[34] Xubo Zhu, Haoyang Zhang, Fei He, Rui Wu, Yanhu Shan, Wen Yang, Huai Yu*. Dr.Occ: Depth- and Region-Guided 3D Occupancy from Surround-View Cameras for Autonomous Driving. IEEE/CVF Computer Vision and Pattern Recognition Conference (CVPR),  2026.

[33] Ximeng Cai, Ji Wu, Shu Han, Li Yu, Wen Yang, Huai Yu*, Gui-Song Xia*. SGE-GLoc: Semantic Gaussian Ellipsoid Scene Graphs for Efficient LiDAR Global Localization. IEEE Robotics and Automation Letters, vol. 11, no. 2, 2026.

[32] Shu Han, Xubo Zhu, Ji Wu, Ximeng Cai, Wen Yang, Huai Yu*, Gui-Song Xia*. UniCalib: Targetless LiDAR-Camera Calibration via Probabilistic Flow on Unified Depth Representations. IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)， 2026.

[31] Huai Yu*, Junhao Wang, Yao He, Wen Yang, Gui-Song Xia. Robust Visual Odometry using Rigidly-Bundled Arbitrarily-Arranged Multi-Cameras. IEEE Robotics and Automation Letters, vol. 10, no. 12, pp. 12517 - 12524, 2025.

[30] Huai Yu*, Xubo Zhu, Shu Han, Wen Yang and Gui-Song Xia. I2D-LocX: An Efficient, Precise and Robust Method for Camera Localization in LiDAR Maps. IEEE Robotics and Automation Letters, vol. 10, no. 8, pp. 7899-7906, 2025.

[29] Haoyuan Li, Chang Xu, Wen Yang*, Li Mi, Huai Yu*, Haijian Zhang, Gui-Song Xia. Unsupervised Multiview UAV Image Geolocalization via Iterative Rendering. IEEE Transactions on Geoscience and Remote Sensing, vol. 63, 2025.

[28] Chunxiao Jin, Mengxun Li, Huai Yu, Yuan Gao, Yaping Guo, Gui-Song Xia, Cui Huang. High Fidelity 3D Imaging of Dental Scenes using Gaussian Splatting. Journal of Dental Research. 2025.

[27] Jian Shen, Huai Yu*, Ji Wu, Wen Yang, Gui-Song Xia*.  LiDAR-enhanced 3D Gaussian Splatting Mapping. IEEE International Conference on Robotics and Automation (ICRA 2025), pp. 2048-2054, 2024.

[26] Huai Yu*, Kuangyi Chen, Wen Yang, Sebastian Scherer, Gui-Song Xia.   I2D-Loc++: Camera Pose Tracking in LiDAR Maps with Multi-View Motion Flows. IEEE Robotics and Automation Letters, vol. 9, Iss. 9, pp. 8162-8169, 2024.

[25] Xiangyuan Wang, Huai Yu*, Lei Yu, Wen Yang*, Gui-Song Xia.  Towards Robust Keypoint Detection and Tracking: A Fusion Approach with Event-Aligned Image Features. IEEE Robotics and Automation Letters, vol. 9, Iss. 9, pp. 8059-8066, 2024.

[24] Xinya Wang, Haitian Zhang, Huai Yu*, Xianrong Wan*. EvLSD-IED: Event-Based Line Segment Detection with Image-to-Event Distillation. IEEE Transactions on Instrumentation and Measurement，vol. 73, pp. 1-12, 2024.

[23] Hanqian Si, Huai Yu*, Kuangyi Chen, Wen Yang. Point-Line Visual-Inertial Odometry with Optimized Line Feature Processing. IEEE Transactions on Instrumentation and Measurement，vol. 73, pp. 1-13, 2024.

[22] Xiangyuan Wang, Kuangyi Chen, Wen Yang, Lei Yu, Yannan Xing, Huai Yu*. FE-DeTr: Keypoint Detection and Tracking in Low-quality Image Frames with Events. IEEE International Conference on Robotics and Automation (ICRA 2024), pp. 14638-14644, 2024.

[21] Ji Wu#, Huai Yu#, Wen Yang, Gui-Song Xia. QuadricsNet: Learning Concise Representation for Geometric Primitives in Point Clouds. IEEE International Conference on Robotics and Automation (ICRA 2024), pp. 4060-4066, 2024.

[20] Haiyang Jiang, Songhao Piao, Huai Yu, Wei Li, Lei Yu. Robust Visual Place Recognition for Severe Appearance Changes. IEEE Robotics and Automation Letters, vol. 9, Iss. 5, pp. 4289 - 4296, 2024.

[19] Huai Yu, Hao Li, Wen Yang, Lei Yu and Gui -Song Xia, Detecting Line Segments in Motion-Blurred Images With Events,  IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 46, no. 5, pp. 2866-2881, 2024.

[18] Haoyuan Li, Fang Xu, Wen Yang, Huai Yu, Yuming Xiang, Haijian Zhang, Gui-Song Xia. Learning to Find the Optimal Correspondence Between SAR and Optical Image Patches. IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing, vol. 16, pp. 9816-9830, 2023.

[17] Chen Wang, et al. PyPose: A library for robot learning with physics-based optimization. CVPR 2023: 22024-22034.

[16] Chang Xu, Jian Ding, Jinwang Wang, Wen Yang, Huai Yu, et al. Dynamic Coarse-to-Fine Learning for Oriented Tiny Object Detection. CVPR 2023: 7318-7328.

[15] Yan Zhang, Chang Xu, Wen Yang, Guangjun He, Huai Yu, Lei Yu, Gui-Song Xia. Drone-based RGBT tiny person detection. ISPRS Journal of Photogrammetry and Remote Sensing, 2023, 204: 61-76.

[14] Zhipeng Zhao, Huai Yu*, Chenwei Lyu, Wen Yang, Sebastian Scherer. Attention-Enhanced Cross-modal Localization Between Spherical Images and Point Clouds. IEEE Sensors Journal, vol. 23, Iss. 19. 10.1109/JSEN.2023.3306377.

[13] Yan Zhang, Huai Yu*, Yujie He, Xingya Wang and Wen Yang, Illumination-Guided RGBT Object Detection With Inter- and Intra-Modality Fusion.  IEEE Transactions on Instrumentation and Measurement, vol. 72, pp. 1-13, 2023, Art no. 2508013

[12] Kuangyi Chen, Huai Yu*, Wen Yang, Lei Yu, Sebastian Scherer, Gui-Song Xia , I2D-Loc: Camera Localization via Image to LiDAR Depth Flow. ISPRS Journal of Photogrammetry and Remote Sensing. 2022, 194: 209-221.

[11] Chang Xu, Jinwang Wang, Wen Yang, Huai Yu, Lei Yu, Gui-Song Xia. Detecting tiny objects in aerial images: A normalized Wasserstein distance and a new benchmark. ISPRS Journal of Photogrammetry and Remote Sensing. 190: 79-93.

[10] Chang Xu, Jinwang Wang, Wen Yang, Huai Yu, Lei Yu, Gui-Song Xia. RFLA: Gaussian Receptive Field based Label Assignment for Tiny Object Detection. ECCV 2022.

[9] Xinhang Liu, Jiaben Chen, Huai Yu, Yu-Wing Tai, Chi-Keung Tang. Unsupervised Multi-View Object Segmentation Using Radiance Field Propagation. NeurIPS 2022.

[8] Taimeng Fu, Huai Yu*, Wen Yang, Yaoyu Hu, Sebastian Scherer.Targetless Extrinsic Calibration of Stereo, Thermal, and Laser Sensors in Structured Environments. IEEE Transactions on Instrumentation and Measurement, 2022.

[7] Yao He, Huai Yu*, Wen Yang and Sebastian Scherer. Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapping Monocular Cameras. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 9452-9458, 2022.

[6] Weikun Zhen#,  Huai Yu#, Yaoyu Hu, Sebastian Scherer. Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics. ICRA 2022:5636-5642. (#equal contribution)

[5] Yaoyu Hu, Wenshan Wang, Huai Yu, Weikun Zhen, and Sebastian Scherer. ORStereo: Occlusion-Aware Recurrent Stereo Matching for 4K-Resolution Images, IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2021), pp. 5671-5678, 2021. 

[4] Hao Li#, Huai Yu#, Wen Yang, Lei Yu, and Sebastian Scherer. ULSD: Unified Line Segment Detection across Pinhole, Fisheye, and Spherical Cameras. ISPRS Journal of Photogrammetry and Remote Sensing, 2021, 178: 187-202 (#equal contribution, U. V. Helava Award – Best Paper 2021)

[3] Huai Yu, Weikun Zhen, Wen Yang, Ji Zhang and Sebastian Scherer. Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), pp. 4588-4594, 2020.

[2] Weikun Zhen, Yaoyu Hu, Huai Yu, Sebastian  Scherer. LiDAR Enhanced Structure-from-Motion. ICRA 2020:6773-6779.

[1] Huai Yu, Weikun Zhen, Wen Yang, Sebastian Scherer. Line-based 2D-3D Registration and Camera Localization in Structured Environments. IEEE Transactions on Instrumentation and Measurement, 2020, 69(11):8962-8972.

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