Xiaoqing Ye (叶晓青)

Ph.D Department of Computer Vision Technology (VIS) Baidu Inc. Email: yxq@whu.edu.cn yexiaoqing@baidu.com Interests: Autonomous Driving, 3D Vision, Multi-modality Large Model Github   Google Scholar

About me

• I am currently working in Shanghai as a senior RD at Department of Computer Vision Technology (VIS), Baidu Inc., focusing on the Autonomous Driving since 2019/07.

• I obtained my Ph.D. degree from the Chinese Academy of Sciences (CAS) in 2019 and studied in University of Science and Technology of China (USTC) during my master's program in 2015.

• I received my B.E degree from Wuhan University (WHU) in 2014.


My research interest is Autonomous Driving and 3D vision, including End-to-End AD, learning-based Planning, Perception (including multi-modal 3D object detection, polyline lane detection and occupancy network).
Please send me an email if you are interested in internship or full-time opportunities.

News

• [2024] 4 papers accepted to ECCV 2024!

• [2024] 1 paper accepted to CVPR 2024.

• [2024] 1 paper accepted to Pattern Recognition.

• [2024] 1 paper accepted to AAAI 2024.

• [2024] 1 paper accepted to SCIENCE CHINA Information Sciences (SCIS) 2024 (CCF-A).

• [2023] 1 paper accepted to NeurIPS 2023.

• [2023] 3 papers accepted to ICCV 2023 and one paper received an Oral.

• [2023] 4 Papers accepted to CVPR 2023.

• [2023] 1 Paper accepted to ICRA 2023 as Oral.

• [2023] 1 Paper accepted to AAAI 2023.

• [2022] 1 Paper accepted to ACCV 2022 as Oral.

• [2022] 1 Paper accepted to ECCV 2022.

• [2022] Won two Champions both in the CVPR 2022 SoccerNet Challenge (Pitch Localization Track and Camera Calibration Track).

• [2022] 2 Papers accepted to ACM MM 2022.

• [2022] 1 Paper accepted to KDD 2022 as Oral.

• [2022] 2 Papers accepted to CVPR 2022.

• [2022] Won the Champion in CVPR AI City Challenge 2022 Track 1 (Multi-Camera Multi-Target Tracking).

• [2022] 1 Paper accepted to AAAI 2022.

• [2021] 2 Papers accepted to ICCV 2021.

• [2021] 1 paper accepted to TPAMI 2021.

• [2021] 4 Papers accepted to ACM MM 2021.

• [2021] 1 Paper accepted to CVPR 2021.

• [2021] Won the Champion in ROD Challenge of ICMR 2021.

• [2020] 1 Paper accepted to ECCV 2020.

• [2020] 1 Paper accepted to CVPR 2020.

• [2020] 1 Paper accepted to AAAI 2020 as Oral.

• [2020] Won the Champion in CVPR AI City Challenge 2020 Track 1 (Multi-Class Multi-Movement Vehicle Counting).

• [2020] 1 Paper accepted to IROS 2020.

• [2019] Won the Champion in CVPR AI City Challenge 2019 Track 2 (City-Scale Multi-Camera Vehicle Re-Identification).

• [2019] 1 Paper accepted to ICCV 2019.

• [2018] 1 Paper accepted to ECCV 2018.

Publications

*Equal contribution, †Corresponding author

DrivingDiffusion: Layout-Guided multi-view driving scene video generation with latent diffusion model Xiaofan Li, Yifu Zhang, Xiaoqing Ye† European Conference on Computer Vision (ECCV) 2024 PDF   Project   Code

SEED: A Simple and Effective 3D DETR in Point Clouds Zhe Liu, Jinghua Hou, Xiaoqing Ye, Tong Wang, Jingdong Wang, Xiang Bai European Conference on Computer Vision (ECCV) 2024 PDF   Project   Code

OPEN: Object-wise Position Embedding for Multi-view 3D Object Detection Jinghua Hou, Tong Wang, Xiaoqing Ye, Zhe Liu, Shi Gong, Xiao Tan, Errui Ding, Jingdong Wang, Xiang Bai European Conference on Computer Vision (ECCV) 2024 PDF   Project   Code

BEVWorld: A Multimodal World Model for Autonomous Driving via Unified BEV Latent Space Yumeng Zhang, Shi Gong, Kaixin Xiong, Xiaoqing Ye†, Xiao Tan, Fan Wang, Jizhou Huang†, Hua Wu, Haifeng Wang Arxiv 2024 PDF   Code

Exploring the Causality of End-to-End Autonomous Driving Jiankun Li, Hao Li, Jiangjiang Liu, Zhikang Zou, Xiaoqing Ye†, Fan Wang, Jizhou Huang†, Hua Wu, Haifeng Wang Arxiv 2024 PDF   Code

Self-Ensembling Depth Completion via Density-aware Consistency Xuanmeng Zhang, Zhedong Zheng, Minyue Jiang, Xiaoqing Ye Pattern Recognition, 2024 PDF

BEVSpread: Spread Voxel Pooling for Bird’s-Eye-View Representation in Vision-based Roadside 3D Object Detection Wenjie Wang, Yehao Lu, Guangcong Zheng, Shuigen Zhan, Xiaoqing Ye, Zichang Tan, Jingdong Wang, Gaoang Wang, Xi Li IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2024 PDF   Code

SOOD++: Leveraging Unlabeled Data to Boost Oriented Object Detection Dingkang Liang, Wei Hua, Chunsheng Shi, Zhikang Zou, Xiaoqing Ye, Xiang Bai Arxiv 2024 PDF   Code

CLIP-GS: CLIP-Informed Gaussian Splatting for Real-time and View-consistent 3D Semantic Understanding Guibiao Liao, Jiankun Li, Zhenyu Bao, Xiaoqing Ye, Jingdong Wang, Qing Li, Kanglin Liu Arxiv 2024 PDF

VLM2Scene: Self-Supervised Image-Text-LiDAR Learning with Foundation Models for Autonomous Driving Scene Understanding Guibiao Liao, Jiankun Li, Xiaoqing Ye† AAAI Conference on Artificial Intelligence (AAAI) 2024 PDF

PointMamba: A Simple State Space Model for Point Cloud Analysis Dingkang Liang, Xin Zhou, Xinyu Wang, Xingkui Zhu, Wei Xu, Zhikang Zou, Xiaoqing Ye, Xiang Bai Arxiv 2024 PDF   Code

SAM3D: Zero-Shot 3D Object Detection via Segment Anything Model Dingyuan Zhang, Dingkang Liang, Hongcheng Yang, Zhikang Zou, Xiaoqing Ye, Zhe Liu, Xiang Bai SCIENCE CHINA Information Sciences (SCIS) 2024. PDF   Code

Forward Flow for Novel View Synthesis of Dynamic Scenes Xiang Guo, Jiadai Sun, Yuchao Dai, Guanying Chen, Xiaoqing Ye, Xiao Tan, Errui Ding, Yumeng Zhang, Jingdong Wang International Conference on Computer Vision (ICCV) 2023 (Oral Presentation) PDF   Project

Rethinking the Open-Loop Evaluation of End-to-End Autonomous Driving in nuScenes Jiang-Tian Zhai, Ze Feng, Jinhao Du, Yongqiang Mao, Jiang-Jiang Liu, Zichang Tan, Yifu Zhang, Xiaoqing Ye, Jingdong Wang Technical Report 2023 PDF   Code

IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformation Jianhui Liu, Yukang Chen, Xiaoqing Ye, Xiaojuan Qi International Conference on Computer Vision (ICCV) 2023 PDF   Code

A Simple Vision Transformer for Weakly Semi-supervised 3D Object Detection Dingyuan Zhang, Dingkang Liang, Zhikang Zou, Jingyu Li, Xiaoqing Ye, Zhe Liu, Xiao Tan, Xiang Bai International Conference on Computer Vision (ICCV) 2023 PDF

Diffusion-based 3D Object Detection with Random Boxes Xin Zhou, Jinghua Hou, Tingting Yao, Dingkang Liang, Zhe Liu, Zhikang Zou, Xiaoqing Ye, Jianwei Cheng, Xiang Bai Arxiv 2023 PDF

Multi-Modal 3D Object Detection by Box Matching Zhe Liu, Xiaoqing Ye, Zhikang Zou, Xinwei He, Xiao Tan, Errui Ding, Jingdong Wang, Xiang Bai Arxiv 2023 PDF   Code

CAPE: Camera View Position Embedding for Multi-View 3D Object Detection Kaixin Xiong, Shi Gong, Xiaoqing Ye*, Xiao Tan, Ji Wan, Errui Ding, Jingdong Wang, Xiang Bai IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023. PDF   Code

CrowdCLIP: Unsupervised Crowd Counting via Vision-Language Model Dingkang Liang, Jiahao Xie, Zhikang Zou, Xiaoqing Ye, Wei Xu, Xiang Bai IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023 PDF   Code

SOOD: Towards Semi-Supervised Oriented Object Detection Wei Hua, Dingkang Liang, Jingyu Li, Xiaolong Liu, Zhikang Zou, Xiaoqing Ye, Xiang Bai IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023 PDF   Code

Command-driven Articulated Object Understanding and Manipulation Ruihang Chu, Zhengzhe Liu, Xiaoqing Ye, Xiao Tan, Xiaojuan Qi, Chi-Wing Fu, Jiaya Jia IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023 PDF

Query-based Temporal Fusion with Explicit Motion for 3D Object Detection Jinghua Hou, Zhe Liu, dingkang liang, Zhikang Zou, Xiaoqing Ye, Xiang Bai Neural Information Processing Systems (NeurIPS) 2023 PDF   Code

Detaching and Boosting: Dual Engine for Scale-Invariant Self-Supervised Monocular Depth Estimation Peizhe Jiang, Wei Yang, Xiaoqing Ye, Xiao Tan, Meng Wu IEEE International Conference on Robotics and Automation (ICRA) 2023 (Oral Presentation) PDF   Code

StereoDistill: Pick the Cream from LiDAR for Distilling Stereo-based 3D Object Detection Zhe Liu, Xiaoqing Ye, Xiao Tan, Errui Ding, Xiang Bai AAAI Conference on Artificial Intelligence (AAAI) 2023 PDF

ByteTrackV2: 2D and 3D Multi-Object Tracking by Associating Every Detection Box Yifu Zhang, Xinggang Wang, Xiaoqing Ye, Wei Zhang, Jincheng Lu, Xiao Tan, Errui Ding, Peize Sun, Jingdong Wang Arxiv 2023 PDF   Project   Code

Rope3D: The Roadside Perception Dataset for Autonomous Driving and Monocular 3D Object Detection Task Xiaoqing Ye*, Mao Shu*, Hanyu Li, Yifeng Shi, Yingying Li, Guangjie Wang, Xiao Tan, Errui Ding IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022 PDF   Project   Code

TWIST: Two-Way Inter-label Self-Training for Semi-supervised 3D Instance Segmentation. CVPR 2022. Ruihang Chu, Xiaoqing Ye, Zhengzhe Liu, Xiao Tan, Xiaojuan Qi, Chi-Wing Fu, Jiaya Jia IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022 PDF

Spatial Pruned Sparse Convolution for Efficient 3D Object Detection Jianhui Liu, Yukang Chen, Xiaoqing Ye, Zhuotao Tian, Xiao Tan, Xiaojuan Qi Neural Information Processing Systems (NeurIPS) 2022 PDF   Code

GitNet: Geometric Prior-based Transformation for Birds-Eye-View Segmentation Shi Gong*, Xiaoqing Ye*, Xiao Tan, Jingdong Wang, Errui Ding, Yu Zhou, Xiang Bai European Conference on Computer Vision (ECCV) 2022 PDF   Code

The Devil is in the Face: Exploiting Harmonious Representations for Facial Expression Recognition Jiayi Han, Liang Du, Xiaoqing Ye, Li Zhang, Jianfeng Feng Neuralcomputing 2022 PDF

Paint and Distill: Boosting 3D Object Detection with Semantic Passing Network Bo Ju, Zhikang Zou, Xiaoqing Ye†, Minyue Jiang, Xiao Tan, Errui Ding, Jingdong Wang ACM International Conference on Multimedia (MM) 2022 PDF

Paint and Distill: Boosting 3D Object Detection with Semantic Passing Network Xiang Guo, Guanying Chen, Yuchao Dai, Xiaoqing Ye, Jiadai Sun, Xiao Tan, Errui Ding Asian Conference on Computer Vision (ACCV) 2022 (Oral Presentation) PDF   Project   Code

DuARE: Automatic Road Extraction with Aerial Images and Trajectory Data at Baidu Maps Jianzhong Yang*, Xiaoqing Ye*, Bin Wu, Yanlei Gu, Ziyu Wang, Deguo Xia, Jizhou Huang ACM SIGKDD Conference on Knowledge Discovery and Data Mining (KDD) 2022 (Oral Presentation) PDF

SGM3D: Stereo Guided Monocular 3D Object Detection Zheyuan Zhou*, Liang Du*, Xiaoqing Ye*, Zhikang Zou, Xiao Tan, Li Zhang, Xiangyang Xue, Jianfeng Feng IEEE Robotics and Automation Letters (RA-L) 2022 PDF   Project

Modify the self-attention via skeleton decomposition for effective point-cloud transformer Jiayi Han, Longbin Zeng, Liang Du, Xiaoqing Ye, Weiyang Ding, Jianfeng Feng AAAI Conference on Artificial Intelligence (AAAI) 2022 PDF

AGO-Net: Association-Guided 3D Point Cloud Object Detection Network Liang Du, Xiaoqing Ye, Xiao Tan, Edward Johns, Bo Chen, Errui Ding, Xiangyang Xue, Jianfeng Feng IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) 2021 PDF

Box-Grained Reranking Matching for Multi-Camera Multi-Target Tracking Xipeng Yang, Jin Ye, Jincheng Lu, Chenting Gong, Minyue Jiang, Xiangru Lin, Wei Zhang, Xiao Tan, Yingying Li, Xiaoqing Ye, Errui Ding IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRw) 2022 PDF   Code

The Devil is in the Task: Exploiting Reciprocal Appearance-Localization Features for Monocular 3D Object Detection Zhikang Zou*, Xiaoqing Ye*, Liang Du*, Xianhui Cheng*, Xiao Tan, Li Zhang, Jianfeng Feng, Xiangyang Xue, Errui Ding International Conference on Computer Vision (ICCV) 2021 PDF

Revealing the Reciprocal Relations between Self-Supervised Stereo and Monocular Depth Estimation Zhi Chen, Xiaoqing Ye, Zhikang Zou, Wei Yang, Zhenbo Xu, Xiao Tan, Zhikang Zou, Errui Ding, Xinming Zhang, Liusheng Huang International Conference on Computer Vision (ICCV) 2021 PDF

Depth-conditioned Dynamic Message Propagation for Monocular 3D Object Detection Li Wang*, Liang Du*, Xiaoqing Ye*, Yanwei Fu, Guodong Guo, Xiangyang Xue, Jianfeng Feng, Li Zhang IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2021 PDF   Project

AggNet for Self-supervised Monocular Depth Estimation: Go An Aggressive Step Further Zhi Chen*, Xiaoqing Ye*, Liang Du, Wei Yang, Liusheng Huang, Xiao Tan, Zhenbo Shi, Fumin Shen, Errui Ding ACM International Conference on Multimedia (MM) 2021 PDF

Lifting the Veil of Frequency in Joint Segmentation and Depth Estimation Tianhao Fu*, Yingying Li*, Xiaoqing Ye*, Xiao Tan, Hao Sun, Fumin Shen, Errui Ding ACM International Conference on Multimedia (MM) 2021 PDF

Coarse to Fine: Domain Adaptive Crowd Counting via Adversarial Scoring Network Zhikang Zou, Xiaoye Qu, Pan Zhou, Shuangjie Xu, Xiaoqing Ye, Wenhao Wu, Jin Ye ACM International Conference on Multimedia (MM) 2021 PDF

Towards Adversarial Patch Analysis and Certified Defense against Crowd Counting Qiming Wu, Zhikang Zou, Pan Zhou, Xiaoqing Ye, Binghui Wang, Ang Li ACM International Conference on Multimedia (MM) 2021 PDF

Towards Adversarial Patch Analysis and Certified Defense against Crowd Counting Bo Ju, Wei Yang, Jinrang Jia, Xiaoqing Ye, Qu Chen, Xiao Tan, Hao Sun, Yifeng Shi, Errui Ding International Conference on Multimedia Retrieval (ICMR) 2021 PDF

Monocular 3d Object Detection via Feature Domain Adaptation Xiaoqing Ye*, Liang Du*, Yifeng Shi, Yingying Li, Xiao Tan, Jianfeng Feng, Errui Ding, Shilei Wen European Conference on Computer Vision (ECCV) 2020 PDF

Part-aware Adaptive Zooming Neural Network for 3d Object Detection Zhenbo Xu, Wei Zhang, Xiaoqing Ye, Xiao Tan, Wei Yang, Shilei Wen, Errui Ding, Ajin Meng, Liusheng Huang AAAI Conference on Artificial Intelligence (AAAI) 2020 (Oral Presentation) PDF   Code

Associate-3Ddet: Perceptual-to-conceptual association for 3D point cloud object detection Liang Du*, Xiaoqing Ye*, Xiao Tan, Jianfeng Feng, Zhenbo Xu, Errui Ding, Shilei Wen IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2020 PDF   Code

RegionNet: Region-feature-enhanced 3D Scene Understanding Network with Dual Spatial-aware Discriminative Loss Guanghui Zhang, Dongchen Zhu, Xiaoqing Ye, Wenjun Shi, Minghong Chen, Jiamao Li, Xiaolin Zhang IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020 PDF

Leaping from 2D Detection to Efficient 6DoF Object Pose Estimation Jinhui Liu*, Zhikang Zou*, Xiaoqing Ye*, Xiao Tan, Errui Ding, Feng Xu, Xin Yu European Conference on Computer Vision Workshops (ECCVw) 2020 PDF

Robust Movement-specific Vehicle Counting at Crowded Intersections Zhongji Liu, Wei Zhang, Xu Gao, Hao Meng, Xiao Tan, Xiaoxing Zhu, Zhan Xue, Xiaoqing Ye, Hongwu Zhang, Shilei Wen, Errui Ding IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRw) 2020 PDF   Code

Multi-camera vehicle tracking and re-identification based on visual and spatial-temporal features Xiao Tan, Zhigang Wang, Minyue Jiang, Xipeng Yang, Jian Wang, Yuan Gao, Xiangbo Su, Xiaoqing Ye, Yuchen Yuan, Dongliang He, Shilei Wen, Errui Ding IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRw) 2019 PDF   Code

SSF-DAN: Separated Semantic Feature based Domain Adaptation Network for Semantic Segmentation Liang Du, Jingang Tan, Hongye Yang, Jianfeng Feng, Xiangyang Xue, Qibao Zheng, Xiaoqing Ye, Xiaolin Zhang IEEE International Conference on Computer Vision (ICCV) 2019 PDF   Code

3D Recurrent Neural Networks with Context Fusion for Point Cloud Semantic Segmentation Xiaoqing Ye, Jiamao Li, Hexiao Huang, Liang Du, Xiaolin Zhang European Conference on Computer Vision (ECCV) 2018 PDF

Order-Based Disparity Refinement Including Occlusion Handling for Stereo Matching Xiaoqing Ye, Yuzhang Gu, Lili Chen, Jiamao Li, Han Wang, Xiaolin Zhang IEEE Signal Processing Letters (IEEE SP-L) 2017 PDF

Feature Ensemble Network with Occlusion Disambiguation for Accurate Patch-Based Stereo Matching Xiaoqing Ye, Jiamao Li, Han Wang, Xiaolin Zhang IEICE TRANSACTIONS on Information and Systems 2017 PDF

Professional Activities

• Journal Reviewer of TPAMI, IJCV, TCSVT etc.
• Conference Reviewer of CVPR, ECCV, ICCV, AAAI, NeurIPS, etc., and serving as a Senior Program Committee (SPC) member of AAAI.

Part of the Work I Participated in

• [Video] UniBEV: Road-Vehicle Cooperative Perception for Autonomous Driving | Baidu Create 2022
• [Video] 文心大模型在自动驾驶感知的落地应用 & 汽车智能化时代的L4/L2+技术共生 | Baidu Apollo Day 2022
• [V2X 3D Object Detection Dataset Download] & [Related Paper] Rope3D: The Roadside Perception Dataset for Autonomous Driving and Monocular 3D Object Detection Task

Other Interests

I also have a personal WeChat Official Account, to keep a record of life and share some moments and experiences, if you are interested, do not hesitate to scan the code to follow me.