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Chunyu Li

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3 papers
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3

NeurIPS Conference 2025 Conference Paper

Projection-Manifold Regularized Latent Diffusion for Robust General Image Fusion

  • Lei Cao
  • Hao Zhang
  • Chunyu Li
  • Jiayi Ma

This study proposes PDFuse, a robust, general training-free image fusion framework built on pre-trained latent diffusion models with projection–manifold regularization. By redefining fusion as a diffusion inference process constrained by multiple source images, PDFuse can adapt to varied image modalities and produce high-fidelity outputs utilizing the diffusion prior. To ensure both source consistency and full utilization of generative priors, we develop novel projection–manifold regularization, which consists of two core mechanisms. On the one hand, the Multi-source Information Consistency Projection (MICP) establishes a projection system between diffusion latent representations and source images, solved efficiently via conjugate gradients to inject multi-source information into the inference. On the other hand, the Latent Manifold-preservation Guidance (LMG) aligns the latent distribution of diffusion variables with that of the sources, guiding generation to respect the model’s manifold prior. By alternating these mechanisms, PDFuse strikes an optimal balance between fidelity and generative quality, achieving superior fusion performance across diverse tasks. Moreover, PDFuse constructs a canonical interference operator set. It synergistically incorporates it into the aforementioned dual mechanisms, effectively leveraging generative priors to address various degradation issues during the fusion process without requiring clean data for supervising training. Extensive experimental evidence substantiates that PDFuse achieves highly competitive performance across diverse image fusion tasks. The code is publicly available at https: //github. com/Leiii-Cao/PDFuse.

IROS Conference 2025 Conference Paper

TWC-SLAM: Multi-Agent Cooperative SLAM with Text Semantics and WiFi Features Integration for Similar Indoor Environments

  • Chunyu Li
  • Shoubin Chen
  • Dong Li
  • Weixing Xue
  • Qingquan Li 0001

Multi-agent cooperative SLAM often encounters challenges in similar indoor environments characterized by repetitive structures, such as corridors and rooms. These challenges can lead to significant inaccuracies in shared location identification when employing point cloud-based techniques. To mitigate these issues, we introduce TWC-SLAM, a multi-agent cooperative SLAM framework that integrates text semantics and WiFi signal features to enhance location identification and loop closure detection. TWC-SLAM comprises a single-agent front-end odometry module based on FAST-LIO2, a location identification and loop closure detection module that leverages text semantics and WiFi features, and a global mapping module. The agents are equipped with sensors capable of capturing textual information and detecting WiFi signals. By correlating these data sources, TWC-SLAM establishes a common location, facilitating point cloud alignment across different agents’ maps. Furthermore, the system employs loop closure detection and optimization modules to achieve global optimization and cohesive mapping. We evaluated our approach using an indoor dataset featuring similar corridors, rooms, and text sign. The results demonstrate that TWC-SLAM significantly improves the performance of cooperative SLAM systems in complex environments with repetitive architectural features.

IROS Conference 2024 Conference Paper

In-Flight Initialization of Global Visual-Inertial Estimators using Geospatial Data

  • Chunyu Li
  • Mengfan He
  • Xu Lyu
  • Ziyang Meng 0001

In this work, we propose a solution that leverages geospatial data to initialize the monocular visual-inertial navigation system. For Visual-Inertial Navigation Systems (VINS) operating on UAVs, the ability to perform initialization and relocalization in mid-air is essential. However, degenerate motion can cause VINS to lose scale, making traditional initialization algorithms less reliable. To address this issue, we fuse geographic information in the initialization process, and utilize a learning-based feature matching algorithm to associate the information with inertial states. The proposed approach demonstrates adaptability to the degenerate motions of UAVs and significantly surpasses the estimation accuracy of conventional VINS initialization algorithms. Compared to methods that assist initialization by using a laser-range-finder (LRF), the proposed method solely relies on low-cost satellite imagery and elevation information. We evaluate the proposed approach on a large-scale UAV dataset, and compare with existing methods. The results demonstrate the superior effectiveness of the proposed method.

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