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<h2 itemprop="name">Liang (Eric) Yang</h2>
<h3 itemprop="jobTitle">3D Computer Vision Researcher</h3>
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<h1 id="biography">Biography</h1>
<p>Liang (Eric) Yang is a 3D computer vision researcher at Apple Inc. He obtained two doctoral degrees, one from the <a href="https://www.ccny.cuny.edu/" target="_blank">City College of New York</a>, <a href="http://www2.cuny.edu/" target="_blank">City University of New York</a> under the supervision of <a href="http://www-ee.ccny.cuny.edu/www/web/jxiao/jxiao.html" target="_blank">Dr. Jizhong Xiao</a> at the <a href="https://ccny-ros-pkg.github.io/" target="_blank">CCNY Robotics Lab</a>, and another one from <a href="http://english.sia.cas.cn/rh/rp/201408/t20140814_125856.html" target="_blank">State Key Lab of Robotics, University of Chinese Academy of Sciences</a>.</p>
<p>His research interests includes 3D semantic understanding, 3D Object Graph Learning, visual localition and sensor fusion, deep inspection, and navigation for mobile autonomous robots. Please feel free to contact me for Any Cooperation.</p>
<p>Liang Yang had won 2014 IEEE ICMA <a href="http://2014.ieee-icma.org/" target="_blank">Best Student Paper Award</a>, 2015 ICIRA <a href="http://www.icira2015.org/Channel/award.html" target="_blank">Best Student Paper Award Finalist</a>, 2017 <a href="http://research.ibm.com/labs/china/" target="_blank">Best IBM CRL Intern Research Project</a>, 2018 <a href="https://inspire-utc.mst.edu/annualmeeting/" target="_blank">Third Prize of UTC Graduate Research Poster</a>, and 2019 <a href="http://haosu-robotics.github.io/softroboticsworkshop.html" target="_blank">Second Poster Prize of Soft Robotics and Robot Learning Workshop</a>. He interned at <a href="https://www.microsoft.com/en-us/research/lab/microsoft-research-ai/" target="_blank">MicroSoft Research & AI</a>, and cooperated with <a href="http://www.hao-jiang.net/" target="_blank">Dr. Hao Jiang</a> and the Ambient Intelligent Team. He was working toward <a href="https://arxiv.org/abs/1812.00477" target="_blank"> Person Verification and Tracking using
Ambient and Ego-centric Video</a>. He also interned at <a href="http://research.ibm.com/labs/china/" target="_blank">IBM CRL</a> NLP Group last summer (2017), where he was able to collaborate with <a href="http://researcher.watson.ibm.com/researcher/view.php?person=cn-suzhong" target="_blank">Dr. Zhong Su</a> on developing a robotic deep DJ system.</p>
<p>He was wroking on two projects supported by US Department of Transportation: 1) <a href="https://ericlyang.github.io/project/robot-inspection-net/" target="_blank">Deep Inspection</a> using a Multi-scale network from detection to segmentation, and then back project to 3D space. 2) <a href="https://ericlyang.github.io/project/deepinspection/" target="_blank">Flying and Wall Climbing Robots for Inspection</a>, the project involves <a href="http://www.ros.org/" target="_blank">ROS</a>, <a href="https://get.google.com/tango/" target="_blank">Android</a>, <a href="https://opencv.org/" target="_blank">Computer Vision</a>, etc experience.</p>
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<h3>Interests</h3>
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<li>Visual Inspection</li>
<li>Deep Learning</li>
<li>Visual SLAM</li>
<li>UAV and UGV motion planning and navigation</li>
</ul>
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<h3>Education</h3>
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<p class="course">PhD in Electrical Engineering, 2019</p>
<p class="institution">The City Collge/City University Of New York</p>
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<p class="course">PHD in Pattern Recognition and Intelligent Systems, 2017</p>
<p class="institution">University of Chinese Academy of Sciences</p>
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<p class="course">MS in Control System, 2013</p>
<p class="institution">University Of Science And Technology Of China</p>
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<ul>
<li>Our paper <a href="/img/AURO/AURO_D_15_00036.pdf">RGB-D Camera Calibration and Trajectory Estimationfor Indoor Mapping</a>, Liang Yang, Ivan Dryanovski, Roberto G. Valenti, George Wolberg, Jizhong Xiao, is accepted by <a href="https://www.springer.com/journal/10514" target="_blank">Autonomous Robots</a>, in which we proposed a ‘feature model’ based RGB-D visual odometry system for a computationally-constrained mobile platform, and we also introduce a general depth calibration method to remove systematic errors in the depth readings of the RGB-D camera. [Code coming soon](), <a href="/img/AURO/AURO_D_15_00036.pdf">Paper PDF</a></li>
</ul>
<p><img src=/img/AURO/depth_calibration_system_setting.png style="width:70%;"></p>
<ul>
<li>Our paper <a href="https://www.dropbox.com/s/8pi4u4r6oqc6ekm/Concrete%20Defects%20Inspection%20and%203D%20Mapping%20using%20CityFlyer%20Quadrotor%20Robot.pdf?dl=0" target="_blank">Concrete Defects Inspection and 3D Mapping using CityFlyer Quadrotor Robot</a>, Liang Yang, Bing Li, Wei Li, Howard James Jarrell Brand, Biao Jiang, Jizhong Xiao, is accepted by <a href="https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6570654" target="_blank">IEEE/CAA Journal of Automatica Sinica</a>. <a href="https://www.dropbox.com/s/8pi4u4r6oqc6ekm/Concrete%20Defects%20Inspection%20and%203D%20Mapping%20using%20CityFlyer%20Quadrotor%20Robot.pdf?dl=0" target="_blank">Paper is here</a>, <a href="https://github.com/ccny-ros-pkg/concreteIn_inpection_VGGF" target="_blank">Code and Data</a>. <a href="new" target="_blank">2020</a></li>
</ul>
<p><img src=/img/SINICA2020/field_test_results.png style="width:70%;"></p>
<ul>
<li>Our Paper <a href="none" target="_blank">GPR-based Subsurface Object Detection and Reconstruction Using Random Motion and DepthNet</a>, Jinglun Feng*, Liang Yang *, Haiyan Wang, Yifeng Song, Jizhong Xiao, is accepted by <a href="https://www.icra2020.org/" target="_blank">ICRA 2020</a>. Paper, code, and dataset appear soon.</li>
</ul>
<p><img src=/img/ICRA2020/depthNet.png style="width:70%;"></p>
<ul>
<li>Our Paper <a href="https://www.sae.org/publications/technical-papers/content/2020-01-1211/" target="_blank">Driver Drowsiness Behavior Detection and Analysis Using Vision-Based Multimodal Features for Driving Safety</a>, Rui Li, Howard Brand, Aditya Gopinath, Srivatsav Kamarajugadda, Liang Yang, Weitian Wang, Bing Li, is accepted and published in <a href="https://www.sae.org/publications/technical-papers/content/2020-01-1211/" target="_blank">WCX SAE World Congress Experience 2020</a>. <a href="https://www.dropbox.com/s/yw8vhycqi7cpj2c/20-Rui-SAE.pdf?dl=0" target="_blank">Paper is here</a>.</li>
</ul>
<p><img src=/img/SAE2020/sae_2020.png style="width:70%;"></p>
<ul>
<li>Our Paper <a href="https://ubuntuslave.github.io/project/vo_sos/" target="_blank">Visual Odometry with a Single-Camera Stereo Omnidirectional System</a> by Carlos Jaramillo and Liang Yang and Pablo Munoz and Yuichi Taguchi and Jizhong Xiao, is accepted by Machine Vision and Applications, Springer. We proposed a Single-Camera Stereo Omnidirectional System which is able to be robust for visual odometry task under highly crowded and dynamic environment.</li>
</ul>
<p><img src=/img/MAV2019/hyperbolic_SOS-prototypes-LOW_res.png style="width:70%;"></p>
<ul>
<li><p>Our Paper <a href="http://media-lab.ccny.cuny.edu/wordpress/2019/07/our-paper-has-been-accepted-by-bmvc-2019/" target="_blank">Towards Weakly Supervised Semantic Segmentation in 3D Graph-Structured Point Clouds of Wild Scenes</a> by Haiyan Wang, Xuejian Rong, Liang Yang, Yingli Tian, is accepted by British Machine Vision Conference (BMVC), 2019, as oral. We were working toward point segmentation in a semi-superwised approach.</p></li>
<li><p>Our Paper <a href="https://tinyurl.com/3DInspectionRobot" target="_blank">Deep Neural Network based Visual Inspection with 3D Metric Measurement of Concrete Defects using Wall-climbing Robot</a> Has been Accepted by 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019).</p></li>
</ul>
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<p><br /></p>
<ul>
<li><p>Our Paper <a href="http://openaccess.thecvf.com/content_CVPRW_2019/html/VOCVALC/Yang_Visual-GPS_Ego-Downward_and_Ambient_Video_Based_Person_Location_Association_CVPRW_2019_paper.html" target="_blank">Visual-GPS: Ego-Downward and Ambient Video based Person Location Association</a> has been accepted by IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops 2019. Please email me if you are interested.</p></li>
<li><p>Our Paper <a href="https://shmii-9.mst.edu/" target="_blank">Visual SHM for Concrete Infrastructure Using a Wall-climbing Robot</a> has been accepted by 9th International Conference on Structural Health Monitoring of Intelligent Infrastructure 2019. Looking forward to see you at St. Louis.</p></li>
<li><p>Released the dataset for paper: <a href="https://www.dropbox.com/s/ir8wfz1pwu3ez21/cvprw2018_new.pdf?dl=0" target="_blank">Semantic Metric 3D Reconstruction for Concrete Inspection</a> (Authors are: Liang Yang, Bing Li, Wei Li, Biao Jiang, and Jizhong Xiao), 2018 CVPRW. Please check here <a href="https://github.com/ccny-ros-pkg/inspectionNet_Segmentation" target="_blank">Code and Data</a>. Also check here for our previous work: concrete structure inspection <a href="https://github.com/ccny-ros-pkg/concreteIn_inpection_VGGF" target="_blank">Code and Data</a>.</p></li>
<li><p>See how things really be interesting combining 3D and 2D, the indoor semantic segmentation and reconstruction, wait for my further paper work:</p></li>
</ul>
<p><img src=/img/news/ccnyRoboticsLab_4.png style="width:70%;"></p>
</div>
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<section id="publications_selected" class="home-section">
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<h1>Publications</h1>
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<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
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<span itemprop="author">
Liang Yang; Hao Jiang; Jizhong Xiao; Zhouyuan Huo</span>
(2018).
<a href="https://ericlyang.github.io/publication/arxiv2018/" itemprop="name">Ego-Downward and Ambient Video based Person Location Association</a>.
Arxiv.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://arxiv.org/abs/1812.00477" target="_blank" rel="noopener">
PDF
</a>
</p>
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<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
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<span itemprop="author">
Bing Li ; Liang Yang ; Jizhong Xiao ; Rich Valde ; Michael Wrenn ; Jim Leflar</span>
(2018).
<a href="https://ericlyang.github.io/publication/its2018/" itemprop="name">Collaborative Mapping and Autonomous Parking for Multi-Story Parking Garage</a>.
IEEE Transactions on Intelligent Transportation Systems.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="http://ieeexplore.ieee.org/document/8307497/?anchor=authors" target="_blank" rel="noopener">
PDF
</a>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Bing Li , Manjekar Budhai , Bowen Xiao , Liang Yang , Jizhong Xiao</span>
(2018).
<a href="https://ericlyang.github.io/publication/csun2018/" itemprop="name">Mobile Cognitive Indoor Assistive Navigation for Blind Persons</a>.
The 33rd CSUN Assistive Technology Conference.
<p>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Liang Yang, Yuqing He, Jizhong Xiao, Bing Li and Zhaoming Liu</span>
(2017).
<a href="https://ericlyang.github.io/publication/2017bookchapter/" itemprop="name">A Random Multi-Trajectory Generation Method for Online Emergency Threat Management (Analysis and Application in Path Planning Algorithm)</a>.
Kinematics.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://www.intechopen.com/books/kinematics/a-random-multi-trajectory-generation-method-for-online-emergency-threat-management-analysis-and-appl" target="_blank" rel="noopener">
PDF
</a>
</p>
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<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
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<span itemprop="author">
Liang YANG, Bing LI, Wei LI, Zhaoming LIU, Guoyong YANG,Jizhong XIAO</span>
(2017).
<a href="https://ericlyang.github.io/publication/iros2017/" itemprop="name">Deep Concrete Inspection Using Unmanned Aerial Vehicle Towards CSSC Database</a>.
Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://ericlyang.github.io/img/IROS2017/IROS2017.pdf" target="_blank" rel="noopener">
PDF
</a>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Bing Li, Kenshin Ushiroda, Liang Yang, Qiang Song, Jizhong Xiao</span>
(2017).
<a href="https://ericlyang.github.io/publication/wallclimbing/" itemprop="name">Wall-climbing robot for non-destructive evaluation using impact-echo and metric learning SVM</a>.
International Journal of Intelligent Robotics and Applications.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://link.springer.com/article/10.1007/s41315-017-0028-4" target="_blank" rel="noopener">
PDF
</a>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Liang YANG, Bing LI, Wei LI, Zhaoming LIU, Guoyong YANG,Jizhong XIAO</span>
(2017).
<a href="https://ericlyang.github.io/publication/robio2017/" itemprop="name">A Robotic System Towards Concrete Structure Spalling And Crack Database</a>.
2017 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO 2017).
<p>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Liang Yang, Jizhong Xiao, Juntong Qi, Liying Yang, Lei Wang, Jianda Han</span>
(2016).
<a href="https://ericlyang.github.io/publication/gartjournal/" itemprop="name">GART:An environment-guided path planner for robots in crowded environments under kinodynamic constraints</a>.
International Journal of Advanced Robotic Systems.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="http://journals.sagepub.com/doi/abs/10.1177/1729881416671111" target="_blank" rel="noopener">
PDF
</a>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Yang, Liang, Juntong Qi, Dalei Song, Jizhong Xiao, Jianda Han</span>
(2016).
<a href="https://ericlyang.github.io/publication/robotpath3dplanning/" itemprop="name">Survey of robot 3d path planning algorithms</a>.
Journal of Control Science and Engineering.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://www.hindawi.com/journals/jcse/2016/7426913/" target="_blank" rel="noopener">
PDF
</a>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Liang Yang, Dalei Song, Jizhong Xiao, Jianda Han, Liying Yang, Yang Cao</span>
(2015).
<a href="https://ericlyang.github.io/publication/iros2015/" itemprop="name">Generation of dynamically feasible and collision free trajectory by applying six-order Bezier curve and local optimal reshaping</a>.
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="http://ieeexplore.ieee.org/abstract/document/7353440/" target="_blank" rel="noopener">
PDF
</a>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Liang Yang, Juntong Qi, Liying Yang, Yang Cao, Jianda Han, Jizhong Xiao</span>
(2015).
<a href="https://ericlyang.github.io/publication/icira201501/" itemprop="name">An Analytical Local Reshaping Algorithm</a>.
International Conference on Intelligent Robotics and Applications.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://link.springer.com/chapter/10.1007/978-3-319-22876-1_24" target="_blank" rel="noopener">
PDF
</a>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Liang Yang, Juntong Qi, Liying Yang, Yang Cao, Jianda Han, Jizhong Xiao</span>
(2015).
<a href="https://ericlyang.github.io/publication/itsparkingarage/" itemprop="name">An Analytical Local Reshaping Algorithm</a>.
International Conference on Intelligent Robotics and Applications.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://link.springer.com/chapter/10.1007/978-3-319-22876-1_24" target="_blank" rel="noopener">
PDF
</a>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Liang Yang, Juntong Qi, Yang Cao, Yuqing He, Jianda Han, Jizhong Xiao</span>
(2015).
<a href="https://ericlyang.github.io/publication/icira201502/" itemprop="name">UAV Path Planning Framework Under Kinodynamic Constraints in Cluttered Environments(Best Student Paper Award Finalist)</a>.
International Conference on Intelligent Robotics and Applications.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://link.springer.com/chapter/10.1007/978-3-319-22876-1_22" target="_blank" rel="noopener">
PDF
</a>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Yang, Liang, Juntong Qi, Dalei Song, Jizhong Xiao, Jianda Han</span>
(2014).
<a href="https://ericlyang.github.io/publication/gartconference/" itemprop="name">Guiding attraction based random tree path planning under uncertainty: Dedicate for UAV (Best Student Paper Award)</a>.
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=6885866" target="_blank" rel="noopener">
PDF
</a>
</p>
</div>
<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Yang, Liang, Juntong Qi, Jizhong Xiao, and Xia Yong</span>
(2014).
<a href="https://ericlyang.github.io/publication/uav3dpathplanning/" itemprop="name">A literature review of UAV 3D path planning</a>.
In Intelligent Control and Automation (WCICA), 2014 11th World Congress on , IEEE..
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://www.researchgate.net/profile/Liang_Yang20/publication/282744674_A_literature_review_of_UAV_3D_path_planning/links/57b6b32808aeddbf36e94f48/A-literature-review-of-UAV-3D-path-planning.pdf" target="_blank" rel="noopener">
PDF
</a>
</p>
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