JunYing Huang

JunYing Huang, Ao Xu, DongSun Yong et al.

Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method utilizes a dense-depth map estimated from point clouds and images through depth completion, and incorporates a multi-scale feature extraction network with attention mechanisms, enabling adaptive depth-aware representations. Furthermore, we leverage dense depth information to refine flow estimation and mitigate errors in occlusion-prone regions. Our hierarchical pose refinement module optimizes motion estimation progressively, ensuring robust predictions against dynamic environments and scale ambiguities. Comprehensive experiments on the KITTI odometry benchmark demonstrate that our approach achieves similar or superior accuracy and robustness compared to state-of-the-art visual and LiDAR odometry methods.

Junying Huang, Fan Chen, Keze Wang et al.

Aiming at recognizing the samples from novel categories with few reference samples, few-shot learning (FSL) is a challenging problem. We found that the existing works often build their few-shot model based on the image-level feature by mixing all local-level features, which leads to the discriminative location bias and information loss in local details. To tackle the problem, this paper returns the perspective to the local-level feature and proposes a series of local-level strategies. Specifically, we present (a) a local-agnostic training strategy to avoid the discriminative location bias between the base and novel categories, (b) a novel local-level similarity measure to capture the accurate comparison between local-level features, and (c) a local-level knowledge transfer that can synthesize different knowledge transfers from the base category according to different location features. Extensive experiments justify that our proposed local-level strategies can significantly boost the performance and achieve 2.8%-7.2% improvements over the baseline across different benchmark datasets, which also achieves state-of-the-art accuracy.

Junying Huang, Fan Chen, Sibo Huang et al.

Aiming at recognizing and localizing the object of novel categories by a few reference samples, few-shot object detection (FSOD) is a quite challenging task. Previous works often depend on the fine-tuning process to transfer their model to the novel category and rarely consider the defect of fine-tuning, resulting in many application drawbacks. For example, these methods are far from satisfying in the episode-changeable scenarios due to excessive fine-tuning times, and their performance on low-quality (e.g., low-shot and class-incomplete) support sets degrades severely. To this end, this paper proposes an instant response few-shot object detector (IR-FSOD) that can accurately and directly detect the objects of novel categories without the fine-tuning process. To accomplish the objective, we carefully analyze the defects of individual modules in the Faster R-CNN framework under the FSOD setting and then extend it to IR-FSOD by improving these defects. Specifically, we first propose two simple but effective meta-strategies for the box classifier and RPN module to enable the object detection of novel categories with instant response. Then, we introduce two explicit inferences into the localization module to alleviate its over-fitting to the base categories, including explicit localization score and semi-explicit box regression. Extensive experiments show that the IR-FSOD framework not only achieves few-shot object detection with the instant response but also reaches state-of-the-art performance in precision and recall under various FSOD settings.