arXiv subjects

Li He

Publications and source records attributed to Li He.

At least 73 records · Page 4Linked to original sources

arXiv2023

Robot Person Following Under Partial Occlusion

Robot person following (RPF) is a capability that supports many useful human-robot-interaction (HRI) applications. However, existing solutions to person following often assume full observation of the tracked person. As a consequence, they cannot track the person reliably under partial occlusion where the assumption of full observation is not satisfied. In this paper, we focus on the problem of robot person following under partial occlusion caused by a limited field of view of a monocular camera. Based on the key insight that it is possible to locate the target person when one or more of his/her joints are visible, we propose a method in which each visible joint contributes a location estimate of the followed person. Experiments on a public person-following dataset show that, even under partial occlusion, the proposed method can still locate the person more reliably than the existing SOTA methods. As well, the application of our method is demonstrated in real experiments on a mobile robot.

cs.RO↗

arXiv2023

Evaluation functions and composition operators on Banach spaces of holomorphic functions

Let $B(Ω)$ be the Banach space of holomorphic functions on a bounded connected domain $Ω$ in $\mathbb C^n$, which contains the ring of polynomials on $Ω$. In this paper, we first establish a criterion for $B(Ω)$ to be reflexive via evaluation functions on $B(Ω)$, that is, $B(Ω)$ is reflexive if and only if the evaluation functions span the dual spaces $(B(Ω))^{*} $. Moreover, under suitable assumptions on $Ω$ and $B(Ω)$, we establish a characterization of the composition operator $C_φ$ to be a Fredholm operator on $B(Ω)$ via the property of the holomorphic self-map $φ:Ω\toΩ$. Our new approach utilizes the symbols of composition operators to construct a linearly independent function sequence, which bypasses the use of boundary behavior of reproducing kernels as those may not be applicable in our general setting.

math.CV↗

arXiv2022

NDD: A 3D Point Cloud Descriptor Based on Normal Distribution for Loop Closure Detection

Loop closure detection is a key technology for long-term robot navigation in complex environments. In this paper, we present a global descriptor, named Normal Distribution Descriptor (NDD), for 3D point cloud loop closure detection. The descriptor encodes both the probability density score and entropy of a point cloud as the descriptor. We also propose a fast rotation alignment process and use correlation coefficient as the similarity between descriptors. Experimental results show that our approach outperforms the state-of-the-art point cloud descriptors in both accuracy and efficency. The source code is available and can be integrated into existing LiDAR odometry and mapping (LOAM) systems.

cs.RO↗

arXiv2022

Composition operators on Hardy-Sobolev spaces with bounded reproducing kernels

For any real $β$ let $H^2_β$ be the Hardy-Sobolev space on the unit disc $\mathbb{D}$. $H^2_β$ is a reproducing kernel Hilbert space and its reproducing kernel is bounded when $β>1/2$. In this paper, we characterize that for a non-constant analytic function $φ:\mathbb{D}\to\mathbb{D}$, when the composition operator $C_{φ}$ on $H^{2}_{β}$ is Fredholm. For $1/2<β<1$, we also prove that $C_{φ}$ has dense range in $H_{β}^{2}$ if and only if the polynomials are dense in a certain Dirichlet space of the domain $φ(\mathbb{D})$. It follows that if the range of $C_{φ}$ is dense in $H_{β}^{2}$, then $φ$ is a weak-star generator of $H^{\infty}$, although the conclusion is false for the classical Dirichlet space $\mathfrak{D}$. Moreover, we study the relation between the density of the rang of $C_{φ}$ and the cyclic vector of the multiplier $M_φ^β.$

math.CV↗

arXiv2022

Perspective Phase Angle Model for Polarimetric 3D Reconstruction

Current polarimetric 3D reconstruction methods, including those in the well-established shape from polarization literature, are all developed under the orthographic projection assumption. In the case of a large field of view, however, this assumption does not hold and may result in significant reconstruction errors in methods that make this assumption. To address this problem, we present the perspective phase angle (PPA) model that is applicable to perspective cameras. Compared with the orthographic model, the proposed PPA model accurately describes the relationship between polarization phase angle and surface normal under perspective projection. In addition, the PPA model makes it possible to estimate surface normals from only one single-view phase angle map and does not suffer from the so-called $π$-ambiguity problem. Experiments on real data show that the PPA model is more accurate for surface normal estimation with a perspective camera than the orthographic model.

cs.CV↗

arXiv2022

Polaritonic Chern insulators in monolayer semiconductors

Systems with strong light-matter interaction opens up new avenues for studying topological phases of matter. Examples include exciton-polaritons, mixed light-matter quasiparticles, where the topology of the polaritonic band structure arises from the collective coupling between matter wave and optical fields strongly confined in periodic dielectric structures. Distinct from light-matter interaction in a uniform environment, the spatially varying nature of the optical fields leads to a fundamental modification of the well-known optical selection rules, which were derived under the plane wave approximation. Here we identify polaritonic Chern insulators by coupling valley excitons in transition metal dichalcogenides (TMDs) to photonic Bloch modes in a dielectric photonic crystal (PhC) slab. We show that polaritonic Dirac points (DPs), which are markers for topological phase transition points, can be constructed from the collective coupling between valley excitons and photonic Dirac cones in the presence of both time-reversal and inversion symmetries. Lifting exciton valley degeneracy by breaking time-reversal symmetry leads to gapped polaritonic bands with non-zero Chern numbers. Through numerical simulations, we predict polaritonic chiral edge states residing inside the topological gaps. Our work paves the way to further explore polaritonic topological phases and their practical applications in polaritonic devices.

physics.optics↗

arXiv2022

Mapping While Following: 2D LiDAR SLAM in Indoor Dynamic Environments with a Person Tracker

2D LiDAR SLAM (Simultaneous Localization and Mapping) is widely used in indoor environments due to its stability and flexibility. However, its mapping procedure is usually operated by a joystick in static environments, while indoor environments often are dynamic with moving objects such as people. The generated map with noisy points due to the dynamic objects is usually incomplete and distorted. To address this problem, we propose a framework of 2D-LiDAR-based SLAM without manual control that effectively excludes dynamic objects (people) and simplify the process for a robot to map an environment. The framework, which includes three parts: people tracking, filtering and following. We verify our proposed framework in experiments with two classic 2D-LiDAR-based SLAM algorithms in indoor environments. The results show that this framework is effective in handling dynamic objects and reducing the mapping error.

cs.RO↗

arXiv2022

Condition-Invariant and Compact Visual Place Description by Convolutional Autoencoder

Visual place recognition (VPR) in condition-varying environments is still an open problem. Popular solutions are CNN-based image descriptors, which have been shown to outperform traditional image descriptors based on hand-crafted visual features. However, there are two drawbacks of current CNN-based descriptors: a) their high dimension and b) lack of generalization, leading to low efficiency and poor performance in applications. In this paper, we propose to use a convolutional autoencoder (CAE) to tackle this problem. We employ a high-level layer of a pre-trained CNN to generate features, and train a CAE to map the features to a low-dimensional space to improve the condition invariance property of the descriptor and reduce its dimension at the same time. We verify our method in three challenging datasets involving significant illumination changes, and our method is shown to be superior to the state-of-the-art. For the benefit of the community, we make public the source code.

cs.CV↗

arXiv2022

Observation of Gigahertz Topological Valley Hall Effect in Nanoelectromechanical Phononic Crystals

Topological phononics offers numerous opportunities in manipulating elastic waves that can propagate in solids without being backscattered. Due to the lack of nanoscale imaging tools that aid the system design, however, acoustic topological metamaterials have been mostly demonstrated in macroscale systems operating at low (kilohertz to megahertz) frequencies. Here, we report the realization of gigahertz topological valley Hall effect in nanoelectromechanical AlN membranes. Propagation of elastic wave through phononic crystals is directly visualized by microwave microscopy with unprecedented sensitivity and spatial resolution. The valley Hall edge states, protected by band topology, are vividly seen in both real- and momentum-space. The robust valley-polarized transport is evident from the wave transmission across local disorder and around sharp corners, as well as the power distribution into multiple edge channels. Our work paves the way to exploit topological physics in integrated acousto-electronic systems for classical and quantum information processing in the microwave regime.

cond-mat.mes-hall↗

arXiv2021

Click-Through Rate Prediction with Multi-Modal Hypergraphs

Advertising is critical to many online e-commerce platforms such as e-Bay and Amazon. One of the important signals that these platforms rely upon is the click-through rate (CTR) prediction. The recent popularity of multi-modal sharing platforms such as TikTok has led to an increased interest in online micro-videos. It is, therefore, useful to consider micro-videos to help a merchant target micro-video advertising better and find users' favourites to enhance user experience. Existing works on CTR prediction largely exploit unimodal content to learn item representations. A relatively minimal effort has been made to leverage multi-modal information exchange among users and items. We propose a model to exploit the temporal user-item interactions to guide the representation learning with multi-modal features, and further predict the user click rate of the micro-video item. We design a Hypergraph Click-Through Rate prediction framework (HyperCTR) built upon the hyperedge notion of hypergraph neural networks, which can yield modal-specific representations of users and micro-videos to better capture user preferences. We construct a time-aware user-item bipartite network with multi-modal information and enrich the representation of each user and item with the generated interests-based user hypergraph and item hypergraph. Through extensive experiments on three public datasets, we demonstrate that our proposed model significantly outperforms various state-of-the-art methods.

cs.SI↗

arXiv2021

TagPick: A System for Bridging Micro-Video Hashtags and E-commerce Categories

Hashtag, a product of user tagging behavior, which can well describe the semantics of the user-generated content personally over social network applications, e.g., the recently popular micro-videos. Hashtags have been widely used to facilitate various micro-video retrieval scenarios, such as search engine and categorization. In order to leverage hashtags on micro-media platform for effective e-commerce marketing campaign, there is a demand from e-commerce industry to develop a mapping algorithm bridging its categories and micro-video hashtags. In this demo paper, we therefore proposed a novel solution called TagPick that incorporates clues from all user behavior metadata (hashtags, interactions, multimedia information) as well as relational data (graph-based network) into a unified system to reveal the correlation between e-commerce categories and hashtags in industrial scenarios. In particular, we provide a tag-level popularity strategy to recommend the relevant hashtags for e-Commerce platform (e.g., eBay).

cs.SI↗

arXiv2021

Products of Toeplitz and Hankel Operators on Fock-Sobolev Spaces

In this paper, we investigate the boundedness of Toeplitz product $T_{f}T_{g}$ and Hankel product $H_{f}^{*} H_{g}$ on Fock-Sobolev space for two polynomials $f$ and $g$ in $z,\overline{z}\in\mathbb{C}^{n}$. As a result, the boundedness of Toeplitz operator $T_{f}$ and Hankel operator $H_{f}$ with the polynomial symbol $f$ in $z,\overline{z}\in\mathbb{C}^{n}$ is characterized.

math.FA↗

arXiv2021

Floquet quadrupole photonic crystals protected by space-time symmetry

High-order topological phases, such as those with nontrivial quadrupole moments, protect edge states that are themselves topological insulators in lower dimensions. So far, most quadrupole phases of light are explored in linear optical systems, which are protected by spatial symmetries or synthetic symmetries. Here we present Floquet quadrupole phases in driven nonlinear photonic crystals (PhCs) that are protected by space-time screw symmetries. We start by illustrating space-time symmetries by tracking the trajectory of instantaneous optical axes of the driven media. Our Floquet quadrupole phase is then confirmed in two independent ways: symmetry indices at high-symmetry momentum points and calculations of the nested Wannier bands. Our work presents a general framework to analyze symmetries in driven optical materials and paves the way to further exploring symmetry-protected topological phases in Floquet systems and their optoelectronic applications.

physics.optics↗

arXiv2021

Observation of miniaturized bound states in the continuum with ultra-high quality factors

Light trapping is a constant pursuit in photonics because of its importance in science and technology. Many mechanisms have been explored, including the use of mirrors made of materials or structures that forbid outgoing waves, and bound states in the continuum that are mirror-less but based on topology. Here we report a compound method, combing mirrors and bound states in the continuum in an optimized way, to achieve a class of on-chip optical cavities that have high quality factors and small modal volumes. Specifically, light is trapped in the transverse direction by the photonic band gap of the lateral hetero-structure and confined in the vertical direction by the constellation of multiple bound states in the continuum. As a result, unlike most bound states in the continuum found in photonic crystal slabs that are de-localized Bloch modes, we achieve light-trapping in all three dimensions and experimentally demonstrate quality factors as high as $Q = 1.09 \times 10^6$ and modal volumes as low as $V = 3.56~ μm^3$ in the telecommunication regime. We further prove the robustness of our method through the statistical study of multiple fabricated devices. Our work provides a new method of light trapping, which can find potential applications in photonic integration, nonlinear optics and quantum computing.

physics.optics↗

arXiv2021

Boundedness criterion for integral operators on the fractional Fock-Sobolev spaces

We provide a boundedness criterion for the integral operator $S_φ$ on the fractional Fock-Sobolev space $F^{s,2}(\mathbb C^n)$, $s\geq 0$, where $S_φ$ (introduced by Kehe Zhu) is given by \begin{eqnarray*} S_φF(z):= \int_{\mathbb{C}^n} F(w) e^{z \cdot\bar{w}} φ(z- \bar{w}) dλ(w) \end{eqnarray*} with $φ$ in the Fock space $F^2(\mathbb C^n)$ and $dλ(w): = π^{-n} e^{-|w|^2} dw$ the Gaussian measure on the complex space $\mathbb{C}^{n}$. This extends the recent result in Cao--Li--Shen--Wick--Yan. The main approach is to develop multipliers on the fractional Hermite-Sobolev space $W_H^{s,2}(\mathbb R^n)$.

math.CV↗

arXiv2020

Towards Chirality Control of Graphene Nanoribbons Embedded in Hexagonal Boron Nitride

The integrated inplane growth of two dimensional materials with similar lattices, but distinct electrical properties, could provide a promising route to achieve integrated circuitry of atomic thickness. However, fabrication of edge specific GNR in the lattice of hBN still remains an enormous challenge for present approaches. Here we developed a two step growth method and successfully achieved sub 5 nm wide zigzag and armchair GNRs embedded in hBN, respectively. Further transport measurements reveal that the sub 7 nm wide zigzag GNRs exhibit openings of the band gap inversely proportional to their width, while narrow armchair GNRs exhibit some fluctuation in the bandgap width relationship.This integrated lateral growth of edge specific GNRs in hBN brings semiconducting building blocks to atomically thin layer, and will provide a promising route to achieve intricate nanoscale electrical circuits on high quality insulating hBN substrates.

cond-mat.mes-hall↗

arXiv2020

Normal-Superfluid Phase Separation in Spin-Half Bosons at Finite Temperature

For pseudospin-half bosons with inter-spin attraction and intra-spin repulsion, normal phase and Bose condensed phase can coexist at finite temperature. The homogeneous system is unstable against the spinodal decomposition within a medium density interval, and consequently, a normal-superfluid phase separation takes place. The isothermal equation-of-state shows a characteristic plateau in the P-V (pressure-volume) diagram, which is reminiscent of a classical gas-liquid transition, although, unlike the latter, the coexistence lines never terminate at a critical point as temperature increases. In a harmonic trap, the phase separation can be revealed by the density profile of the atomic cloud, which exhibits a sudden jump across the phase boundary.

cond-mat.quant-gas↗

arXiv2019

Experimental Test of Leggett's Inequalities with Solid-State Spins

Bell's theorem states that no local hidden variable model is compatible with quantum mechanics. Surprisingly, even if we release the locality constraint, certain nonlocal hidden variable models, such as the one proposed by Leggett, may still be at variance with the predictions of quantum physics. Here, we report an experimental test of Leggett's nonlocal model with solid-state spins in a diamond nitrogen-vacancy center. We entangle an electron spin with a surrounding weakly coupled $^{13}C$ nuclear spin and observe that the entangled states violate Leggett-type inequalities by more than four and seven standard deviations for six and eight measurement settings, respectively. Our experimental results are in full agreement with quantum predictions and violate Leggett's nonlocal hidden variable inequality with a high level of confidence.

quant-ph↗