Qiaojun Feng      冯乔俊

I am a Ph.D. in the Existential Robotics Laboratory, ECE Department and CRI, UC San Diego. My advisor is Prof. Nikolay Atanasov. I received my B.Eng. degree from Department of Automation, Tsinghua University in 2017.

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E-mail: qjfeng (at) ucsd.edu

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I work on Robotics. My work focuses on environment perception and representation. My ultimate research goal is to develop intelligent agents that can explore, reconstruct and understand the environment and collaborate with humans.

Jan 2024
TerrainMesh paper accepted at IEEE Transactions on Robotics (T-RO)!
Dec 2023
I passed the Final Defense and became a Ph.D.! The recording is available here.
Jun 2022
I started as an AI Resident at X, the moonshot factory (Mineral) for the summer.
Apr 2022
Check our new TerrainMesh paper which extends our ICRA 2021 version! Code and data included on the project page.
Feb 2022
I passed the University Qualifying Exam and became a Ph.D. Candidate!
[Older News]
[full list]
TerrainMesh: Metric-Semantic Terrain Reconstruction from Aerial Images Using Joint 2D-3D Learning
Qiaojun Feng, Nikolay Atanasov
IEEE Transactions on Robotics (T-RO), 2024
Also in IEEE International Conference on Robotics and Automation (ICRA), 2021
DEMO! / project page / arXiv / arXiv (Conference) / doi / doi (Conference)

This paper develops a joint 2D-3D learning approach to reconstruct a local metric-semantic mesh using an initialization and refinement stage. In the initialization stage, we estimate the mesh vertex elevation by solving a least squares problem relating the vertex barycentric coordinates to the sparse depth measurements. In the refinement stage, we associate 2D image and semantic features with the 3D mesh vertices using camera projection and apply graph convolution to refine the mesh vertex spatial coordinates and semantic features based on joint 2D and 3D supervision.
ELLIPSDF: Joint Object Pose and Shape Optimization with a Bi-level Ellipsoid and Signed Distance Function Description
Mo Shan, Qiaojun Feng, You-Yi Jau, Nikolay Atanasov
IEEE/CVF International Conference on Computer Vision (ICCV), 2021
arXiv / doi / poster

Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and shape optimization, and an associated optimization algorithm to infer an object-level map from multi-view RGB-D camera observations. The model is expressive because it captures the identities, positions, orientations, and shapes of objects in the environment. It is compact because it relies on a low-dimensional latent representation of implicit object shape, allowing onboard storage of large multi-category object maps. Different from other works that rely on a single object representation format, our approach has a bi-level object model that captures both the coarse level scale as well as the fine level shape details. Our approach is evaluated on the large-scale real-world ScanNet dataset and compared against state-of-the-art methods.
CORSAIR: Convolutional Object Retrieval and Symmetry-AIded Registration
Tianyu Zhao, Qiaojun Feng, Sai Jadhav, Nikolay Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
project page / arXiv / doi

We develop and approach for fully Convolutional Object Retrieval and Symmetry-AIded Registration (CORSAIR). Our model extends the Fully Convolutional Geometric Features (FCGF) model to learn a global object-shape embedding in addition to local point-wise features from the point-cloud observations. The global feature is used to retrieve a similar object from a category database, and the local features are used for robust pose registration between the observed and the retrieved object. Our formulation also leverages symmetries, present in the object shapes, to obtain promising local-feature pairs from different symmetry classes for matching.
Fully Convolutional Geometric Features for Category-level Object Alignment
Qiaojun Feng, Nikolay Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
project page / arXiv / doi

This paper focuses on pose registration of different object instances from the same category. Our approach transforms instances of the same category to a normalized canonical coordinate frame and uses metric learning to train fully convolutional geometric features. The resulting model is able to generate pairs of matching points between the instances, allowing category-level registration.
OrcVIO: Object residual constrained Visual-Inertial Odometry
Mo Shan, Qiaojun Feng, Nikolay Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
project page / arXiv / doi

This work presents OrcVIO, for visual-inertial odometry tightly coupled with tracking and optimization over structured object models. OrcVIO differentiates through semantic feature and bounding-box reprojection errors to perform batch optimization over the pose and shape of objects. The estimated object states aid in real-time incremental optimization over the IMU-camera states.
Localization and Mapping using Instance-specific Mesh Models
Qiaojun Feng, Yue Meng, Mo Shan, Nikolay Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
project page / arXiv / doi

This paper focuses on building semantic maps, containing object poses and shapes, using a monocular camera. Our contribution is an instance-specific mesh model of object shape that can be optimized online based on semantic information extracted from camera images. Multi-view constraints on the object shape are obtained by detecting objects and extracting category-specific keypoints and segmentation masks. We show that the errors between projections of the mesh model and the observed keypoints and masks can be differentiated in order to obtain accurate instance-specific object shapes.

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