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Runmin Zhang

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3 papers

2 author rows

AAAI Conference 2025 Conference Paper

Learned Image Transmission with Hierarchical Variational Autoencoder

Guangyi Zhang
Hanlei Li
Yunlong Cai
Qiyu Hu
Guanding Yu
Runmin Zhang

In this paper, we introduce an innovative hierarchical joint source-channel coding (HJSCC) framework for image transmission, utilizing a hierarchical variational autoencoder (VAE). Our approach leverages a combination of bottom-up and top-down paths at the transmitter to autoregressively generate multiple hierarchical representations of the original image. These representations are then directly mapped to channel symbols for transmission by the JSCC encoder. We extend this framework to scenarios with a feedback link, modeling transmission over a noisy channel as a probabilistic sampling process and deriving a novel generative formulation for JSCC with feedback. Compared with existing approaches, our proposed HJSCC provides enhanced adaptability by dynamically adjusting transmission bandwidth, encoding these representations into varying amounts of channel symbols. Additionally, we introduce a rate attention module to guide the JSCC encoder in optimizing its encoding strategy based on prior information. Extensive experiments on images of varying resolutions demonstrate that our proposed model outperforms existing baselines in rate-distortion performance and maintains robustness against channel noise.

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ICRA Conference 2025 Conference Paper

Structure-Aware Radar-Camera Depth Estimation

Fuyi Zhang
Zhu Yu 0001
Chunhao Li
Runmin Zhang
Xiaokai Bai
Zili Zhou
Si-Yuan Cao
Fang Wang

Radar has gained much attention in autonomous driving due to its accessibility and robustness. However, its standalone application for depth perception is constrained by issues of sparsity and noise. Radar-camera depth estimation offers a more promising complementary solution. Despite significant progress, current approaches fail to produce satisfactory dense depth maps, due to the unsatisfactory processing of the sparse and noisy radar data. They constrain the regions of interest for radar points in rigid rectangular regions, which may introduce unexpected errors and confusions. To address these issues, we develop a structure-aware strategy for radar depth enhancement, which provides more targeted regions of interest by leveraging the structural priors of RGB images. Furthermore, we design a Multi-Scale Structure Guided Network to enhance radar features and preserve detailed structures, achieving accurate and structure-detailed dense metric depth estimation. Building on these, we propose a structure-aware radar-camera depth estimation framework, named SA-RCD. Extensive experiments demonstrate that our SA-RCD achieves state-of-the-art performance on the nuScenes dataset. Our code will be available at https://github.com/FreyZhangYeh/SA-RCD.

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NeurIPS Conference 2024 Conference Paper

Context and Geometry Aware Voxel Transformer for Semantic Scene Completion

Zhu Yu
Runmin Zhang
Jiacheng Ying
Junchen Yu
Xiaohai Hu
Lun Luo
Si-Yuan Cao
Hui-Liang Shen

Vision-based Semantic Scene Completion (SSC) has gained much attention due to its widespread applications in various 3D perception tasks. Existing sparse-to-dense approaches typically employ shared context-independent queries across various input images, which fails to capture distinctions among them as the focal regions of different inputs vary and may result in undirected feature aggregation of cross-attention. Additionally, the absence of depth information may lead to points projected onto the image plane sharing the same 2D position or similar sampling points in the feature map, resulting in depth ambiguity. In this paper, we present a novel context and geometry aware voxel transformer. It utilizes a context aware query generator to initialize context-dependent queries tailored to individual input images, effectively capturing their unique characteristics and aggregating information within the region of interest. Furthermore, it extend deformable cross-attention from 2D to 3D pixel space, enabling the differentiation of points with similar image coordinates based on their depth coordinates. Building upon this module, we introduce a neural network named CGFormer to achieve semantic scene completion. Simultaneously, CGFormer leverages multiple 3D representations (i. e. , voxel and TPV) to boost the semantic and geometric representation abilities of the transformed 3D volume from both local and global perspectives. Experimental results demonstrate that CGFormer achieves state-of-the-art performance on the SemanticKITTI and SSCBench-KITTI-360 benchmarks, attaining a mIoU of 16. 87 and 20. 05, as well as an IoU of 45. 99 and 48. 07, respectively. Remarkably, CGFormer even outperforms approaches employing temporal images as inputs or much larger image backbone networks.

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