Publication record
Research across perception, robotics, accessibility, and multimodal AI.
ICML 2026
Position: Assistive Agents Need Accessibility Alignment
CVPR 2026
More than the Sum: Panorama-Language Models for Adverse Omni-Scenes
CVPR 2026
RHO: Robust Holistic OSM-Based Metric Cross-View Geo-Localization
2026
Position: Assistive Agents Need Accessibility Alignment
Jie Hu, Changyuan Yan, Yu Zheng, Ziqian Wang, Jiaming Zhang
ICML 2026(Spotlight)🏆
2026.07.06
More than the Sum: Panorama-Language Models for Adverse Omni-Scenes
W. Fan, R. Liu, J. Wei, Y. Chen, J. Zheng†, Z. Zeng, J. Zhang†, Q. Li, L. Shen, R. Stiefelhagen
CVPR 2026
2026.06.03
RHO: Robust Holistic OSM-Based Metric Cross-View Geo-Localization
J. Zheng*†, R. Dai*, R. Liu, Z. Zeng, Y. Chen, F. Wang, K. Peng, K. Yang, J. Zhang†, R. Stiefelhagen
CVPR 2026
2026.06.03
HybriDLA: Hybrid Generation for Document Layout Analysis
Y. Chen, O. Moured, R. Liu, J. Zheng, K. Peng, J. Zhang*, R. Stiefelhagen
AAAI 2026(Oral)🏆
2026.01.20
2025
Situat3DChange: Situated 3D Change Understanding Dataset for Multimodal Large Language Model
R. Liu, J. Zheng, Y. Chen, Z. Wang, K. Peng, K. Yang, J. Zhang*, M. Pollefeys, R. Stiefelhagen
NeurIPS 2025
2025.12.03
mmWalk: Towards Multi-modal Multi-view Walking Assistance
K. Ying*, R. Liu*†, C. Chen, M. Tao, H. Shi, K. Yang, J. Zhang‡, R. Stiefelhagen
NeurIPS 2025
2025.12.03
Unlocking Constraints: Source-Free Occlusion-Aware Seamless Segmentation
Y. Cao*, J. Zhang*, X. Zheng, H. Shi, K. Peng, H. Liu, K. Yang, H. Zhang
ICCV 2025
2025.10.19
RefChartQA: Grounding Visual Answer on Chart Images
A. Vogel, O. Moured, Y. Chen, J. Zhang<sup>†</sup>, R. Stiefelhagen
ICDAR 2025
2025.09.17
SFDLA: Source-Free Document Layout Analysis
S. Tewes, Y. Chen, O. Moured, J. Zhang<sup>†</sup>, and R. Stiefelhagen
ICDAR 2025(Oral)🏆
2025.09.17
SAMBLE: Shape-Specific Point Cloud Sampling for an Optimal Trade-Off Between Local Detail and Global Uniformity
C. Wu, Y. Wan*, H. Fu*, J. Pfrommer, Z. Zhong, J. Zheng†, J. Zhang, J. Beyerer
CVPR 2025
2025.06.11
Scene-agnostic Pose Regression for Visual Localization
J. Zheng, R. Liu, Y. Chen, Z. Chen, K. Yang, J. Zhang<sup>†</sup>, R. Stiefelhagen
CVPR 2025
2025.06.11
OccFiner: Offboard Occupancy Refinement with Hybrid Propagation for Autonomous Driving
H. Shi*, S. Wang*, J. Zhang, X. Yin, Z. Wang, Z. Zhao, G. Wang, J. Zhu, K. Yang, and K. Wang
IEEE Transactions on Intelligent Transportation Systems (T-ITS) 2025
2025.05.01
GraphDoc: A Graph-based Document Structure Analysis
Y. Chen, R. Liu, J. Zheng, D. Wen, K. Peng, J. Zhang<sup>†</sup>, R. Stiefelhagen
ICLR 2025
2025.04.24
@Bench: Benchmarking Vision-Language Models for Human-centered Assistive Technology
X. Jiang*, J. Zheng*, R. Liu, J. Li, J. Zhang<sup>†</sup>, S. Matthiesen, R. Stiefelhagen
WACV 2025
2025.01.01
2024
OneBEV: Using One Panoramic Image for Bird's-Eye-View Semantic Mapping
J. Wei, J. Zheng, R. Liu, J. Hu, J. Zhang<sup>†</sup>, R. Stiefelhagen
ACCV 2024(Best paper finalist)🏆
2024.12.08
Rethinking Attention Module Design for Point Cloud Analysis
C. Wu, K. Wang, Z. Zhong, H. Fu, J. Zheng, J. Zhang, J. Pfrommer, and J. Beyerer
ICPR 2024
2024.12.01
LF Tracy: A Unified Single-Pipeline Approach for Salient Object Detection in Light Field Cameras
F. Teng*, J. Zhang*, J. Liu, K. Peng, X. Cheng, Z. Li, and K. Yang
ICPR 2024
2024.12.01
OAFuser: Towards Omni-Aperture Fusion for Light Field Semantic Segmentation
F. Teng*, J. Zhang*, K. Peng, K. Yang, Y. Wang, and R. Stiefelhagen
IEEE Transactions on Artificial Intelligence (TAI) 2024
2024.12.01
Towards Video-based Activated Muscle Group Estimation in the Wild
K. Peng, D. Schneider, A. Roitberg, K. Yang, J. Zhang, M. S. Sarfraz, and R. Stiefelhagen
ACMMM 2024
2024.10.28
Skeleton-Based Human Action Recognition with Noisy Labels
Y. Xu, K. Peng, D. Wen, R. Liu, J. Zheng, Y. Chen, J. Zhang, A. Roitberg, K. Yang, and R. Stiefelhagen
IROS 2024
2024.10.14
Occlusion-Aware Seamless Segmentation
Y. Cao*, J. Zhang*, H. Shi, K. Peng, Y. Zhang, H. Zhang, R. Stiefelhagen, K. Yang
ECCV 2024
2024.10.01
Open Panoramic Segmentation
J. Zheng, R. Liu, Y. Chen, K. Peng, C. Wu, K. Yang, J. Zhang<sup>†</sup>, R. Stiefelhagen
ECCV 2024
2024.10.01
Referring Atomic Video Action Recognition
K. Peng, J. Fu, K. Yang, D. Wen, Y. Chen, R. Liu, J. Zheng, J. Zhang, S. Sarfraz, R. Stiefelhagen, A. Roitberg
ECCV 2024
2024.10.01
Comb, Prune, Distill: Towards Unified Pruning for Vision Model Compression
J. Schmitt*, R. Liu*, J. Zheng, J. Zhang<sup>†</sup>, Rainer Stiefelhagen
ITSC 2024(Oral)🏆
2024.09.24
CoBEV: Elevating Roadside 3D Object Detection with Depth and Height Complementarity
H. Shi*, C. Peng*, J. Zhang*, K. Yang, Y. Wu, H. Ni, Y, Lin, R. Stiefelhagen, K. Wang
T-IP 2024
2024.09.24
TransKD: Transformer Knowledge Distillation for Efficient Semantic Segmentation
R. Liu, K. Yang, A. Roitberg, J. Zhang, K. Peng, H. Liu, and R. Stiefelhagen
IEEE Transactions on Artificial Intelligence (TAI) 2024
2024.09.23
AltChart: Enhancing VLM-based Chart Summarization Through Multi-Pretext Tasks
O. Moured, J. Zhang<sup>†</sup>, M. S. Sarfraz, and R. Stiefelhagen
ICDAR 2024
2024.08.30
RoDLA: Benchmarking the Robustness of Document Layout Analysis Models
Y. Chen, J. Zhang<sup>†</sup>, K. Peng, J. Zheng, R. Liu, P. Torr, R. Stiefelhagen
CVPR 2024
2024.06.17
Behind Every Domain There is a Shift: Adapting Distortion-aware Vision Transformers for Panoramic Semantic Segmentation
J. Zhang, K. Yang, H. Shi, S. Reiß, K. Peng, C. Ma, H. Fu, P. Torr, K. Wang, R. Stiefelhagen
T-PAMI 2024
2024.06.03
MateRobot: Material Recognition in Wearable Robotics for People with Visual Impairments
J. Zheng*, J. Zhang*, K. Yang, K. Peng, R. Stiefelhagen
ICRA 2024(Best paper finalist on HRI)🏆
2024.05.13
Elevating Skeleton-Based Action Recognition with Efficient Multi-Modality Self-Supervision
Y. Wei, K. Peng, A. Roitberg, J. Zhang, J. Zheng, R. Liu, Y. Chen, K. Yang, and R. Stiefelhagen
ICASSP 2024
2024.04.14
Fourier Prompt Tuning for Modality-Incomplete Scene SegmentationIV
R. Liu, J. Zhang<sup>†</sup>, K. Peng, Y. Chen, K. Cao, J. Zheng, M. S. Sarfraz, K. Yang, and R. Stiefelhagen
IEEE IV 2024
2024.04.05
Computational Imaging for Machine Perception: Transferring Semantic Segmentation beyond Aberrations
Q. Jiang*, H. Shi*, S. Gao, J. Zhang, K. Yang, L. Sun, H. Ni, and K. Wang
IEEE Transactions on Computational Imaging (TCI) 2024
2024.04.05
Skeleton-Based Human Action Recognition with Noisy Labels
K. Peng, C. Yin, J. Zheng, R. Liu, D. Schneider, J. Zhang, K. Yang, M. S. Sarfraz, R. Stiefelhagen, and A. Roitberg
AAAI 2024
2024.02.20
360BEV: Panoramic Semantic Mapping for Indoor Bird's-Eye View
Z. Teng*, J. Zhang*†, K. Yang, K. Peng, H. Shi, S. Reiß, K. Cao, R. Stiefelhagen
WACV 2024
2024.01.04
2023
Tightly-Coupled LiDAR-Visual SLAM Based on Geometric Features for Mobile Agents
K. Cao, R. Liu, Z. Wang, K. Peng, J. Zhang, J. Zheng, Z. Teng, K. Yang, and R. Stiefelhagen
IEEE ROBIO 2023
2023.12.04
Bi-Mapper: Holistic BEV Semantic Mapping for Autonomous Driving
S. Li, K. Yang, H. Shi, J. Zhang, J. Lin, Z. Teng, and Z. Li
IEEE Robotics and Automation Letters (RA-L) 2021
2023.11.11
Open Scene Understanding: Grounded Situation Recognition Meets Segment Anything for Helping People with Visual Impairments
R. Liu, J. Zhang<sup>†</sup>, K. Peng, J. Zheng, K. Cao, Y. Chen, K. Yang, and R. Stiefelhagen
ICCV Workshop on ACVR 2023
2023.10.02
CMX: Cross-Modal Fusion for RGB-X Semantic Segmentation With Transformers
J. Zhang*, H. Liu*, K. Yang*, X. Hu, R. Liu, R. Stiefelhagen
IEEE Trans. on Intelligent Transportation Systems ( T-ITS) 2023
2023.08.25
Line Graphics Digitization: A Step Towards Full Automation
O. Moured, J. Zhang, A. Roitberg, T. Schwarz, and R. Stiefelhagen
ICDAR 2023
2023.08.21
Delivering Arbitrary-Modal Semantic Segmentation
J. Zhang*, R. Liu*, S. Hao, K. Yang, S. Reiß, K. Peng, H. Fu, K. Wang, R. Stiefelhagen
CVPR 2023
2023.06.18
Towards Video-based Activated Muscle Group Estimation in the Wild
H. Shi, Y. Li, K. Yang, J. Zhang, K. Peng, A. Roitberg, Y. Ye, H. Ni, K. Wang, and R. Stiefelhagen
CVPR Workshop OmniCV 2023
2023.06.18
Delving Deep into One-Shot Skeleton-based Action Recognition with Diverse Occlusions
K. Peng, A. Roitberg, K. Yang, J. Zhang, and R. Stiefelhagen
IEEE Transactions on Multimedia (TMM) 2023
2023.01.09
Trans4Map: Revisiting Holistic Bird's-Eye-View Mapping from Egocentric Images to Allocentric Semantics with Vision Transformers
C. Chen, J. Zhang<sup>†</sup>, K. Yang, K. Peng, R. Stiefelhagen
WACV 2023
2023.01.01
2022
MatchFormer: Interleaving Attention in Transformers for Feature Matching
Q. Wang*, J. Zhang*, K. Yang, K. Peng, R. Stiefelhagen
ACCV 2022
2022.12.04
Multi-modal Depression Estimation based on Sub-attentional Fusion
P.-C. Wei, K. Peng, A. Roitberg, K. Yang, J. Zhang, and R. Stiefelhagen
ECCV Workshop ACVR 2022
2022.10.23
TransDARC: Transformer-based Driver Activity Recognition with Latent Space Feature Calibration
K. Peng, A. Roitberg, K. Yang, J. Zhang, and R. Stiefelhagen
IROS 2022
2022.10.23
MASS: Multi-Attentional Semantic Segmentation of LiDAR Data for Dense Top-View Understanding
K. Peng, J. Fei, K. Yang, A. Roitberg, J. Zhang, F. Bieder, P. Heidenreich, C. Stiller, and R. Stiefelhagen
IEEE Trans. on Intelligent Transportation Systems ( T-ITS) 2022
2022.09.01
Indoor Navigation Assistance for Visually Impaired People via Dynamic SLAM and Panoptic Segmentation with an RGB-D Sensor
W. Ou, J. Zhang, K. Peng, K. Yang, G. Jaworek, K. Müller, and R. Stiefelhagen
ICCHP 2022
2022.07.11
Bending Reality: Distortion-aware Transformers for Adapting to Panoramic Semantic Segmentation
J. Zhang, K. Yang, C. Ma, S. Reiß, K. Peng, R. Stiefelhagen
CVPR 2022
2022.06.19
Towards Robust Semantic Segmentation of Accident Scenes via Multi-Source Mixed Sampling and Meta-Learning
X. Luo*, J. Zhang*, K. Yang, A. Roitberg, K. Peng, and R. Stiefelhagen
CVPR Workshop WAD 2022
2022.06.19
Should I take a walk? Estimating Energy Expenditure from Video Data
K. Peng, A. Roitberg, K. Yang, J. Zhang, and R. Stiefelhagen
CVPR Workshop CVPM 2022
2022.06.19
Trans4Trans: Efficient Transformer for Transparent Object and Semantic Scene Segmentation in Real-World Navigation Assistance
J. Zhang, K. Yang, C. Ma, S. Reiß, K. Peng, R. Stiefelhagen
IEEE Trans. on Intelligent Transportation Systems ( T-ITS) 2022
2022.03.28
2021
Flying Guide Dog: Walkable Path Discovery for the Visually Impaired Utilizing Drones and Transformer-based Semantic Segmentation
H. Tan, C. Chen, X. Luo, J. Zhang, C. Seibold, K. Yang, R. Stiefelhagen
IEEE ROBIO 2021
2021.12.27
Exploring Event-Driven Dynamic Context for Accident Scene Segmentation
J. Zhang, K. Yang, R. Stiefelhagen
IEEE Trans. on Intelligent Transportation Systems ( T-ITS) 2021
2021.12.21
Transfer beyond the Field of View: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation
J. Zhang, C. Ma, K. Yang, A. Roitberg, K. Peng, R. Stiefelhagen
IEEE Trans. on Intelligent Transportation Systems ( T-ITS) 2021
2021.11.02
ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-based Data
J. Zhang, K. Yang, R. Stiefelhagen
IROS 2021
2021.09.27
DensePASS: Dense Panoramic Semantic Segmentation via Unsupervised Domain Adaptation with Attention-Augmented Context Exchange
C. Ma, J. Zhang, K. Yang, A. Roitberg, R. Stiefelhagen
ITSC 2021
2021.09.19
HIDA: Towards Holistic Indoor Understanding for the Visually Impaired via Semantic Instance Segmentation with a Wearable Solid-State LiDAR Sensor
H. Liu, R. Liu, K. Yang, J. Zhang, K. Peng, R. Stiefelhagen
ICCV Workshop on ACVR 2021
2021.09.11
Trans4Trans: Efficient Transformer for Transparent Object Segmentation to Help Visually Impaired People Navigate in the Real World
J. Zhang, K. Yang, A. Constantinescu, K. Peng, K. Müller, R. Stiefelhagen
ICCV Workshop on ACVR 2021
2021.09.11
Pose2Drone: A Skeleton-Pose-based Framework for Human-Drone Interaction
H. Liu, R. Liu, K. Yang, J. Zhang, K. Peng, R. Stiefelhagen
EUSIPCO 2021
2021.08.23
Panoptic Lintention Network: Towards Efficient Navigational Perception for the Visually Impaired
W. Mao*, J. Zhang*, K. Yang, R. Stiefelhagen
IEEE RCAR 2021
2021.07.15
Perception Framework through Real-Time Semantic Segmentation and Scene Recognition on a Wearable System for the Visually Impaired
Y. Zhang, H. Chen, K. Yang, J. Zhang, R. Stiefelhagen
IEEE RCAR 2021
2021.07.15
Capturing Omni-Range Context for Omnidirectional Segmentation
K. Yang, J. Zhang, S. Reiß, X. Hu, R. Stiefelhagen
CVPR 2021
2021.06.19