Robot Perception

During her PhD, Liye targets at the large-scale 2.5D and 3D grid mapping problem, combining machine learning, statistical modelling and data fusion. The goal is to build multi-resolution, continuous probabilistic maps, including uncertainty map, from multi-modal sensor data. She builds

  • 2.5D maps: terrain elevation maps, occupancy maps, etc; and
  • 3D maps: 3D reconstructued surfaces, occupancy maps, etc.

  • Gaussian stochastic process
  • Bayes network
  • Markov models
  • Extended Kalman filter

Related publications
  • Coupling Conditionally Independent Submaps for Large-Scale 2.5D Mapping with Gaussian Markov Random Fields
    Liye Sun, Teresa Vidal Calleja, Jaime Valls Miro. ICRA'17, [link]

  • Gaussian Markov Random Fields for Fusion in Information Form
    Liye Sun, Teresa Vidal Calleja, Jaime Valls Miro. ICRA'16, [link]

  • Bayesian Fusion Using Conditionally Independent Submaps for High Resolution 2.5D Mapping
    Liye Sun, Teresa Vidal Calleja, Jaime Valls Miro. ICRA'15, [link]

  • Kernel-Specific Gaussian Process for Predicting Pipe Wall Thickness Maps
    Lei Shi, Liye Sun, Teresa Vidal Calleja, Jaime Valls Miro. ACRA'16, [pdf]

Human Visual Attention (Saliency)

During her master, Liye investigated the underlying links among human visual attention, eye tracking data and some high-level descriptive features.

Maps and videos created

The goal is to predict the salient objects and areas, i.e. where human tend to look, in images and videos.

  • Visual saliency maps and videos
  • Focus maps and videos
  • Detected salient objects and regions

  • Feature selection and training
  • Supervised learning
  • Linear and non-linear regression and classification
  • Eye tracking

Related publications
  • Spatial and Temporal Visual Attention Prediction in Videos Using Eye Movement Data
    Junwei Han, Liye Sun*, Xintao Hu, Jungong Han, Ling Shao. Neurocomputing, 2014, [link]

  • Visual Attention Computation in Video of Driving Environment
    Junwei Han, Liye Sun*, Dingwen Zhang, Xintao Hu, Gong Cheng, Lei Guo. ICME'14, [pdf]

Image Processing

In her capstone research project, Liye researched on image processing.

  • Image segmentation
  • Gaussian Mixture Model

Related publications
  • Cell Segmentation in Microscopic Images of Mice Brain Based on Markov Random Field Theory
    Liye Sun, Junwei Han, Xintao Hu, Lei Guo
    Pattern Recognition and Artificial Intelligence (模式识别与人工智能), 2013, [link]

  • Tree-Structured MRF Based Image Segmentation Combined with Advanced Means Shift Mode Detection
    Liye Sun, Kanzhi Wu. ICIG'11, [link]