Publication

Position: Assistive Agents Need Accessibility Alignment
Jie Hu, Changyuan Yan, Yu Zheng, Ziqian Wang, Jiaming Zhang
ICML 2026 (Spotlight)🏆
[PDF]

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
[PDF] [Website] [Code]

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
[PDF] [Website] [Code]

HybriDLA: Hybrid Generation for Document Layout Analysis
Y. Chen, O. Moured, R. Liu, J. Zheng, K. Peng, J. Zhang*, R. Stiefelhagen
AAAI 2026 (Oral)🏆
[PDF] [Website] [Code]

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
[PDF] [Website] [Code]

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
[PDF] [Website] [Code]

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
[PDF] [Code]

SFDLA: Source-Free Document Layout Analysis
S. Tewes, Y. Chen, O. Moured, J. Zhang^†, and R. Stiefelhagen
ICDAR 2025 (Oral)🏆
[PDF] [Code]

RefChartQA: Grounding Visual Answer on Chart Images
A. Vogel, O. Moured, Y. Chen, J. Zhang^†, R. Stiefelhagen
ICDAR 2025
[PDF] [Website] [Code]

Scene-agnostic Pose Regression for Visual Localization
J. Zheng, R. Liu, Y. Chen, Z. Chen, K. Yang, J. Zhang^†, R. Stiefelhagen
CVPR 2025
[PDF] [Website] [Code]

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
[PDF] [Website] [Code]

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
[PDF] [Code]

GraphDoc: A Graph-based Document Structure Analysis
Y. Chen, R. Liu, J. Zheng, D. Wen, K. Peng, J. Zhang^†, R. Stiefelhagen
ICLR 2025
[PDF] [Website] [Code]

@Bench: Benchmarking Vision-Language Models for Human-centered Assistive Technology
X. Jiang*, J. Zheng*, R. Liu, J. Li, J. Zhang^†, S. Matthiesen, R. Stiefelhagen
WACV 2025
[PDF] [Website] [Code]

OneBEV: Using One Panoramic Image for Bird's-Eye-View Semantic Mapping
J. Wei, J. Zheng, R. Liu, J. Hu, J. Zhang^†, R. Stiefelhagen
ACCV 2024 (Best paper finalist)🏆
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

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
[PDF]

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
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

Open Panoramic Segmentation
J. Zheng, R. Liu, Y. Chen, K. Peng, C. Wu, K. Yang, J. Zhang^†, R. Stiefelhagen
ECCV 2024
[PDF] [Website] [Code]

Occlusion-Aware Seamless Segmentation
Y. Cao*, J. Zhang*, H. Shi, K. Peng, Y. Zhang, H. Zhang, R. Stiefelhagen, K. Yang
ECCV 2024
[PDF] [Code]

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
[PDF] [Code]

Comb, Prune, Distill: Towards Unified Pruning for Vision Model Compression
J. Schmitt*, R. Liu*, J. Zheng, J. Zhang^†, Rainer Stiefelhagen
ITSC 2024 (Oral)🏆
[PDF] [Code]

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
[PDF] [Code]

AltChart: Enhancing VLM-based Chart Summarization Through Multi-Pretext Tasks
O. Moured, J. Zhang^†, M. S. Sarfraz, and R. Stiefelhagen
ICDAR 2024
[PDF] [Code]

RoDLA: Benchmarking the Robustness of Document Layout Analysis Models
Y. Chen, J. Zhang^†, K. Peng, J. Zheng, R. Liu, P. Torr, R. Stiefelhagen
CVPR 2024
[PDF] [Website] [Code]

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
[PDF] [Code]

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)🏆
[PDF] [Website] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

Fourier Prompt Tuning for Modality-Incomplete Scene SegmentationIV
R. Liu, J. Zhang^†, K. Peng, Y. Chen, K. Cao, J. Zheng, M. S. Sarfraz, K. Yang, and R. Stiefelhagen
IEEE IV 2024
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Website] [Code]

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
[PDF]

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
[PDF] [Code]

Open Scene Understanding: Grounded Situation Recognition Meets Segment Anything for Helping People with Visual Impairments
R. Liu, J. Zhang^†, K. Peng, J. Zheng, K. Cao, Y. Chen, K. Yang, and R. Stiefelhagen
ICCV Workshop on ACVR 2023
[PDF] [Code]

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
[PDF] [Code]

Line Graphics Digitization: A Step Towards Full Automation
O. Moured, J. Zhang, A. Roitberg, T. Schwarz, and R. Stiefelhagen
ICDAR 2023
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Website] [Code]

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
[PDF] [Code]

Trans4Map: Revisiting Holistic Bird's-Eye-View Mapping from Egocentric Images to Allocentric Semantics with Vision Transformers
C. Chen, J. Zhang^†, K. Yang, K. Peng, R. Stiefelhagen
WACV 2023
[PDF] [Code]

MatchFormer: Interleaving Attention in Transformers for Feature Matching
Q. Wang*, J. Zhang*, K. Yang, K. Peng, R. Stiefelhagen
ACCV 2022
[PDF] [Code]

TransDARC: Transformer-based Driver Activity Recognition with Latent Space Feature Calibration
K. Peng, A. Roitberg, K. Yang, J. Zhang, and R. Stiefelhagen
IROS 2022
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

Exploring Event-Driven Dynamic Context for Accident Scene Segmentation
J. Zhang, K. Yang, R. Stiefelhagen
IEEE Trans. on Intelligent Transportation Systems ( T-ITS) 2021
[PDF] [Code]

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
[PDF] [Code]

ISSAFE: Improving Semantic Segmentation in Accidents by Fusing Event-based Data
J. Zhang, K. Yang, R. Stiefelhagen
IROS 2021
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

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
[PDF] [Code]

Pose2Drone: A Skeleton-Pose-based Framework for Human-Drone Interaction
H. Liu, R. Liu, K. Yang, J. Zhang, K. Peng, R. Stiefelhagen
EUSIPCO 2021
[PDF] [Code]

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
[PDF] [Code]

Panoptic Lintention Network: Towards Efficient Navigational Perception for the Visually Impaired
W. Mao*, J. Zhang*, K. Yang, R. Stiefelhagen
IEEE RCAR 2021
[PDF] [Code]

Capturing Omni-Range Context for Omnidirectional Segmentation
K. Yang, J. Zhang, S. Reiß, X. Hu, R. Stiefelhagen
CVPR 2021
[PDF] [Code]