Guangming Wang

94 papers A* 19A 4Journal 67Unranked 4

Year	Rank	Type	Title / Venue / Authors
2026	A*	`conf`	CoMA-SLAM: Collaborative Multi-Agent Gaussian SLAM with Geometric Consistency. AAAI Lin Chen, Yongxin Su, Jvboxi Wang, Pengcheng Han, Zhenyu Xia, Shuhui Bu, Kun Li, Boni Hu, Shengqi Meng, Guangming Wang
2026	J	`jnl`	DifFlow3D: Hierarchical Diffusion Models for Uncertainty-Aware 3D Scene Flow Estimation. IEEE Trans. Pattern Anal. Mach. Intell. Jiuming Liu, Weicai Ye, Guangming Wang, Chaokang Jiang, Lei Pan, Jinru Han, Zhe Liu, Guofeng Zhang, Hesheng Wang
2026	J	`jnl`	OGScene3D: Incremental Open-Vocabulary 3D Gaussian Scene Graph Mapping for Scene Understanding. CoRR Siting Zhu, Ziyun Lu, Guangming Wang, Chenguang Huang, Yongbo Chen, I-Ming Chen, Wolfram Burgard, Hesheng Wang
2026	J	`jnl`	RegFormer++: An Efficient Large-Scale 3D LiDAR Point Registration Network with Projection-Aware 2D Transformer. CoRR Jiuming Liu, Guangming Wang, Zhe Liu, Chaokang Jiang, Haoang Li, Mengmeng Liu, Tianchen Deng, Marc Pollefeys, Michael Ying Yang, Hesheng Wang
2026	J	`jnl`	SNI-SLAM++: Tightly-Coupled Semantic Neural Implicit SLAM. IEEE Trans. Pattern Anal. Mach. Intell. Siting Zhu, Guangming Wang, Hermann Blum, Zhong Wang, Ganlin Zhang, Daniel Cremers, Marc Pollefeys, Hesheng Wang
2026	J	`jnl`	Towards the Vision-Sound-Language-Action Paradigm: The HEAR Framework for Sound-Centric Manipulation. CoRR Chang Nie, Tianchen Deng, Guangming Wang, Zhe Liu, Hesheng Wang
2025	A	`conf`	CODE: COllaborative Visual-UWB SLAM for Online Large-Scale Metric DEnse Mapping. IROS Lin Chen, Xuan Jia, Shuhui Bu, Guangming Wang, Kun Li, Zhenyu Xia, Xiaohan Li, Pengcheng Han, Xuefeng Cao
2025	J	`jnl`	Continually Evolving Skill Knowledge in Vision Language Action Model. CoRR Yuxuan Wu, Guangming Wang, Zhiheng Yang, Maoqing Yao, Brian Sheil, Hesheng Wang
2025	A*	`conf`	DVN-SLAM: Dynamic Visual Neural Slam Based on Local-Global Encoding. ICRA Wenhua Wu, Guangming Wang, Ting Deng, Sebastian Ægidius, Stuart Shanks, Valerio Modugno, Dimitrios Kanoulas, Hesheng Wang
2025	J	`jnl`	ERMV: Editing 4D Robotic Multi-view images to enhance embodied agents. CoRR Chang Nie, Guangming Wang, Zhe Lie, Hesheng Wang
2025	J	`jnl`	End-to-End 2D-3D Registration Between Image and LiDAR Point Cloud for Vehicle Localization. IEEE Trans. Robotics Guangming Wang, Yu Zheng, Yuxuan Wu, Yanfeng Guo, Zhe Liu, Yixiang Zhu, Wolfram Burgard, Hesheng Wang
2025	J	`jnl`	G²-Mapping: General Gaussian Mapping for Monocular, RGB-D, and LiDAR-Inertial-Visual Systems. IEEE Trans Autom. Sci. Eng. Lin Chen, Boni Hu, Jvboxi Wang, Shuhui Bu, Guangming Wang, Pengcheng Han, Jian Chen
2025	J	`jnl`	MonoPCFlow: Enabling Efficient Scene Flow Estimation From Monocular View. IEEE Trans. Instrum. Meas. Chichao Cheng, Guangming Wang, Yin-Dong Zheng, Lu Liu, Hesheng Wang
2025	A	`conf`	MovSAM: A Single-image Moving Object Segmentation Framework Based on Deep Thinking. IROS Chang Nie, Yiqing Xu, Guangming Wang, Zhe Liu, Yanzi Miao
2025	J	`jnl`	MovSAM: A Single-image Moving Object Segmentation Framework Based on Deep Thinking. CoRR Chang Nie, Yiqing Xu, Guangming Wang, Zhe Liu, Yanzi Miao, Hesheng Wang
2025	J	`jnl`	Offboard Occupancy Refinement With Hybrid Propagation for Autonomous Driving. IEEE Trans. Intell. Transp. Syst. Hao Shi, Song Wang, Jiaming Zhang, Xiaoting Yin, Guangming Wang, Jianke Zhu, Kailun Yang, Kaiwei Wang
2025	A*	`conf`	RL-GSBridge: 3D Gaussian Splatting Based Real2Sim2Real Method for Robotic Manipulation Learning. ICRA Yuxuan Wu, Lei Pan, Wenhua Wu, Guangming Wang, Yanzi Miao, Fan Xu, Hesheng Wang
2025	—	`conf`	Refining YOLOv8 for Full Field Digital Mammograms: Improving Small Object Detection through Resolution-Preserving Patched Inference. RCAR Itana Bulatovic, Guangming Wang, Hesheng Wang
2025	J	`jnl`	Reloc-VGGT: Visual Re-localization with Geometry Grounded Transformer. CoRR Tianchen Deng, Wenhua Wu, Kunzhen Wu, Guangming Wang, Siting Zhu, Shenghai Yuan, Xun Chen, Guole Shen, Zhe Liu, Hesheng Wang
2025	A	`conf`	SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM. IROS Siting Zhu, Renjie Qin, Guangming Wang, Jiuming Liu, Hesheng Wang
2025	J	`jnl`	Unsupervised Learning of 3D Scene Flow With LiDAR Odometry Assistance. IEEE Trans. Intell. Transp. Syst. Guangming Wang, Zhiheng Feng, Chaokang Jiang, Jiuming Liu, Hesheng Wang
2024	J	`jnl`	3D Gaussian Splatting in Robotics: A Survey. CoRR Siting Zhu, Guangming Wang, Dezhi Kong, Hesheng Wang
2024	A*	`conf`	3DSFLabelling: Boosting 3D Scene Flow Estimation by Pseudo Auto-Labelling. CVPR Chaokang Jiang, Guangming Wang, Jiuming Liu, Hesheng Wang, Zhuang Ma, Zhenqiang Liu, Zhujin Liang, Yi Shan, Dalong Du
2024	J	`jnl`	3DSFLabelling: Boosting 3D Scene Flow Estimation by Pseudo Auto-labelling. CoRR Chaokang Jiang, Guangming Wang, Jiuming Liu, Hesheng Wang, Zhuang Ma, Zhenqiang Liu, Zhujin Liang, Yi Shan, Dalong Du
2024	A	`conf`	DSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spatio-temporal Propagation. IROS Huixin Zhang, Guangming Wang, Xinrui Wu, Chenfeng Xu, Mingyu Ding, Masayoshi Tomizuka, Wei Zhan, Hesheng Wang
2024	J	`jnl`	DSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spatio-temporal Propagation. CoRR Huixin Zhang, Guangming Wang, Xinrui Wu, Chenfeng Xu, Mingyu Ding, Masayoshi Tomizuka, Wei Zhan, Hesheng Wang
2024	J	`jnl`	DVN-SLAM: Dynamic Visual Neural SLAM Based on Local-Global Encoding. CoRR Wenhua Wu, Guangming Wang, Ting Deng, Sebastian Aegidius, Stuart Shanks, Valerio Modugno, Dimitrios Kanoulas, Hesheng Wang
2024	A*	`conf`	DifFlow3D: Toward Robust Uncertainty-Aware Scene Flow Estimation with Iterative Diffusion-Based Refinement. CVPR Jiuming Liu, Guangming Wang, Weicai Ye, Chaokang Jiang, Jinru Han, Zhe Liu, Guofeng Zhang, Dalong Du, Hesheng Wang
2024	—	`conf`	DnFPlane for Efficient and High-Quality 4D Reconstruction of Deformable Tissues. MICCAI (6) Ran Bu, Chenwei Xu, Jiwei Shan, Hao Li, Guangming Wang, Yanzi Miao, Hesheng Wang
2024	—	`conf`	EMIE-MAP: Large-Scale Road Surface Reconstruction Based on Explicit Mesh and Implicit Encoding. ECCV (87) Wenhua Wu, Qi Wang, Guangming Wang, Junping Wang, Tiankun Zhao, Yang Liu, Dongchao Gao, Zhe Liu, Hesheng Wang
2024	J	`jnl`	EMIE-MAP: Large-Scale Road Surface Reconstruction Based on Explicit Mesh and Implicit Encoding. CoRR Wenhua Wu, Qi Wang, Guangming Wang, Junping Wang, Tiankun Zhao, Yang Liu, Dongchao Gao, Zhe Liu, Hesheng Wang
2024	A*	`conf`	LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map. ICRA Xinrui Wu, Jianbo Xu, Puyuan Hu, Guangming Wang, Hesheng Wang
2024	J	`jnl`	LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map. CoRR Xinrui Wu, Jianbo Xu, Puyuan Hu, Guangming Wang, Hesheng Wang
2024	J	`jnl`	Learning of Long-Horizon Sparse-Reward Robotic Manipulator Tasks With Base Controllers. IEEE Trans. Neural Networks Learn. Syst. Guangming Wang, Minjian Xin, Wenhua Wu, Zhe Liu, Hesheng Wang
2024	J	`jnl`	NeRF in Robotics: A Survey. CoRR Guangming Wang, Lei Pan, Songyou Peng, Shaohui Liu, Chenfeng Xu, Yanzi Miao, Wei Zhan, Masayoshi Tomizuka, Marc Pollefeys, Hesheng Wang
2024	J	`jnl`	OccFiner: Offboard Occupancy Refinement with Hybrid Propagation. CoRR Hao Shi, Song Wang, Jiaming Zhang, Xiaoting Yin, Zhongdao Wang, Zhijian Zhao, Guangming Wang, Jianke Zhu, Kailun Yang, Kaiwei Wang
2024	J	`jnl`	RL-GSBridge: 3D Gaussian Splatting Based Real2Sim2Real Method for Robotic Manipulation Learning. CoRR Yuxuan Wu, Lei Pan, Wenhua Wu, Guangming Wang, Yanzi Miao, Hesheng Wang
2024	A*	`conf`	SNI-SLAM: Semantic Neural Implicit SLAM. CVPR Siting Zhu, Guangming Wang, Hermann Blum, Jiuming Liu, Liang Song, Marc Pollefeys, Hesheng Wang
2024	J	`jnl`	SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM. CoRR Siting Zhu, Renjie Qin, Guangming Wang, Jiuming Liu, Hesheng Wang
2024	A*	`conf`	Spherical Frustum Sparse Convolution Network for LiDAR Point Cloud Semantic Segmentation. NeurIPS Yu Zheng, Guangming Wang, Jiuming Liu, Marc Pollefeys, Hesheng Wang
2023	J	`jnl`	3-D Scene Flow Estimation on Pseudo-LiDAR: Bridging the Gap on Estimating Point Motion. IEEE Trans. Ind. Informatics Chaokang Jiang, Guangming Wang, Yanzi Miao, Hesheng Wang
2023	J	`jnl`	3D Hierarchical Refinement and Augmentation for Unsupervised Learning of Depth and Pose From Monocular Video. IEEE Trans. Circuits Syst. Video Technol. Guangming Wang, Jiquan Zhong, Shijie Zhao, Wenhua Wu, Zhe Liu, Hesheng Wang
2023	A*	`conf`	Anomaly Detection For Robust Autonomous Navigation. ICRA Kefan Jin, Fan Mu, Xingyao Han, Guangming Wang, Zhe Liu
2023	A*	`conf`	DELFlow: Dense Efficient Learning of Scene Flow for Large-Scale Point Clouds. ICCV Chensheng Peng, Guangming Wang, Xian Wan Lo, Xinrui Wu, Chenfeng Xu, Masayoshi Tomizuka, Wei Zhan, Hesheng Wang
2023	J	`jnl`	DELFlow: Dense Efficient Learning of Scene Flow for Large-Scale Point Clouds. CoRR Chensheng Peng, Guangming Wang, Xian Wan Lo, Xinrui Wu, Chenfeng Xu, Masayoshi Tomizuka, Wei Zhan, Hesheng Wang
2023	J	`jnl`	DifFlow3D: Toward Robust Uncertainty-Aware Scene Flow Estimation with Diffusion Model. CoRR Jiuming Liu, Guangming Wang, Weicai Ye, Chaokang Jiang, Jinru Han, Zhe Liu, Guofeng Zhang, Dalong Du, Hesheng Wang
2023	J	`jnl`	Efficient 3D Deep LiDAR Odometry. IEEE Trans. Pattern Anal. Mach. Intell. Guangming Wang, Xinrui Wu, Shuyang Jiang, Zhe Liu, Hesheng Wang
2023	J	`jnl`	End-to-end 2D-3D Registration between Image and LiDAR Point Cloud for Vehicle Localization. CoRR Guangming Wang, Yu Zheng, Yanfeng Guo, Zhe Liu, Yixiang Zhu, Wolfram Burgard, Hesheng Wang
2023	J	`jnl`	Graph Relational Reinforcement Learning for Mobile Robot Navigation in Large-Scale Crowded Environments. IEEE Trans. Intell. Transp. Syst. Zhe Liu, Yu Zhai, Jiaming Li, Guangming Wang, Yanzi Miao, Hesheng Wang
2023	J	`jnl`	Interactive Multi-Scale Fusion of 2D and 3D Features for Multi-Object Vehicle Tracking. IEEE Trans. Intell. Transp. Syst. Guangming Wang, Chensheng Peng, Yingying Gu, Jinpeng Zhang, Hesheng Wang
2023	J	`jnl`	Motion Projection Consistency-Based 3-D Human Pose Estimation With Virtual Bones From Monocular Videos. IEEE Trans. Cogn. Dev. Syst. Guangming Wang, Honghao Zeng, Ziliang Wang, Zhe Liu, Hesheng Wang
2023	J	`jnl`	Pseudo-LiDAR for Visual Odometry. IEEE Trans. Instrum. Meas. Yanzi Miao, Huiying Deng, Chaokang Jiang, Zhiheng Feng, Xinrui Wu, Guangming Wang, Hesheng Wang
2023	A*	`conf`	RLSAC: Reinforcement Learning enhanced Sample Consensus for End-to-End Robust Estimation. ICCV Chang Nie, Guangming Wang, Zhe Liu, Luca Cavalli, Marc Pollefeys, Hesheng Wang
2023	J	`jnl`	RLSAC: Reinforcement Learning enhanced Sample Consensus for End-to-End Robust Estimation. CoRR Chang Nie, Guangming Wang, Zhe Liu, Luca Cavalli, Marc Pollefeys, Hesheng Wang
2023	A*	`conf`	RegFormer: An Efficient Projection-Aware Transformer Network for Large-Scale Point Cloud Registration. ICCV Jiuming Liu, Guangming Wang, Zhe Liu, Chaokang Jiang, Marc Pollefeys, Hesheng Wang
2023	J	`jnl`	RegFormer: An Efficient Projection-Aware Transformer Network for Large-Scale Point Cloud Registration. CoRR Jiuming Liu, Guangming Wang, Zhe Liu, Chaokang Jiang, Marc Pollefeys, Hesheng Wang
2023	J	`jnl`	SC-NeRF: Self-Correcting Neural Radiance Field with Sparse Views. CoRR Liang Song, Guangming Wang, Jiuming Liu, Zhenyang Fu, Yanzi Miao, Hesheng Wang
2023	J	`jnl`	SNI-SLAM: Semantic Neural Implicit SLAM. CoRR Siting Zhu, Guangming Wang, Hermann Blum, Jiuming Liu, Liang Song, Marc Pollefeys, Hesheng Wang
2023	A*	`conf`	Self-supervised Multi-frame Monocular Depth Estimation with Pseudo-LiDAR Pose Enhancement. ICRA Wenhua Wu, Guangming Wang, Jiquan Zhong, Hesheng Wang, Zhe Liu
2023	J	`jnl`	Spherical Frustum Sparse Convolution Network for LiDAR Point Cloud Semantic Segmentation. CoRR Yu Zheng, Guangming Wang, Jiuming Liu, Marc Pollefeys, Hesheng Wang
2023	A*	`conf`	TransLO: A Window-Based Masked Point Transformer Framework for Large-Scale LiDAR Odometry. AAAI Jiuming Liu, Guangming Wang, Chaokang Jiang, Zhe Liu, Hesheng Wang
2023	A*	`conf`	Unsupervised Learning of Depth and Pose Based on Monocular Camera and Inertial Measurement Unit (IMU). ICRA Yanbo Wang, Hanwen Yang, Jianwei Cai, Guangming Wang, Jingchuan Wang, Yi Huang
2022	J	`jnl`	3D Scene Flow Estimation on Pseudo-LiDAR: Bridging the Gap on Estimating Point Motion. CoRR Chaokang Jiang, Guangming Wang, Yanzi Miao, Hesheng Wang
2022	J	`jnl`	DetFlowTrack: 3D Multi-object Tracking based on Simultaneous Optimization of Object Detection and Scene Flow Estimation. CoRR Yueling Shen, Guangming Wang, Hesheng Wang
2022	J	`jnl`	FFPA-Net: Efficient Feature Fusion with Projection Awareness for 3D Object Detection. CoRR Chaokang Jiang, Guangming Wang, Jinxing Wu, Yanzi Miao, Hesheng Wang
2022	A*	`conf`	FusionNet: Coarse-to-Fine Extrinsic Calibration Network of LiDAR and Camera with Hierarchical Point-pixel Fusion. ICRA Guangming Wang, Jiahao Qiu, Yanfeng Guo, Hesheng Wang
2022	J	`jnl`	Interactive Multi-scale Fusion of 2D and 3D Features for Multi-object Tracking. CoRR Guangming Wang, Chensheng Peng, Jinpeng Zhang, Hesheng Wang
2022	J	`jnl`	Pseudo-LiDAR for Visual Odometry. CoRR Huiying Deng, Guangming Wang, Zhiheng Feng, Chaokang Jiang, Xinrui Wu, Yanzi Miao, Hesheng Wang
2022	J	`jnl`	Residual 3-D Scene Flow Learning With Context-Aware Feature Extraction. IEEE Trans. Instrum. Meas. Guangming Wang, Yunzhe Hu, Xinrui Wu, Hesheng Wang
2022	J	`jnl`	SFGAN: Unsupervised Generative Adversarial Learning of 3D Scene Flow from the 3D Scene Self. Adv. Intell. Syst. Guangming Wang, Chaokang Jiang, Zehang Shen, Yanzi Miao, Hesheng Wang
2022	J	`jnl`	Spherical Interpolated Convolutional Network With Distance-Feature Density for 3-D Semantic Segmentation of Point Clouds. IEEE Trans. Cybern. Guangming Wang, Yehui Yang, Huixin Zhang, Zhe Liu, Hesheng Wang
2022	J	`jnl`	Unsupervised Learning of 3D Scene Flow from Monocular Camera. CoRR Guangming Wang, Xiaoyu Tian, Ruiqi Ding, Hesheng Wang
2022	J	`jnl`	Unsupervised Learning of 3D Scene Flow with 3D Odometry Assistance. CoRR Guangming Wang, Zhiheng Feng, Chaokang Jiang, Hesheng Wang
2022	J	`jnl`	Unsupervised Learning of Depth, Optical Flow and Pose With Occlusion From 3D Geometry. IEEE Trans. Intell. Transp. Syst. Guangming Wang, Chi Zhang, Hesheng Wang, Jingchuan Wang, Yong Wang, Xinlei Wang
2022	J	`jnl`	Unsupervised Learning of Optical Flow With Non-Occlusion From Geometry. IEEE Trans. Intell. Transp. Syst. Guangming Wang, Shuaiqi Ren, Hesheng Wang
2022	—	`conf`	What Matters for 3D Scene Flow Network. ECCV (33) Guangming Wang, Yunzhe Hu, Zhe Liu, Yiyang Zhou, Masayoshi Tomizuka, Wei Zhan, Hesheng Wang
2022	J	`jnl`	What Matters for 3D Scene Flow Network. CoRR Guangming Wang, Yunzhe Hu, Zhe Liu, Yiyang Zhou, Masayoshi Tomizuka, Wei Zhan, Hesheng Wang
2021	J	`jnl`	3D Hierarchical Refinement and Augmentation for Unsupervised Learning of Depth and Pose from Monocular Video. CoRR Guangming Wang, Jiquan Zhong, Shijie Zhao, Wenhua Wu, Zhe Liu, Hesheng Wang
2021	J	`jnl`	Anchor-Based Spatio-Temporal Attention 3-D Convolutional Networks for Dynamic 3-D Point Cloud Sequences. IEEE Trans. Instrum. Meas. Guangming Wang, Hanwen Liu, Muyao Chen, Yehui Yang, Zhe Liu, Hesheng Wang
2021	J	`jnl`	Efficient 3D Deep LiDAR Odometry. CoRR Guangming Wang, Xinrui Wu, Shuyang Jiang, Zhe Liu, Hesheng Wang
2021	J	`jnl`	Hierarchical Attention Learning of Scene Flow in 3D Point Clouds. IEEE Trans. Image Process. Guangming Wang, Xinrui Wu, Zhe Liu, Hesheng Wang
2021	J	`jnl`	Motion Projection Consistency Based 3D Human Pose Estimation with Virtual Bones from Monocular Videos. CoRR Guangming Wang, Honghao Zeng, Ziliang Wang, Zhe Liu, Hesheng Wang
2021	J	`jnl`	NccFlow: Unsupervised Learning of Optical Flow With Non-occlusion from Geometry. CoRR Guangming Wang, Shuaiqi Ren, Hesheng Wang
2021	A*	`conf`	PWCLO-Net: Deep LiDAR Odometry in 3D Point Clouds Using Hierarchical Embedding Mask Optimization. CVPR Guangming Wang, Xinrui Wu, Zhe Liu, Hesheng Wang
2021	J	`jnl`	Residual 3D Scene Flow Learning with Context-Aware Feature Extraction. CoRR Guangming Wang, Yunzhe Hu, Xinrui Wu, Hesheng Wang
2021	A*	`conf`	Unsupervised Learning of 3D Scene Flow from Monocular Camera ICRA Guangming Wang, Xiaoyu Tian, Ruiqi Ding, Hesheng Wang
2021	J	`jnl`	Unsupervised Learning of Monocular Depth and Ego-Motion Using Multiple Masks. CoRR Guangming Wang, Hesheng Wang, Yiling Liu, Weidong Chen
2020	J	`jnl`	Achieving Sample-Efficient and Online-Training-Safe Deep Reinforcement Learning with Base Controllers. CoRR Minjian Xin, Guangming Wang, Zhe Liu, Hesheng Wang
2020	J	`jnl`	Anchor-Based Spatial-Temporal Attention Convolutional Networks for Dynamic 3D Point Cloud Sequences. CoRR Guangming Wang, Hanwen Liu, Muyao Chen, Yehui Yang, Zhe Liu, Hesheng Wang
2020	J	`jnl`	Hierarchical Attention Learning of Scene Flow in 3D Point Clouds. CoRR Guangming Wang, Xinrui Wu, Zhe Liu, Hesheng Wang
2020	J	`jnl`	PWCLO-Net: Deep LiDAR Odometry in 3D Point Clouds Using Hierarchical Embedding Mask Optimization. CoRR Guangming Wang, Xinrui Wu, Zhe Liu, Hesheng Wang
2020	J	`jnl`	Spherical Interpolated Convolutional Network with Distance-Feature Density for 3D Semantic Segmentation of Point Clouds. CoRR Guangming Wang, Yehui Yang, Huixin Zhang, Zhe Liu, Hesheng Wang
2020	J	`jnl`	Unsupervised Learning of Depth, Optical Flow and Pose with Occlusion from 3D Geometry. CoRR Guangming Wang, Chi Zhang, Hesheng Wang, Jingchuan Wang, Yong Wang, Xinlei Wang
2019	A*	`conf`	Unsupervised Learning of Monocular Depth and Ego-Motion Using Multiple Masks. ICRA Guangming Wang, Hesheng Wang, Yiling Liu, Weidong Chen