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Computer Vision Group
TUM School of Computation, Information and Technology
Technical University of Munich

Technical University of Munich

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Informatik IX
Computer Vision Group

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

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News

24.10.2024

LSD SLAM received the ECCV 2024 Koenderink Award for standing the Test of Time.

03.07.2024

We have seven papers accepted to ECCV 2024. Check our publication page for more details.

09.06.2024
GCPR / VMV 2024

GCPR / VMV 2024

We are organizing GCPR / VMV 2024 this fall.

04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

More


PhD student

Technical University of Munich

School of Computation, Information and Technology
Informatics 9
Boltzmannstrasse 3
85748 Garching
Germany

Fax: +49-89-289-17757
Mail: yangn@in.tum.de

>>Personal Website<<

Brief Bio

Find me on Google Scholar, Linkedin, Twitter.

I received my Bachelor's degree in Computer Science from Beijing University of Posts and Telecommunications and my Master's degree in Informatics from the Technical University of Munich. Since May 2018, I am a Ph.D. student and senior computer vision researcher in Artisense, a startup co-founded by Prof. Daniel Cremers. From September 2020 until December 2020, I was an intern in Facebook Reality Labs working on collaborative mapping.

Research

My research interest lies in enhancing classical 3D vision, e.g., visual odometry / simultaneously localization and mapping (SLAM), re-localization, and dense reconstruction, with the aid of deep neural networks. Here are some selected projects:

Visual Odometry

  • Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry, ECCV 2018, Oral Presentation.


  • D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry, CVPR 2020, Oral Presentation.


  • Multi-Frame GAN: Image Enhancement for Stereo Visual Odometry in Low Light , CoRL 2019, Long Oral Presentation.


Dense Reconstruction

  • MonoRec: Semi-Supervised Dense Reconstruction in Dynamic Environments from a Single Moving Camera, CVPR 2021.


  • *TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo*, CoRL 2021, Best Demo Award at 3DV 2021.


Re-localization

  • LM-Reloc: Levenberg-Marquardt Based Direct Visual Relocalization, 3DV 2020.


Object-level Perceptions

  • DirectShape: Photometric Alignment of Shape Priors for Visual Vehicle Pose and Shape Estimation, ICRA 2020.


  • Learning Monocular 3D Vehicle Detection without 3D Bounding Box Labels, GCPR 2020.


Professional Services

  • Journal reviewer: RA-L, AURO, ISPRS
  • Conference reviewer: CVPR, ECCV, ICCV, ICLR, AAAI, ICRA, IROS
  • Co-organized Map-based Localization for Autonomous Driving Workshop, ECCV 2020 and ICCV 2021.

Publications


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Journal Articles
2018
[]Challenges in Monocular Visual Odometry: Photometric Calibration, Motion Bias and Rolling Shutter Effect (N. Yang, R. Wang, X. Gao and D. Cremers), In In IEEE Robotics and Automation Letters (RA-L) & Int. Conference on Intelligent Robots and Systems (IROS), volume 3, 2018. ([arxiv]) [bibtex] [doi] [pdf]
Preprints
2022
[]4Seasons: Benchmarking Visual SLAM and Long-Term Localization for Autonomous Driving in Challenging Conditions (P Wenzel, N Yang, R Wang, N Zeller and D Cremers), In arXiv preprint arXiv:2301.01147, 2022.  [bibtex] [arXiv:2301.01147]
Conference and Workshop Papers
2024
[]FIRe: Fast Inverse Rendering Using Directional and Signed Distance Functions (T Yenamandra, A Tewari, N Yang, F Bernard, C Theobalt and D Cremers), In Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2024. ([Project page],[ArXiv]) [bibtex]
2023
[]Behind the Scenes: Density Fields for Single View Reconstruction (F Wimbauer, N Yang, C Rupprecht and D Cremers), In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2023. ([project page]) [bibtex] [arXiv:2301.07668]
2021
[]TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereo (L Koestler, N Yang, N Zeller and D Cremers), In Conference on Robot Learning (CoRL), 2021. ([GitHub][video][project page]) [bibtex] [arXiv:2111.07418] [pdf]3DV'21 Best Demo Award
[]MonoRec: Semi-Supervised Dense Reconstruction in Dynamic Environments from a Single Moving Camera (F. Wimbauer, N. Yang, L. von Stumberg, N. Zeller and D Cremers), In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2021. ([project page]) [bibtex] [arXiv:2011.11814]
2020
[]LM-Reloc: Levenberg-Marquardt Based Direct Visual Relocalization (L. von Stumberg, P. Wenzel, N. Yang and D. Cremers), In International Conference on 3D Vision (3DV), 2020. ([arXiv][project page][video][supplementary][poster]) [bibtex]
[]4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving (P. Wenzel, R. Wang, N. Yang, Q. Cheng, Q. Khan, L. von Stumberg, N. Zeller and D. Cremers), In Proceedings of the German Conference on Pattern Recognition (GCPR), 2020. ([project page][arXiv][video]) [bibtex] [pdf]
[]Learning Monocular 3D Vehicle Detection without 3D Bounding Box Labels (L. Koestler, N. Yang, R. Wang and D. Cremers), In Proceedings of the German Conference on Pattern Recognition (GCPR), 2020. ([project page][video]) [bibtex] [pdf]
[]D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometry (N. Yang, L. von Stumberg, R. Wang and D. Cremers), In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020.  [bibtex] [arXiv:2003.01060] [pdf]Oral Presentation
[]DirectShape: Photometric Alignment of Shape Priors for Visual Vehicle Pose and Shape Estimation (R. Wang, N. Yang, J. Stueckler and D. Cremers), In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2020. ([video][presentation][project page][supplementary][arxiv]) [bibtex] [pdf]
2019
[]Multi-Frame GAN: Image Enhancement for Stereo Visual Odometry in Low Light (E. Jung, N. Yang and D. Cremers), In Conference on Robot Learning (CoRL), 2019. ([arxiv],[supplementary],[video]) [bibtex]Full Oral Presentation
2018
[]Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry (N. Yang, R. Wang, J. Stueckler and D. Cremers), In European Conference on Computer Vision (ECCV), 2018. ([arxiv],[supplementary],[project]) [bibtex]Oral Presentation
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Rechte Seite

Informatik IX
Computer Vision Group

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:

YouTube X / Twitter Facebook

News

24.10.2024

LSD SLAM received the ECCV 2024 Koenderink Award for standing the Test of Time.

03.07.2024

We have seven papers accepted to ECCV 2024. Check our publication page for more details.

09.06.2024
GCPR / VMV 2024

GCPR / VMV 2024

We are organizing GCPR / VMV 2024 this fall.

04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

More