publications

2025

1. 

   SLC^2-SLAM: Semantic-guided Loop Closure using Shared Latent Code for NeRF SLAM

   Yuhang Ming, Di Ma, Weichen Dai, Han Yang, and 3 more authors

   IEEE Robotics and Automation Letters, 2025

   arXiv Bib

   @article{Ming2025slc2slam,
     title = {SLC$^2$-SLAM: Semantic-guided Loop Closure using Shared Latent Code for NeRF SLAM},
     journal = {IEEE Robotics and Automation Letters},
     author = {Ming, Yuhang and Ma, Di and Dai, Weichen and Yang, Han and Fan, Rui and Zhang, Guofeng and Kong, Wanzeng},
     year = {2025},
     volume = {0},
     number = {0},
     pages = {0},
   }

2. 

   VIPeR: Visual Incremental Place Recognition with Adaptive Mining and Continual Learning

   Yuhang Ming, Minyang Xu, Xingrui Yang, Weicai Ye, and 4 more authors

   IEEE Robotics and Automation Letters, 2025

   arXiv Bib Code Website

   @article{Ming2025VIPeR,
     title = {VIPeR: Visual Incremental Place Recognition with Adaptive Mining and Continual Learning},
     journal = {IEEE Robotics and Automation Letters},
     author = {Ming, Yuhang and Xu, Minyang and Yang, Xingrui and Ye, Weicai and Wang, Weihan and Peng, Yong and Dai, Weichen and Kong, Wanzeng},
     year = {2025},
     volume = {10},
     number = {3},
     pages = {3038-3045},
   }

3. 

   Benchmarking neural radiance fields for autonomous robots: An overview

   Yuhang Ming, Xingrui Yang, Weihan Wang, Zheng Chen, and 3 more authors

   Engineering Applications of Artificial Intelligence, 2025

   arXiv Bib

   @article{Ming2025survey,
     title = {Benchmarking neural radiance fields for autonomous robots: An overview},
     journal = {Engineering Applications of Artificial Intelligence},
     volume = {140},
     pages = {109685},
     year = {2025},
     issn = {0952-1976},
     doi = {https://doi.org/10.1016/j.engappai.2024.109685},
     url = {https://www.sciencedirect.com/science/article/pii/S0952197624018438},
     author = {Ming, Yuhang and Yang, Xingrui and Wang, Weihan and Chen, Zheng and Feng, Jinglun and Xing, Yifan and Zhang, Guofeng},
   }

2024

1. 

   AEGIS-Net: Attention-guided Multi-Level Feature Aggregation for Indoor Place Recognition

   Yuhang Ming, Jian Ma, Xingrui Yang, Weichen Dai, and 2 more authors

   In 2024 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2024

   arXiv Bib Code

   @inproceedings{Ming2023aegisnet,
     author = {Ming, Yuhang and Ma, Jian and Yang, Xingrui and Dai, Weichen and Peng, Yong and Kong, Wanzeng},
     booktitle = {2024 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)},
     title = {AEGIS-Net: Attention-guided Multi-Level Feature Aggregation for Indoor Place Recognition},
     year = {2024},
   }

2023

1. Book Chapter

   In-Sensor Visual Devices for Perception and Inference

   Yanan Liu, Hepeng Ni, Chao Yuwen, Xinyu Yang, and 4 more authors

   2023

   Bib PDF

   @inbook{Liu2023,
     author = {Liu, Yanan and Ni, Hepeng and Yuwen, Chao and Yang, Xinyu and Ming, Yuhang and Zhong, Huixin and Lu, Yao and Ran, Liang},
     title = {In-Sensor Visual Devices for Perception and Inference},
     booktitle = {Autonomous Driving Perception: Fundamentals and Applications},
     year = {2023},
     publisher = {Springer Nature Singapore},
     address = {Singapore},
     pages = {1--35},
     isbn = {978-981-99-4287-9},
     doi = {10.1007/978-981-99-4287-9_1},
     url = {https://doi.org/10.1007/978-981-99-4287-9_1},
   }

2. IROS

   EDI: ESKF-based Disjoint Initialization for Visual-Inertial SLAM

   Weihan Wang, Jiani Li, Yuhang Ming, and Philippos Mordohai

   In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

   arXiv Bib

   @inproceedings{Wang2023edi,
     author = {Wang, Weihan and Li, Jiani and Ming, Yuhang and Mordohai, Philippos},
     booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     title = {EDI: ESKF-based Disjoint Initialization for Visual-Inertial SLAM},
     year = {2023},
   }

3. CVPR

   PVO: Panoptic visual odometry

   Weicai Ye, Xinyue Lan, Shuo Chen, Yuhang Ming, and 4 more authors

   In 2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2023

   arXiv Bib Website

   @inproceedings{Ye2023pvo,
     title = {PVO: Panoptic visual odometry},
     author = {Ye, Weicai and Lan, Xinyue and Chen, Shuo and Ming, Yuhang and Yu, Xingyuan and Bao, Hujun and Cui, Zhaopeng and Zhang, Guofeng},
     booktitle = {2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
     year = {2023},
     pages = {9579-9589},
   }

4. Thesis

   Enhancing RGB-D SLAM with Deep Learning

   Yuhang Ming

   2023

   Bib PDF

   @phdthesis{Ming2023thesis,
     author = {Ming, Yuhang},
     title = {Enhancing RGB-D SLAM with Deep Learning},
     shool = {University of Bristol},
     year = {2023},
   }

2022

1. 

   iDF-SLAM: End-to-End RGB-D SLAM with Neural Implicit Mapping and Deep Feature Tracking

   Yuhang Ming, Weicai Ye, and Andrew Calway

   arXiv preprint arXiv:2209.07919, 2022

   arXiv Bib

   @article{Ming2022idfslam,
     title = {iDF-SLAM: End-to-End RGB-D SLAM with Neural Implicit Mapping and Deep Feature Tracking},
     author = {Ming, Yuhang and Ye, Weicai and Calway, Andrew},
     journal = {arXiv preprint arXiv:2209.07919},
     year = {2022},
   }

2. arXiv

   DeFlowSLAM: Self-Supervised Scene Motion Decomposition for Dynamic Dense SLAM

   Weicai Ye, Xingyuan Yu, Xinyue Lan, Yuhang Ming, and 4 more authors

   arXiv preprint arXiv:2207.08794, 2022

   arXiv Bib Website

   @article{Ye2022deflowslam,
     title = {DeFlowSLAM: Self-Supervised Scene Motion Decomposition for Dynamic Dense SLAM},
     author = {Ye, Weicai and Yu, Xingyuan and Lan, Xinyue and Ming, Yuhang and Li, Jinyu and Bao, Hujun and Cui, Zhaopeng and Zhang, Guofeng},
     journal = {arXiv preprint arXiv:2207.08794},
     year = {2022},
   }

3. 

   CGiS-Net: Aggregating Colour, Geometry and Implicit Semantic Features for Indoor Place Recognition

   Yuhang Ming, Xingrui Yang, Guofeng Zhang, and Andrew Calway

   In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

   arXiv Bib Code

   @inproceedings{Ming2022cgisnet,
     author = {Ming, Yuhang and Yang, Xingrui and Zhang, Guofeng and Calway, Andrew},
     booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     title = {CGiS-Net: Aggregating Colour, Geometry and Implicit Semantic Features for Indoor Place Recognition},
     year = {2022},
     pages = {6991-6997},
     doi = {10.1109/IROS47612.2022.9981113},
   }

4. ISMAR

   Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation

   Xingrui Yang, Hai Li, Hongjia Zhai, Yuhang Ming, and 2 more authors

   In 2022 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2022

   arXiv Bib Code Website

   @inproceedings{Yang2022voxfusion,
     author = {Yang, Xingrui and Li, Hai and Zhai, Hongjia and Ming, Yuhang and Liu, Yuqian and Zhang, Guofeng},
     booktitle = {2022 IEEE International Symposium on Mixed and Augmented Reality (ISMAR)},
     title = {Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation},
     year = {2022},
     pages = {499-507},
     doi = {10.1109/ISMAR55827.2022.00066},
   }

5. 

   FD-SLAM: 3-D Reconstruction Using Features and Dense Matching

   Xingrui Yang, Yuhang Ming, Zhaopeng Cui, and Andrew Calway

   In 2022 International Conference on Robotics and Automation (ICRA), 2022

   arXiv Bib

   @inproceedings{Yang2022fdslam,
     author = {Yang, Xingrui and Ming, Yuhang and Cui, Zhaopeng and Calway, Andrew},
     booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
     title = {FD-SLAM: 3-D Reconstruction Using Features and Dense Matching},
     year = {2022},
     pages = {8040-8046},
     doi = {10.1109/ICRA46639.2022.9812049},
   }

2021

1. 

   Object-Augmented RGB-D SLAM for Wide-Disparity Relocalisation

   Yuhang Ming, Xingrui Yang, and Andrew Calway

   In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

   arXiv Bib Code

   @inproceedings{Ming2021objreloc,
     author = {Ming, Yuhang and Yang, Xingrui and Calway, Andrew},
     booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     title = {Object-Augmented RGB-D SLAM for Wide-Disparity Relocalisation},
     year = {2021},
     pages = {2203-2209},
     doi = {10.1109/IROS51168.2021.9636034},
   }

2020

1. CVPR Chanllenge

   Discriminative representation loss (DRL) for continual learning: A solution for CLVision challenge

   Yu Chen, Jian Ma, HanYuan Wan, Yuhang Ming, and 2 more authors

   In CVPR 2020 CLVision challenge, 2020

   Bib PDF

   @inproceedings{Chen2020drl,
     author = {Chen, Yu and Ma, Jian and Wan, HanYuan and Ming, Yuhang and Massiah, Jordan and Diethe, Tom},
     title = {Discriminative representation loss (DRL) for continual learning: A solution for CLVision challenge},
     year = {2020},
     url = {https://www.amazon.science/publications/discriminative-representation-loss-drl-for-continual-learning-a-solution-for-clvision-challenge},
     booktitle = {CVPR 2020 CLVision challenge},
   }