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Hengli Wang (王恒立)

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

Email: hwangdf@connect.ust.hk

About me

I am Hengli Wang, a fourth-year Ph.D. candidate of RAM-LAB at the Robotics Institute of Hong Kong University of Science and Technology (HKUST), supervised by Prof. Ming Liu . I received my B.E. from Zhejiang University (ZJU) in 2018.

CV  /  Github  /  Google Scholar

News!!!

  • 08/2021: One paper got accepted by IEEE T-IP.
  • 07/2021: Two papers got accepted by IROS 2021.
  • 06/2021: One paper got accepted by IEEE RA-L with IROS 2021.
  • 05/2021: Two papers got accepted by ICIP 2021.
  • 04/2021: Welcome to our 2nd AVVision Workshop in conjunction with ICCV 2021.
  • 04/2021: One paper got accepted by CVPRW 2021.
  • 03/2021: Two papers got accepted by ICRA 2021.
  • 02/2021: Two papers got accepted by IEEE RA-L with ICRA 2021.
  • 02/2021: One paper got accepted by IEEE T-CYB.
  • 02/2021: One paper got accepted by IEEE T-MECH.
  • 12/2020: One paper got accepted by IEEE RAM.
  • 10/2020: One paper got accepted by IEEE T-IV.
  • 10/2020: One paper got accepted by CoRL 2020.
  • 09/2020: Welcome to our 1st AVVision Workshop in conjunction with WACV 2021.
  • 08/2020: Two papers got accepted by ECCV Workshops 2020.
  • 07/2020: One paper got accepted by ECCV 2020.
  • 07/2020: One paper got accepted by IROS 2020.

Research

My research interests mainly include visual perception and visual navigation 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 and navigation performance by exploiting the aforementioned visual features. Representative works are highlighted (* indicates equal contribution).

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 / dataset

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

Co-Teaching: An Ark to Unsupervised Stereo Matching
IEEE International Conference on Image Processing (ICIP), 2021

Hengli Wang, Rui Fan, Ming Liu
arXiv / bibtex / project page / video

SCV-Stereo: Learning Stereo Matching from a Sparse Cost Volume
IEEE International Conference on Image Processing (ICIP), 2021

Hengli Wang, Rui Fan, Ming Liu
arXiv / bibtex / project page / video

End-to-End Interactive Prediction and Planning with Optical Flow Distillation for Autonomous Driving
IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2021

Hengli Wang, Peide Cai, Rui Fan, Yuxiang Sun, Ming Liu
arXiv / bibtex / project page

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

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

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

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 / project page

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

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

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 / code / 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 / code / 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

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
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

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-NNLS, IEEE T-ITS, and IEEE RA-L.
  • Conference review for IROS 2019-2021, ICRA 2019-2022, BMVC 2020-2021, WACVW 2021, ICIP 2021, ICAS 2021, CVPR 2021, and ICCV 2021.
  • Technical program committee for the 1st AVVision Workshop in conjunction with WACV 2021, the 2nd AVVision Workshop in conjunction with ICCV 2021, and special sessions in ICIP 2021, ICAS 2021 as well as IROS 2021.


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