arXiv subjects

Ze Lu

Publications and source records attributed to Ze Lu.

4 recordsLinked to original sources

arXiv2026

From Multi-Fisheye Sensing to Panoramic Perception: A Parallax-Aware Onboard Platform for Ultra-Low-Altitude UAVs

Ultra-low-altitude unmanned aerial vehicles (UAVs) require surround vision near buildings, vegetation, and other obstacles. We present a parallax-aware onboard platform that converts four synchronized fisheye streams into an open 1280x640 equirectangular panorama (ERP) interface. A purpose-built carbon-fiber airframe integrates the cameras, NVIDIA Jetson Orin NX, a flight controller, and a global navigation satellite system (GNSS) receiver. The formation pipeline selects projection depth per overlap and combines controlled seams and photometric fusion. Ours adds content-adaptive seam search and a validation-gated residual mesh and is evaluated under a sensor-rate deployment configuration. Evaluation uses more than 50,000 four-view groups from 18 field sequences. Relative to Fixed Depth, Ours reduces far-field P90 feature misalignment by 41.6% and achieves the lowest aggregate geometric errors across held-out sites. At a paced 20 Hz input rate, Ours sustains 19.99 frames/s at 13.29 W mean module-input power. Eight-sector ERP sampling reaches 90.8% mean daytime visual-place-recognition Recall@5. Together, these results validate an integrated onboard panoramic-perception architecture that unifies parallax-aware formation, sensor-rate embedded execution, and reusable downstream vision interfaces for ultra-low-altitude UAVs. Source code is available at https://github.com/DUNDAI1998/parallax-aware-uav-panorama.git.

cs.RO↗

arXiv2026

FlexGuard: Continuous Risk Scoring for Strictness-Adaptive LLM Content Moderation

Ensuring the safety of LLM-generated content is essential for real-world deployment. Most existing guardrail models formulate moderation as a fixed binary classification task, implicitly assuming a fixed definition of harmfulness. In practice, enforcement strictness - how conservatively harmfulness is defined and enforced - varies across platforms and evolves over time, making binary moderators brittle under shifting requirements. We first introduce FlexBench, a strictness-adaptive LLM moderation benchmark that enables controlled evaluation under multiple strictness regimes. Experiments on FlexBench reveal substantial cross-strictness inconsistency in existing moderators: models that perform well under one regime can degrade substantially under others, limiting their practical usability. To address this, we propose FlexGuard, an LLM-based moderator that outputs a calibrated continuous risk score reflecting risk severity and supports strictness-specific decisions via thresholding. We train FlexGuard via risk-alignment optimization to improve score-severity consistency and provide practical threshold selection strategies to adapt to target strictness at deployment. Experiments on FlexBench and public benchmarks demonstrate that FlexGuard achieves higher moderation accuracy and substantially improved robustness under varying strictness. We release the source code and data to support reproducibility.

cs.LG↗

arXiv2025

IndEgo: A Dataset of Industrial Scenarios and Collaborative Work for Egocentric Assistants

We introduce IndEgo, a multimodal egocentric and exocentric dataset addressing common industrial tasks, including assembly/disassembly, logistics and organisation, inspection and repair, woodworking, and others. The dataset contains 3,460 egocentric recordings (approximately 197 hours), along with 1,092 exocentric recordings (approximately 97 hours). A key focus of the dataset is collaborative work, where two workers jointly perform cognitively and physically intensive tasks. The egocentric recordings include rich multimodal data and added context via eye gaze, narration, sound, motion, and others. We provide detailed annotations (actions, summaries, mistake annotations, narrations), metadata, processed outputs (eye gaze, hand pose, semi-dense point cloud), and benchmarks on procedural and non-procedural task understanding, Mistake Detection, and reasoning-based Question Answering. Baseline evaluations for Mistake Detection, Question Answering and collaborative task understanding show that the dataset presents a challenge for the state-of-the-art multimodal models. Our dataset is available at: https://huggingface.co/datasets/FraunhoferIPK/IndEgo

cs.CV↗

arXiv2023

Both Spatial and Frequency Cues Contribute to High-Fidelity Image Inpainting

Deep generative approaches have obtained great success in image inpainting recently. However, most generative inpainting networks suffer from either over-smooth results or aliasing artifacts. The former lacks high-frequency details, while the latter lacks semantic structure. To address this issue, we propose an effective Frequency-Spatial Complementary Network (FSCN) by exploiting rich semantic information in both spatial and frequency domains. Specifically, we introduce an extra Frequency Branch and Frequency Loss on the spatial-based network to impose direct supervision on the frequency information, and propose a Frequency-Spatial Cross-Attention Block (FSCAB) to fuse multi-domain features and combine the corresponding characteristics. With our FSCAB, the inpainting network is capable of capturing frequency information and preserving visual consistency simultaneously. Extensive quantitative and qualitative experiments demonstrate that our inpainting network can effectively achieve superior results, outperforming previous state-of-the-art approaches with significantly fewer parameters and less computation cost. The code will be released soon.

cs.CV↗