Prof. Kangcheng Liu

Prof. Kangcheng Liu

Embodied AI, Robotic Systems and Computational Optics. California Institute of Technology (Caltech), ETH Zurich.

Publications

Selected Publications

Kangcheng Liu. Generalized Robotic Vision-Language Learning Model via Linguistic Foreground-Aware Contrast. International Journal of Computer Vision (IJCV), 2024, IF in 2022: 19.5, Pages 1-38. Image Codes

Kangcheng Liu. RM3D: Robust Data-Efficient 3D Scene Parsing via Traditional and Learnt 3D Descriptors-based Semantic Region Merging. International Journal of Computer Vision (IJCV) 2022, IF in 2021: 13.369, Pages 1-30. Image IEEE Xplore
Image Codes

Kangcheng Liu. General Robot 3D Vision-Language Model with Fast Rendering and Pre-Training Vision-Language Alignment. IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2024, IF in 2024: 23.9, Pages 1-20. Image Codes

Kangcheng Liu. DLC-SLAM: A Robust LiDAR-SLAM System with Learning-based Denoising and Loop Closure. IEEE Transactions on Mechatronics (T-MECH), March 2023. Image Systematic Codebase of DLC-LiDAR-SLAM_v1.6.
Image Preliminary Codebase of LiDAR-SLAM_v1.2.

Kangcheng Liu, Shao Ling. FAC: 3D Representation Learning via Foreground Aware Feature Contrast. CVPR 2023.
Image Codes of this work and the compared works.

Kangcheng Liu, and Ben M. Chen. FG-Net: A Fast and Accurate Framework for Large-Scale LiDAR Point Clouds Understanding. IEEE Transactions on Cybernetics (T-CYB), March 2022, IF in 2021: 19.118. Image IEEE Xplore
Image Codes

Kangcheng Liu, and Ben M. Chen. FG-Conv: Large-Scale LiDAR Point Clouds Understanding Leveraging Feature Correlation Mining and Geometric-Aware Modeling. 2021 38th IEEE International Conference on Robotics and Automation (ICRA). (Oral) . Image IEEE Xplore
Image Codes

Kangcheng Liu, Yuzhi Zhao, and Ben M. Chen. WeakLabel3D-Net: A Complete Framework for Real-Scene LiDAR Point Clouds Weakly Supervised Multi-Tasks Understanding. 2021 38th IEEE International Conference on Robotics and Automation (ICRA). (Oral) . Image IEEE Xplore
Image Codes

Kangcheng Liu, Yuzhi Zhao, Qiang Nie, and Ben M. Chen. Weakly Supervised 3D Scene Parsing with Region-Level Boundary Awareness and Instance Discrimination. European Conference on Computer Vision (ECCV) 2022. Image ECCV Springer Book
Image PDF
Image Codes

Kangcheng Liu. Robust Industrial UAV/UGV-Based Unsupervised Domain Adaptive Crack Recognitions with Depth and Edge Awareness: From System and Database Constructions to Real-Site Inspections. ACM International Conference on Multimedia (ACM MM) 2022. (Oral). Image ACM Digital Library
Image Codes and Datasets

Kangcheng Liu and Ben M. Chen. Industrial UAV-based Unsupervised Domain Adaptive Crack Recognitions: From System Setups to Real-Site Infrastructural Inspections. IEEE Transactions on Industrial Electronics (TIE), 2022. Image IEEE Xplore
Image Codes and Datasets.

Kangcheng Liu, et al. Generalized 3D Self-supervised Learning Framework via Prompted Foreground-Aware Feature Contrast. Image Codes

Kangcheng Liu, Yanbin Qu, Hak-Man Kim, and Huihui Song. Avoiding frequency second dip in power unreserved control during wind power rotational speed recovery. IEEE Transactions on Power Systems (TPS), May 2018 (TPS highly cited paper in the topic of control for power systems.) . Image IEEE Xplore
Image Codes

Kangcheng Liu, and Shijian Lu. D-LC-Nets: Robust Denoising and Loop Closing Networks for LiDAR-SLAM in Complicated Circumstances with Noisy Point Clouds. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (Oral) Image IEEE Xplore
Image Systematic Codebase of DLC-LiDAR-SLAM_v1.6.
Image Preliminary Codebase of LiDAR-SLAM_v1.2.

Siyu Chen, Kangcheng Liu, et al. Salient Sparse Visual Odometry With Pose-Only Supervision. . IEEE Robotics and Automation Letters, 2024.

Xu Zheng, Kangcheng Liu, et al. Transformer-cnn cohort: Semi-supervised semantic segmentation by the best of both students. . IEEE International Conference on Robotics and Automation (ICRA), 2024.

Kangcheng Liu, A LiDAR-Inertial-Visual SLAM System with Loop Detection . Robotics: Science and Systems (RSS), Workshops, 2021 (Oral) .

Kangcheng Liu, Learning-Based Defect Recognitions for Autonomous UAV Inspections . Robotics: Science and Systems (RSS), Workshops, 2020 (Oral) .

Kangcheng Liu, An Enhanced LiDAR-Inertial SLAM System for Robotics Localization and Mapping . International Conference on Robotics and Automation (ICRA), Workshops, 2019 (Oral) .

Kangcheng Liu, A Light-Weight LiDAR-Inertial SLAM System with Loop Closing . International Conference on Robotics and Automation (ICRA), Workshops, 2020 (Oral) .

Kangcheng Liu, Xiaodong Han, and Ben M. Chen. Deep Learning Based Automatic Crack Detection and Segmentation for Unmanned Aerial Vehicle Inspections. 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), (Oral) Image IEEE Xplore
Image Codes and Datasets.

Kangcheng Liu, and Ben M. Chen. Fast Large-Scale LiDAR Point Clouds Understanding Network Leveraging Correlated Feature Mining and Geometric-Aware Modelling. IEEE Transactions on Cybernetics (T-CYB), December 2020, IF in 2021: 19.118. Image IEEE Xplore
Image Codes

Kangcheng Liu, and Ben M. Chen. An Integrated Visual System for Unmanned Aerial Vehicles Following Ground Vehicles: Simulations and Experiments. 2022 International Conference on Control and Automation (ICCA), 2022 (Oral) . Image IEEE Xplore
Image Codes.

Kangcheng Liu, and Ben M. Chen. An Enhanced LiDAR Inertial Localization and Mapping System for Unmanned Ground Vehicles. . 2022 International Conference on Control and Automation (ICCA), 2022 (Oral) . Image IEEE Xplore
Image Codes.

Kangcheng Liu, Guidong Yang, and Ben M. Chen. Datasets and Methods for Boosting Infrastructure Inspection: A Survey on Defect Segmentation and Detection. 2022 International Conference on Control and Automation (ICCA), 2022. Image IEEE Xplore
Image Codes and Datasets.

Kangcheng Liu, Guidong Yang, and Ben M. Chen. Datasets and Methods for Boosting Infrastructure Inspection: A Survey on Defect Classification. . 2022 International Conference on Control and Automation (ICCA), 2022. Image IEEE Xplore
Image Codes and Datasets.

Kangcheng Liu, Guidong Yang, and Ben M. Chen. Datasets and processing methods for boosting visual inspection of civil infrastructure: A comprehensive review and algorithm comparison for crack classification, segmentation, and detection. . Construction and Building Materials, 2022.
Image Codes and Datasets.

Kangcheng Liu, Semi-Supervised Confidence-Level-based Contrastive Discrimination for Class Imbalanced Semantic Segmentation. . 2022 IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2022. Image IEEE Xplore
Image Codes.

Kangcheng Liu, A Robust and Efficient LiDAR-Inertial-Visual Fused Simultaneous Localization and Mapping System with Loop Closure. 2022 IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2022. Image IEEE Xplore
Image Codes.

Kangcheng Liu, A Light-Weight LiDAR-Inertial SLAM System with High Efficiency and Loop Closure Detection Capacity. . 2022 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 2022. Image IEEE Xplore
Image Codes of LiDAR-SLAM. Image Codes of Compared Works.

Yuzhi Zhao, Lai-Man Po, Kangcheng Liu, Xuehui Wang, Win-Yin Yu. SVCNet: Real-time Scribble-based Video Colorization with Pyramid Networks. IEEE Transactions on Image Processing, 2023.

Pengyu Yin, Kangcheng Liu, et al. Outram: One-shot Global Localization via Triangulated Scene Graph and Global Outlier Pruning. IEEE International Conference on Robotics and Automation, 2024.

Yuzhi Zhao, Lai-Man Po, Tingyu Lin, Xuehui Wang, Kangcheng Liu, et al. Legacy Photo Editing with Learned Noise Prior. IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Oral, 2021. Image CVF Open Access
Image Codes and Datasets.

Muqing Cao, Kun Cao, Shenghai Yuan, Kangcheng Liu, et al. Path Planning for Multiple Tethered Robots Using Topological Braids. . Proceedings of Robotics: Science and Systems (RSS), 2023.

Kangcheng Liu, et al. Generalized Label-Efficient 3D Scene Parsing via Hierarchical Feature Aligned Pre-Training and Region-Aware Fine-tuning. Image Codes

Kangcheng Liu. Online Robot Navigation and Manipulation with Distilled Vision-Language Models. IEEE International Conference on Robotics and Automation (ICRA),. Image Codes

Kangcheng Liu, A LiDAR-Inertial-Visual SLAM System with Loop Detection . Robotics: Science and Systems (RSS), Workshops, 2021 (Oral) .

Kangcheng Liu, Learning-Based Defect Recognitions for Autonomous UAV Inspections . Robotics: Science and Systems (RSS), Workshops, 2020 (Oral) .

Kangcheng Liu, An Enhanced LiDAR-Inertial SLAM System for Robotics Localization and Mapping . International Conference on Robotics and Automation (ICRA), Workshops, 2019 (Oral) .

Kangcheng Liu, A Light-Weight LiDAR-Inertial SLAM System with Loop Closing . International Conference on Robotics and Automation (ICRA), Workshops, 2020 (Oral) .

Working experience before Ph.D.: