PKU Omni Smart Sensing (POSS)

Welcome to the POSS Lab at the Peking University!

Our research interests include:

Sensing the Dynamic Environment using stationary sensor network (PPT)

Sensing both Dynamic and Static Environment from Mobile Platform (PPT)

"自动驾驶技术赏析（本科生、暑期课） Self-driving Technology Appreciation". Learn more

"智能机器人概论（本科生、秋季学期） Introduction to Intelligent Robots". Learn more

欢迎选课或旁听! For any question, please contact: Huijing Zhao (zhaohj@pku.edu.cn).

The 3D Semantic Segmentation to the Open World (3DOW) Challenge has been finished. The dataset is open for scientific research.

3DOW is an AI based challenge on dataset that is organized by the IROS22, 13th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (IROS22-PPNIV22), and is led by Yancheng Pan and Huijing Zhao, Peking University. This dataset challenge aims to promote the research of 3D semantic segmentation techniques to solve to the open world problems such as long-tailed and OOD data.

For any questions and suggestions, please contact: Huijing Zhao (zhaohj@pku.edu.cn).

IROS2024 accepted: Zeyu Zhu, Shuai Wang and Huijing Zhao, Uncertainty-aware Deep Imitation Learning and Deployment for Autonomous Navigation through Crowded Intersections. (pdf).

New journal paper: Zhezhang Ding, Huijing Zhao, Incorporating Driving Knowledge in Deep Learning Based Vehicle Trajectory Prediction: A survey, IEEE Trans on Intelligent Vehicle, 2023. (pdf).

New journal paper: Yancheng Pan, Fan Xie, Huijing Zhao, Understanding the Challenges When 3D Semantic Segmentation Faces Class Imbalanced and OOD Data, IEEE Trans on Intelligent Transportation System, 2023. (pdf).

New journal paper: Zeyu Zhu, Huijing Zhao, Learning Autonomous Control Policy for Intersection Navigation with Pedestrian Interaction, IEEE Trans on Intelligent Vehicle, 2023. (pdf).

New journal paper: Biao Gao, Xijun Zhao, Huijing Zhao, An Active and Contrastive Learning Framework for Fine-Grained Off-Road Semantic Segmentation, IEEE Trans. on Intelligent Transportation Systems, 2023. (pdf).

Keynote: Learning from Human Driver Data for Humanized Autonomous Driving at Dynamic Scenes, IROS 2022 workshop - PPNIV22. (pdf).

Keynote: Understanding the Challenges When 3D Semantic Segmentation Faces Class Imbalanced and OOD Data, IROS 2022 workshop - PNARUDE22. (pdf).

Yongkun Fang , Jilin Mei , Xiaoliang Ju and Biao Gao gave presentations at the IEEE Intelligent Vehicle Symposium (IV),June 9-12, 2019, Paris, France. Xiaoliang Ju won the “Runner-up” for Best Student Paper Award.

New journal paper: Mei,J., Gao,B., Xu,D., Yao,W., Zhao,X., Zhao,H., Semantic Segmentation of 3D LiDAR Data in Dynamic Scene Using Semi-Supervised Learning, IEEE Trans on Intelligent Transportation Systems, 2019. (pdf).

New journal paper: Fang,Y., Wang,C., Yao,W., Zhao,X., Zhao,H., Zha,H., On-Road Vehicle Tracking Using Part-Based Particle Filter, IEEE Trans on Intelligent Transportation Systems, 2019. (pdf).

Huijing Zhao , Donghao Xu and Zhezhang Ding gave presentations at the IEEE Intelligent Vehicle Symposium (IV),June 26-30, 2018, Changshu, China.

New journal paper: Mei,J., Yu,Y., Zhao,H., Zha,H., Scene-Adaptive Off-Road Detection Using a Monocular Camera, IEEE Trans on Intelligent Transportation Systems, 19(1), 242-253, 2017. (pdf).

Yongkun Fang gave a presentation at IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Septemper 24 - 28, 2017, Vancouver, BC, Canada.

Donghao Xu gave a presentation at the IEEE Intelligent Vehicle Symposium (IV), June 11 - 14, 2017, Redondo Beach, USA.

Donghao Xu gave a presentation at the IEEE Int. Conf. on Robotics and Automation (ICRA) May 29 - June 3, 2017, Singapore.

New journal paper: Yu,Y., Zhao,H., Cui,J., Zha,H., Monocular Visual Localization using Road Structural Features, AAS-CN2016-0413. (pdf).

New journal paper: Zhao,H., Wang,C., Lin,Y., Guillemard,F., Geronimi,S., Aioun,F., On-road Vehicle Trajectory Collection and Scene-based Lane Change Analysis: Part I, IEEE Trans on Intelligent Transportation Systems, 18(1), 192-205, 2017. (pdf).

New journal paper: Yao,W., Zeng,Q., Lin,Y., Xu,D., Zhao,H., Wang,C., Lin,Y., Guillemard,F., Geronimi,S., Aioun,F., On-road Vehicle Trajectory Collection and Scene-based Lane Change Analysis: Part II, IEEE Trans on Intelligent Transportation Systems, 18(1), 206-220, 2017. (pdf).

New journal paper: Wang,C., Fang,Y., Zhao,H., Guo,C., Mita,S., Zha,H., Probabilistic Inference for Occluded and Multiview On-road Vehicle Detection, IEEE Trans. on Intelligent Transportation Systems, 17(1), 215-229, 2016. (pdf).

Team FalconView leaded by Yongkun Fang (D1) won the 1st prize and Team PKU-One leaded by Jilin Mei (M2) is one of the top six teams in Valeo Innovation Challenge 2015, France, Sept. 2015.

Xiangyu Chen (M3) had five months visiting research at Mita-Lab. the Research Center for Smart Vehicles, Toyota Technological Institute (TTI), Japan, Dec. 2013-Apr. 2014.

Yufeng Yu (D1) had three months visiting research at INRIA e-Motion project team, France, Nov.19,2013-Feb.18,2014.

We were at the Tsukuba Robotics Challenge 2014.

Mengwen He gave a presentation at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), November 2013, Tokyo, Japan.

Wen Yao gave a presentation at the IEEE Intelligent Vehicle Symposium (IV), June 2013, Gold Coast, Australia.

Yipu Zhao (M3) had three months visiting research at the GM Collaborative Research Lab at CMU, Jan.27-April.30, 2013.

Wenda Xu and Yipu Zhao gave presentations at the IEEE Int. Conf. on Robotics and Automation (ICRA), Saint Paul, USA, May, 2012.

Kickoff meeting of PRETIV (NSFC-ANR project) in PKU, Apr.11-12, 2012. (Meeting, Demo). Members from Heudiasyc/CNRS, INRIA, PSA Peugeot Citroen and PKU participated the meeting.

Lecture: Introduction to Intelligent Robotics [2011-2012] finished. (Photo)(Videos of the students' project 1 2)

MPR (LIAMA project) [2011-2013]:3D Multimodal Perception and Reasoning workshop in HEUDIASYC Lab at Compiegne, France, Dec. 8-9, 2011.

PREDIMap (ICT-Asia project) [2011-2013] meeting at Compiegne, France, Dec. 6-7, 2011. Partners from Peking University, Shanghai Jiao Tong University (China); Asian Institute of Technology (Thailand); University of Tokyo (Japan); Compiegne University of Technology, IGN and INRIA (France). (Photo)

PRETIV (NSFC-ANR project) [2012-2014]:Multimodal Perception and REasoning for Transnational Intelligent Vehicles, has been selected for funding. Partners: Key Lab. of Machine Perception, Heudiasyc/CNRS, INRIA and PSA Peugeot Citroen.

New journal paper: Zhao, H., Sha, J., Zhao, Y., Xi, J., Cui, J., Zha, H., Shibasaki, R., Detection and Tracking of Moving Objects at Intersections using a Network of Laser Scanners, IEEE Trans. Intelligent Transportation System, vol. 13, no.2, 655-670, 2012. (pdf).

Rule and referee committee member, Future Vehicle Challenge in China, Ordos, Oct.20-21, 2011. (Photo)

A video on the latest development on 3D SLAM and visualization by multi-modal sensor fusion (Chn, 21MB), Sept.5, 2011.

Demonstration to the top of Nanjing-city, Jun.11, 2011. (Photo)

Wenda Xu (M2) had two months visiting research at the GM Collaborative Research Lab at CMU, Jun.15-Aug.15, 2011.

A video on the latest development on 3D mapping (Eng, Chn, 15MB), Jun.11, 2011.

Demonstration to the top of Nanjing-city, Jun.11, 2011. (Photo)

Joint intersection experiment between PKU and HEUDIASYC on May 20, 2011.

Wenda Xu made presentation at the IEEE Int. Conf. on Robotics and Automation (ICRA) May 10-12, 2011 (Video)

Recipient of the Okawa Research Grant 2010 (received at Mar.9, 2011).

PREDIMap (ICT-Asia project) [2011-2013]: Vehicle perception and reasoning enhanced with digital maps, has been selected for funding.

A joint workshop on "Perception for Intelligent Vehicles", organized by PKU and HEUDIASYC, hold in Peking University on Feb. 14-18, 2011. (Photo)

CNRS 2011 important facts gives a link to MPR project.

LIAMA project [2011-2013] - 3D Multimodal Perception and Reasoning (MPR) - a collaborative project between Peking University and CNRS, started on January 2011.

Presentations at the Workshop of NSFC Major Research Plan Program on Visual and Auditorial Cognitive Calculation, December 2010.

Visit from French guests (LIAMA/CNRS/INRIA) and on-vehicle demonstration. (Photo)

Rule and referee committee member, Future Vehicle Challenge in China, Xi'An, Oct.16-18, 2010. (Photo)

Invited talk at the Rhone-Alpes Transportation Week in Shanghai World Expo Sept.10, 2010.

Visit to the CNRS/UTC Laboratory HEUDIASYC, France, from June 27 to July 2, 2010.

Invited talk at the Sino-French Laboratory for Computer Science, Automation and Applied Mathematics (LIAMA) on June 6, 2010.

Presentation at the IEEE Int. Conf. on Robotics and Automation (ICRA) May 3-7 2010 (PPT)

BTV news (20100429)

Report: Perception on Intelligent Vehicle-An introduction of PKU Intelligent Vehicle Platform(TsingHua Univ. 20090928) (PPT:Part1 Part2 VIDEO:DataLogger SLAMwithMODT Classi Online3D Offline3D OnVehicleDemo)

Presentation and Demo at the IEEE Intelligent Vehicle Symposium (IV09) (PPT)

Presentation at the IEEE Int. Conf. on Robotics and Automation (ICRA09) (PPT)

IV development, real-time on-vehicle demonstration system, May 2009. (Video 9MB)

SIAT workshop, Dec.2008 (PPT)

Intelligent Vehicle Experiment, Nov. 2008(a Picture, a Range Image, Laser Points)

A Research Summary (in Chinese): Detailed traffic data collection towards ITS

A Data Collection for the research of Pose Estimation, Oct. 2008

Intelligent Vehicle Experiment, Oct. 2008

An Intersection Experiment at WanQuanHe-Road, Oct. 2008

Intersection Experiment near the South-East Gate of Peking Univ., Jul.2008 (Report)

Demonstration at the IEEE Intelligent Vehicle Symposium (IV08)(CityTV,from 1:15:00)

Presentation at the IEEE Int. Conf. on Robotics and Automation (ICRA08)

Intelligent Vehicle Experiment, Nov. 2007 (Video 24MB)

Intersection Experiment near the West Gate of Peking Univ. Oct.2007(Laser Overlay Laser tracking Overlay a Summary 32MB)