Multi-modal Data Fusion and Sensing for Complex Indoor Scenes

The Hong Kong University of Science and Technology
Department of Computer Science and Engineering


PhD Thesis Defence


Title: "Multi-modal Data Fusion and Sensing for Complex Indoor Scenes"

By

Miss Rongrong GAO


Abstract:

In is important to promot the vision capabilities for robotics perception, 
while camera-only-based approach cannot sufficiently capture the 
(three-dimensional) spatial and contextual nuances essential for effective 
interaction in diverse environments. This discrepancy emphasizes the need for 
multi-modal representations to enrich the robots' understanding of their 
surroundings. Incorporating additional sensing modalities, such as depth, laser 
radar, and time-of-flight imaging, provides a more holistic and nuanced 
perception of the physical environment. To this end, this dissertation delves 
into a comprehensive exploration of multi-modal perception within robotic 
scenarios.

Specifically, this thesis conducts a systematic study on below three pivotal 
topics:

o Geometric learning of time-of-flight data including depth and normal 
  estimation;
o Colorization of three-dimensional point cloud data for better scene 
  understanding;
o Multi-modal data compression and decompression for better online storage and 
  sharing.

This thesis embarks on a series of groundbreaking scientific research for these 
three topics. The research endeavors to contribute systematic review, 
state-of-the-art models, innovative methods, and curated data sets to related 
sub-fields, thereby propelling a step towards enhancing intelligent robot 
perception.


Date:                   Thursday, 18 July 2024

Time:                   3:00pm - 5:00pm

Venue:                  Room 3494
                        Lifts 25/26

Chairman:               Prof. Jidong ZHAO (CIVL)

Committee Members:      Dr. Qifeng CHEN (Supervisor)
                        Dr. Long CHEN
                        Dr. Yangqiu SONG
                        Prof. Ping TAN (ECE)
                        Dr. Ping LUO (HKU)