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Academic & Teaching Staff

SUN Yuxiang 孫宇翔 (Dr)
PolyU Scholars Hub

SUN Yuxiang 孫宇翔 (Dr)

Research Assistant Professor

Area of Specialization: Robotics, Autonomous Driving, Mobile Robots, Deep Learning, AI, Unmanned Autonomous Systems, SLAM, Robotic Perception, Robotic Control, Autonomous Navigation

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Biography

PhD (CUHK)

 

Short Description

 

Dr Yuxiang Sun joined the Department of Mechanical Engineering, The Hong Kong Polytechnic University (HK PolyU) as a research assistant professor in 2020. He is now leading a research lab with 1 Postdoctoral research fellow, 7 PhD students and 2 Master students. One PhD student successfully won the highly-competitive Hong Kong PhD Fellowship Scheme (HKPFS) award in the 2021/2022 academic year.

Dr Sun currently serves as an associate editor of the IEEE Robotics and Automation Letters (RA-L), the IEEE International Conference on Robotics and Automation (ICRA), and the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), which are all top-tier international journals and conferences in the field of robotics and automation. He also serves as a guest associate editor of the Frontiers in Robotics and AI. His research interests lie primarily in Robotics and Autonomous Systems, Autonomous Driving, Mobile Robots, Artificial Intelligence, Deep Learning, Simultaneous Localization and Mapping (SLAM), Semantic Scene Understanding, Robotic Control, Robotic Perception, Autonomous Navigation, End-to-End Control, Trajectory Planning and Prediction, etc.

Before joining The Hong Kong Polytechnic University, Dr Sun worked as a research associate at the Robotics Institute, The Hong Kong University of Science and Technology (HKUST), Hong Kong, with Professor Ming Liu. He received the PhD degree from The Chinese University of Hong Kong (CUHK), Hong Kong, in 2017, advised by Professor Max Qing-Hu Meng.

Dr Sun has authored or co-authored more than 50 peer-reviewed research papers, most of which were published in top-tier journals and conferences. His research work has been cited widely, leading to more than 1130 Google scholar citations with 19 H-index (as of April 2022). Among the research work during his PhD and postdoctoral studies, two first-authored Robotics and Autonomous Systems (RAS) papers published in 2017 and 2018 respectively ranked No.1 and No.2 in the most cited articles of this journal. Two RA-L papers published in 2019 were selected as the popular articles in this journal, among which one paper was first-authored. Moreover, he received the Best Paper award at the IEEE-ROBIO 2019 conference, and the Best Student Paper Finalist award at the IEEE-ROBIO 2015 conference, both as the first author. 

For more information, please visit his group website: https://yuxiangsun.github.io/.

Selected Publications

 
  1. M. Usman Maqbool Bhutta, Yuxiang Sun, Darwin Lau, and Ming Liu, "Why-So-Deep: Towards Boosting Previously Trained Models for Visual Place Recognition," IEEE Robotics and Automation Letters (RA-L), 2022.
  2. Yuxiang Sun, Weixun Zuo, Huaiyang Huang, Peide Cai, and Ming Liu, " PointMoSeg: Sparse Tensor-Based End-to-End Moving-Obstacle Segmentation in 3-D Lidar Point Clouds for Autonomous Driving," IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, pp. 510–517, 2021.
  3. Qing Liang, Yuxiang Sun, Lujia Wang, and Ming Liu, "A Novel Inertial-aided Visible Light Positioning System using Modulated LEDs and Unmodulated Lights as Landmarks," IEEE Transactions on Automation Science and Engineering (TASE), 2021. 
  4. Huaiyang Huang, Yuxiang Sun, Jin Wu, Jianhao Jiao, Xiangcheng Hu, Linwei Zheng, Lujia Wang, and Ming Liu, "On Bundle Adjustment for Multiview Point Cloud Registration," IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 4, pp. 8269–8276, 2021. 
  5. Zhenhua Xu, Yuxiang Sun, and Ming Liu, "Topo-Boundary: A Benchmark Dataset on Topological Road-Boundary Detection Using Aerial Images for Autonomous Driving," IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 4, pp. 7248–7255, 2021.  
  6. Xuebin Sun, Yuxiang Sun, Weixun Zuo, Shing Shin Cheng, and Ming Liu, "A Novel Coding Scheme for Large-Scale Point Cloud Sequences Based on Clustering and Registration," IEEE Transactions on Automation Science and Engineering (TASE), 2021. 
  7. Zhenhua Xu, Yuxiang Sun, and Ming Liu, "iCurb: Imitation Learning-Based Detection of Road Curbs Using Aerial Images for Autonomous Driving," IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, pp. 1097–1104, 2021. 
  8. Peide Cai, Yuxiang Sun, Hengli Wang, and Ming Liu, "VTGNet: A Vision-Based Trajectory Generation Network for Autonomous Vehicles in Urban Environments," IEEE Transactions on Intelligent Vehicles (TIV), vol. 6, no. 3, pp. 419–429, 2021. 
  9. Qi Chen, Yuxiang Sun, Min Zhao, and Ming Liu, "Consensus-Based Cooperative Formation Guidance Strategy for Multiparafoil Airdrop Systems," IEEE Transactions on Automation Science and Engineering (TASE), vol. 18, no. 4, pp. 2175–2184, 2021. 
  10. Huaiyang Huang, Haoyang Ye, Yuxiang Sun, Lujia Wang, and Ming Liu, "Incorporating learnt local and global embeddings into monocular visual SLAM," Autonomous Robots (AURO), vol. 45, no. 6, pp. 789–803, 2021.
  11. Tianyu Liu, Qinghai Liao, Lu Gan, Fulong Ma, Jie Cheng, Xupeng Xie, Zhe Wang, Yingbing Chen, Yilong Zhu, Shuyang Zhang, Zhengyong Chen, Yang Liu, Meng Xie, Yang Yu, Zitong Guo, Guang Li, Peidong Yuan, Dong Han, Yuying Chen, Haoyang Ye, Jianhao Jiao, Peng Yun, Zhenhua Xu, Hengli Wang, Huaiyang Huang, Sukai Wang, Peide Cai, Yuxiang Sun, Yandong Liu, Lujia Wang, and Ming Liu, "The role of the hercules autonomous vehicle during the covid-19 pandemic: An autonomous logistic vehicle for contactless goods transportation," IEEE Robotics and Automation Magazine (RAM), vol. 28, no. 1, pp. 48–58, 2021. 
  12. Yuxiang Sun, Weixun Zuo, Peng Yun, Hengli Wang, and Ming Liu, "FuseSeg: Semantic Segmentation of Urban Scenes Based on RGB and Thermal Data Fusion," IEEE Transactions on Automation Science and Engineering (TASE), vol. 18, no. 3, pp. 1000–1011, 2021. 
  13. Zhenhua Xu, Yuxiang Sun, Lujia Wang, and Ming Liu, CP-loss: Connectivity-preserving Loss for Road Curb Detection in Autonomous Driving with Aerial Images, in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
  14. Peide Cai, Hengli Wang, Yuxiang Sun, and Ming Liu, DiGNet: Learning Scalable Self-Driving Policies for Generic Traffic Scenarios with Graph Neural Networks, in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
  15. Hengli Wang, Yuxiang Sun, Rui Fan, and Ming Liu, S2P2: Self-Supervised Goal-Directed Path Planning using RGB-D Data for Robotic Wheelchairs, in 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021. 
  16. Hengli Wang, Peide Cai, Yuxiang Sun, Lujia Wang, and Ming Liu, Learning Interpretable End-to-End Vision-based Motion Planning for Autonomous Driving with Optical Flow Distillation, in 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021. 
  17. Yuxiang Sun, Weixun Zuo, and Ming Liu, "See the Future: A Semantic Segmentation Network Predicting Ego-Vehicle Trajectory With a Single Monocular Camera," IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 3066–3073, 2020. 
  18. Huaiyang Huang, Haoyang Ye, Yuxiang Sun, and Ming Liu, "GMMLoc: Structure Consistent Visual Localization With Gaussian Mixture Models," IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 4, pp. 5043–5050, 2020.  
  19. Peide Cai, Sukai Wang, Yuxiang Sun, and Ming Liu, "Probabilistic End-to-End Vehicle Navigation in Complex Dynamic Environments With Multimodal Sensor Fusion," IEEE Robotics and Automation Letters (RA-L), vol.5, no.3, pp.4218–4224, 2020. 
  20. Sukai Wang, Yuxiang Sun, Chengju Liu, and Ming Liu, "PointTrackNet: An End-to-End Network For 3-D Object Detection and Tracking From Point Clouds," IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 3206–3212, 2020. 
  21. Peide Cai, Xiaodong Mei, Lei Tai, Yuxiang Sun, and Ming Liu, "High-Speed Autonomous Drifting With Deep Reinforcement Learning," IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 1247–1254, 2020.  
  22. Hengli Wang, Rui Fan, Yuxiang Sun, and Ming Liu, Applying Surface Normal Information in Drivable Area and Road Anomaly Detection for Ground Mobile Robots, in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 2706–2711.
  23. Huaiyang Huang, Haoyang Ye, Yuxiang Sun, and Ming Liu, Monocular Visual Odometry using Learned Repeatability and Description, in 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 8913–8919. 
  24. Yuxiang Sun, Weixun Zuo, and Ming Liu, "RTFNet: RGB-Thermal Fusion Network for Semantic Segmentation of Urban Scenes," IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 3, pp. 2576–2583, 2019.   (Popular Article in RA-L!)
  25. Yuxiang Sun, Ming Liu, and Max Qing-Hu Meng, "Active Perception for Foreground Segmentation: An RGB-D Data-Based Background Modeling Method," IEEE Transactions on Automation Science and Engineering (TASE), vol. 16, no. 4, pp. 1596–1609, 2019. 
  26. Hengli Wang, Yuxiang Sun, and Ming Liu, "Self-Supervised Drivable Area and Road Anomaly Segmentation Using RGB-D Data For Robotic Wheelchairs," IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 4, pp. 4386–4393, 2019. 
  27. Xuebin Sun, Han Ma, Yuxiang Sun, and Ming Liu, "A Novel Point Cloud Compression Algorithm Based On Clustering," IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 2132–2139, 2019.  (Popular Article in RA-L!)
  28. Chaoqun Wang, Wenzheng Chi, Yuxiang Sun, and Max Qing-Hu Meng, "Autonomous Robotic Exploration by Incremental Road Map Construction," IEEE Transactions on Automation Science and Engineering (TASE), vol. 16, no. 4, pp. 1720–1731, 2019. 
  29. Huaiyang Huang, Yuxiang Sun, Haoyang Ye, and Ming Liu, Metric Monocular Localization Using Signed Distance Fields, in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov. 2019, pp. 1195–1201.
  30. Yuxiang Sun, Lujia Wang, Yongquan Chen, and Ming Liu, Accurate Lane Detection with Atrous Convolution and Spatial Pyramid Pooling for Autonomous Driving, in 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec. 2019, pp. 642–647. (Best Paper in Robotics!)
  31. Yuxiang Sun, Ming Liu, and Max Qing-Hu Meng, "Motion removal for reliable RGB-D SLAM in dynamic environments," Robotics and Autonomous Systems (RAS), vol. 108, pp. 115–128, 2018.  (Ranked No.2 in the most cited articles of 2021 in this journal!)
  32. Yuxiang Sun, Ming Liu, and Max Qing-Hu Meng, "Improving RGB-D SLAM in dynamic environments: A motion removal approach," Robotics and Autonomous Systems (RAS), vol. 89, pp. 110–122, 2017.  (Ranked No.1 in the most cited articles of 2020 in this journal!)
  33. Yuxiang Sun, Ming Liu, and Max Qing-Hu Meng, Motion removal from moving platforms: An RGB-D data-based motion detection, tracking and segmentation approach, in 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec. 2015, pp. 1377–1382.  (Best Student Paper Finalist!)

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