Publications

2021 2020 2019 2018 2017 2016 2015

2021

J. Zhang, C. Ma, K. Yang, A. Roitberg, K. Peng, R. Stiefelhagen.
Transfer beyond the Field of View: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation.
Submitted to IEEE Transactions on Intelligent Transportation Systems, 2021. [DATA+CODE]
J. Zhang, K. Yang, R. Stiefelhagen.
Exploring Event-driven Dynamic Context for Accident Scene Segmentation.
Submitted to IEEE Transactions on Intelligent Transportation Systems, 2021. [DATA+CODE]
K. Yang, X. Hu, R. Stiefelhagen.
Is Context-Aware CNN Ready for the Surroundings? Panoramic Semantic Segmentation in the Wild.
IEEE Transactions on Image Processing, 2021. [PDF] [DATA]
K. Xiang, K. Yang, K. Wang.
Polarization-driven Semantic Segmentation via Efficient Attention-bridged Fusion.
Optics Express, 2021. [PDF] [DATA] [CODE]
H. Chen, W. Hu, K. Yang, J. Bai, K. Wang.
Panoramic annular SLAM with loop closure and global optimization.
Submitted to Applied Optics, 2021. [PDF]
Z. Ji, W. Hu, Z. Wang, K. Yang, K. Wang.
Seeing through Events: Real-Time Moving Object Sonification for Visually Impaired People using Event-Based Camera.
Sensors, 2021. [VIDEO]
H. Chen, K. Yang, W. Hu, J. Bai, K. Wang.
Semantic Visual Odometry based on Panoramic Annular Imaging.
Submitted to Acta Optica Sinica, 2021.
J. Zhang, K. Yang, R. Stiefelhagen.
ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-based Data.
Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 2021. [PDF] [VIDEO] [DATA+CODE]
C. Ma, J. Zhang, K. Yang, A. Roitberg, R. Stiefelhagen.
DensePASS: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation with Attention-Augmented Context Exchange.
Submitted to IEEE International Conference on Intelligent Transportation Systems (ITSC), Indianapolis, IN, United States, September 2021. [DATA+CODE]
A. Jaus, K. Yang, R. Stiefelhagen.
Panoramic Panoptic Segmentation: Towards Complete Surrounding Understanding via Unsupervised Contrastive Learning.
In IEEE Intelligent Vehicles Symposium (IV), Nagoya, Japan, July 2021. [PDF] [DATA]
S. Chen, K. Yang, R. Stiefelhagen.
DR-TANet: Dynamic Receptive Temporal Attention Network for Street Scene Change Detection.
In IEEE Intelligent Vehicles Symposium (IV), Nagoya, Japan, July 2021. [PDF] [CODE]
W. Mao, J. Zhang, K. Yang, R. Stiefelhagen.
Panoptic Lintention Network: Towards Efficient Navigational Perception for the Visually Impaired.
In IEEE International Conference on Real-time Computing and Robotics (RCAR), Xining, China, July 2021. [PDF] [VIDEO]
Y. Zhang, H. Chen, K. Yang, J. Zhang, R. Stiefelhagen.
Perception Framework through Real-Time Semantic Segmentation and Scene Recognition on a Wearable System for the Visually Impaired.
In IEEE International Conference on Real-time Computing and Robotics (RCAR), Xining, China, July 2021. [PDF]
K. Yang, J. Zhang, S. Reiß, X. Hu, R. Stiefelhagen.
Capturing Omni-Range Context for Omnidirectional Segmentation.
In IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Nashville, TN, United States (Virtual), June 2021. [PDF] [DATA] [Zhihu] [WeChat]

2020

K. Yang, X. Hu, Y. Fang, K. Wang, R. Stiefelhagen.
Omnisupervised Omnidirectional Semantic Segmentation.
IEEE Transactions on Intelligent Transportation Systems, 2020. [PDF] [DATA+CODE]
L. Sun, K. Yang, X. Hu, W. Hu, K. Wang.
Real-time Fusion Network for RGB-D Semantic Segmentation Incorporating Unexpected Obstacle Detection for Road-driving Images.
IEEE Robotics and Automation Letters with IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, United States (Virtual), October 2020. [PDF] [CODE]
M. Martinez, K. Yang, A. Constantinescu, R. Stiefelhagen.
Helping the Blind to Get through COVID-19: Social Distancing Assistant Using Real-Time Semantic Segmentation on RGB-D Video.
Sensors, 2020. [PDF] [DATA+CODE]
W. Hu, K. Wang, K. Yang, R. Cheng, Y. Ye, L. Sun, Z. Xu.
A Comparative Study in Real-Time Scene Sonification for Visually Impaired People.
Sensors, 2020. [PDF]
Y. Fang, K. Yang, R. Cheng, L. Sun, K. Wang.
A Panoramic Localizer Based on Coarse-to-Fine Descriptors for Navigation Assistance.
Sensors, 2020. [PDF] [DATA]
W. Mao, J. Zhang, K. Yang, R. Stiefelhagen.
Can we cover navigational perception needs of the visually impaired by panoptic segmentation?
In arXiv, 2020. [PDF]
K. Yang, X. Hu, K. Wang, R. Stiefelhagen.
In Defense of Multi-Source Omni-Supervised Efficient ConvNet for Robust Semantic Segmentation in Heterogeneous Unseen Domains.
In IEEE Intelligent Vehicles Symposium (IV), Las Vegas, NV, United States (Virtual), October 2020. [PDF] [DATA+CODE]
K. Yang, X. Hu, H. Chen, K. Xiang, K. Wang, R. Stiefelhagen.
DS-PASS: Detail-Sensitive Panoramic Annular Semantic Segmentation through SwaftNet for Surrounding Sensing.
In IEEE Intelligent Vehicles Symposium (IV), Las Vegas, NV, United States (Virtual), October 2020. [PDF] [VIDEO] [DATA+CODE]
Y. Fang, K. Wang, R. Cheng, K. Yang.
CFVL: A Coarse-to-Fine Vehicle Localizer with Omnidirectional Perception across Severe Appearance Variations.
In IEEE Intelligent Vehicles Symposium (IV), Las Vegas, NV, United States (Virtual), October 2020. [PDF] [DATA]
Y. Ye, K. Yang, K. Xiang, J. Wang, K. Wang.
Universal Semantic Segmentation for Fisheye Urban Driving Images.
In IEEE International Conference on Systems, Man, and Cybernetics (SMC), Toronto, Canada (Virtual), October 2020. [PDF] [CODE]
K. Zhou, K. Wang, K. Yang.
PADENet: An Efficient and Robust Panoramic Monocular Depth Estimation Network for Outdoor Scenes.
In IEEE Intelligent Transportation Systems Conference (ITSC), Rhodes, Greece (Virtual), September 2020. [PDF] [CODE]
H. Chen, Y. Zhang, K. Yang, M. Martinez, K. Müller, R. Stiefelhagen.
Can We Unify Perception and Localization in Assisted Navigation? An Indoor Semantic Visual Positioning System for Visually Impaired People.
In International Conference on Computers Helping People with Special Needs (ICCHP), Lecco, Italy (Virtual), September 2020. [PDF] [CODE]
K. Zhou, K. Wang, K. Yang.
A Robust Monocular Depth Estimation Framework Based on Light-Weight ERF-PSPNet for Day-Night Driving Scenes.
In International Conference on Graphics, Images and Interactive Techniques (CGIIT), Sanya, China (Virtual), February 2020. [PDF] [DATA]

2019

K. Yang, X. Hu, L.M. Bergasa, E. Romera, K. Wang.
PASS: Panoramic Annular Semantic Segmentation.
IEEE Transactions on Intelligent Transportation Systems, 2019. [PDF] [DATA+CODE]
K. Yang, L.M. Bergasa, E. Romera, K. Wang.
Robustifying Semantic Cognition of Traversability across Wearable RGB-Depth Cameras.
Applied Optics, 2019. [Highlighted as an Editors' Pick] [PDF] [DATA1] [DATA2] [CODE]
W. Hu, K. Wang, H. Chen, R. Cheng, K. Yang.
An Indoor Positioning Framework Based on Panoramic Visual Odometry for Visually Impaired People.
Measurement Science and Technology, 2019. [PDF] [CODE]
H. Chen, K. Wang, W. Hu, K. Yang, R. Cheng, J. Bai.
PALVO: Visual odometry based on panoramic annular lens.
Optics Express, 2019. [HTML] [PDF]
H. Li, K. Wang, K. Yang, R. Cheng, C. Wang, L. Fei.
Unconstrained Self-Calibration of Stereo Camera on Visually Impaired Assistance Devices.
Applied Optics, 2019. [PDF]
N. Long, K. Wang, R. Cheng, W. Hu, K. Yang.
Unifying Obstacle Detection, Recognition and Fusion Based on Millimeter Wave Radar and RGB-Depth Sensors for the Visually Impaired.
Review of Scientific Instruments, 2019. [HTML] [PDF]
N. Long, K. Wang, R. Cheng, K. Yang, W. Hu, J. Bai.
Assisting the visually impaired: Multi-target warning through millimeter wave radar and RGB-depth sensors.
Journal of Electronic Imaging, 2019. [PDF]
K. Xiang, K. Wang, K. Yang.
Importance-Aware Semantic Segmentation with Efficient Pyramidal Context Network for Navigational Assistant Systems.
In IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, October 2019. [PDF] [arxiv] [CODE]
R. Cheng, K. Wang, S. Lin, W. Hu, K. Yang, X. Huang, H. Li, D. Sun, J. Bai.
Panoramic Annular Localizer: Tackling the Variation Challenges of Outdoor Localization Using Panoramic Annular Images and Active Deep Descriptors.
In IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, October 2019. [PDF] [arxiv] [DATA+CODE]
X. Hu, K. Yang, L. Fei, K. Wang.
ACNet: Attention Based Network to Exploit Complementary Features for RGBD Semantic Segmentation.
In IEEE International Conference on Image Processing (ICIP), Taipei, China, September 2019. [PDF] [arxiv] [CODE] [PaperWeekly] [ZhiHu] [BLOG]
D. Sun, X. Huang, K. Yang.
A Multimodal Vision Sensor for Autonomous Driving.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [arxiv] [Presentation] [CODE] [BLOG]
K. Xiang, K. Wang, K. Yang.
A Comparative Study of High-Recall Real-Time Semantic Segmentation Based on Swift Factorized Network.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [arxiv] [Presentation] [CODE]
J. Wang, J. Bai, X. Huang, X. Zhou, L. Zhao, K. Yan, J. Hou, K. Yang.
Transparent object sensing with enhanced prior from deep convolutional neural network.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [Presentation]
Y. Xu, K. Wang, K. Yang, D. Sun, J. Fu.
Semantic Segmentation of Panoramic Images Using a Synthetic Dataset.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [arxiv] [Presentation] [VIDEO] [DATA+CODE]
C. Xu, K. Wang, K. Yang, R. Cheng, J. Bai.
Semantic scene understanding on mobile device with illumination invariance for the visually impaired.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [DATA]
L. Sun, K. Wang, K. Yang, K. Xiang.
See Clearer at Night: Towards Robust Nighttime Semantic Segmentation through Day-Night Image Conversion.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [arxiv] [Presentation] [DATA] [CODE] [AITechTalk] [ZhiHu]
Y. Fang, K. Wang, R. Cheng, K. Yang, J. Bai.
Visual place recognition based on multi-level descrirptors for the visually impaired people.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [Presentation]
J. Shen, K. Wang, K. Yang, K. Xiang, L. Fei, X. Hu, H. Li and H. Chen.
A Depth Estimation Framework Based on Unsupervised Learning and Cross-Modal Translation.
In SPIE Security + Defence Symposium, Strasbourg, France, September 2019. [PDF] [Presentation]
K. Yang, X. Hu, L.M. Bergasa, E. Romera, X. Huang, D. Sun, K. Wang.
Can we PASS beyond the Field of View? Panoramic Annular Semantic Segmentation for Real-World Surrounding Perception.
In IEEE Intelligent Vehicles Symposium (IV), Paris, France, June 2019. [PDF] [VIDEO] [DATA+CODE] [BLOG]
E. Romera, L.M. Bergasa, K. Yang, J.M. Álvarez, R. Barea.
Bridging the Day and Night Domain Gap for Semantic Segmentation.
In IEEE Intelligent Vehicles Symposium (IV), Paris, France, June 2019. [PDF] [DATA]
K. Xiang, K. Wang, L. Fei, K. Yang.
Store Sign Text Recognition for Wearable Navigation Assistance System.
In International Conference on Graphics, Images and Interactive Techniques (CGIIT), Guangzhou, China, February 2019. [PDF] [BLOG]
Y. Ye, K. Wang, W. Hu, H. Li, K. Yang, L. Sun, Z. Chen.
A Wearable Vision-To-Audio Sensory Substitution Device for Blind Assistance and the Correlated Neural Substrates.
In International Conference on Graphics, Images and Interactive Techniques (CGIIT), Guangzhou, China, February 2019. [PDF]

2018

K. Yang, K. Wang, L.M. Bergasa, E. Romera, W. Hu, D. Sun, J. Sun, R. Cheng, T. Chen, E. López.
Unifying Terrain Awareness for the Visually Impaired through Real-Time Semantic Segmentation.
Sensors, 2018. Belongs to the Special Issue [Wearable Smart Devices] [HTML] [PDF] [DATA1] [DATA2] [TensorFlow] [PyTorch] [NVIDIA TX1/TX2 Implementation]
K. Yang, K. Wang, H. Chen, J. Bai.
Reducing the minimum range of a RGB-depth sensor to aid navigation in visually impaired individuals.
Applied Optics, 2018. [Highlighted as an Editors' Pick] [PDF]
S. Lin, R. Cheng, K. Wang, K. Yang.
Visual Localizer: Outdoor Localization Based on ConvNet Descriptor and Global Optimization for Visually Impaired Pedestrians.
Sensors, 2018. Belongs to the Special Issue [Sensor Technologies for Caring People with Disabilities] [HTML] [PDF] [DATA]
R. Cheng, K. Wang, K. Yang, N. Long, J. Bai, D. Liu.
Real-time pedestrian crossing lights detection algorithm for the visually impaired.
Multimedia Tools and Applications, 2018. [PDF] [DATA]
K. Yang, R. Cheng, L.M. Bergasa, E. Romera, K. Wang, N. Long.
Intersection perception through real-time semantic segmentation to assist navigation of visually impaired pedestrians.
In IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, December 2018. [PDF] [DATA1] [DATA2] [BLOG]
K. Yang, L.M. Bergasa, E. Romera, J. Wang, K. Wang, E. López.
Perception framework of water hazards beyond traversability for real-world navigation assistance systems.
In IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, Malaysia, December 2018. [PDF] [DATA]
K. Yang, L.M. Bergasa, E. Romera, X. Huang, K. Wang.
Predicting polarization beyond semantics for wearable robotics.
In IEEE-RAS International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018. [Spotlight Paper] [PDF] [DATA] [PyTorch] [BLOG]
J. Wang, K. Yang, W. Hu, K. Wang.
An environmental perception and navigational assistance system for visually impaired persons based on semantic stixels and sound interaction.
In IEEE International Conference on Systems, Man, and Cybernetics (SMC), Miyazaki, Japan, October 2018. [PDF] [BLOG]
N. Long, K. Wang, R. Cheng, W. Hu, K. Yang.
Low Power Millimeter Wave Radar System for the Visually Impaired.
In IET International Radar Conference (IRC), Nanjing, China, October 2018. [Excellent Paper Award] [PDF] [BLOG]
Y. Ye, K. Wang, W. Hu, K. Yang.
Study on the brain mechanisum in visual assistance for the blind.
In West-Lake Photonics Symposium (WPS), Hangzhou, China, October 2018. [PDF]
Z. Huang, K. Wang, K. Yang, R. Cheng, J. Bai.
Glass detection and recognition based on the fusion of ultrasonic sensor and RGB-D sensor for the visually impaired.
In West-Lake Photonics Symposium (WPS), Hangzhou, China, October 2018. [PDF]
N. Long, K. Wang, R. Cheng, K. Yang, W. Hu, J. Bai.
Mutiple Target Warning through Millimeter Wave Radar and RGB-Depth Sensors.
In West-Lake Photonics Symposium (WPS), Hangzhou, China, October 2018. [PDF]
K. Yang, L.M. Bergasa, E. Romera, D. Sun, K. Wang, R. Barea.
Semantic perception of curbs beyond traversability for real-world navigation assistance systems.
In IEEE International Conference on Vehicular Electronics and Safety (ICVES), Madrid, Spain, September 2018. [PDF] [DATA1] [DATA2] [BLOG]
L. Fei, K. Wang, S. Lin, K. Yang, R. Cheng and H. Chen.
Scene text detection and recognition system for visually impaired people in real world.
In SPIE Security + Defence Symposium, Berlin, Germany, September 2018. [Best Student Paper] [PDF] [Presentation] [BLOG]
N. Long, K. Wang, R. Cheng, K. Yang, J. Bai.
Fusion of Millimeter wave Radar and RGB-Depth sensors for assisted navigation of the visually impaired.
In SPIE Security + Defence Symposium, Berlin, Germany, September 2018. [PDF] [Presentation]
Z. Huang, K. Wang, K. Yang, R. Cheng, J. Bai.
Glass Detection and Recognition Based on the Fusion of Ultrasonic Sensor and RGB-D Sensor for the Visually Impaired.
In SPIE Security + Defence Symposium, Berlin, Germany, September 2018. [PDF] [Presentation]
R. Cheng, K. Wang, L. Lin, K. Yang.
Visual Localization of Key Positions for Visually Impaired People.
In International Conference on Pattern Recognition (ICPR), Beijing, China, August 2018. [PDF] [arxiv] [DATA] [CODE] [BLOG]
S. Lin, K. Wang, K. Yang, R. Cheng.
KrNet: A Kinetic Real-time Convolutional Neural Network for Navigational Assistance.
In International Conference on Computers Helping People with Special Needs (ICCHP), Linz, Austria, July 2018. [PDF] [BLOG]
K. Yang, L.M. Bergasa, E. Romera, R. Cheng, T. Chen, K. Wang.
Unifying terrain awareness through real-time semantic segmentation.
In IEEE Intelligent Vehicles Symposium (IV), Suzhou, China, June 2018. [Main Publication in Google Scholar Metrics] [PDF] [VIDEO] [DATA1] [DATA2] [TensorFlow] [PyTorch] [BLOG]
K. Yang, K. Wang, S. Lin, J. Bai, L.M. Bergasa, R. Arroyo.
Long-range Traversability Awareness and Low-lying Obstacle Negotiation with RealSense for the Visually Impaired.
In International Conference on Information Science and System (ICISS), Jeju Island, South Korea, April 2018. [PDF]
H. Chen, K. Wang, K. Yang.
Improving RealSense by Fusing Color Stereo Vision and Infrared Stereo Vision for the Visually Impaired.
In International Conference on Information Science and System (ICISS), Jeju Island, South Korea, April 2018. [PDF]
K. Yang, K. Wang, S. Lin, J. Bai, L.M. Bergasa, R. Arroyo.
Long-range Traversability Awareness and Low-lying Obstacle Negotiation with RealSense for the Visually Impaired.
In International Conference on Frontiers of Image Processing (ICFIP), Barcelona, Spain, March 2018. [Best Paper Award] [PDF] [BLOG]
H. Chen, K. Wang, K. Yang.
Improving RealSense by Fusing Color Stereo Vision and Infrared Stereo Vision for the Visually Impaired.
In International Conference on Frontiers of Image Processing (ICFIP), Barcelona, Spain, March 2018. [PDF]

2017

K. Yang, K. Wang, R. Cheng, W. Hu, X. Huang, J. Bai.
Detecting Traversable Area and Water Hazards for the Visually Impaired with a pRGB-D Sensor.
Sensors, 2017. [HTML] [PDF] [DATA]
K. Yang, K. Wang, X. Zhao, R. Cheng, J. Bai, Y. Yang, D. Liu.
IR stereo RealSense: Decreasing minimum range of navigational assistance for visually impaired individuals.
Journal of Ambient Intelligence and Smart Environments, 2017. [PDF]
R. Cheng, K. Wang, K. Yang, N. Long, W. Hu, H. Chen, J. Bai, D. Liu.
Crosswalk navigation for people with visual impairments on a wearable device.
Journal of Electronic Imaging, 2017. [PDF] [DATA1] [DATA2]
X. Huang, J. Bai, K. Wang, Q. Liu, Y. Luo, K. Yang, X. Zhang.
Target enhanced 3D reconstruction based on polarization-coded structured light.
Optics Express, 2017. [HTML] [PDF]

2016

K. Yang, K. Wang, W. Hu, J. Bai.
Expanding the Detection of Traversable Area with RealSense for the Visually Impaired.
Sensors, 2016. [HTML] [PDF]
X. Zhao, K. Wang, K. Yang, W. Hu.
Unconstrained Face Detection and Recognition Based on RGB-D Camera for the Visually Impaired.
In International Conference on Graphic and Image Processing (ICGIP), Tokyo, Japan, August 2016. [PDF]

2015

K. Yang, K. Wang, R. Cheng, X. Zhu.
A new approach of point cloud processing and scene segmentation for guiding the visually impaired.
In IET International Conference on Biomedical Image and Signal Processing (ICBISP), Beijing, China, November 2015. [PDF] [BLOG]
R. Cheng, K. Wang, K. Yang, X. Zhao.
A Ground and Obstacle Detection Algorithm for the Visually Impaired.
In IET International Conference on Biomedical Image and Signal Processing (ICBISP), Beijing, China, November 2015. [PDF]