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


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

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

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

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

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

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


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

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

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

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

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

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

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