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Zili Zhou

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3 papers

2 author rows

IROS Conference 2025 Conference Paper

LGDD: Local-Global Synergistic Dual-Branch 3D Object Detection Using 4D Radar

Xiaokai Bai
Qin Yang
Zili Zhou
Fuyi Zhang
Zhe Wu
Si-Yuan Cao
Lianqing Zheng
Beinan Yu

4D millimeter-wave radar plays a pivotal role in autonomous driving due to its cost-effectiveness and robustness in adverse weather. However, the application of 4D radar point cloud in 3D perception tasks is hindered by its inherent sparsity and noise. To address these challenges, we propose LGDD, a novel local-global synergistic dual-branch 3D object detection framework using 4D radar. Specifically, we first introduce a point-based branch, which utilize a voxel-attended point feature extractor (VPE) to integrate semantic segmentation with cluster voting, thereby mitigating radar noise and extracting local-clustered instances features. Then, for the conventional pillar-based branch, we design a query-based feature pre-fusion (QFP) to address the sparsity and enhance global context representation. Additionally, we devise a proposal mask to filter out noisy points, enabling more focused clustering on regions of interest. Finally, we align the local instances with global context through semantics-geometry aware fusion (SGF) module to achieve comprehensive scene understanding. Extensive experiments demonstrate that LGDD achieves state-of-the-art performance on the public View-of-Delft and TJ4DRadSet datasets. Source code is available at https://github.com/shawnnnkb/LGDD.

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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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AAAI Conference 2019 Conference Paper

On Completing Sparse Knowledge Base with Transitive Relation Embedding

Zili Zhou
Shaowu Liu
Guandong Xu
Wu Zhang

Multi-relation embedding is a popular approach to knowledge base completion that learns embedding representations of entities and relations to compute the plausibility of missing triplet. The effectiveness of embedding approach depends on the sparsity of KB and falls for infrequent entities that only appeared a few times. This paper addresses this issue by proposing a new model exploiting the entity-independent transitive relation patterns, namely Transitive Relation Embedding (TRE). The TRE model alleviates the sparsity problem for predicting on infrequent entities while enjoys the generalisation power of embedding. Experiments on three public datasets against seven baselines showed the merits of TRE in terms of knowledge base completion accuracy as well as computational complexity.

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