Yiping Xie

Researcher Division of Robotics, Perception and Learning Royal Institute of Technology (KTH) Google Scholar LinkedIn Contact: Address: Lindstedtsvägen 24, 10044 Stockholm, Sweden E-mail: yipingx [at] kth [dot] se

Biography

I obtained my Ph.D. in June, 2024 at Division of Robotics, Perception, and Learning, EECS School, KTH, under the supervision of Prof. John Folkesson and Dr. Nils Bore, employed by Wallenberg AI, Autonomous Systems and Software Program (WASP).

My research interests are Robotics Perception, 3D Computer Vision and Deep Learning. My Ph.D. research focused on 3D reconstruction from imaging sonars and underwater Simultaneous Localization and Mapping (SLAM).

What's New

• (11/2024) Our paper “A Dense Subframe-based SLAM Framework with Side-scan Sonar” has been accepted by IEEE Journal of Oceanic Engineering.

• (10/2024) Our paper “NeuRSS: Enhancing AUV Localization and Bathymetric Mapping with Neural Rendering for Sidescan SLAM” has been accepted by IEEE Journal of Oceanic Engineering.

• (09/2024) Our paper “NeuRSS: Enhancing AUV Localization and Bathymetric Mapping with Neural Rendering for Sidescan SLAM” (submitted to JOE) has been presented at AUV Symposium 2024, Boston, 09/2024.

• (08/2024) Our paper "Bathymetric Surveying With Imaging Sonar Using Neural Volume Rendering" has been published by IEEE Robotics and Automation Letters. It will be presented at ICRA 2025, Atlanta.

• (06/2024) I have defended my Ph.D. thesis on June 5th 2024!

• (08/2023) I have received the scholarship through WASP PhD student exchange program for a 4.5 months visit to Monterey Bay Aquarium Research Institute (MBARI), California, hosted by Dr. Giancarlo Troni!

• (01/2023) Our paper “Data-driven Loop Closure Detection in Bathymetric Point Clouds for Underwater SLAM” has been accepted at IEEE International Conference on Robotics and Automation (ICRA). I have presented our poster at London, 06/2024.

• (10/2022) Our paper "Bathymetric Reconstruction From Sidescan Sonar With Deep Neural Networks" has been accepted by IEEE Journal of Oceanic Engineering.

• (07/2022) Our paper "Neural Network Normal Estimation and Bathymetry Reconstruction from Sidescan Sonar" has been accepted by IEEE Journal of Oceanic Engineering.

Awards

• WASP Research Stints Abroad Scholarship, WASP, 2023

• KTH Scholarship, KTH, 2017-2019

Academia Services

• Reviewer, The International Journal of Robotics Research (IJRR), 2023

• Reviewer, IEEE Journal of Oceanic Engineering (JOE), 2023

• Reviewer, Applied Computing and Geosciences, 2023

• Reviewer, Marine Geodesy, 2023

• Reviewer, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

• Reviewer, Earth Science Informatics, 2024

Teaching Experience

• Teacher, KTH, Underwater Technology (SD2709), 2024

• Teaching Assistant, KTH, Deep Learning in Data Science (DD2424), 2020-2024

• Teaching Assistant, KTH, Deep Learning, Advanced Course (DD2412), 2021-2023

Master Students Supervision

• Casper Augustsson (main supervisor), KTH, seagrass segmentation using NeRF from multibeam echosounder (MBES) water column data, 2024

• Rayan Cali (co-supervisor), KTH, super-resolution MBES mapping using diffusion models, 2024

• Oden Allen (main supervisor), KTH, denoising interferometric sidescan sonar (ISSS) data using neural rendering, 2024

• Jiarui Tan (co-supervisor), KTH, loop closure detection using PointNet from MBES [ICRA'23], 2023

• Weiqi Xu (co-supervisor), KTH, canonical image representation for sidescan sonar [OCEANS'23], 2023

• Ivaylo Georgiev (main supervisor), KTH, change detection from SSS using neural rendering, 2023

• Zhengjie Ji (main supervisor), KTH, increasing MBES resolution with SSS, 2022

Education

• Ph.D. in Computer Science, KTH, 2020 - 2024 (advisors: Prof. John Folkesson, Dr. Nils Bore)

• M.S. in Information and Networking Engineering, KTH, 2017 - 2019

• B.Eng. in Electrical Engineering, Beihang University, 2013 - 2017

Publications

• [JOE] Zhang, Jun, Yiping Xie, Li Ling, and John Folkesson. "A Dense Subframe-based SLAM Framework with Side-scan Sonar." IEEE Journal of Oceanic Engineering, 2024.

• [JOE] Xie, Yiping, Jun Zhang, Nils Bore, and John Folkesson. "NeuRSS: Enhancing AUV Localization and Bathymetric Mapping with Neural Rendering for Sidescan SLAM." IEEE Journal of Oceanic Engineering, 2024.

• [AUV'24] Ling, Li, Yiping Xie, Nils Bore, and John Folkesson. "Score-Based Multibeam Point Cloud Denoising." In 2024 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), pp. 1-6. IEEE, 2024.

• [RAL] Xie, Yiping, Giancarlo Troni, Nils Bore, and John Folkesson. "Bathymetric Surveying With Imaging Sonar Using Neural Volume Rendering." IEEE Robotics and Automation Letters, vol. 9, no. 9 (2024): 8146-8153.

• [OCEANS'23] Xu, Weiqi, Li Ling, Yiping Xie, Jun Zhang, and John Folkesson. "Evaluation of a Canonical Image Representation for Sidescan Sonar." In OCEANS 2023-Limerick, pp. 1-7. IEEE, 2023.

• [ICRA'23] Tan, Jiarui, Ignacio Torroba, Yiping Xie, and John Folkesson. "Data-driven Loop Closure Detection in Bathymetric Point Clouds for Underwater SLAM." In 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 3131-3137. IEEE, 2023.

• [IET-RSN] Zhang, Jun, Yiping Xie, Li Ling, and John Folkesson. "A Fully-automatic Side-scan Sonar Simultaneous Localization and Mapping Framework." IET Radar, Sonar & Navigation (2023).

• [JOE] Xie, Yiping, Nils Bore, and John Folkesson. "Bathymetric Reconstruction from Sidescan Sonar with Deep Neural Networks." IEEE Journal of Oceanic Engineering 48, no. 2 (2022): 372-383.

• [AUV'22] Xie, Yiping, Nils Bore, and John Folkesson. "Towards Differentiable Rendering for Sidescan Sonar Imagery." In 2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), pp. 1-6. IEEE, 2022.

• [JOE] Xie, Yiping, Nils Bore, and John Folkesson. "Neural Network Normal Estimation and Bathymetry Reconstruction from Sidescan Sonar." IEEE Journal of Oceanic Engineering 48, no. 1 (2022): 218-232.

• [AUV'20] Bhat, Sriharsha, Ignacio Torroba, Özer Özkahraman, Nils Bore, Christopher Iliffe Sprague, Yiping Xie, Ivan Stenius et al. "A Cyber-physical System for Hydrobatic AUVs: System Integration and Field Demonstration." In 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), pp. 1-8. IEEE, 2020.

• [IET-RSN] Xie, Yiping, Nils Bore, and John Folkesson. "Inferring Depth Contours From Sidescan Sonar Using Convolutional Neural Nets." IET Radar, Sonar & Navigation 14, no. 2 (2020): 328-334.