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Researcher profile

Na Zhao

Na Zhao contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer Visionphysics.data-anphysics.soc-pheess.SPmath.APmath.COSocial and Information Networks

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Published work

7 published item(s)

preprint2026arXiv

AirZoo: A Unified Large-Scale Dataset for Grounding Aerial Geometric 3D Vision

Despite the rapid progress in data-driven 3D vision, aerial geometric 3D vision remains a formidable challenge due to the severe scarcity of large-scale, high-fidelity training data. Existing benchmarks, predominantly biased toward ground-level or object-centric views, do not account for complex viewpoint transformations and diverse environmental conditions in UAV-based sensing. To bridge this critical gap, we propose AirZoo, a unified large-scale dataset and benchmark for grounding aerial geometric 3D vision. AirZoo possesses three appealing properties: 1) Scalable Generation Pipeline: Leveraging freely available, world-scale photogrammetric 3D meshes, it renders vast outdoor environments with customizable UAV flight trajectories and configurable weather/illumination. 2) Comprehensive Scene Diversity: It provides the most extensive coverage of region types to date (spanning 378 regions across 22 countries), systematically encompassing both highly structured urban landscapes and complex unstructured natural environments. 3) Rich Geometric Annotations: Each frame provides synchronized, pixel-level metric depth and precise 6-DoF geo-referenced poses, essential for geometry-aware learning. Through three rigorous evaluation tracks -- aerial image retrieval, cross-view matching, and multi-view 3D reconstruction -- we demonstrate that AirZoo serves as a powerful pre-training engine. Extensive experiments on both public and newly collected real-world benchmarks reveal that fine-tuning on AirZoo yields substantial performance gains for SoTA models (e.g., MegaLoc, RoMa, VGGT, and Depth Anything 3), establishing a new performance upper bound for aerial spatial intelligence.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

MRI Reconstruction Using Deep Bayesian Estimation

Purpose: To develop a deep learning-based Bayesian inference for MRI reconstruction. Methods: We modeled the MRI reconstruction problem with Bayes's theorem, following the recently proposed PixelCNN++ method. The image reconstruction from incomplete k-space measurement was obtained by maximizing the posterior possibility. A generative network was utilized as the image prior, which was computationally tractable, and the k-space data fidelity was enforced by using an equality constraint. The stochastic backpropagation was utilized to calculate the descent gradient in the process of maximum a posterior, and a projected subgradient method was used to impose the equality constraint. In contrast to the other deep learning reconstruction methods, the proposed one used the likelihood of prior as the training loss and the objective function in reconstruction to improve the image quality. Results: The proposed method showed an improved performance in preserving image details and reducing aliasing artifacts, compared with GRAPPA, $\ell_1$-ESPRiT, and MODL, a state-of-the-art deep learning reconstruction method. The proposed method generally achieved more than 5 dB peak signal-to-noise ratio improvement for compressed sensing and parallel imaging reconstructions compared with the other methods. Conclusion: The Bayesian inference significantly improved the reconstruction performance, compared with the conventional $\ell_1$-sparsity prior in compressed sensing reconstruction tasks. More importantly, the proposed reconstruction framework can be generalized for most MRI reconstruction scenarios.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Rethinking IoU-based Optimization for Single-stage 3D Object Detection

Since Intersection-over-Union (IoU) based optimization maintains the consistency of the final IoU prediction metric and losses, it has been widely used in both regression and classification branches of single-stage 2D object detectors. Recently, several 3D object detection methods adopt IoU-based optimization and directly replace the 2D IoU with 3D IoU. However, such a direct computation in 3D is very costly due to the complex implementation and inefficient backward operations. Moreover, 3D IoU-based optimization is sub-optimal as it is sensitive to rotation and thus can cause training instability and detection performance deterioration. In this paper, we propose a novel Rotation-Decoupled IoU (RDIoU) method that can mitigate the rotation-sensitivity issue, and produce more efficient optimization objectives compared with 3D IoU during the training stage. Specifically, our RDIoU simplifies the complex interactions of regression parameters by decoupling the rotation variable as an independent term, yet preserving the geometry of 3D IoU. By incorporating RDIoU into both the regression and classification branches, the network is encouraged to learn more precise bounding boxes and concurrently overcome the misalignment issue between classification and regression. Extensive experiments on the benchmark KITTI and Waymo Open Dataset validate that our RDIoU method can bring substantial improvement for the single-stage 3D object detection.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Style-Hallucinated Dual Consistency Learning for Domain Generalized Semantic Segmentation

In this paper, we study the task of synthetic-to-real domain generalized semantic segmentation, which aims to learn a model that is robust to unseen real-world scenes using only synthetic data. The large domain shift between synthetic and real-world data, including the limited source environmental variations and the large distribution gap between synthetic and real-world data, significantly hinders the model performance on unseen real-world scenes. In this work, we propose the Style-HAllucinated Dual consistEncy learning (SHADE) framework to handle such domain shift. Specifically, SHADE is constructed based on two consistency constraints, Style Consistency (SC) and Retrospection Consistency (RC). SC enriches the source situations and encourages the model to learn consistent representation across style-diversified samples. RC leverages real-world knowledge to prevent the model from overfitting to synthetic data and thus largely keeps the representation consistent between the synthetic and real-world models. Furthermore, we present a novel style hallucination module (SHM) to generate style-diversified samples that are essential to consistency learning. SHM selects basis styles from the source distribution, enabling the model to dynamically generate diverse and realistic samples during training. Experiments show that our SHADE yields significant improvement and outperforms state-of-the-art methods by 5.05% and 8.35% on the average mIoU of three real-world datasets on single- and multi-source settings, respectively.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Decay and vanishing of some D-solutions of the Navier-Stokes equations

An old problem since Leray \cite{Le:1} asks whether homogeneous D solutions of the 3 dimensional Navier-Stokes equation in $\mathbb{R}^3$ or some noncompact domains are 0. In this paper, we give a positive solution to the problem in two special cases: (1) when the solution is axially symmetric and periodic in the vertical variable; (2) full 3 dimensional slab case $\mathbb{R}^2 \times [0, 1]$ with Dirichlet boundary condition. Other partial results are also presented. The paper is self contained comparing with the first part \cite{CPZ:1} although the general idea is related.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Lowest Degree Decomposition of Complex Networks

The heterogeneous structure implies that a very few nodes may play the critical role in maintaining structural and functional properties of a large-scale network. Identifying these vital nodes is one of the most important tasks in network science, which allow us to better conduct successful social advertisements, immunize a network against epidemics, discover drug target candidates and essential proteins, and prevent cascading breakdowns in power grids, financial markets and ecological systems. Inspired by the nested nature of real networks, we propose a decomposition method where at each step the nodes with the lowest degree are pruned. We have strictly proved that this so-called lowest degree decomposition (LDD) is a subdivision of the famous k-core decomposition. Extensive numerical analyses on epidemic spreading, synchronization and nonlinear mutualistic dynamics show that the LDD can more accurately find out the most influential spreaders, the most efficient controllers and the most vulnerable species than k-core decomposition and other well-known indices. The present method only makes use of local topological information, and thus has high potential to become a powerful tool for network analysis.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Identifying significant edges via neighborhood information

Heterogeneous nature of real networks implies that different edges play different roles in network structure and functions, and thus to identify significant edges is of high value in both theoretical studies and practical applications. We propose the so-called second-order neighborhood (SN) index to quantify an edge's significance in a network. We compare SN index with many other benchmark methods based on 15 real networks via edge percolation. Results show that the proposed SN index outperforms other well-known methods.

0 citations0 reviewsNo code linkedOpen access