Hengli Wang

Hengli Wang (王恒立)

Ph.D.
Department of Electronic and Computer Engineering
The Hong Kong University of Science and Technology

Email: hwangdf@connect.ust.hk

About me

Hello, this is Hengli Wang. I got my Ph.D. degree from The Hong Kong University of Science and Technology (HKUST) in 2022, supervised by Prof. Ming Liu in RAM-LAB . Prior to this, I received my B.E. degree from Zhejiang University (ZJU) in 2018.

CV / Github / Google Scholar

Research

My research interest is mainly visual perception for autonomous driving. Specifically, I am working on the computation of visual features including stereo matching, optical flow estimation, and surface normal estimation. I am also focusing on improving the perception performance by exploiting the visual features, especially semantic segmentation in the image space and in the BEV space. Selected publications are shown as follows, and representative works are highlighted (* indicates equal contribution).

	Stereo Matching: Fundamentals, State-of-the-Art, and Existing Challenges Autonomous Driving Perception: Fundamentals and Applications, 2023 Chuang-Wei Liu, Hengli Wang, Sicen Guo, Mohammud J. Bocus, Qijun Chen, Rui Fan bibtex
	DQ-GAT: Towards Safe and Efficient Autonomous Driving with Deep Q-Learning and Graph Attention Networks IEEE Transactions on Intelligent Transportation Systems (T-ITS), 2022 Peide Cai, Hengli Wang, Yuxiang Sun, Ming Liu arXiv / bibtex / project page
	Dynamic Fusion Module Evolves Drivable Area and Road Anomaly Detection: A Benchmark and Algorithms IEEE Transactions on Cybernetics (T-CYB), 2021 (IF: 11.448) Hengli Wang, Rui Fan, Yuxiang Sun, Ming Liu arXiv / bibtex / project page
	Graph Attention Layer Evolves Semantic Segmentation for Road Pothole Detection: A Benchmark and Algorithms IEEE Transactions on Image Processing (T-IP), 2021 (IF: 10.856) Rui Fan, Hengli Wang, Yuan Wang*, Ming Liu, Ioannis Pitas arXiv / bibtex / code / dataset
	PVStereo: Pyramid Voting Module for End-to-End Self-Supervised Stereo Matching IEEE Robotics and Automation Letters (RA-L), 2021 presented at IEEE International Conference on Robotics and Automation (ICRA), 2021 Hengli Wang, Rui Fan, Peide Cai, Ming Liu arXiv / bibtex / project page / video
	Three-Filters-to-Normal: An Accurate and Ultrafast Surface Normal Estimator IEEE Robotics and Automation Letters (RA-L), 2021 presented at IEEE International Conference on Robotics and Automation (ICRA), 2021 Rui Fan, Hengli Wang, Bohuan Xue*, Huaiyang Huang, Yuan Wang, Ming Liu, Ioannis Pitas arXiv / bibtex / project page / code / dataset / video
	Learning Interpretable End-to-End Vision-Based Motion Planning for Autonomous Driving with Optical Flow Distillation IEEE International Conference on Robotics and Automation (ICRA), 2021 Hengli Wang, Peide Cai, Yuxiang Sun, Lujia Wang, Ming Liu arXiv / bibtex / project page / video
	S2P2: Self-Supervised Goal-Directed Path Planning Using RGB-D Data for Robotic Wheelchairs IEEE International Conference on Robotics and Automation (ICRA), 2021 Hengli Wang, Yuxiang Sun, Rui Fan, Ming Liu arXiv / bibtex / project page / video
	Learning Collision-Free Space Detection from Stereo Images: Homography Matrix Brings Better Data Augmentation IEEE Transactions on Mechatronics (T-MECH), 2021 (IF: 5.673) Rui Fan, Hengli Wang, Peide Cai, Jin Wu, Mohammud J. Bocus, Lei Qiao, Ming Liu arXiv / bibtex
	SNE-RoadSeg+: Rethinking Depth-Normal Translation and Deep Supervision for Freespace Detection IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 Hengli Wang, Rui Fan, Peide Cai, Ming Liu arXiv / bibtex / project page
	DiGNet: Learning Scalable Self-Driving Policies for Generic Traffic Scenarios with Graph Neural Networks IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 Peide Cai, Hengli Wang, Yuxiang Sun, Ming Liu arXiv / bibtex / project page / video
	Vision-Based Autonomous Car Racing Using Deep Imitative Reinforcement Learning IEEE Robotics and Automation Letters (RA-L), 2021 presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 Peide Cai, Hengli Wang, Huaiyang Huang, Yuxuan Liu, Ming Liu arXiv / bibtex / project page / video
	The Role of the Hercules Autonomous Vehicle During the COVID-19 Pandemic: An Autonomous Logistic Vehicle for Contactless Goods Transportation IEEE Robotics and Automation Magazine (RAM), 2021 presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 Tianyu Liu, Qinghai Liao, ..., Hengli Wang, ..., Ming Liu arXiv / bibtex / project page / video
	CoT-AMFlow: Adaptive Modulation Network with Co-Teaching Strategy for Unsupervised Optical Flow Estimation Conference on Robot Learning (CoRL), 2020 (34% acceptance rate) Hengli Wang, Rui Fan, Ming Liu arXiv / bibtex / project page / video
	Applying Surface Normal Information in Drivable Area and Road Anomaly Detection for Ground Mobile Robots IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020 Hengli Wang, Rui Fan, Yuxiang Sun, Ming Liu arXiv / bibtex / code
	SNE-RoadSeg: Incorporating Surface Normal Information into Semantic Segmentation for Accurate Freespace Detection European Conference on Computer Vision (ECCV), 2020 Rui Fan, Hengli Wang, Peide Cai, Ming Liu arXiv / bibtex / project page / code / dataset / video
	ATG-PVD: Ticketing Parking Violations on a Drone European Conference on Computer Vision (ECCV) Workshops, 2020 Hengli Wang, Yuxuan Liu, Huaiyang Huang, Yuheng Pan, Wenbin Yu, Jialin Jiang, Dianbin Lyu, Mohammud J. Bocus, Ming Liu, Ioannis Pitas, Rui Fan arXiv / bibtex / project page / dataset / video
	We Learn Better Road Pothole Detection: From Attention Aggregation to Adversarial Domain Adaptation European Conference on Computer Vision (ECCV) Workshops, 2020 Rui Fan, Hengli Wang, Mohammud J. Bocus, Ming Liu arXiv / bibtex / project page / code / dataset
	VTGNet: A Vision-Based Trajectory Generation Network for Autonomous Vehicles in Urban Environments IEEE Transactions on Intelligent Vehicles (T-IV), 2020 Peide Cai, Yuxiang Sun, Hengli Wang, Ming Liu arXiv / bibtex / project page / code / dataset / video
	FuseSeg: Semantic Segmentation of Urban Scenes Based on RGB and Thermal Data Fusion IEEE Transactions on Automation Science and Engineering (T-ASE), 2020 Yuxiang Sun, Weixun Zuo, Peng Yun, Hengli Wang, Ming Liu pdf / bibtex / video
	Self-Supervised Drivable Area and Road Anomaly Segmentation Using RGB-D Data for Robotic Wheelchairs IEEE Robotics and Automation Letters (RA-L), 2019 Hengli Wang, Yuxiang Sun, Ming Liu arXiv / bibtex / code / dataset

Service

Journal review for IEEE T-PAMI, IEEE T-IP, IEEE T-RO, IEEE T-NNLS, IEEE T-ASE, IEEE T-ITS, IEEE T-IV, IEEE T-VT, IEEE T-IM, IEEE RA-L, IEEE SP-L, Pattern Recognition, Advanced Engineering Informatics, Journal of Systems Architecture, Neural Processing Letters, Engineering Applications of Artificial Intelligence, Multimedia Systems, Machine Vision and Applications, and The Visual Computer.
Conference review for CVPR 2021-2023, ICCV 2021, 2023, ECCV 2022, 2024, AAAI 2023-2024, BMVC 2020-2023, ACCV 2024, ICIP 2021-2024, ICAS 2021, ICPR 2024, IROS 2019-2023, and ICRA 2019-2025.
Technical program committee for the 1st AVVision Workshop in conjunction with WACV 2021, the 2nd AVVision Workshop in conjunction with ICCV 2021, the 3rd AVVision Workshop in conjunction with ECCV 2022, and special sessions in ICIP 2021, ICAS 2021 as well as IROS 2021.

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