arXiv subjects

Shaoming Zhang

Publications and source records attributed to Shaoming Zhang.

6 recordsLinked to original sources

arXiv2026

LXD-SLAM: LiDAR+X Dense SLAM with $\sum_{i=0}^{5}C_5^i$ Configurable Sensor Combinations

Simultaneous Localization and Mapping (SLAM) is essential for autonomous systems, yet achieving reliable, globally consistent pose estimation and dense mapping in complex environments remains challenging due to geometric degeneracy and sensor drift. While multi-sensor fusion addresses these issues, existing systems often lack the modularity to adapt to diverse platforms and rely on mathematically inconsistent fusion or suboptimal map representations. To address these limitations, we propose LXD-SLAM (LiDAR+X Dense SLAM), a highly versatile and unified multi-sensor fusion framework. Centered around 3D LiDAR, our system allows for the plug-and-play integration of LiDAR, Camera, IMU, Wheel Encoder, and GNSS, supporting up to 32 distinct sensor combinations. We employ a mathematically unified Iterative Error-Sate Kalman Filter with an adaptive hierarchical prediction strategy and an update step that minimizes point-to-mesh distances and visual reprojection errors. To support this, the environment is modeled using continuous multi-layered Gaussian Process (GP) sub-meshes, which enables efficient ray-to-mesh depth recovery for visual features. For global consistency, we introduce an Extended Scan Context (ESC) descriptor derived from the GP sub-meshes alongside a Bidirectional PnP optimization for robust multi-modal loop closure within a hybrid pose graph. Extensive evaluations on public datasets and real-world experiments demonstrate that LXD-SLAM matches or exceeds state-of-the-art specialized odometry solutions across various configurations while generating high-fidelity, globally consistent dense meshes in real-time. The relevant codes and data will be made available at https://github.com/peterWon/LXD-SLAM upon publication.

cs.RO↗

arXiv2025

Physics-informed Hamiltonian learning for large-scale optoelectronic property prediction

Predicting optoelectronic properties of large-scale atomistic systems under realistic conditions is crucial for rational materials design, yet computationally prohibitive with first-principles simulations. Recent neural network models have shown promise in overcoming these challenges, but typically require large datasets and lack physical interpretability. Physics-inspired approximate models offer greater data efficiency and intuitive understanding, but often sacrifice accuracy and transferability. Here we present HAMSTER, a physics-informed machine learning framework for predicting the quantum-mechanical Hamiltonian of complex chemical systems. Starting from an approximate model encoding essential physical effects, HAMSTER captures the critical influence of dynamic environments on Hamiltonians using only few explicit first-principles calculations. We demonstrate our approach on halide perovskites, achieving accurate prediction of optoelectronic properties across temperature and compositional variations, and scalability to systems containing tens of thousands of atoms. This work highlights the power of physics-informed Hamiltonian learning for accurate and interpretable optoelectronic property prediction in large, complex systems.

cond-mat.mtrl-sci↗

arXiv2022

A practical overview of image classification with variational tensor-network quantum circuits

Circuit design for quantum machine learning remains a formidable challenge. Inspired by the applications of tensor networks across different fields and their novel presence in the classical machine learning context, one proposed method to design variational circuits is to base the circuit architecture on tensor networks. Here, we comprehensively describe tensor-network quantum circuits and how to implement them in simulations. This includes leveraging circuit cutting, a technique used to evaluate circuits with more qubits than those available on current quantum devices. We then illustrate the computational requirements and possible applications by simulating various tensor-network quantum circuits with PennyLane, an open-source python library for differential programming of quantum computers. Finally, we demonstrate how to apply these circuits to increasingly complex image processing tasks, completing this overview of a flexible method to design circuits that can be applied to industrially-relevant machine learning tasks.

quant-ph↗

arXiv2022

PennyLane: Automatic differentiation of hybrid quantum-classical computations

PennyLane is a Python 3 software framework for differentiable programming of quantum computers. The library provides a unified architecture for near-term quantum computing devices, supporting both qubit and continuous-variable paradigms. PennyLane's core feature is the ability to compute gradients of variational quantum circuits in a way that is compatible with classical techniques such as backpropagation. PennyLane thus extends the automatic differentiation algorithms common in optimization and machine learning to include quantum and hybrid computations. A plugin system makes the framework compatible with any gate-based quantum simulator or hardware. We provide plugins for hardware providers including the Xanadu Cloud, Amazon Braket, and IBM Quantum, allowing PennyLane optimizations to be run on publicly accessible quantum devices. On the classical front, PennyLane interfaces with accelerated machine learning libraries such as TensorFlow, PyTorch, JAX, and Autograd. PennyLane can be used for the optimization of variational quantum eigensolvers, quantum approximate optimization, quantum machine learning models, and many other applications.

quant-ph↗

arXiv2018

Vision-based Semantic Mapping and Localization for Autonomous Indoor Parking

In this paper, we proposed a novel and practical solution for the real-time indoor localization of autonomous driving in parking lots. High-level landmarks, the parking slots, are extracted and enriched with labels to avoid the aliasing of low-level visual features. We then proposed a robust method for detecting incorrect data associations between parking slots and further extended the optimization framework by dynamically eliminating suboptimal data associations. Visual fiducial markers are introduced to improve the overall precision. As a result, a semantic map of the parking lot can be established fully automatically and robustly. We experimented the performance of real-time localization based on the map using our autonomous driving platform TiEV, and the average accuracy of 0.3m track tracing can be achieved at a speed of 10kph.

cs.CV↗

arXiv2018

TiEV: The Tongji Intelligent Electric Vehicle in the Intelligent Vehicle Future Challenge of China

TiEV is an autonomous driving platform implemented by Tongji University of China. The vehicle is drive-by-wire and is fully powered by electricity. We devised the software system of TiEV from scratch, which is capable of driving the vehicle autonomously in urban paths as well as on fast express roads. We describe our whole system, especially novel modules of probabilistic perception fusion, incremental mapping, the 1st and the 2nd planning and the overall safety concern. TiEV finished 2016 and 2017 Intelligent Vehicle Future Challenge of China held at Changshu. We show our experiences on the development of autonomous vehicles and future trends.

cs.RO↗