Zhongyuan Liu

Zhongyuan Liu, Shaonan Yu, Jianping Li et al.

Panoramic multi-object tracking is important for industrial safety monitoring, wide-area robotic perception, and infrastructure-light deployment in large workspaces. In these settings, the sensing system must provide full-surround coverage, metric geometric cues, and stable target association under wide field-of-view distortion and occlusion. Existing image-plane trackers are tightly coupled to the camera projection and become unreliable in panoramic imagery, while conventional Euclidean 3D formulations introduce redundant directional parameters and do not naturally unify angular, scale, and depth estimation. In this paper, we present $\mathbf{S^3KF}$, a panoramic 3D multi-object tracking framework built on a motorized rotating LiDAR and a quad-fisheye camera rig. The key idea is a geometry-consistent state representation on the unit sphere $\mathbb{S}^2$, where object bearing is modeled by a two-degree-of-freedom tangent-plane parameterization and jointly estimated with box scale and depth dynamics. Based on this state, we derive an extended spherical Kalman filtering pipeline that fuses panoramic camera detections with LiDAR depth observations for multimodal tracking. We further establish a map-based ground-truth generation pipeline using wearable localization devices registered to a shared global LiDAR map, enabling quantitative evaluation without motion-capture infrastructure. Experiments on self-collected real-world sequences show decimeter-level planar tracking accuracy, improved identity continuity over a 2D panoramic baseline in dynamic scenes, and real-time onboard operation on a Jetson AGX Orin platform. These results indicate that the proposed framework is a practical solution for panoramic perception and industrial-scale multi-object tracking.The project page can be found at https://kafeiyin00.github.io/S3KF/.

Jianping Li, Pengfei Wan, Zhongyuan Liu et al.

Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes depends on consistent mapping and pose estimation. However, for conventional LiDAR-equipped UAVs, the observable region is tightly coupled with the UAV pose and motion. Expanding coverage often requires additional translational or rotational maneuvers, which can reduce exploration efficiency and increase the risk of localization degradation in geometrically challenging environments. Motorized rotating LiDARs provide a promising solution by actively adjusting the sensor viewing direction without changing the UAV motion, thereby introducing an additional sensing degree of freedom. Nevertheless, existing exploration systems rarely exploit this scanning freedom as an explicit decision variable linked to both exploration progress and localization quality. To address this gap, we develop a UAV platform equipped with an independently actuated rotating LiDAR and propose a hierarchical exploration framework. The global planner organizes frontiers into representative viewpoints and sequences them using topology-aware transition costs. Built upon this planner, FU-MPC serves as a local receding-horizon scan controller that optimizes LiDAR rotation along the predicted flight trajectory. The controller jointly considers frontier-aware exploration utility and direction-dependent localization uncertainty, while lightweight surrogate evaluation enables real-time onboard execution. Experiments in complex environments demonstrate that the proposed system improves exploration efficiency while maintaining robust localization performance compared with fixed-pattern scanning and uncertainty-only baselines. The project page can be found at https://kafeiyin00.github.io/FU-MPC/.

Xiaoming Zhu, Xu Huang, Qinghongbing Xie et al.

Generating artistic and coherent 3D scene layouts is crucial in digital content creation. Traditional optimization-based methods are often constrained by cumbersome manual rules, while deep generative models face challenges in producing content with richness and diversity. Furthermore, approaches that utilize large language models frequently lack robustness and fail to accurately capture complex spatial relationships. To address these challenges, this paper presents a novel vision-guided 3D layout generation system. We first construct a high-quality asset library containing 2,037 scene assets and 147 3D scene layouts. Subsequently, we employ an image generation model to expand prompt representations into images, fine-tuning it to align with our asset library. We then develop a robust image parsing module to recover the 3D layout of scenes based on visual semantics and geometric information. Finally, we optimize the scene layout using scene graphs and overall visual semantics to ensure logical coherence and alignment with the images. Extensive user testing demonstrates that our algorithm significantly outperforms existing methods in terms of layout richness and quality. The code and dataset will be available at https://github.com/HiHiAllen/Imaginarium.

Zhuofeng Li, Zixing Gou, Xiangnan Zhang et al.

Text-Attributed Graphs (TAGs) augment graph structures with natural language descriptions, facilitating detailed depictions of data and their interconnections across various real-world settings. However, existing TAG datasets predominantly feature textual information only at the nodes, with edges typically represented by mere binary or categorical attributes. This lack of rich textual edge annotations significantly limits the exploration of contextual relationships between entities, hindering deeper insights into graph-structured data. To address this gap, we introduce Textual-Edge Graphs Datasets and Benchmark (TEG-DB), a comprehensive and diverse collection of benchmark textual-edge datasets featuring rich textual descriptions on nodes and edges. The TEG-DB datasets are large-scale and encompass a wide range of domains, from citation networks to social networks. In addition, we conduct extensive benchmark experiments on TEG-DB to assess the extent to which current techniques, including pre-trained language models, graph neural networks, and their combinations, can utilize textual node and edge information. Our goal is to elicit advancements in textual-edge graph research, specifically in developing methodologies that exploit rich textual node and edge descriptions to enhance graph analysis and provide deeper insights into complex real-world networks. The entire TEG-DB project is publicly accessible as an open-source repository on Github, accessible at https://github.com/Zhuofeng-Li/TEG-Benchmark.

Chucheng Xiang, Ruchao Bao, Biyin Feng et al.

We present a novel framework for automated interior design that combines large language models (LLMs) with grid-based integer programming to jointly optimize room layout and furniture placement. Given a textual prompt, the LLM-driven agent workflow extracts structured design constraints related to room configurations and furniture arrangements. These constraints are encoded into a unified grid-based representation inspired by ``Modulor". Our formulation accounts for key design requirements, including corridor connectivity, room accessibility, spatial exclusivity, and user-specified preferences. To improve computational efficiency, we adopt a coarse-to-fine optimization strategy that begins with a low-resolution grid to solve a simplified problem and guides the solution at the full resolution. Experimental results across diverse scenarios demonstrate that our joint optimization approach significantly outperforms existing two-stage design pipelines in solution quality, and achieves notable computational efficiency through the coarse-to-fine strategy.