Hao Tang (唐昊)

Hao Tang (唐昊)

University of Chinese Academy of Science

I am now a master student in the Shenzhen Institute of advanced technology, Chinese Academy of science (中科院深圳先进技术研究院数字所).

I graduated from College of Intelligent Systems Science and Engineering, Harbin engineering university (哈尔滨工程大学智能科学与工程学院) with a bachelor’s degree. Now, I’m pursuing my master’s degree in University of Chinese Academy of Science (中国科学院大学), advised by Chang Liu (刘畅).

My research interest includes visual navigation, pose tracking and state estimation. I have submitted 4 papers in EI/SCI journals, and attended 2 EI conference.

📖 Educations

  • 2022.09 - current, University of Chinese Academy of Science, Beijing+Shenzhen, (Score: 3.82/4.00)
  • 2018.09 - 2022.06, Harbin Engineering University, Harbin, (GPA: 92.44/100, rank: top 3%)

📝 Publications

Vision-based pose tracking
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Real-time Monocular 3D Pose Tracking for Non-cooperative Spacecraft in Close Range

Hao Tang, Chang Liu*, Jia Liu, Pandeng Zhang, Weiduo Hu

IEEE Transactions on Instrumentation and Measurement, Published

Paper

  • automatic extraction and parameterization of the geometric features (arbitrary 3D boundaries and contour) given the spacecraft mesh model
  • 2D-3D correspondence based on conditional linear random field
  • real-time pose estimation in SE(3) based on Newton method
  • first-order pose covariance inference based on Cartesian noise model
  • ESKF based on second-order autoregression in SE(3)
Vision-based pose tracking
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Model-based monocular 6-degree-of-freedom pose tracking for asteroid

Hao Tang, Chang Liu* (supervisor), Yuzhu Su, Qiuyin Wang, Weiduo Hu

Frontiers in Space Technologies, Published

Paper

  • we propose a robust 2D-3D correspondence method based on the covariance of the pose.
  • we determine the asteroid pose by minimizing the angles between the projection planes of the extracted 3D contour segments and the back-projection lines of the corresponding 2D edge points.
  • we infer the covariance matrix of the estimated pose based on the first-order optimality of the pose optimization.
  • we use 2nd-AR-based SCKF to give the final pose estimate and initialize the pose tracking at the next time instant.
Vision-based pose tracking
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Model-based visual 3D pose tracking of non-cooperative spacecraft in Close Range

Chang Liu*, Hao Tang

Proceedings of the 74th International Astronautical Congress (IAC), Published

Paper

  • automatic extraction and parametrization for the 3D boundaries and 3D contour of a spacecraft
  • data correspondence based on truncated gaussian distribution
  • real-time pose determination based on minimization of segment-to-line distance
  • the first-order inference to covariance matrix of the estimated pose.
Vision-based medical navigation
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Marker-less Head Pose Tracking for Image-guided Cerebral Artery Navigation

Qiuyin Wang, Pandeng Zhang, Dewei Chen, Hao Tang, Chang Liu, Jia Liu

28th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI), Accepted

[Paper]

  • 3D facial model construction from preoperative MRI data
  • A thin-plate spline function (TPSF) description encoding local geometry of facial model
  • Registeration between RGBD camera and the facial model by maximum weight matching
  • Real-time pose tracking based on SCKF-ICP fusion

🔍 Projects

🎖 Honors and Awards

  • 2024.05 Merit Student Award (top 3%), University of Chinese Academy of Science, China
  • 2023.03 Outstanding student award (top 5%), Shenzhen Institute of Advanced Technology, China
  • 2022.06 Graduation Thesis Awards (top 1%), Harbin Engineering University, China
  • 2022.06 Outstanding Graduate (top 3%), Harbin Engineering University, China
  • 2021.10 National Scholarship (top 1%), Ministry of Education, China
  • 2021.10 1st Prize (top 3%), Ti Cup National Undergraduate Electronic Design Contest, China
  • 2020.12 3rd Prize (top 15%), The Chinese Mathematics Competitions, China
  • 2020.10 3rd Prize (top 15%), China Undergraduate Mathematical Contest in Modeling, China
  • 2020.08 1st Prize (top 5%), Mathematical modeling of the three northeastern provinces League, China

💬 Invited Talks

  • 2023.10, H. Tang. Model-based visual 3D pose tracking of non-cooperative spacecraft in Close Range, the 74th International Astronautical Congress, Baku, Azerbaijan, October 2023. (invited speaker)

💻 Internships

2023.06-2023.08, Java Developer (full-time intern), Huawei Technologies Co. Ltd., China

  • Code version maintenance, including code testing, updating and security
  • Code management for Huawei’s corporate-level Code hosting services - Codehub, achieving 10,000+ response one day
  • Development of key functions of Codehub for users, finishing a user-friendly search interface finally

2023.09-2024.01, TA (part-time), Shenzhen University of Advanced Technology, China

  • Course name: Matrix Theory, one of the major courses for undergraduate students
  • Response to course related questions for 300+ students