Publications

The Year 2024

• Yuming Huang, Wei Gao, Cong Yang, Chengzhong Xu, and Hui Kong, Learning Navigational Grid Map for Motion Planning, (under review), 2024

• Dong Li, Lineng Chen, Chengzhong Xu, and Hui Kong,  UMAD: University of Macao Anomaly Detection Benchmark Dataset,  (under review, IROS), 2024

• Wei Gao, Zezhou Sun, Mingle Zhao, Chengzhong Xu, and Hui Kong,  Active Loop Closure for OSM-guided Robotic Mapping in Large-Scale Urban Environment, (under review, IROS), 2024

• Mingle Zhao, Jiahao Wang, Tianxiao Gao, Chengzhong Xu, and Hui Kong,  Free-Init: Scan-Free, Motion-Free, and Correspondence-Free Initialization for FMCW LiDAR-Inertial Systems, (under review, IROS), 2024

• Mingle Zhao, Jiahao Wang, Tianxiao Gao, Chengzhong Xu, and Hui Kong, FMCW-LIO: A Robust Doppler-Aided LiDAR-Inertial Odometry, (under review, RAL), 2024

• Wei Gao, Zezhou Sun, Mingle Zhao, Chengzhong Xu, and Hui Kong, OpenStreetMap Guided Robotic Mapping  in Large-scale Urban Environment, (under review), 2024

• Chenyao Yu, Yingfeng Cai, Jiaxin Zhang, Hui Kong, Wei Sui and Cong Yang, VRSO: Visual-Centric Reconstruction for Static Object Annotation, (under review, IROS), 2024

• Huajun Liu, Yuan Jiang, Xinyi Fan, and Hui Kong, Spatial-Spectral Feature Representation Network for Human-Robot Hand Gesture Interaction on Micro-Doppler Signatures, (under review), 2024

• Yuming Huang, Yi Gu, Cheng-Zhong Xu, and Hui Kong, Why semantics matters: A deep study on semantic particle-filtering localization in a LiDAR semantic pole-map, https://arxiv.org/abs/2305.14038,  IEEE Transactions on  Field Robotics, 2024

• Huajun Liu, Cailing Wang, Jinding Zhao, Suting Chen, and Hui Kong, Adaptive Fourier Convolution Network for Road Segmentation in Satellite Images , lEEE Transactions on Geoscience and Remote Sensing (TGRS), 2024

• Tianxiao Gao, Mingle Zhao, Cheng-Zhong Xu, and Hui Kong, Night-Rider: Nocturnal Vision-aided Localization in Streetlight Maps Using Invariant Extended Kalman Filtering, IEEE International Conference on Robotics and Automation (ICRA), 2024

• Tian Gao, Cheng-Zhong Xu, Le Zhang, and Hui Kong, GSB: Group Superposition Binarization for Vision Transformer with Limited Training Samples, https://arxiv.org/abs/2305.07931, Neural Networks, 2024, CODE

• Yukun Wang, Shuo Gu, Yinbo Liu, and Hui Kong, Semi-supervised Vanishing Point Detection in a Road Image with Contrastive Learning for Robotic Exploration, Pattern Recognition, 2024

• Huajun Liu, Jing Yang, Shidong Wang, Hui Kong, Qiang Chen, Haofeng Zhang, Learning to segment complex vessel-like structures with spectral transformer,  Expert Systems with Applications, 2024, CODE

• Yubin Guo, Hui Kong and Shuo Gu, Unsupervised multi-spectrum Stereo Depth Estimation for All-day Vision, IEEE Transactions on Intelligent Vehicles, 2024

The Year 2023

• Banghe Wu, Cheng-Zhong Xu, and Hui Kong, Lidar Road-Atlas: An Efficient Map Representation for General 3d Urban Environment,  Journal of Field Robotics, 2023, CODE

• Zezhou Sun, Banghe Wu, Cheng-Zhong Xu, and Hui Kong, Concave-Hull Induced Graph-Gain for Fast and Robust Robotic Exploration, IEEE Robotics and Automation Letters (RA-L), 2023,  CODE

• Lineng Chen, Huan Wang, Hui Kong, Wankou Yang, Mingwu Ren, PTC-Net: Point-Wise Transformer with Sparse Convolution Network for Place Recognition, IEEE Robotics and Automation Letters (RA-L), 2023, CODE

• Shuo Gu, Suling Yao, Jian Yang, Chengzhong Xu, Hui Kong,  LiDAR-SGMOS: Semantics-Guided Moving Object Segmentation with 3D LiDAR, IEEE International Conference on Intelligent Robotics and Systems (IROS),  2023

• Lineng Chen, Hui Kong, Huan Wang, Wankou Yang, Jing Lou, Fenglei Xu, and Mingwu Ren, HVP-Net: A Hybrid Voxel- and Point-Wise Network for Place Recognition,   IEEE Transactions on Intelligent Vehicles, 2023.

• Shuo Gu, Jiacheng Lu, Jian Yang, Cheng-Zhong Xu, and Hui Kong, Dense Top-View Semantic Completion with Sparse Guidance and Online Distillation, IEEE Transactions on Intelligent Vehicles, 2023

• Beibei Zhou, Yiming Tu, Zhong Jin, Chengzhong Xu, Hui Kong, HPPLO-Net: Unsupervised LiDAR Odometry Using Hierarchical Point-to-Plane Solver,  IEEE Transactions on Intelligent Vehicles, 2023, CODE 

• Yubin Guo, Xinlei Qi, Jin Xie, Cheng-Zhong Xu, and Hui Kong, Unsupervised Cross-Spectrum Depth Estimation by Visible-light and Thermal Cameras, IEEE Transactions on Intelligent Transportation Systems, 2023, CODE

• Huajun Liu, Jing Yang, Xianyu Miao, Christoph Mertz, and Hui Kong, CrackFormer Network for Pavement Crack Segmentation, IEEE Transactions on Intelligent Transportation Systems, 2023, CODE

• Beibei Zhou, Jin Xie, Zhong Jin, Hui Kong, Geometry-Aware Network for Unsupervised Learning of Monocular Camera’s Ego-motion, IEEE Transactions on Intelligent Transportation Systems, 2023

The Year 2022

• Yi Gu, Yuming Huang, Chengzhong Xu, Hui Kong, MaskRange: A Mask-classification Model for Range-view based LiDAR Segmentation, arXiv preprint arXiv:2206.12073, 2022

• Shuo Gu, Suling Yao, Jian Yang, and Hui Kong, Semantics-Guided Moving Object Segmentation with 3D LiDAR, https://arxiv.org/abs/2205.03186, 2022

• Jiacheng Lu, Shuo Gu, Chengzhong Xu, Hui Kong,  A Cylindrical Convolution Network for Dense Top-View Semantic Segmentation with LiDAR Point Clouds, Asian Conference on Computer Vision (ACCV), https://repository.um.edu.mo/handle/10692/112374, 2022, CODE

• Yi Gu, Hongzhi Cheng, Kafeng Wang, Dejing Dou, Chengzhong Xu, and Hui Kong, Learning Moving-Object Tracking with FMCW LiDAR, IEEE International Conference on Intelligent Robotics and Systems (IROS), https://arxiv.org/abs/2203.00959, 2022

• Zezhou Sun, Banghe Wu, Chengzhong Xu, Hui Kong, Ada-Detector: Adaptive Frontier Detector for Rapid Exploration, IEEE International Conference on Robotics and Automation (ICRA)，https://arxiv.org/abs/2204.06237, 2022

• Zhixing Hou, Yan Yan, Chengzhong Xu, Hui Kong, HiTPR: Hierarchical Transformer for Place Recognition in Point Cloud, IEEE International Conference on Robotics and Automation (ICRA) , https://arxiv.org/abs/2204.05481, 2022

• Yaqing Ding, Jian Yang, Jean Ponce, and Hui Kong, Homography-Based Minimal-Case Relative Pose Estimation with Known Gravity Direction, IEEE Transactions on Pattern Analysis and Machine Intelligence, 2022, CODE

• Yigong Zhang, Zezhou Sun, Banghe Wu, Jian Yang, and Hui Kong, Build a stereo and wide-view hybrid RGB/FIR imaging system for autonomous vehicle, IEEE Sensors Journal, 2022

• Yigong Zhang, Jin Xie, Jose M. Alvarez, Cheng-Zhong Xu, Jian Yang, and Hui Kong, Capitalizing on RGB-FIR Hybrid Imaging for Road Detection, IEEE Transactions on Intelligent Transportation Systems, 2022

The Year 2021

• Huajun Liu, Xianyu Miao, Christoph Mertz, Chengzhong Xu, and Hui Kong, CrackFormer: Transformer Network for Fine-Grained Crack Detection,  IEEE International Conference on Computer Vision (ICCV) , 2021

• Yaqing Ding, Daniel Barath, Jian Yang, Zuzana Kukelova, and Hui Kong, Globally Optimal Relative Pose Estimation with Gravity Prior,  IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) , 2021

• Yaqing Ding*, Yingna Su*, Cheng-Zhong Xu, Jian Yang, and Hui Kong, A general elimination strategy for camera motion estimation, IEEE International Conference on Robotics and Automation (ICRA) , 2021 (oral presentation)

• Shuo Gu, Jian Yang, and Hui Kong, A Cascaded LiDAR-Camera Fusion Network for Road Detection, IEEE International Conference on Robotics and Automation (ICRA) , 2021 (oral presentation)

The Year 2020

• Ying Wang, Zezhou Sun, Cheng-Zhong Xu, Sanjay Sarma, Jian Yang, and Hui Kong, LiDAR-Iris for Loop Closure Detection, IEEE International Conference on Intelligent Robotics and Systems (IROS) , 2020 (oral presentation), CODE

• Zezhou Sun, Banghe Wu, Cheng-Zhong Xu, Sanjay Sarma, Jian Yang, and Hui Kong, Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration, IEEE International Conference on Intelligent Robotics and Systems (IROS) 2020 (oral presentation), CODE

• Mingmei Chen, Le Hui, Jin Xie, Jian Yang and Hui Kong, Cascaded Non-local Neural Network for Point Cloud Semantic Segmentation, IEEE International Conference on Intelligent Robotics and Systems (IROS) , 2020 (oral presentation), CODE

• Yaqing Ding, Jian Yang, Jean Ponce, and Hui Kong, Minimal solutions to relative pose estimation from two views sharing a common direction with unknown focal length, IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) , 2020

• Yaqing Ding, Jian Yang, and Hui Kong, An efficient solution to the relative pose estimation with a common direction, IEEE International Conference on Robotics and Automation (ICRA) , 2020 (spotlight presentation) 

• Yingna Su, Yaqing Ding, Jian Yang, and Hui Kong, A two-step approach to Lidar-Camera calibration, IEEE International Conference on Pattern Recognition (ICPR), 2020

• Peng Li, Changyong Shu, Yuan Xie,  Yanyun Qu, and Hui Kong, Hierarchical Knowledge Squeezed Adversarial Network Compression, Thirty-Fourth AAAI Conference on Artificial Intelligence (AAAI), 2020

The Year 2019

• Shuo Gu, Yigong Zhang, Jinhui Tang, Jian Yang, Jose M. Alvarez, and Hui Kong, Integrating Dense LiDAR-Camera Road Detection Maps by a Multi-Modal CRF Model, IEEE Transactions on Vehicular Technology, 2019

• Yaqing Ding, Jian Yang, Jean Ponce and Hui Kong, An efficient solution to the homography-based relative pose problem with a common reference direction, IEEE International Conference on Computer Vision (ICCV) , 2019 (oral presentation)

• Minghao Liu, Zhixing Hou, Zezhou Sun, Ning Yin, Hang Yang, Ying Wang, Zhiqiang Chu and Hui Kong, Campus Guide: A Lidar-based Mobile Robot, European Conference on Mobile Robotics (ECMR) , 2019 (oral presentation)

• Shuo Gu, Yigong Zhang, Jose Alvarez, Jian Yang, Hui Kong, Two-View Fusion based Convolutional Neural Network for Urban Road Detection, IEEE International Conference on Intelligent Robotics and Systems (IROS) , 2019 (oral presentation)

• Yigong Zhang, Yicheng Gao, Shuo Gu, Yubin Guo, Minghao Liu, Zezhou Sun, Zhixing Hou, Hang Yang, Ying Wang, Jian Yang, Jean Ponce, and Hui Kong, DIY your own hybrid thermal/EO camera for autonomous vehicle, IEEE International Conference on Robotics and Automation (ICRA) , 2019 (spotlight presentation)

• Shuo Gu, Yigong Zhang, Jinhui Tang, Jian Yang, and Hui Kong, Road Detection through CRF based LiDAR-Camera Fusion, IEEE International Conference on Robotics and Automation (ICRA) 2019 (spotlight presentation)

Before the Year 2019

• Journal papers

• Shuo Gu, Yigong Zhang, Xia Yuan, Jian Yang, Tao Wu, and Hui Kong, Histograms of the normalized inverse depth and line scanning for urban road detection based on 3D Lidar, IEEE Transactions on Intelligent Transportation Systems, 2018

• Yingna Su, Yicheng Gao, Yigong Zhang, Jose M. Alvarez, Jian Yang, and Hui Kong: Single camera + 2D Lidar: an illumination-invariant nonparametric model for urban road detection, IEEE Transactions on Intelligent Vehicles, 2018

• Mingmei Chen, Yigong Zhang, Yingna Su, Jose M. Alvarez and Hui Kong: Curb Detection for Road and Sidewalk Detection, IEEE Transactions on Vehicular Technology,  2018

• Shuo Gu, Tao Lu, Yigong Zhang, Jose M. Alvarez, Jian Yang and Hui Kong: 3D LiDAR + Monocular Camera: an Inverse-Depth Induced Fusion Framework for Urban Road Detection, IEEE Transactions on Intelligent Vehicles, 2018

• Yigong Zhang, Yingna Su, Jian Yang,  Jean Ponce, and Hui Kong: When Dijkstra meets vanishing point: a stereo vision approach for road detection, IEEE Transactions on Image Processing,  2018

• Yingna Su, Yigong Zhang, Tao Lu, Jian Yang, and Hui Kong:  Vanishing point constrained lane detection with a stereo camera, IEEE Transactions on Intelligent Transportation Systems,  2017

• Hailing Zhou, Hui Kong, Lei Wei, Douglas C. Creighton, Saeid Nahavandi: On detecting road region from a single UAV image. IEEE Transactions on Intelligent Transportation Systems, 2017

• Ling Zhang, Hui Kong, Shaoxiong Liu, Tianfu Wang, Siping Chen, and Milan Sonka: Graph-Based Segmentation of Abnormal Nuclei in Cervical Cytology, Comp. Med. Imag. and Graph, 2017

• Hailing Zhou, Hui Kong, Lei Wei, Douglas C. Creighton, Saeid Nahavandi: Efficient Road Detection and Tracking for Unmanned Aerial Vehicle. IEEE Transactions on Intelligent Transportation Systems, 2015

• Ling Zhang, Hui Kong, Chien T. Chin, S. Liu, Zhi Chen, Tianfu Wang, Siping Chen: Segmentation of cytoplasm and nuclei of abnormal cells in cervical cytology using global and local graph cuts. Comp. Med. Imag. and Graph, 2014

• Hui Kong, Jian Yang, and Zhihua Chen: Accurate and Efficient Inspection of Speckle and Scratch Defects on Surfaces of Planar Products,  IEEE Transactions on Industrial Informatics, 2017

• Hui Kong, Hatice C. Akakin, Sanjay E. Sarma: A Generalized Laplacian of Gaussian Filter for Blob Detection and Its Applications. IEEE Transactions on Cybernetics, 2013

• Hui Kong, Sanjay E. Sarma, Feng Tang: Generalizing Laplacian of Gaussian Filters for Vanishing-Point Detection. IEEE Transactions on Intelligent Transportation Systems, 2013

• Hui Kong, Metin Gurcan, and Kamel Belkacem-Boussaid: "Partitioning Histopathological Images: An Integrated Framework for Supervised Color-Texture Segmentation and Cell Splitting", IEEE Transactions on Medical Imaging,  2011

• Hui Kong, Jean-Yves Audibert, and Jean Ponce, "Detecting Abandoned Object with a Moving Camera", IEEE Transactions on Image Processing, 2010

• Hui Kong, Jean-Yves Audibert, and Jean Ponce, "General Road Detection from a Single Image", IEEE Transactions on Image Processing, 2010

• Hui Kong, Lei Wang, Eam Khwang Teoh, Xuchun Li, Jian-Gang Wang, and Ronda Venkateswarlu. Generalized 2D Principal Component Analysis for Face Image Representation and Recognition. Neural Networks, August 2005. (special issue dedicated for best papers of IJCNN'05) 

 Conference papers

• Zhixing Hou, Yaqing Ding, Hang Yang, Ying Wang, and Hui Kong, Visual Odometry for Indoor Mobile Robot by Recognizing Local Manhattan Structures, Asian Conference on Computer Vision (ACCV) 2018

• Yigong Zhang, Shuo Gu, Jian Yang, Jose M. Alvarez, Hui Kong, Fusion of LiDAR and Camera by Scanning in LiDAR Imagery and Image-Guided Diffusion for Urban Road Detection, IEEE International Conference on Intelligent Vehicles (IV) 2018

• Yigong Zhang, Jian Yang, Jean Ponce, and Hui Kong: Dijkstra model for stereo-vision based road detection: a non-parametric method, IEEE International Conference on Robotics and Automation (ICRA) 2018 (spotlight presentation)

• Shuo Gu, Yigong Zhang, Jian Yang, and Hui Kong, Lidar-based Urban Road Detection by Histograms of Normalized Inverse Depths and Line Scanning, European Conference on Mobile Robotics (ECMR) 2017, (oral presentation)

• Yingna Su, Yigong Zhang, Jose M. Alvarez, and Hui Kong, An Illumination-invariant Nonparametric Model for Urban Road Detection Using Monocular Camera and Single-line Lidar, IEEE ROBIO 2017, (oral presentation) 

• Sainan Guo, Yicheng Gao, Yingna Su, and Hui Kong, Illumination-invariant Feature by SVD and its Applications , ACPR 2017

• Yigong Zhang, Tao Lu, Jian Yang, and Hui Kong, Split and Merge for Accurate Plane Segmentation in RGB-D Images, ACPR 2017 (spotlight presentation)

• Tao Lu, Yigong Zhang, and Hui Kong, Detection of Road Vanishing Point by Stereo Camera, ACPR 2017

• Liang Chen, Jian Yang, and Hui Kong: Lidar-histogram for fast road and obstacle detection, IEEE International Conference on Robotics and Automation (ICRA) 2017 (spotlight presentation)

• Yigong Zhang, Zhixing Hou, Jian Yang and Hui Kong: Maximum-Clique based visual odometry, IEEE ICPR 2016

• Ling Zhang, Hui Kong, Chien Ting Chin, Shaoxiong Liu, Tianfu Wang, Siping Chen: Automated segmentation of abnormal cervical cells using global and local graph cuts. IEEE ISBI 2014 (oral presentation)

• Hailing Zhou, Hui Kong, J. M. Alvarez, Douglas C. Creighton, Saeid Nahavandi: Fast road detection and tracking in aerial videos. IEEE IV 2014

• Basak Oztan, Hui Kong, Metin Gurcan and Bulent Yener: "Follicular lymphoma grading using cell-graphs and multiscale feature analysis", SPIE Medical Imaging, 2012. (oral presentation)

• Hatice Cinar Akakin, Hui Kong, Metin Gurcan: "Automated detection of cells from immunohistochemically-stained tissues: application to Ki-67 nuclei staining", SPIE Medical Imaging, 2012.

• Hui Kong, Metin Gurcan and Kamel Belkacem-Boussaid: "Splitting touching-cell clumps in pathological images", IEEE ISBI, 2011.

• Hui Kong, Metin Gurcan and Kamel Belkacem-Boussaid: "Segmentation of nuclei in follicular lymphoma histopathology images", SPIE Medical Imaging, 2011.

• Hui Kong, Jean-Yves Audibert and Jean Ponce: "Vanishing Point Detection for Road Detection", IEEE CVPR 2009

• Hui Kong, Pengfei Xu, and Eam Khwang Teoh: Binocular Uncalibrated Photometric Stereo, Proceedings of IEEE International Symposium on Visual Computing (ISVC'06), Nevada, USA, 2006. 

• Hui Kong and Jian-Gang Wang, Coupling AdaBoost and Random Subspace for Diversified Fisher Linear Discriminant. Proccedings of IEEE International Conference on Nural Information Processing (ICONIP'06), Hong Kong, 2006. (oral presentation)

• Hui Kong, Xuchun Li, Jian-Gang Wang, and Chandra Kambhamettu. Discriminant Analysis of Low-dimensional Space for Face Recognition with Small Number of Training Samples.  BMVC 2005. 

• Hui Kong, Eam Khwang Teoh, Jian-Gang Wang, and Chandra Kambhamettu. Generalized 2D Fisher Discriminant Analysis, BMVC 2005.

• Hui Kong, Xuchun Li, Lei Wang, Eam Khwang Teoh, Jian-gang Wang, and Ronda Venkateswarlu.  Generalized 2D Principal Component Analysis. IEEE IJCNN 2005 (oral presentation, best paper shortlist)

• Hui Kong, Lei Wang, Eam-Khwang Teoh, Jian-gang Wang, and Ronda Venkateswarlu. A Framework of 2D Fisher Discriminant Analysis: Application to Face Recognition with Small Number of Training Samples. IEEE CVPR 2005

• Hui Kong, Eam-Khwang Teoh, Jian-gang Wang, and Ronda Venkateswarlu. Two Dimensional Fisher Discriminant Analysis: Forget about Small Sample Size Problem. IEEE ICASSP 2005

• Hui Kong, Eam-Khwang Teoh, Jian-gang Wang, and Ronda Venkateswarlu. Coplanar Light Sweep-Surface Supported Uncalibrated Photometric Stereo. IEEE ICPR 2004. 

• Hui Kong, Eam-Khwang Teoh, Jian-gang Wang, and Ronda Venkateswarlu. Eigen-coefficients Estimation of Occluded Face Using selection and clustering. ACCV 2004. 

• Jian-gang Wang, Hui Kong, and Ronda Venkateswarlu. Improving Face Recognition Performance by Combining Color and Depth Fisherfaces. ACCV 2004.