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Chenglong Li

Chenglong Li contributes to research discovery and scholarly infrastructure.

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Computer Vision Artificial Intelligence eess.SP Biomolecules Computation and Language cs.CY Multimedia Neural and Evolutionary Computing

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preprint2026arXiv

DCG ReID: Disentangling Collaboration and Guidance Fusion Representations for Multi-modal Vehicle Re-Identification

Multi-modal vehicle Re-Identification (ReID) aims to leverage complementary information from RGB, Near Infrared (NIR), and Thermal Infrared (TIR) modalities to retrieve the same vehicle. The challenges of multi-modal vehicle ReID arise from the uncertainty of modality quality distribution induced by inherent discrepancies across modalities, resulting in distinct conflicting fusion requirements for data with balanced and unbalanced quality distributions. Existing methods handle all multi-modal data within a single fusion model, overlooking the different needs of the two data types and making it difficult to decouple the conflict between intra-class consistency and inter-modal heterogeneity. To this end, we propose Disentangle Collaboration and Guidance Fusion Representations for Multi-modal Vehicle ReID (DCG-ReID). Specifically, to disentangle heterogeneous quality-distributed modal data without mutual interference, we first design the Dynamic Confidence-based Disentangling Weighting (DCDW) mechanism: dynamically reweighting three-modal contributions via interaction-derived modal confidence to build a disentangled fusion framework. Building on DCDW, we develop two scenario-specific fusion strategies: (1) for balanced quality distributions, Collaboration Fusion Module (CFM) mines pairwise consensus features to capture shared discriminative information and boost intra-class consistency; (2) for unbalanced distributions, Guidance Fusion Module (GFM) implements differential amplification of modal discriminative disparities to reinforce dominant modality advantages, guide auxiliary modalities to mine complementary discriminative info, and mitigate inter-modal divergence to boost multi-modal joint decision performance. Extensive experiments on three multi-modal ReID benchmarks (WMVeID863, MSVR310, RGBNT100) validate the effectiveness of our method. Code will be released upon acceptance.

preprint2026arXiv

DeTrack: A Benchmark and Altitude-Aware Dual World Model for Drone-embodied Tracking

Aerial object tracking has broad applications in public safety, emergency rescue, wildlife monitoring, and related fields. However, existing aerial tracking benchmarks are mainly based on passive 2D video sequences captured from fixed camera locations or predefined flight paths, where drones are treated as passive cameras rather than embodied agents that actively perceive, interact, and control their motion in dynamic 3D scenes. In this paper, we define a new drone-embodied tracking task, termed DeTrack, which requires a drone to track a target in interactive 3D environments using online egocentric observations and active flight control in a closed loop. We build a large-scale benchmark containing 11,368 target trajectories across diverse scenes, rendering conditions, semantic regions, and moving distractors, together with evaluation metrics for target visibility, tracking accuracy, and trajectory success. We further propose AaDWorlds, an altitude-aware dual world model framework for drone-embodied tracking. AaDWorlds consists of an altitude-aware perception module and dual world models that imagine future states under both high- and low-altitude regimes. By combining pseudo altitude-aware observations and imagined future states, AaDWorlds alleviates the intrinsic altitude-mediated contradiction between target visibility and flight safety. Experiments on the DeTrack benchmark demonstrate that AaDWorlds improves closed-loop tracking performance across all evaluation metrics.

preprint2026arXiv

Graph-based Semantic Calibration Network for Unaligned UAV RGBT Image Semantic Segmentation and A Large-scale Benchmark

Fine-grained RGBT image semantic segmentation is crucial for all-weather unmanned aerial vehicle (UAV) scene understanding. However, UAV RGBT image semantic segmentation faces two coupled challenges: cross-modal spatial misalignment caused by sensor parallax and platform vibration, and severe semantic confusion among fine-grained ground objects under top-down aerial views. To address these issues, we propose a Graph-based Semantic Calibration Network (GSCNet) for unaligned UAV RGBT image semantic segmentation. Specifically, we design a Feature Decoupling and Alignment Module (FDAM) that decouples each modality into shared structural and private perceptual components and performs deformable alignment in the shared subspace, enabling robust spatial correction with reduced modality appearance interference. Moreover, we propose a Semantic Graph Calibration Module (SGCM) that explicitly encodes the hierarchical taxonomy and co-occurrence regularities among ground-object categories in UAV scenes into a structured category graph, and incorporates these priors into graph-attention reasoning to calibrate predictions of visually similar and rare categories. In addition, we construct the Unaligned RGB-Thermal Fine-grained (URTF) benchmark, to the best of our knowledge, the largest and most fine-grained benchmark for unaligned UAV RGBT image semantic segmentation, containing over 25,000 image pairs across 61 semantic categories with realistic cross-modal misalignment. Extensive experiments on URTF demonstrate that GSCNet significantly outperforms state-of-the-art methods, with notable gains on fine-grained categories. The dataset is available at https://github.com/mmic-lcl/Datasets-and-benchmark-code.

preprint2026arXiv

Physics-Constrained Cross-Resolution Enhancement Network for Optics-Guided Thermal UAV Image Super-Resolution

Optics-guided thermal UAV image super-resolution has attracted significant research interest due to its potential in all-weather monitoring applications. However, existing methods typically compress optical features to match thermal feature dimensions for cross-modal alignment and fusion, which not only causes the loss of high-frequency information that is beneficial for thermal super-resolution, but also introduces physically inconsistent artifacts such as texture distortions and edge blurring by overlooking differences in the imaging physics between modalities. To address these challenges, we propose PCNet to achieve cross-resolution mutual enhancement between optical and thermal modalities, while physically constraining the optical guidance process via thermal conduction to enable robust thermal UAV image super-resolution. In particular, we design a Cross-Resolution Mutual Enhancement Module (CRME) to jointly optimize thermal image super-resolution and optical-to-thermal modality conversion, facilitating effective bidirectional feature interaction across resolutions while preserving high-frequency optical priors. Moreover, we propose a Physics-Driven Thermal Conduction Module (PDTM) that incorporates two-dimensional heat conduction into optical guidance, modeling spatially-varying heat conduction properties to prevent inconsistent artifacts. In addition, we introduce a temperature consistency loss that enforces regional distribution consistency and boundary gradient smoothness to ensure generated thermal images align with real-world thermal radiation principles. Extensive experiments on VGTSR2.0 and DroneVehicle datasets demonstrate that PCNet significantly outperforms state-of-the-art methods on both reconstruction quality and downstream tasks including semantic segmentation and object detection.

preprint2026arXiv

T2I-VeRW: Part-level Fine-grained Perception for Text-to-Image Vehicle Retrieval

Vehicle Re-identification (Re-ID) aims to retrieve the most similar image to a given query from images captured by non-overlapping cameras. Extending vehicle Re-ID from image-only queries to text-based queries enables retrieval in real-world scenarios where only a witness description of the target vehicle is available. In this paper, we propose PFCVR, a Part-level Fine-grained Cross-modal Vehicle Retrieval model for text-to-image vehicle re-identification. PFCVR constructs locally paired images and texts at the part level and introduces learnable part-query tokens that aggregate both part-specific and full-sentence context before aligning with visual part features. On top of this explicit local alignment, a bi-directional mask recovery module lets each modality reconstruct its masked content under the guidance of the other, implicitly bridging local correspondences into global feature alignment. Furthermore, we construct a new large-scale dataset called T2I-VeRW, which contains 14,668 images covering 1,796 vehicle identities with fine-grained part-level annotations. Experimental results on the T2I-VeRI dataset show that PFCVR achieves 29.2\% Rank-1 accuracy, improving over the best competing method by +3.7\% percentage points. On the newly proposed T2I-VeRW benchmark, PFCVR achieves 55.2\% Rank-1 accuracy, outperforming a comprehensive set of recent state-of-the-art methods. Source code will be released on https://github.com/Event-AHU/Neuromorphic_ReID

preprint2024arXiv

CRSOT: Cross-Resolution Object Tracking using Unaligned Frame and Event Cameras

Existing datasets for RGB-DVS tracking are collected with DVS346 camera and their resolution ($346 \times 260$) is low for practical applications. Actually, only visible cameras are deployed in many practical systems, and the newly designed neuromorphic cameras may have different resolutions. The latest neuromorphic sensors can output high-definition event streams, but it is very difficult to achieve strict alignment between events and frames on both spatial and temporal views. Therefore, how to achieve accurate tracking with unaligned neuromorphic and visible sensors is a valuable but unresearched problem. In this work, we formally propose the task of object tracking using unaligned neuromorphic and visible cameras. We build the first unaligned frame-event dataset CRSOT collected with a specially built data acquisition system, which contains 1,030 high-definition RGB-Event video pairs, 304,974 video frames. In addition, we propose a novel unaligned object tracking framework that can realize robust tracking even using the loosely aligned RGB-Event data. Specifically, we extract the template and search regions of RGB and Event data and feed them into a unified ViT backbone for feature embedding. Then, we propose uncertainty perception modules to encode the RGB and Event features, respectively, then, we propose a modality uncertainty fusion module to aggregate the two modalities. These three branches are jointly optimized in the training phase. Extensive experiments demonstrate that our tracker can collaborate the dual modalities for high-performance tracking even without strictly temporal and spatial alignment. The source code, dataset, and pre-trained models will be released at https://github.com/Event-AHU/Cross_Resolution_SOT.

preprint2024arXiv

Transformer RGBT Tracking with Spatio-Temporal Multimodal Tokens

Many RGBT tracking researches primarily focus on modal fusion design, while overlooking the effective handling of target appearance changes. While some approaches have introduced historical frames or fuse and replace initial templates to incorporate temporal information, they have the risk of disrupting the original target appearance and accumulating errors over time. To alleviate these limitations, we propose a novel Transformer RGBT tracking approach, which mixes spatio-temporal multimodal tokens from the static multimodal templates and multimodal search regions in Transformer to handle target appearance changes, for robust RGBT tracking. We introduce independent dynamic template tokens to interact with the search region, embedding temporal information to address appearance changes, while also retaining the involvement of the initial static template tokens in the joint feature extraction process to ensure the preservation of the original reliable target appearance information that prevent deviations from the target appearance caused by traditional temporal updates. We also use attention mechanisms to enhance the target features of multimodal template tokens by incorporating supplementary modal cues, and make the multimodal search region tokens interact with multimodal dynamic template tokens via attention mechanisms, which facilitates the conveyance of multimodal-enhanced target change information. Our module is inserted into the transformer backbone network and inherits joint feature extraction, search-template matching, and cross-modal interaction. Extensive experiments on three RGBT benchmark datasets show that the proposed approach maintains competitive performance compared to other state-of-the-art tracking algorithms while running at 39.1 FPS.

preprint2023arXiv

Contact-Free Multi-Target Tracking Using Distributed Massive MIMO-OFDM Communication System: Prototype and Analysis

Wireless-based human activity recognition has become an essential technology that enables contact-free human-machine and human-environment interactions. In this paper, we consider contact-free multi-target tracking (MTT) based on available communication systems. A radar-like prototype is built upon a sub-6 GHz distributed massive multiple-input and multiple-output (MIMO) orthogonal frequency-division multiplexing communication system. Specifically, the raw channel state information (CSI) is calibrated in the frequency and antenna domain before being used for tracking. Then the targeted CSIs reflected or scattered from the moving pedestrians are extracted. To evade the complex association problem of distributed massive MIMO-based MTT, we propose to use a complex Bayesian compressive sensing (CBCS) algorithm to estimate the targets' locations based on the extracted target-of-interest CSI signal directly. The estimated locations from CBCS are fed to a Gaussian mixture probability hypothesis density filter for tracking. A multi-pedestrian tracking experiment is conducted in a room with size of 6.5 m$\times$10 m to evaluate the performance of the proposed algorithm. According to experimental results, we achieve 75th and 95th percentile accuracy of 12.7 cm and 18.2 cm for single-person tracking and 28.9 cm and 45.7 cm for multi-person tracking, respectively. Furthermore, the proposed algorithm achieves the tracking purposes in real-time, which is promising for practical MTT use cases.

preprint2022arXiv

Duality-Gated Mutual Condition Network for RGBT Tracking

Low-quality modalities contain not only a lot of noisy information but also some discriminative features in RGBT tracking. However, the potentials of low-quality modalities are not well explored in existing RGBT tracking algorithms. In this work, we propose a novel duality-gated mutual condition network to fully exploit the discriminative information of all modalities while suppressing the effects of data noise. In specific, we design a mutual condition module, which takes the discriminative information of a modality as the condition to guide feature learning of target appearance in another modality. Such module can effectively enhance target representations of all modalities even in the presence of low-quality modalities. To improve the quality of conditions and further reduce data noise, we propose a duality-gated mechanism and integrate it into the mutual condition module. To deal with the tracking failure caused by sudden camera motion, which often occurs in RGBT tracking, we design a resampling strategy based on optical flow algorithms. It does not increase much computational cost since we perform optical flow calculation only when the model prediction is unreliable and then execute resampling when the sudden camera motion is detected. Extensive experiments on four RGBT tracking benchmark datasets show that our method performs favorably against the state-of-the-art tracking algorithms

preprint2022arXiv

RGBT Salient Object Detection: A Large-scale Dataset and Benchmark

Salient object detection in complex scenes and environments is a challenging research topic. Most works focus on RGB-based salient object detection, which limits its performance of real-life applications when confronted with adverse conditions such as dark environments and complex backgrounds. Taking advantage of RGB and thermal infrared images becomes a new research direction for detecting salient object in complex scenes recently, as thermal infrared spectrum imaging provides the complementary information and has been applied to many computer vision tasks. However, current research for RGBT salient object detection is limited by the lack of a large-scale dataset and comprehensive benchmark. This work contributes such a RGBT image dataset named VT5000, including 5000 spatially aligned RGBT image pairs with ground truth annotations. VT5000 has 11 challenges collected in different scenes and environments for exploring the robustness of algorithms. With this dataset, we propose a powerful baseline approach, which extracts multi-level features within each modality and aggregates these features of all modalities with the attention mechanism, for accurate RGBT salient object detection. Extensive experiments show that the proposed baseline approach outperforms the state-of-the-art methods on VT5000 dataset and other two public datasets. In addition, we carry out a comprehensive analysis of different algorithms of RGBT salient object detection on VT5000 dataset, and then make several valuable conclusions and provide some potential research directions for RGBT salient object detection.

preprint2022arXiv

Tiny Object Tracking: A Large-scale Dataset and A Baseline

Tiny objects, frequently appearing in practical applications, have weak appearance and features, and receive increasing interests in meany vision tasks, such as object detection and segmentation. To promote the research and development of tiny object tracking, we create a large-scale video dataset, which contains 434 sequences with a total of more than 217K frames. Each frame is carefully annotated with a high-quality bounding box. In data creation, we take 12 challenge attributes into account to cover a broad range of viewpoints and scene complexities, and annotate these attributes for facilitating the attribute-based performance analysis. To provide a strong baseline in tiny object tracking, we propose a novel Multilevel Knowledge Distillation Network (MKDNet), which pursues three-level knowledge distillations in a unified framework to effectively enhance the feature representation, discrimination and localization abilities in tracking tiny objects. Extensive experiments are performed on the proposed dataset, and the results prove the superiority and effectiveness of MKDNet compared with state-of-the-art methods. The dataset, the algorithm code, and the evaluation code are available at https://github.com/mmic-lcl/Datasets-and-benchmark-code.

preprint2021arXiv

Multi-Static UWB Radar-based Passive Human Tracking Using COTS Devices

Due to its high delay resolution, the ultra-wideband (UWB) technique has been widely adopted for fine-grained indoor localization. Instead of active positioning, UWB radar-based passive human tracking is explored using commercial off-the-shelf (COTS) devices. To extract the time-of-flight (ToF) reflected by the moving person, the accumulated channel impulse responses (CIR) and the corresponding variances are used to train the convolutional neural networks (CNN) model. Particle filter algorithm is adopted to track the moving person based on the extracted ToFs of all pairs of links. Experimental results show that the proposed CIR- and variance-based CNN models achieve less than 30-cm root-mean-square errors (RMSEs). Especially, the variance-based CNN model is robust to the scenario changing and promising for practical applications.

preprint2021arXiv

Text Analytics for Resilience-Enabled Extreme Events Reconnaissance

Post-hazard reconnaissance for natural disasters (e.g., earthquakes) is important for understanding the performance of the built environment, speeding up the recovery, enhancing resilience and making informed decisions related to current and future hazards. Natural language processing (NLP) is used in this study for the purposes of increasing the accuracy and efficiency of natural hazard reconnaissance through automation. The study particularly focuses on (1) automated data (news and social media) collection hosted by the Pacific Earthquake Engineering Research (PEER) Center server, (2) automatic generation of reconnaissance reports, and (3) use of social media to extract post-hazard information such as the recovery time. Obtained results are encouraging for further development and wider usage of various NLP methods in natural hazard reconnaissance.

preprint2020arXiv

Challenge-Aware RGBT Tracking

RGB and thermal source data suffer from both shared and specific challenges, and how to explore and exploit them plays a critical role to represent the target appearance in RGBT tracking. In this paper, we propose a novel challenge-aware neural network to handle the modality-shared challenges (e.g., fast motion, scale variation and occlusion) and the modality-specific ones (e.g., illumination variation and thermal crossover) for RGBT tracking. In particular, we design several parameter-shared branches in each layer to model the target appearance under the modality-shared challenges, and several parameterindependent branches under the modality-specific ones. Based on the observation that the modality-specific cues of different modalities usually contains the complementary advantages, we propose a guidance module to transfer discriminative features from one modality to another one, which could enhance the discriminative ability of some weak modality. Moreover, all branches are aggregated together in an adaptive manner and parallel embedded in the backbone network to efficiently form more discriminative target representations. These challenge-aware branches are able to model the target appearance under certain challenges so that the target representations can be learnt by a few parameters even in the situation of insufficient training data. From the experimental results we will show that our method operates at a real-time speed while performing well against the state-of-the-art methods on three benchmark datasets.

preprint2020arXiv

Influence of Small Molecule Property on Antibody Response

Antibodies with high titer and affinity to small molecule are critical in the field for the development of vaccines against drugs of abuse, antidotes to toxins and immunoassays for compounds. However, little is known regarding how properties of small molecule influence and which chemical descriptor could indicate the degree of the antibody response. Based on our previous study, we designed and synthesized two groups of small molecules, called haptens, with varied hydrophobicities to investigate the relationship between properties of small molecules and antibody response in term of titer and affinity. We found that the magnitude of the antibody response is positively correlated with the degree of molecular hydrophobicity and related chemical descriptors. This study provides insight into the immunological characteristics of small molecules themselves and useful clues to produce high quality antibodies against small molecules.

preprint2020arXiv

LSOTB-TIR:A Large-Scale High-Diversity Thermal Infrared Object Tracking Benchmark

In this paper, we present a Large-Scale and high-diversity general Thermal InfraRed (TIR) Object Tracking Benchmark, called LSOTBTIR, which consists of an evaluation dataset and a training dataset with a total of 1,400 TIR sequences and more than 600K frames. We annotate the bounding box of objects in every frame of all sequences and generate over 730K bounding boxes in total. To the best of our knowledge, LSOTB-TIR is the largest and most diverse TIR object tracking benchmark to date. To evaluate a tracker on different attributes, we define 4 scenario attributes and 12 challenge attributes in the evaluation dataset. By releasing LSOTB-TIR, we encourage the community to develop deep learning based TIR trackers and evaluate them fairly and comprehensively. We evaluate and analyze more than 30 trackers on LSOTB-TIR to provide a series of baselines, and the results show that deep trackers achieve promising performance. Furthermore, we re-train several representative deep trackers on LSOTB-TIR, and their results demonstrate that the proposed training dataset significantly improves the performance of deep TIR trackers. Codes and dataset are available at https://github.com/QiaoLiuHit/LSOTB-TIR.

preprint2020arXiv

M$^5$L: Multi-Modal Multi-Margin Metric Learning for RGBT Tracking

Classifying the confusing samples in the course of RGBT tracking is a quite challenging problem, which hasn't got satisfied solution. Existing methods only focus on enlarging the boundary between positive and negative samples, however, the structured information of samples might be harmed, e.g., confusing positive samples are closer to the anchor than normal positive samples.To handle this problem, we propose a novel Multi-Modal Multi-Margin Metric Learning framework, named M$^5$L for RGBT tracking in this paper. In particular, we design a multi-margin structured loss to distinguish the confusing samples which play a most critical role in tracking performance boosting. To alleviate this problem, we additionally enlarge the boundaries between confusing positive samples and normal ones, between confusing negative samples and normal ones with predefined margins, by exploiting the structured information of all samples in each modality.Moreover, a cross-modality constraint is employed to reduce the difference between modalities and push positive samples closer to the anchor than negative ones from two modalities.In addition, to achieve quality-aware RGB and thermal feature fusion, we introduce the modality attentions and learn them using a feature fusion module in our network. Extensive experiments on large-scale datasets testify that our framework clearly improves the tracking performance and outperforms the state-of-the-art RGBT trackers.

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