Su Wang

Su Wang, Shini Zhang, Xuchong Qiu

The accurate and robust calibration result of sensors is considered as an important building block to the follow-up research in the autonomous driving and robotics domain. The current works involving extrinsic calibration between 3D LiDARs and monocular cameras mainly focus on target-based and target-less methods. The target-based methods are often utilized offline because of restrictions, such as additional target design and target placement limits. The current target-less methods suffer from feature indeterminacy and feature mismatching in various environments. To alleviate these limitations, we propose a novel target-less calibration approach which is based on the 2D-3D edge point extraction using the occlusion relationship in 3D space. Based on the extracted 2D-3D point pairs, we further propose an occlusion-guided point-matching method that improves the calibration accuracy and reduces computation costs. To validate the effectiveness of our approach, we evaluate the method performance qualitatively and quantitatively on real images from the KITTI dataset. The results demonstrate that our method outperforms the existing target-less methods and achieves low error and high robustness that can contribute to the practical applications relying on high-quality Camera-LiDAR calibration.

Shuhao Zeng, Haobo Zhang, Su Wang et al.

Holographic beamforming enabled by metamaterial antennas has been proposed to facilitate spatial multiplexing at low hardware cost and low power consumption. However, existing holographic beamforming schemes are mainly developed for conventional bit-communication systems, which have not considered semantic-level importance and thus cannot be directly applied to support semantic communication. Specifically, in conventional bit communication, all bits are treated as equally important. In contrast, in semantic communication, different semantic information contribute unequally to task completion and therefore has different degrees of importance, with more important information requiring higher transmission quality. Ignoring semantic importance in holographic beamforming causes mismatches between importance of semantic information and its received SNR, thus degrading performances. In this paper, we propose a semantic-importance-aware holographic beamforming scheme enabled by metamaterial antennas with tunable radiated amplitudes to support semantic communication. It is challenging to design semantic-aware holographic beamforming schemes due to non-trivial modeling of the impact of semantic importance and unique amplitude-controlled structures of holographic beamforming. To address this, we characterize the dependence of semantic communication performance on semantic importance and received SNR via data fitting, and design a semantic-aware holographic beamforming algorithm to ensure reliable delivery of highly important semantic information. Simulation results validate effectiveness of the proposed method.