fei, K. Wang, S. Lin, K. Yang, R. Cheng and H. Chen.
Scene text detection and recognition system for visually impaired people in real world.
In SPIE Security + Defence Symposium, Berlin, Germany, September 2018. [Best Student Paper] [PDF] [Presentation] [BLOG]
N. Long, K. Wang, R. Cheng, K. Yang, J. Bai.
Fusion of Millimeter wave Radar and RGB-Depth sensors for assisted navigation of the visually impaired.
In SPIE Security + Defence Symposium, Berlin, Germany, September 2018. [PDF] [Presentation]
Z. Huang, K. Wang, K. Yang, R. Cheng, J. Bai.
Glass Detection and Recognition Based on the Fusion of Ultrasonic Sensor and RGB-D Sensor for the Visually Impaired.
In SPIE Security + Defence Symposium, Berlin, Germany, September 2018. [PDF] [Presentation]
R. Cheng, K. Wang, L. Lin, K. Yang.
Visual Localization of Key Positions for Visually Impaired People.
In International Conference on Pattern Recognition (ICPR), Beijing, China, August 2018. [PDF] [arxiv] [DATA] [CODE] [BLOG]
S. Lin, K. Wang, K. Yang, R. Cheng.
KrNet: A Kinetic Real-time Convolutional Neural Network for Navigational Assistance.
In International Conference on Computers Helping People with Special Needs (ICCHP), Linz, Austria, July 2018. [PDF] [BLOG]
K. Yang, L.M. Bergasa, E. Romera, R. Cheng, T. Chen, K. Wang.
Unifying terrain awareness through real-time semantic segmentation.
In IEEE Intelligent Vehicles Symposium (IV), Suzhou, China, June 2018. [Main Publication in Google Scholar Metrics] [PDF] [VIDEO] [DATA1] [DATA2] [TensorFlow] [PyTorch] [BLOG]
K. Yang, K. Wang, S. Lin, J. Bai, L.M. Bergasa, R. Arroyo.
Long-range Traversability Awareness and Low-lying Obstacle Negotiation with RealSense for the Visually Impaired.
In International Conference on Information Science and System (ICISS), Jeju Island, South Korea, April 2018. [PDF]
H. Chen, K. Wang, K. Yang.
Improving RealSense by Fusing Color Stereo Vision and Infrared Stereo Vision for the Visually Impaired.
In International Conference on Information Science and System (ICISS), Jeju Island, South Korea, April 2018. [PDF]
K. Yang, K. Wang, S. Lin, J. Bai, L.M. Bergasa, R. Arroyo.
Long-range Traversability Awareness and Low-lying Obstacle Negotiation with RealSense for the Visually Impaired.
In International Conference on Frontiers of Image Processing (ICFIP), Barcelona, Spain, March 2018. [Best Paper Award] [PDF] [BLOG]
H. Chen, K. Wang, K. Yang.
Improving RealSense by Fusing Color Stereo Vision and Infrared Stereo Vision for the Visually Impaired.
In International Conference on Frontiers of Image Processing (ICFIP), Barcelona, Spain, March 2018. [PDF]

2017

K. Yang, K. Wang, R. Cheng, W. Hu, X. Huang, J. Bai.
Detecting Traversable Area and Water Hazards for the Visually Impaired with a pRGB-D Sensor.
Sensors, 2017. [HTML] [PDF] [DATA]
K. Yang, K. Wang, X. Zhao, R. Cheng, J. Bai, Y. Yang, D. Liu.
IR stereo RealSense: Decreasing minimum range of navigational assistance for visually impaired individuals.
Journal of Ambient Intelligence and Smart Environments, 2017. [PDF]
R. Cheng, K. Wang, K. Yang, N. Long, W. Hu, H. Chen, J. Bai, D. Liu.
Crosswalk navigation for people with visual impairments on a wearable device.
Journal of Electronic Imaging, 2017. [PDF] [DATA1] [DATA2]
X. Huang, J. Bai, K. Wang, Q. Liu, Y. Luo, K. Yang, X. Zhang.
Target enhanced 3D reconstruction based on polarization-coded structured light.
Optics Express, 2017. [HTML] [PDF]

2016

K. Yang, K. Wang, W. Hu, J. Bai.
Expanding the Detection of Traversable Area with RealSense for the Visually Impaired.
Sensors, 2016. [HTML] [PDF]
X. Zhao, K. Wang, K. Yang, W. Hu.
Unconstrained Face Detection and Recognition Based on RGB-D Camera for the Visually Impaired.
In International Conference on Graphic and Image Processing (ICGIP), Tokyo, Japan, August 2016. [PDF]

2015

K. Yang, K. Wang, R. Cheng, X. Zhu.
A new approach of point cloud processing and scene segmentation for guiding the visually impaired.
In IET International Conference on Biomedical Image and Signal Processing (ICBISP), Beijing, China, November 2015. [PDF] [BLOG]
R. Cheng, K. Wang, K. Yang, X. Zhao.
A Ground and Obstacle Detection Algorithm for the Visually Impaired.
In IET International Conference on Biomedical Image and Signal Processing (ICBISP), Beijing, China, November 2015. [PDF]