arXiv subjects

Haoyang Ye

Publications and source records attributed to Haoyang Ye.

At least 19 recordsLinked to original sources

arXiv2026

Hybrid Cross-Device Localization via Neural Metric Learning and Feature Fusion

We present a hybrid cross-device localization pipeline developed for the CroCoDL 2025 Challenge. Our approach integrates a shared retrieval encoder and two complementary localization branches: a classical geometric branch using feature fusion and PnP, and a neural feed-forward branch (MapAnything) for metric localization conditioned on geometric inputs. A neural-guided candidate pruning strategy further filters unreliable map frames based on translation consistency, while depth-conditioned localization refines metric scale and translation precision on Spot scenes. These components jointly lead to significant improvements in recall and accuracy across both HYDRO and SUCCU benchmarks. Our method achieved a final score of 92.62 (R@0.5m, 5{\deg}) during the challenge.

cs.CV↗

arXiv2025

Roadmap on Incentive Compatibility for AI Alignment and Governance in Sociotechnical Systems

The burgeoning integration of artificial intelligence (AI) into human society brings forth significant implications for societal governance and safety. While considerable strides have been made in addressing AI alignment challenges, existing methodologies primarily focus on technical facets, often neglecting the intricate sociotechnical nature of AI systems, which can lead to a misalignment between the development and deployment contexts. To this end, we posit a new problem worth exploring: Incentive Compatibility Sociotechnical Alignment Problem (ICSAP). We hope this can call for more researchers to explore how to leverage the principles of Incentive Compatibility (IC) from game theory to bridge the gap between technical and societal components to maintain AI consensus with human societies in different contexts. We further discuss three classical game problems for achieving IC: mechanism design, contract theory, and Bayesian persuasion, in addressing the perspectives, potentials, and challenges of solving ICSAP, and provide preliminary implementation conceptions.

cs.AI↗

arXiv2024

1-arcsecond imaging of ELAIS-N1 field at 144MHz using the LoTSS survey with international LOFAR telescope

We present the first wide area (2.5 x 2.5 deg^2) LOFAR High Band Antenna image at a resolution of 1.2'' x 2'' with a median noise of approximately 80 microJy per beam. It was made from an 8-hour International LOFAR Telescope (ILT) observation of the ELAIS-N1 field at frequencies ranging from 120 to 168 MHz with the most up-to-date ILT imaging methods. This intermediate resolution falls between the highest possible resolution (0.3'') achievable by using all International LOFAR Telescope (ILT) baselines and the standard 6-arcsecond resolution in the LoTSS (LOFAR Two-meter Sky Survey) image products utilising the LOFAR Dutch baselines only. This is the first demonstration of the feasibility of imaging using the ILT at a resolution of around 1'', which provides unique information on source morphology at scales that fall below the surface brightness limits at higher resolutions. The total calibration and imaging computational time is approximately 52,000 core hours, nearly 5 times more than required to produce a 6'' resolution image. We also present a radio source catalogue containing 2263 sources detected over the 2.5 x 2.5 deg^2 image of the ELAIS-N1 field, with a peak intensity threshold of 5.5 sigma. The catalogue has been cross-matched with the LoTSS deep ELAIS-N1 field radio catalogue, and its flux density and positional accuracy have been investigated and corrected accordingly. We find that approximately 80% of sources which we expect to be detectable based on their peak brightness in the LoTSS 6'' resolution image are detected in this image, which is approximately a factor of two higher than for 0.3'' resolution imaging in the Lockman Hole, implying there is a wealth of information on these intermediate scales.

astro-ph.IM↗

arXiv2024

Crowd-Sourced NeRF: Collecting Data from Production Vehicles for 3D Street View Reconstruction

Recently, Neural Radiance Fields (NeRF) achieved impressive results in novel view synthesis. Block-NeRF showed the capability of leveraging NeRF to build large city-scale models. For large-scale modeling, a mass of image data is necessary. Collecting images from specially designed data-collection vehicles can not support large-scale applications. How to acquire massive high-quality data remains an opening problem. Noting that the automotive industry has a huge amount of image data, crowd-sourcing is a convenient way for large-scale data collection. In this paper, we present a crowd-sourced framework, which utilizes substantial data captured by production vehicles to reconstruct the scene with the NeRF model. This approach solves the key problem of large-scale reconstruction, that is where the data comes from and how to use them. Firstly, the crowd-sourced massive data is filtered to remove redundancy and keep a balanced distribution in terms of time and space. Then a structure-from-motion module is performed to refine camera poses. Finally, images, as well as poses, are used to train the NeRF model in a certain block. We highlight that we present a comprehensive framework that integrates multiple modules, including data selection, sparse 3D reconstruction, sequence appearance embedding, depth supervision of ground surface, and occlusion completion. The complete system is capable of effectively processing and reconstructing high-quality 3D scenes from crowd-sourced data. Extensive quantitative and qualitative experiments were conducted to validate the performance of our system. Moreover, we proposed an application, named first-view navigation, which leveraged the NeRF model to generate 3D street view and guide the driver with a synthesized video.

cs.CV↗

arXiv2021

High accuracy wide field imaging method in radio interferometry

With the development of modern radio interferometers, wide-field continuum surveys have been planned and undertaken, for which accurate wide-field imaging methods are essential. Based on the widely-used W-stacking method, we propose a new wide-field imaging algorithm that can synthesize visibility data from a model of the sky brightness via degridding, able to construct dirty maps from measured visibility data via gridding. Results carry the smallest approximation error yet achieved relative to the exact calculation involving the direct Fourier transform. In contrast to the original W-stacking method, the new algorithm performs least-misfit optimal gridding (and degridding) in all three directions, and is capable of achieving much higher accuracy than is feasible with the original algorithm. In particular, accuracy at the level of single precision arithmetic is readily achieved by choosing a least-misfit convolution function of width W=7 and an image cropping parameter of x0=0.25. If the accuracy required is only that attained by the original W-stacking method, the computational cost for both the gridding and FFT steps can be substantially reduced using the proposed method by making an appropriate choice of the width and image cropping parameters.

astro-ph.IM↗

arXiv2021

Incorporating Learnt Local and Global Embeddings into Monocular Visual SLAM

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made through this track, under more challenging configuration for monocular VSLAM, e.g., varying illumination, the performance of state-of-the-art systems generally degrades. As a consequence, robustness and accuracy for monocular VSLAM are still widely concerned. This paper presents a monocular VSLAM system that fully exploits learnt features for better state estimation. The proposed system leverages both learnt local features and global embeddings at different modules of the system: direct camera pose estimation, inter-frame feature association, and loop closure detection. With a probabilistic explanation of keypoint prediction, we formulate the camera pose tracking in a direct manner and parameterize local features with uncertainty taken into account. To alleviate the quantization effect, we adapt the mapping module to generate 3D landmarks better to guarantee the system's robustness. Detecting temporal loop closure via deep global embeddings further improves the robustness and accuracy of the proposed system. The proposed system is extensively evaluated on public datasets (Tsukuba, EuRoC, and KITTI), and compared against the state-of-the-art methods. The competitive performance of camera pose estimation confirms the effectiveness of our method.

cs.RO↗

arXiv2021

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration

Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve robust and simultaneous extrinsic calibration, odometry, and mapping for multiple LiDARs. Our approach starts with measurement preprocessing to extract edge and planar features from raw measurements. After a motion and extrinsic initialization procedure, a sliding window-based multi-LiDAR odometry runs onboard to estimate poses with online calibration refinement and convergence identification. We further develop a mapping algorithm to construct a global map and optimize poses with sufficient features together with a method to model and reduce data uncertainty. We validate our approach's performance with extensive experiments on ten sequences (4.60km total length) for the calibration and SLAM and compare them against the state-of-the-art. We demonstrate that the proposed work is a complete, robust, and extensible system for various multi-LiDAR setups. The source code, datasets, and demonstrations are available at https://ram-lab.com/file/site/m-loam.

cs.RO↗

arXiv2021

3D Surfel Map-Aided Visual Relocalization with Learned Descriptors

In this paper, we introduce a method for visual relocalization using the geometric information from a 3D surfel map. A visual database is first built by global indices from the 3D surfel map rendering, which provides associations between image points and 3D surfels. Surfel reprojection constraints are utilized to optimize the keyframe poses and map points in the visual database. A hierarchical camera relocalization algorithm then utilizes the visual database to estimate 6-DoF camera poses. Learned descriptors are further used to improve the performance in challenging cases. We present evaluation under real-world conditions and simulation to show the effectiveness and efficiency of our method, and make the final camera poses consistently well aligned with the 3D environment.

cs.CV↗

arXiv2021

Greedy-Based Feature Selection for Efficient LiDAR SLAM

Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data association and nonlinear optimization. This paper demonstrates that actively selecting a subset of features significantly improves both the accuracy and efficiency of an L-SLAM system. We formulate the feature selection as a combinatorial optimization problem under a cardinality constraint to preserve the information matrix's spectral attributes. The stochastic-greedy algorithm is applied to approximate the optimal results in real-time. To avoid ill-conditioned estimation, we also propose a general strategy to evaluate the environment's degeneracy and modify the feature number online. The proposed feature selector is integrated into a multi-LiDAR SLAM system. We validate this enhanced system with extensive experiments covering various scenarios on two sensor setups and computation platforms. We show that our approach exhibits low localization error and speedup compared to the state-of-the-art L-SLAM systems. To benefit the community, we have released the source code: https://ram-lab.com/file/site/m-loam.

cs.RO↗

arXiv2021

CRAFTS for Fast Radio Bursts Extending the dispersion-fluence relation with new FRBs detected by FAST

We report three new FRBs discovered by the Five-hundred-meter Aperture Spherical radio Telescope (FAST), namely FRB 181017.J0036+11, FRB 181118 and FRB 181130, through the Commensal Radio Astronomy FAST Survey (CRAFTS). Together with FRB 181123 that was reported earlier, all four FAST-discovered FRBs share the same characteristics of low fluence ($\leq$0.2 Jy ms) and high dispersion measure (DM, $>1000$ \dmu), consistent with the anti-correlation between DM and fluence of the entire FRB population. FRB 181118 and FRB 181130 exhibit band-limited features. FRB 181130 is prominently scattered ($τ_s\simeq8$ ms) at 1.25 GHz. FRB 181017.J0036+11 has full-bandwidth emission with a fluence of 0.042 Jy ms, which is one of the faintest FRB sources detected so far. CRAFTS starts to built a new sample of FRBs that fills the region for more distant and fainter FRBs in the fluence-$\rm DM_E$ diagram, previously out of reach of other surveys. The implied all sky event rate of FRBs is $1.24^{+1.94}_{-0.90} \times 10^5$ sky$^{-1}$ day$^{-1}$ at the $95\%$ confidence interval above 0.0146 Jy ms. We also demonstrate here that the probability density function of CRAFTS FRB detections is sensitive to the assumed intrinsic FRB luminosity function and cosmological evolution, which may be further constrained with more discoveries.

astro-ph.HE↗

arXiv2021

The Role of the Hercules Autonomous Vehicle During the COVID-19 Pandemic: An Autonomous Logistic Vehicle for Contactless Goods Transportation

Since early 2020, the coronavirus disease 2019 (COVID-19) has spread rapidly across the world. As at the date of writing this article, the disease has been globally reported in 223 countries and regions, infected over 108 million people and caused over 2.4 million deaths (https://covid19.who.int/, accessed on Feb. 17, 2021). Avoiding person-to-person transmission is an effective approach to control and prevent the pandemic. However, many daily activities, such as transporting goods in our daily life, inevitably involve person-to-person contact. Using an autonomous logistic vehicle to achieve contact-less goods transportation could alleviate this issue. For example, it can reduce the risk of virus transmission between the driver and customers. Moreover, many countries have imposed tough lockdown measures to reduce the virus transmission (e.g., retail, catering) during the pandemic, which causes inconveniences for human daily life. Autonomous vehicle can deliver the goods bought by humans, so that humans can get the goods without going out. These demands motivate us to develop an autonomous vehicle, named as Hercules, for contact-less goods transportation during the COVID-19 pandemic. The vehicle is evaluated through real-world delivering tasks under various traffic conditions.

cs.RO↗

arXiv2020

Geometric Structure Aided Visual Inertial Localization

Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from dense mapping. To take the advantages of both, in this work, we present a complete visual inertial localization system based on a hybrid map representation to reduce the computational cost and increase the positioning accuracy. Specially, we propose two modules for data association and batch optimization, respectively. To this end, we develop an efficient data association module to associate map components with local features, which takes only $2$ms to generate temporal landmarks. For batch optimization, instead of using visual factors, we develop a module to estimate a pose prior from the instant localization results to constrain poses. The experimental results on the EuRoC MAV dataset demonstrate a competitive performance compared to the state of the arts. Specially, our system achieves an average position error in 1.7 cm with 100% recall. The timings show that the proposed modules reduce the computational cost by 20-30%. We will make our implementation open source at http://github.com/hyhuang1995/gmmloc.

cs.RO↗

arXiv2020

GMMLoc: Structure Consistent Visual Localization with Gaussian Mixture Models

Incorporating prior structure information into the visual state estimation could generally improve the localization performance. In this letter, we aim to address the paradox between accuracy and efficiency in coupling visual factors with structure constraints. To this end, we present a cross-modality method that tracks a camera in a prior map modelled by the Gaussian Mixture Model (GMM). With the pose estimated by the front-end initially, the local visual observations and map components are associated efficiently, and the visual structure from the triangulation is refined simultaneously. By introducing the hybrid structure factors into the joint optimization, the camera poses are bundle-adjusted with the local visual structure. By evaluating our complete system, namely GMMLoc, on the public dataset, we show how our system can provide a centimeter-level localization accuracy with only trivial computational overhead. In addition, the comparative studies with the state-of-the-art vision-dominant state estimators demonstrate the competitive performance of our method.

cs.RO↗

arXiv2020

LINS: A Lidar-Inertial State Estimator for Robust and Efficient Navigation

We present LINS, a lightweight lidar-inertial state estimator, for real-time ego-motion estimation. The proposed method enables robust and efficient navigation for ground vehicles in challenging environments, such as feature-less scenes, via fusing a 6-axis IMU and a 3D lidar in a tightly-coupled scheme. An iterated error-state Kalman filter (ESKF) is designed to correct the estimated state recursively by generating new feature correspondences in each iteration, and to keep the system computationally tractable. Moreover, we use a robocentric formulation that represents the state in a moving local frame in order to prevent filter divergence in a long run. To validate robustness and generalizability, extensive experiments are performed in various scenarios. Experimental results indicate that LINS offers comparable performance with the state-of-the-art lidar-inertial odometry in terms of stability and accuracy and has order-of-magnitude improvement in speed.

cs.RO↗

arXiv2020

Metric Monocular Localization Using Signed Distance Fields

Metric localization plays a critical role in vision-based navigation. For overcoming the degradation of matching photometry under appearance changes, recent research resorted to introducing geometry constraints of the prior scene structure. In this paper, we present a metric localization method for the monocular camera, using the Signed Distance Field (SDF) as a global map representation. Leveraging the volumetric distance information from SDFs, we aim to relax the assumption of an accurate structure from the local Bundle Adjustment (BA) in previous methods. By tightly coupling the distance factor with temporal visual constraints, our system corrects the odometry drift and jointly optimizes global camera poses with the local structure. We validate the proposed approach on both indoor and outdoor public datasets. Compared to the state-of-the-art methods, it achieves a comparable performance with a minimal sensor configuration.

cs.RO↗

arXiv2020

Monocular Direct Sparse Localization in a Prior 3D Surfel Map

In this paper, we introduce an approach to tracking the pose of a monocular camera in a prior surfel map. By rendering vertex and normal maps from the prior surfel map, the global planar information for the sparse tracked points in the image frame is obtained. The tracked points with and without the global planar information involve both global and local constraints of frames to the system. Our approach formulates all constraints in the form of direct photometric errors within a local window of the frames. The final optimization utilizes these constraints to provide the accurate estimation of global 6-DoF camera poses with the absolute scale. The extensive simulation and real-world experiments demonstrate that our monocular method can provide accurate camera localization results under various conditions.

cs.RO↗

arXiv2019

Optimal gridding and degridding in radio interferometry imaging

In radio interferometry imaging, the gridding procedure of convolving visibilities with a chosen gridding function is necessary to transform visibility values into uniformly sampled grid points. We propose here a parameterised family of "least-misfit gridding functions" which minimise an upper bound on the difference between the DFT and FFT dirty images for a given gridding support width and image cropping ratio. When compared with the widely used spheroidal function with similar parameters, these provide more than 100 times better alias suppression and RMS misfit reduction over the usable dirty map. We discuss how appropriate parameter selection and tabulation of these functions allow for a balance between accuracy, computational cost and storage size. Although it is possible to reduce the errors introduced in the gridding or degridding process to the level of machine precision, accuracy comparable to that achieved by CASA requires only a lookup table with 300 entries and a support width of 3, allowing for a greatly reduced computation cost for a given performance.

astro-ph.IM↗

arXiv2019

Key Ingredients of Self-Driving Cars

Over the past decade, many research articles have been published in the area of autonomous driving. However, most of them focus only on a specific technological area, such as visual environment perception, vehicle control, etc. Furthermore, due to fast advances in the self-driving car technology, such articles become obsolete very fast. In this paper, we give a brief but comprehensive overview on key ingredients of autonomous cars (ACs), including driving automation levels, AC sensors, AC software, open source datasets, industry leaders, AC applications and existing challenges.

cs.RO↗