CUHK YAN XU's HOMEPAGE

Yan Xu

(Samuel Xu)

yanxu [at] link [dot] cuhk.edu.hk

Multimedia Laboratory, CUHK

About

Yan Xu is a fourth-year PhD candidate in the Multimedia Laboratory, Chinese University of Hong Kong, advised by Prof. Hongsheng Li and Prof. Xiaogang Wang. Before this, he received his M.S. degree in the State Key Lab of CAD&CG, Zhejiang University, supervised by Prof. Guofeng Zhang and Prof. Hujun Bao. During his PhD, he actively collaborates with researchers from research institutes worldwide, including MIT, Stanford, HKU, Reality Labs Research, Baidu Research, etc.

His current research interests revolve around 3D computer vision. His long-term goal is to create an intelligent system that can perceive, understand and interact with the physical world.

Recent News

Oct 19, 2022: Have a talk at Baidu Research!
Sep 10, 2022: One paper accepted to CoRL 2022!
Aug 4, 2022: One paper accepted to SIGGRAPH Asia 2022!
Jul 9, 2022: One paper accepted to TIP 2022!
Jun 20, 2022: Start a research scientist internship in Reality Labs Research!
Mar 3, 2022: Two papers accepted to CVPR 2022!
Dec 17, 2021: One paper accepted to RAL 2022!

Selected Projects

Robotic Perception: depth completion, scene representation, object pose estimation, concept understanding
State Estimation: odometry, localization

Learning-Based 3D Reconstruction

ICCV 2019 : LiDAR Depth Completion

CoRL 2020, RA-L 2022, ICRA 2022:
Learning-Based LiDAR Odometry

CVPR 2022: Visual Grounding

CoRL 2022: Embodied Concept
Learner

CVPR 2022: 6-DoF Object
Pose Estimation

Urban-level Neural Radiance Field
(Under Review)

Publications

Embodied Concept Learner: Self-supervised Learning of Concepts and Mapping through Instruction Following

Mingyu Ding, Yan Xu, Zhenfang Chen, David Daniel Cox, Ping Luo, Joshua B. Tenenbaum, Chuang Gan

Conference on Robot Learning (CoRL), 2022.

NeuralMarker: A Framework for Learning General Marker Correspondence

Zhaoyang Huang, Xiaokun Pan, Weihong Pan, Weikang Bian, Yan Xu, KaChun Cheung, Guofeng Zhang, Hongsheng Li

SIGGRAPH Asia, 2022.

RNNPose: Recurrent 6-DoF Object Pose Refinement with Robust Correspondence Field Estimation and Pose Optimization

Yan Xu, Junyi Lin, Guofeng Zhang, Xiaogang Wang, Hongsheng Li

Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

Improving Visual Grounding with Visual-Linguistic Verification and Iterative Reasoning

Li Yang*, Yan Xu*, Chunfeng Yuan, Wei Liu, Bing Li, Weiming Hu (* denotes equal contribution)

Conference on Computer Vision and Pattern Recognition (CVPR), 2022.

Robust Self-supervised LiDAR Odometry via Representative Structure Discovery and 3D Inherent Error Modeling

Yan Xu, Junyi Lin, Jianping Shi, Guofeng Zhang, Xiaogang Wang, Hongsheng Li

IEEE Robotics and Automation Letters (RA-L), 2022 (also accepted by ICRA 2022).

PDNet: Towards Better One-stage Object Detection with Prediction Decoupling

Li Yang, Yan Xu, Shaoru Wang, Chunfeng Yuan, Ziqi Zhang, Bing Li, Weiming Hu

IEEE Transactions on Image Processing (TIP), 2022.

VS-Net: Voting with Segmentation for Visual Localization.

Zhaoyang Huang*, Han Zhou*, Yijin Li, Bangbang Yang, Yan Xu, Xiaowei Zhou Hujun Bao, Guofeng Zhang, Hongsheng Li (* denotes equal contribution)

Conference on Computer Vision and Pattern Recognition (CVPR), 2021.

SelfVoxeLO: Self-supervised LiDAR Odometry with Voxel-based Deep Neural Networks.

Yan Xu, Zhaoyang Huang, Kwan-Yee Lin, Xinge Zhu, Jianping Shi, Hujun Bao, Guofeng Zhang, Hongsheng Li

Conference on Robot Learning (CoRL), 2020.

SSN: Shape Signature Networks for Multi-class Object Detection from Point Clouds .

Xinge Zhu, Yuexin Ma, Tai Wang, Yan Xu, Jianping Shi, Dahua Lin

European Conference on Computer Vision (ECCV), 2020.

Depth Completion from Sparse LiDAR Data with Depth-normal Constraints.

Yan Xu, Xinge Zhu, Jianping Shi, Guofeng Zhang, Hujun Bao, Hongsheng Li

International Conference on Computer Vision (ICCV), 2019.

Prior Guided Dropout for Robust Visual Localization in Dynamic Environments.

Zhaoyang Huang, Yan Xu, Jianping Shi, Xiaowei Zhou, Hujun Bao, Guofeng Zhang

International Conference on Computer Vision (ICCV), 2019.

Teaching Assistant

ELEG2401 Introduction to Embedded systems, Fall 2019
TECS2461 Machine Intelligence — Principles and Applications, Spring 2020
ELEG2401 Introduction to Embedded systems, Fall 2020
ELEG1130 Multivariable Calculus for Engineers, Spring 2021