Junyi (Kevin) Ma

About Me

I am a PhD candidate in IRMV Lab at Shanghai Jiao Tong University, supervised by Prof. Hesheng Wang. I obtained my B.S. degree in vehicle engineering from the Beijing Institute of Technology in 2020. Prior to this, I completed my bachelor thesis under the guidance of Prof. Oliver Dürr (Konstanz University of Applied Sciences). I received my M.S. degree in Intelligent Vehicle Research Center at the Beijing Institute of Technology in 2023, supervised by Prof. Guangming Xiong and Prof. Xieyuanli Chen (National University of Defense Technology). Besides, I also interned at Haomo AI Technology Co., Ltd. in 2022 and 2023, working on place recognition and occupancy forecasting for autonomous driving. Currently, I am dedicated to exploring cutting-edge technologies related to robotics.

Research Interests

• Autonomous Driving: localization and mapping, place recognition, point cloud prediction, occupancy forecasting, …
• Robotics: human-object interaction, …

If you think we have opportunities to collaborate on some innovative ideas, please feel free to contact me via junyi.ma@sjtu.edu.cn.

News

• [Jun. 2024] Our paper A Transferable Perception-guided EMS for Series Hybrid Electric Unmanned Tracked Vehicles is accepted by Energy.
• [Jun. 2024] Our paper Explicit Interaction for Fusion-Based Place Recognition is accepted by IROS 2024.
• [Feb. 2024] Our paper Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applications is accepted by CVPR 2024.
• [Feb. 2024] Our paper PC-NeRF: Parent-Child Neural Radiance Fields under Partial Sensor Data Loss in Autonomous Driving Environments is accepted by IEEE Transactions on Intelligent Vehicles.

SELECTED Publications

HOI Prediction

• Diff-IP2D: Diffusion-Based Hand-Object Interaction Prediction on Egocentric Videos
  Junyi Ma, Jingyi Xu, Xieyuanli Chen, Hesheng Wang*
  arXiv preprint arXiv:2405.04370, 2024.
  [PDF] [Code]

Place Recognition and SLAM

• OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition
  Junyi Ma, Jun Zhang, Jintao Xu, Rui Ai, Weihao Gu, and Xieyuanli Chen*
  IEEE Robotics and Automation Letters (RA-L), 2022, and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.
  [PDF] [Code]
  

• SeqOT: A Spatial-Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data
  Junyi Ma, Xieyuanli Chen, Jingyi Xu, Guangming Xiong*
  IEEE Transactions on Industrial Electronics (TIE), 2022.
  [PDF] [Code]
  

• CVTNet: A Cross-View Transformer Network for Place Recognition Using LiDAR Data
  Junyi Ma, Guangming Xiong, Jingyi Xu, Xieyuanli Chen*
  IEEE Transactions on Industrial Informatics (TII), 2023.
  [PDF] [Code]
  

• LCPR: A Multi-Scale Attention-Based LiDAR-Camera Fusion Network for Place Recognition Mentorship
  Zijie Zhou, Jingyi Xu, Guangming Xiong, Junyi Ma*
  IEEE Robotics and Automation Letters (RA-L), 2023, and presented on IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
  [PDF] [Code]
  

• Explicit Interaction for Fusion-Based Place Recognition
  Jingyi Xu, Junyi Ma, Qi Wu, Zijie Zhou, Yue Wang, Xieyuanli Chen, Ling Pei*
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
  [PDF] [Code]
  

• MUC-LOAM: Multi-uncertainty Captured Multi-robot Lidar Odometry and Mapping Framework for Large-scale Environments Supervisor First
  Guangming Xiong*, Junyi Ma, Huilong Yu, Jingyi Xu, Jiahui Xu
  Unmanned Systems (US).
  [PDF] [Code]
  

Point Cloud and Occupancy Forecasting

• Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applications
  Junyi Ma#, Xieyuanli Chen#, Jiawei Huang, Jingyi Xu, Zhen Luo, Jintao Xu, Weihao Gu, Rui Ai, Hesheng Wang*
  IEEE/CVF Conf.~on Computer Vision and Pattern Recognition (CVPR), 2024
  [PDF] [Code]
  

• PCPNet: An Efficient and Semantic-Enhanced Transformer Network for Point Cloud Prediction Mentorship
  Zhen Luo, Junyi Ma, Zijie Zhou, Guangming Xiong
  IEEE Robotics and Automation Letters (RA-L), 2023, and IEEE International Conference on Robotics and Automation (ICRA), 2024.
  [PDF] [Code]
  

Others

• Mutual Pose Recognition Based on Multiple Cues in Multi-robot Systems
  Junyi Ma, Guangming Xiong*, Jingyi Xu, Jiarui Song, and Dong Sun
  Best paper for IEEE International Conference on Unmanned Systems (ICUS), 2021.
  [PDF] [Code]
  

• PC-NeRF: Parent-Child Neural Radiance Fields under Partial Sensor Data Loss in Autonomous Driving Environments
  Xiuzhong Hu, Guangming Xiong, Zheng Zang, Peng Jia, Yuxuan Han, Junyi Ma*
  IEEE Transactions on Intelligent Vehicles (TIV), 2024.
  [PDF] [Code]
  

• A Comparative Study of Deep Reinforcement Learning-based Transferable Energy Management Strategies for Hybrid Electric Vehicles
  Jingyi Xu, Zirui Li, Li Gao, Junyi Ma, Qi Liu, and Yanan Zhao*
  IEEE Intelligent Vehicles Symposium (IV), 2022.
  [PDF] [Code]
  

Other Contributions

• Pytorch Version for OverlapNet [Code]
  
• Multiple Lidar Calibration [Code]
  
• Active SLAM Based on Information Theory [Code]
  
• Occupancy Grid Mapping [Code]
  
• Stairs Recognition [Code]
  

Datasets

• Haomo Dataset
  The dataset was collected by a mobile robot built by HAOMO.AI Technology company equipped with a HESAI PandarXT 32-beam LiDAR sensor in urban environments of Beijing.
  [Description]

• Cues-Poses Dataset
  A toy dataset about mapping multiple cues to mutual poses of robots.
  [Description]

• Cam4DOcc
  A Benchmark for Camera-Only 4D Occupancy Forecasting.
  [Description]

Patents

• [China Utility Model] Huilong Yu, Ziang Tian, Junyi Ma, Haotian Dong, Junqiang Xi, and Guangming Xiong. A multifunctional unmanned platform for subterranean space. ZL202123083457.8
• [China Appearance Design] Huilong Yu, Ziang Tian, Junyi Ma, Haotian Dong, Junqiang Xi, and Guangming Xiong. A multifunctional unmanned caterpillar for subterranean space. ZL202130813635.4
• [China Invention Publication] Guangming Xiong, Junyi Ma, Jingyi Xu, and Jiarui Song. A reliability analysis-based multi-robot cooperative localization and mapping method. ZL202110318362.5

Teaching Experiences

• Mentorship on point cloud prediction [Paper]
• Mentorship on LiDAR place recognition [Paper]
• “面向自动驾驶应用的激光雷达地点识别 (LiDAR-Based Place Recognition for Autonomous Driving Applications)” in 深蓝学院 (shenlanxueyuan.com) [link]

Awards

• Outstanding Master’s Thesis, Beijing Institute of Technology, 2023.
• National Scholarship for Graduate Students, Ministry of Education of China, 2022.
• National Scholarship for Undergraduate Students, Ministry of Education of China, 2019.
• Outstanding Master’s Graduates in Beijing, 2023.
• Outstanding Bachelor’s Graduates in Beijing, 2020.
• Best Paper Award at IEEE International Conference on Unmanned Systems (ICUS), 2021.
• Outstanding Paper Presented at the Autonomous Robotic Technology Seminar (ARTS), 2023

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