Huai Yu

Huai Yu (余淮)

Associate Professor, Wuhan University

About Me

I am an Associate Professor of the Electronic Information School at Wuhan University. Before this, I was a Postdoctoral Fellow in the AirLab of the Robotics Institute, Carnegie Mellon University (CMU) , working with Prof. Sebastian Scherer. Now I am working with Prof. Wen Yang on robotics. Particularly, I am interested in SLAM, exploration, and swarm.

News

Selected Papers [Google Scholar]

Conference Papers


Image

QuadricsNet: Learning Concise Representation for Geometric Primitives in Point Clouds

Ji Wu#, Huai Yu#, Wen Yang, Gui-Song Xia

IEEE International Conference on Robotics and Automation (ICRA). 2024.

Paper Code Video

Image

FE-DeTr: Keypoint Detection and Tracking in Low-quality Image Frames with Events

Xiangyuan Wang, Kuangyi Chen, Wen Yang, Lei Yu, Yannan Xing, Huai Yu*

IEEE International Conference on Robotics and Automation (ICRA). 2024.

Paper Code Video

Image

Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapping Monocular Cameras

Yao He, Huai Yu, Wen Yang, Sebastian Scherer

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022

Paper Video

Image

Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics

Weikun Zhen#, Huai Yu#, Yaoyu Hu, Sebastian Scherer (# equal contribution)

IEEE International Conference on Robotics and Automation (ICRA). 2022

Paper Video

Image

Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences

Huai Yu, Weikun Zhen, Wen Yang, Ji Zhang, Sebastian Scherer

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

Paper Presentation

Image

LiDAR Enhanced Structure-from-Motion

Weikun Zhen, Yaoyu Hu, Huai Yu, Sebastian Scherer

IEEE International Conference on Robotics and Automation (ICRA). 2020

Paper Demo

Journal Papers


Image

QuadricsReg: Large-Scale Point Cloud Registration using Quadric Primitives

Ji Wu, Huai Yu*, Shu Han, Xi-Meng Cai, Ming-Feng Wang, Wen Yang, Gui-Song Xia*

arXiv:2412.02998, 2024.

Homepage arXiv Video Code

Image

MCVO: A Generic Visual Odometry for Arbitrarily Arranged Multi-Cameras

Huai Yu*, Junhao Wang, Yao He, Wen Yang, Gui-Song Xia

arXiv:2412.03146 2024.

Paper Video Code

Image

I2D-Loc++: Camera Pose Tracking in LiDAR Maps With Multi-View Motion Flows

Huai Yu#, Kuangyi Chen#, Wen Yang, Sebastian Scherer, Gui-Song Xia

IEEE Robotics and Automation Letters, 2024.

Paper Video Code

Image

Detecting Line Segments in Motion-blurred Images with Events

Huai Yu#, Hao Li#, Wen Yang, Lei Yu, Gui-Song Xia

IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2024

Homepage Paper Code Data

Image

I2D-Loc: Camera Localization via Image to LiDAR Depth Flow

Kuangyi Chen, Huai Yu*, Wen Yang, Lei Yu, Sebastian Scherer, Gui-Song Xia

ISPRS Journal of Photogrammetry and Remote Sensing, 2022.

Homepage Paper Code Video

Image

Targetless Extrinsic Calibration of Stereo, Thermal, and Laser Sensors in Structured Environments

Taimeng Fu, Huai Yu*, Wen Yang, Yaoyu Hu, Sebastian Scherer

IEEE Transactions on Instrument and Measurement, 2022.

Paper Code Video

Image

ULSD: Unified Line Segment Detection across Pinhole, Fisheye, and Spherical Cameras

Hao Li#, Huai Yu#, Jinwang Wang, Wen Yang, Lei Yu, Sebastian Scherer (# cofirst author)

ISPRS Journal of Photogrammetry and Remote Sensing, 2021. The U. V. Helava Award – Best Paper 2021

Paper Code Presentation