Research

My research interests focus on the area of automatic continuous mapping and localization for autonomous driving vehicles using GNSS, LiDAR, camera, odometry and IMU sensors. During the mapping process, the intrinsic and extrinsic calibration of the LiDAR and camera sensors can be estimated or improved simultaneously. After mapping, the driving route can be Geo-aligned into global coordinate system using GNSS and aerial imagery. I am currently working on a generalized localization system that takes a high-precision 3D semantic map and provides accurate and robust localization results.
My current research points are:

• Life-Long Multimodal Continuous Mapping and Localization
• Life-Long Vision based Mapping and Localization
• Automatic targetless LiDAR, camera in- and extrinsic calibration
• Automatic 3D model reconstruction and direct Geo-alignment

Teaching

• Tutor "Grundlagen der Mess- und Regelungstechnik" (GMRT) (SS18, WS18/19, SS19, WS19/20, SS20, WS20/21)
• Lecture "Grundlagen der Mess- und Regelungstechnik" (WS18/19, WS19/20)
• Messtechnisches Praktikum (MTP) (SS19, SS20)
• Rechnergestützte Verfahren in der Mess- und Regelungstechnik (RVMRT) (WS18/19, WS19/20, WS20/21)
• Lecturer Technische Modul "Digital Signal Processing" für KSOP Studenten (KSOP-DSP) (2019, 2020)

Academic Services

• Reviewer for
  • IEEE Intelligent Vehicles Symposium (IV) (2018)
  • IEEE International Conference on Intelligent Transportation Systems (ITSC) (2019, 2020)
  • IEEE International Conference on Multisensor Fusion and Integration (MFI) (2021)
  • IEEE Robotics and Automation Letters (RA-L) (2021)
  • IEEE International Conference on Robotics and Automation (ICRA) (2021)

Ongoing Theses

• Targetlose Extrinsische Selbstkalibrierung der LiDAR und Kamera Sensoren mit Photometrischen Informationen
• Visuelle Kartierung und Lokalisierung mit 3D Image Patches und Normalem Vektor Informationen
• Kontinuierliche Präzise LiDAR Kartierung und Lokalisierung mit Merkmalen in Large-Scale Umgebung
• Kontinuierliche LiDAR Kartierung und Lokalisierung mit Verteilung und Semantischen Informationen in Large-Scale Umgebung
• Automatische Targetlose LiDAR Kameras Extrinsische Kalibrierung mit Geometrischen Informationen

Completed Theses

• Erlernen einer BEV-Repräsentierung aus Kamera Bildern für Selbst-Lokalisierung in Luftbildern
• Monokulare Kamera Lokalisierung in einer großen dichten Karte mit Rendern und Verfolgen
• Verbessern der Direkt-SLAM und Relokalisierung in der generierten Karte
• End-to-End Maschinelles Lernen für 6D Visuelle Lokalisierung und Odometrie
• Gekoppeltes Erlernen von Merkmalspunktdetektor und -deskriptor für Visuelle Lokalisierung
• Lokalisierung in Geo-referenzierten Luftbildern mit LocGAN basierend auf Lidar Grid Maps
• Erlernen der Geometrischen Distanz zwischen Bildern mit Überlappung für Schnelle Visuelle Kartierung
• SfM basierte Kamera Intrinsische Kalibrierung mit Maschinellem Lernen als Initialisierung
• Entwicklung eines Multi-RGBD-Kamerasystems zur Erkennung und Identifizierung von Paketen
• Kartierung und Lokalisierung mit LiDAR Punktenwolken Daten für Automatisiertes Fahren
• Targetlose Extrinsische Selbstkalibrierung der Multiplen LiDAR und Kamera Sensoren mit Mutual Information (Normalisierte Information Distanz)
• Neuronales Netz basierte Visuelle Ortserkennung in den herausfordernden Umgebungen

Publications

Haohao Hu, Hexing Yang, Jian Wu, Xiao Lei, Frank Bieder, Jan-Hendrik Pauls, Christoph Stiller. Large-Scale 3D Semantic Reconstruction for Automated Driving Vehicles with Adaptive Truncated Signed Distance Function. In Proc. IEEE Intelligent Vehicles Symposium (IV), Anchorage, Alaska, January 2023. accepted. [ http ]

Miguel Ángel Muñoz-Bañón, Jan-Hendrik Pauls, Haohao Hu, Christoph Stiller. DA-LMR: A Robust Lane Marking Representation for Data Association. In 2022 International Conference on Robotics and Automation (ICRA), Seiten 2193--2199, 2022. [ DOI ]

Miguel Ángel Muñoz-Bañón, Jan-Hendrik Pauls, Haohao Hu, Christoph Stiller, Francisco A. Candelas, Fernando Torres. Robust Self-Tuning Data Association for Geo-Referencing Using Lane Markings. IEEE Robotics and Automation Letters, 7(4):12339--12346, 2022. [ DOI ]

Haohao Hu, Fengze Han, Frank Bieder, Jan-Hendrik Pauls, Christoph Stiller. TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, January 2022. accepted. [ http ]

Na Shen, Tongyu Wei, Haohao Hu, Wilhelm Stork. Extrinsic Calibration of UAV and Multi-camera with Non-overlapping by using an External Camera. In 2022 IEEE/SICE International Symposium on System Integration (SII), Narvik, Norway, January 2022. accepted.

Haohao Hu, Fabian Immel, Johannes Janosovits, Martin Lauer, Christoph Stiller. A Cuboid Detection and Tracking System using A Multi RGBD Camera Setup for Intelligent Manipulation and Logistics. In IEEE 17th International Conference on Automation Science and Engineering (CASE), Lyon, France, August 2021. [ http ]

Haohao Hu, Lukas Sackewitz, Martin Lauer. Joint Learning of Feature Detector and Descriptor for Visual SLAM. In IEEE Intelligent Vehicles Symposium (IV), Nagoya, Japan, July 2021. accepted.

Frank Bieder, Maximilian Link, Simon Romanski, Haohao Hu, Christoph Stiller. Improving Lidar-Based Semantic Segmentation of Top-View Grid Maps by Learning Features in Complementary Representations. In Proc. International Conference on Information Fusion (FUSION), Sun City, South Africa, Nov 2021.

Haohao Hu, Johannes Beck, Martin Lauer, Christoph Stiller. Continuous Fusion of Motion Data Using an Axis-Angle Rotation Representation with Uniform B-Spline. Sensors, 21(15), 2021. [ DOI | http ]

Sascha Wirges, Ye Yang, Haohao Hu, Christoph Stiller. Learned Enrichment of Top-View Grid Maps Improves Object Detection. In Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece, October 2020. [ http ]

Haohao Hu, Johannes Beck, Martin Lauer, Christoph Stiller. Continuous Fusion of IMU and Pose Data using Uniform B-Spline. In International Conference on Multisensor Fusion and Integration (MFI), Karlsruhe, Germany, September 2020. [ http ]

Haohao Hu, Aoran Wang, Marc Sons, Martin Lauer. ViPNet: An End-to-End 6D Visual Camera Pose Regression Network. In Proc. IEEE International Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece, September 2020. [ http ]

Haohao Hu, Junyi Zhu, Sascha Wirges, Martin Lauer. Localization in Aerial Imagery with Grid Maps using LocGAN. In Proc. IEEE International Conference on Intelligent Transportation Systems (ITSC), Auckland, New Zealand, October 2019. [ http ]

Haohao Hu, Marc Sons, Christoph Stiller. Accurate Global Trajectory Alignment using Poles and Road Markings. In IEEE Intelligent Vehicles Symposium (IV), Paris, France, June 2019. [ http ]

Jannik Quehl, Haohao Hu, Sascha Wirges, Martin Lauer. An Approach to Vehicle Trajectory Prediction Using Automatically Generated Traffic Maps. In Proc. IEEE Int. Conf. Intelligent Vehicles, June 2018. [ http ]

Jannik Quehl, Haohao Hu, Ömer Sahin Tas, Eike Rehder, Martin Lauer. How Good is My Prediction? Finding a Similarity Measure for Trajectory Prediction Evaluation. In Proc. IEEE Intell. Trans. Syst. Conf., Yokohama, Japan, October 2017. [ http ]