arXiv subjects

Chengliang Zhang

Publications and source records attributed to Chengliang Zhang.

4 recordsLinked to original sources

arXiv2026

Multi-Resolution Voxelized Map-Based Stereo Visual-Inertial Odometry

Incorporating prior maps significantly enhances the accuracy and robustness of pose estimation in visual-inertial odometry (VIO). However, the large data volume of such maps, combined with limited transmission bandwidth, makes it impractical to continuously load local maps onto an edge device. In this paper, we propose a multi-resolution prior map construction method and a corresponding map-based VIO system. The prior map is voxelized at multiple resolutions, with each voxel retaining only a single map point. During online VIO operation, a cone-shaped indexing strategy associates 2D features on the edge device with 3D map points. The cone's intercept is determined by the distance from the current position to the 3D points, enabling the selection of the appropriate resolution level and the retrieval of the unique map point within the corresponding voxel via a 3D digital differential analyzer (DDA) algorithm. This approach minimizes both the volume of data required for transmission and the computational load during data association. Extensive experiments on two public datasets demonstrate that our system achieves accurate pose estimation while requiring minimal data transmission.

cs.RO↗

arXiv2025

Generalized Geometry Encoding Volume for Real-time Stereo Matching

Real-time stereo matching methods primarily focus on enhancing in-domain performance but often overlook the critical importance of generalization in real-world applications. In contrast, recent stereo foundation models leverage monocular foundation models (MFMs) to improve generalization, but typically suffer from substantial inference latency. To address this trade-off, we propose Generalized Geometry Encoding Volume (GGEV), a novel real-time stereo matching network that achieves strong generalization. We first extract depth-aware features that encode domain-invariant structural priors as guidance for cost aggregation. Subsequently, we introduce a Depth-aware Dynamic Cost Aggregation (DDCA) module that adaptively incorporates these priors into each disparity hypothesis, effectively enhancing fragile matching relationships in unseen scenes. Both steps are lightweight and complementary, leading to the construction of a generalized geometry encoding volume with strong generalization capability. Experimental results demonstrate that our GGEV surpasses all existing real-time methods in zero-shot generalization capability, and achieves state-of-the-art performance on the KITTI 2012, KITTI 2015, and ETH3D benchmarks.

cs.CV↗

arXiv2025

Event-based Stereo Visual-Inertial Odometry with Voxel Map

The event camera, renowned for its high dynamic range and exceptional temporal resolution, is recognized as an important sensor for visual odometry. However, the inherent noise in event streams complicates the selection of high-quality map points, which critically determine the precision of state estimation. To address this challenge, we propose Voxel-ESVIO, an event-based stereo visual-inertial odometry system that utilizes voxel map management, which efficiently filter out high-quality 3D points. Specifically, our methodology utilizes voxel-based point selection and voxel-aware point management to collectively optimize the selection and updating of map points on a per-voxel basis. These synergistic strategies enable the efficient retrieval of noise-resilient map points with the highest observation likelihood in current frames, thereby ensureing the state estimation accuracy. Extensive evaluations on three public benchmarks demonstrate that our Voxel-ESVIO outperforms state-of-the-art methods in both accuracy and computational efficiency.

cs.RO↗

arXiv2021

Citadel: Protecting Data Privacy and Model Confidentiality for Collaborative Learning with SGX

With the advancement of machine learning (ML) and its growing awareness, many organizations who own data but not ML expertise (data owner) would like to pool their data and collaborate with those who have expertise but need data from diverse sources to train truly generalizable models (model owner). In such collaborative ML, the data owner wants to protect the privacy of its training data, while the model owner desires the confidentiality of the model and the training method which may contain intellectual properties. However, existing private ML solutions, such as federated learning and split learning, cannot meet the privacy requirements of both data and model owners at the same time. This paper presents Citadel, a scalable collaborative ML system that protects the privacy of both data owner and model owner in untrusted infrastructures with the help of Intel SGX. Citadel performs distributed training across multiple training enclaves running on behalf of data owners and an aggregator enclave on behalf of the model owner. Citadel further establishes a strong information barrier between these enclaves by means of zero-sum masking and hierarchical aggregation to prevent data/model leakage during collaborative training. Compared with the existing SGX-protected training systems, Citadel enables better scalability and stronger privacy guarantees for collaborative ML. Cloud deployment with various ML models shows that Citadel scales to a large number of enclaves with less than 1.73X slowdown caused by SGX.

cs.CR↗