成果/Result
- Advancements in 3D Gaussian Splatting-Based SLAM Technology被引量：53收藏
- 作者：Zhang, Jianshu Zhang, Jun Liu, Yuansheng
- 机构： Beijing Key Laboratory of Information Service Engineering; College of Robotics
- 来源：Communications in Computer and Information Science 2025
- 关键词：3D modeling - 3D reconstruction - Gaussian distribution - Image reconstruction - Mapping - Rendering (computer graphics) - Robots - SLAM robotics - Three dimensional computer graphics - Virtual reality
- 基于NDT与ICP结合的点云配准算法被引量：47收藏
- 作者：王庆闪 张军 刘元盛 张鑫晨
- 机构：北京联合大学北京市信息服务工程重点实验室;北京联合大学机器人学院
- 来源：《计算机工程与应用》 2020
- 关键词：Lidar SLAM 无人车 正态分布变换(NDT) 迭代最近点(ICP) 点云配准 定位 地图构建
- 摘要：Lidar SLAM技术是无人车进行精确导航的一种重要方式,也是实现无人车在复杂的园区非结构化道路环境中安全驾驶的一种前提保障。构建了一种快速精确定位与建图的方法,通过车载激光雷达返回的大量点云数据,进行噪声点移除以及V...
- Research Progress on Joint Calibration Technology of LiDAR and Camera被引量：35收藏
- 作者：Zhao, Zhe Liu, Yuansheng
- 机构： Beijing Key Laboratory of Information Service Engineering; College of Robotics
- 来源：Communications in Computer and Information Science 2026
- 关键词：Autonomous vehicles - Calibration - Deep learning - Environmental technology - Information theory - Reliability theory - Remote sensing
- Vision localization method for intelligent vehicles in low-texture environments被引量：34收藏
- 作者：Liu, Zijian Zhang, Bingfeng Xu, Cheng Liu, Yuansheng Zhang, Jun
- 机构： Beijing Union University College of Robotics; College of Robotics
- 来源：Proceedings - 2022 18th International Conference on Computational Intelligence and Security, CIS 2022 2022
- 关键词：Autonomous vehicles - Feature extraction - Intelligent robots - Textures
- A Review of Life-Long SLAM Systems被引量：24收藏
- 作者：Yang, Gaorunxi Liu, Yuansheng
- 机构： Beijing Key Laboratory of Information Service Engineering; College of Robotics
- 来源：Communications in Computer and Information Science 2026
- 关键词：Computer vision - Indoor positioning systems - Intelligent vehicle highway systems
- 基于改进YOLOv4的小目标行人检测算法被引量：22收藏
- 作者：王程 刘元盛 刘圣杰
- 机构：北京联合大学北京市信息服务工程重点实验室;北京联合大学机器人学院
- 来源：《计算机工程》 2023
- 关键词：无人驾驶 小目标行人 深度可分离卷积 scSE注意力模块 特征金字塔网络
- 摘要：行人检测在无人驾驶环境感知领域具有重要应用。现有行人检测算法多数只关注普通大小的行人目标,忽略了小目标行人特征信息过少的问题,从而造成检测精度低、应用于嵌入式设备中实时性不高等情况。针对该问题,提出一种小目标行人检测算法...
- Semantic Segmentation Method for Drivable Areas under Unstructured Road被引量：21收藏
- 作者：Zhang, Ting Liu, Yuansheng
- 机构： Beijing Union University; Beijing Union University
- 来源：2024 2nd International Conference on Computer, Vision and Intelligent Technology, ICCVIT 2024 - Proceedings 2024
- 关键词：Convolutional neural networks - Deep neural networks - Deep reinforcement learning - Network coding - Parking
- MRM-LOOP:A Dynamic Visual Loop Closure Detection Algorithm Based on Motion Region Matching被引量：21收藏
- 作者：Zhang, Zhiming Zhang, Jun Liu, Yuansheng
- 机构： Beijing Union University; College of Robotics
- 来源：Proceedings - 2024 IEEE 24th International Conference on Software Quality, Reliability and Security Companion, QRS-C 2024 2024
- 关键词：Closed loop systems - Image enhancement - Image segmentation
- End-To-End Autonomous Driving Decision Method Based on Memory Attention Convolutional Neural Networks被引量：20收藏
- 作者：Yu, Kanghong Zhang, Jun Liu, Yuansheng
- 机构： Beijing Key Laboratory of Information Service Engineering; College of Robotics
- 来源：Communications in Computer and Information Science 2025
- 关键词：Autonomous vehicles - Complex networks - Convolution - Convolutional neural networks - Decision making - Deep neural networks - Deep reinforcement learning - Learning algorithms - Optimization
- Future vehicles: interactive wheeled robots被引量：20收藏
- 作者：Ma, Nan Li, Deyi He, Wen Deng, Yue Li, Jiahong Gao, Yue Bao, Hong Zhang, Huan Xu, Xinkai Liu, Yuansheng Wu, Zhixuan Chen, Li
- 机构：Beijing Union Univ;Beijing Union Univ;Acad Mil Med Sci;Beihang Univ;Tsinghua Univ
- 来源：SCIENCE CHINA-INFORMATION SCIENCES 2021
- 室内环境下UWB与LiDAR融合定位算法研究被引量：20收藏
- 作者：李中道 刘元盛 常飞翔 张军 路铭
- 机构：北京联合大学智慧城市学院;北京联合大学机器人学院;北京联合大学北京市信息服务工程重点实验室;北京联合大学应用科技学院
- 来源：《计算机工程与应用》 2021
- 关键词：室内定位 超宽带 激光雷达 数据融合 粒子滤波
- 摘要：当前全球导航卫星系统与激光雷达的数据融合被广泛应用于无人驾驶车辆的定位系统中,但在室内环境下由于卫星信号的丢失导致定位精度低甚至无法定位。为此提出一种基于超宽带(Ultra-Wideband,UWB)与激光雷达(Ligh...
- 智能时代与大学创新人才培养被引量：17收藏
- 作者：马楠 刘元盛 李德毅
- 机构：北京联合大学机器人学院;北京联合大学机器人学院轮式机器人系;中国工程院;中国人工智能学会;清华大学
- 来源：《高等工程教育研究》 2017
- 关键词：人工智能 智力工具 北京联合大学机器人学院 创新
- 摘要：人工智能在奔跑,脑科学研究在加速,人类在迎接新的机遇的同时也面临着巨大的挑战。智能可提升创新驱动发展源头的供给能力,正如现代劳动工具已转向基于数据、信息、知识、价值和智能的智力工具,这成为人类拓展认识世界、改造世界能力的...
- Pedestrian Detection Method Based on Fusion of LIDAR and Camera被引量：16收藏
- 作者：Fan, Yangyang Liu, Yuansheng
- 机构： Beijing Union University; College of Robotics
- 来源：Proceedings - 2024 IEEE 24th International Conference on Software Quality, Reliability and Security Companion, QRS-C 2024 2024
- 关键词：Autonomous driving perception Camera Decision level fusion M1 solid-state LIDAR Pedestrian detection
- Research on the Application of Semantic Segmentation of driverless vehicles in Park Scene被引量：14收藏
- 作者：Ren, Lijun Liu, Yuansheng
- 机构： Beijing Key Laboratory of Information; College of Robotics
- 来源：Proceedings - 2020 13th International Symposium on Computational Intelligence and Design, ISCID 2020 2020
- 关键词：Image enhancement - Semantics
- 基于激光点云NDT特征的两步回环检测被引量：12收藏
- 作者：柴梦娜 刘元盛 任丽军
- 机构：北京联合大学智慧城市学院;北京联合大学机器人学院;北京联合大学北京市信息服务工程重点实验室
- 来源：《激光与红外》 2020
- 关键词：同时定位与建图 NDT点云匹配 重叠网格 点云外观描述 两步回环检测
- 摘要：针对传统激光雷达配准算法进行大规模同时定位与建图(SLAM)时,存在较大累计误差的问题,本文提出一种基于正态分布变换(NDT)的两步回环检测方法,充分利用NDT配准中点云均值与方差特征,并将所提方法加入SLAM完整框架。...
- Prospects of NeRF-Based Autonomous Driving Simulation Scene Reconstruction Technology被引量：12收藏
- 作者：Fan, Yangyang Liu, Yuansheng
- 机构： Beijing Key Laboratory of Information Service Engineering; College of Robotics
- 来源：Communications in Computer and Information Science 2025
- 关键词：3D reconstruction - Autonomous vehicles - Data acquisition - Image reconstruction - Neural networks - Rendering (computer graphics) - Three dimensional computer graphics
- Research on GNSS navigation method compensatedby electronic compass for unmanned system被引量：10收藏
- 作者：Xi, Han Xiaolin, Zhang Yuansheng, Liu
- 机构： School of Electronics and Information Engineering; College of Robotics; Beijing Engineering Research Center of Smart Mechanical Innovation Design Service
- 来源：IWACIII 2017 - 5th International Workshop on Advanced Computational Intelligence and Intelligent Informatics 2017
- 关键词：Intelligent computing - Navigation
- Research on Intelligent Monitoring Method of Medicine Delivery Vehicle Based on Internet of Things Technology被引量：10收藏
- 作者：Chen, Xiaomin Han, Xi Liu, Yuansheng
- 机构： Beijing Union University; Beijing Union University; Beijing Union University
- 来源：Proceedings - 2023 10th International Conference on Dependable Systems and Their Applications, DSA 2023 2023
- 关键词：Radio frequency identification (RFID) - Remote control - Vehicles
- A Hybrid Loop Closure Detection Method Based on Lidar SLAM被引量：8收藏
- 作者：Mengna, Chai Yuansheng, Liu
- 机构： Smart City College; College of Robotics
- 来源：Proceedings - 2019 15th International Conference on Computational Intelligence and Security, CIS 2019 2019
- 关键词：Mapping - Intelligent vehicle highway systems - Autonomous vehicles
- Pedestrian detection based on YOLOv3 multimodal data fusion被引量：8收藏
- 作者：Wang, Cheng Liu, Yuan-sheng Chang, Fei-xiang Lu, Ming
- 机构：Beijing Union Univ;Beijing Union Univ;Beijing Union Univ
- 来源：SYSTEMS SCIENCE & CONTROL ENGINEERING 2022
- 关键词：Pedestrian detection Improved YOLOv3 Data fusion Embedded devices
- 被引量：7收藏
- 作者：Nan MA Deyi LI Wen HE Yue DENG Jiahong LI Yue GAO Hong BAO Huan ZHANG Xinkai XU Yuansheng LIU Zhixuan WU Li CHEN
- 机构：Beijing Key Laboratory of Information Service Engineering;College of Robotics;Institute of System Engineering;School of Astronautics;School of Software
- 来源：[1]Beijing Key Laboratory of Information Service Engineering,Beijing Union University,Beijing 100101,China;[2]College of Robotics,Beijing Union University,Beijing 100101,China;[3]Institute of System Engineering,Academy of Military Science,Beijing 100036,China;[4]School of Astronautics,Beihang University,Beijing 100191,China;[5]School of Software,Tsinghua University,Beijing 100084,China;[6]Smart City College,Beijing Union University,Beijing 100101,China;[7]Demonstration Center of Experimental Teaching in Comprehensive Engineering,Beijing Union University,Beijing 100101,China 2021
- 应用于无人驾驶车的激光雷达雪天去噪方法研究被引量：7收藏
- 作者：钟科娣 刘元盛 张军 路铭
- 机构：北京联合大学北京市信息服务工程重点实验室;北京联合大学机器人学院;北京联合大学应用科技学院
- 来源：《激光与红外》 2021
- 关键词：无人驾驶 激光雷达 噪声滤除 反射强度 邻域搜索
- 摘要：针对雪花噪声对激光雷达造成误检的问题,提出了一种基于激光雷达反射强度和邻域搜索算法的综合方法对降雪场景采集的激光雷达点云数据进行去噪处理。首先通过自适应方法统计激光雷达点云数据的反射强度分布,计算点云的动态边界阈值。然后...
- 机器人领域应用型人才培养课程体系研究与实践被引量：6收藏
- 作者：马楠 张建成 鲍泓 孙慧荟 刘元盛 盛鸿宇
- 机构：北京联合大学机器人学院
- 来源：《机器人技术与应用》 2019
- 关键词：机器人 人才培养 应用型 课程体系 教学创新
- 摘要：秉承中国工程院院士李德毅提出的“科学任务带动人才培养,载体汇聚不同学科专业”教育理念,本文通过对机器人领域应用型人才培养模式的深入研究,提出由四个阶段构成的机器人领域创新应用型人才培养课程体系架构,并进行教学实践。实际教...
- Evaluating Data Resilience in CNNs from an Approximate Memory Perspective被引量：6收藏
- 作者：Chen, Yuanchang Zhu, Yizhe Qiao, Fei Han, Jie Liu, Yuansheng Yang, Huazhong
- 机构：Tsinghua Univ;Univ Alberta;Beijing Union Univ;Beijing Univ Posts & Telecommun
- 来源：PROCEEDINGS OF THE GREAT LAKES SYMPOSIUM ON VLSI 2017 (GLSVLSI' 17) 2017
- 关键词：Data Resilience Evaluation Convolutional Neural Network Approximate Memory
- High-Precision and Fast LiDAR Odometry and Mapping Algorithm被引量：6收藏
- 作者：Wang, Qingshan Zhang, Jun Liu, Yuansheng Zhang, Xinchen
- 机构：CATARC Tianjin Automot Engn Res Inst Co Ltd;Beijing Union Univ
- 来源：JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS 2022
- 关键词：LiDAR SLAM NDT PLICP localization mapping
- Autonomous Driving Decision Control Based on Improved Proximal Policy Optimization Algorithm被引量：5收藏
- 作者：Song, Qingpeng Liu, Yuansheng Lu, Ming Zhang, Jun Qi, Han Wang, Ziyu Liu, Zijian
- 机构：Beijing Union Univ;Beijing Union Univ;Beijing Union Univ;Beijing Union Univ;Beijing Union Univ
- 来源：APPLIED SCIENCES-BASEL 2023
- 关键词：deep learning reinforcement learning sparse reward environments autonomous driving decision and control
- Research on Behavioral Decision at an Unsignalized Roundabout for Automatic Driving Based on Proximal Policy Optimization Algorithm被引量：5收藏
- 作者：Gan, Jingpeng Zhang, Jiancheng Liu, Yuansheng
- 机构：Beijing Union Univ;Beijing Union Univ
- 来源：APPLIED SCIENCES-BASEL 2024
- 关键词：autonomous vehicle deep reinforcement learning optimized PPO algorithm unsignalized roundabout gap acceptance theory
- Improving GNSS Navigation and Control with Electronic Compass in Unmanned System被引量：4收藏
- 作者：Han, Xi Zhang, Xiaolin Liu, Yuansheng
- 机构：Beijing Univ Aeronaut & Astronaut;Beijing Union Univ;Beijing Union Univ
- 来源：JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS 2019
- 关键词：GNSS electronic compass BP-PID neural network unmanned system
- A factor graph optimization mapping based on normal distributions transform被引量：4收藏
- 作者：Zhong, Kedi Liu, Yuansheng Yang, Jiansuo Lu, Ming Zhang, Jun
- 机构：Beijing Union Univ;Beijing Union Univ;Beijing Union Univ
- 来源：TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES 2022
- 关键词：NDT factor graph optimization sliding window point cloud map
- 基于Dueling DDQN的无人车换道决策模型被引量：4收藏
- 作者：张鑫辰 张军 刘元盛 谢龙洋
- 机构：北京联合大学北京市信息服务工程重点实验室;北京联合大学机器人学院
- 来源：《东北师大学报：自然科学版》 2022
- 关键词：无人车 换道决策 双深度Q网络
- 摘要：针对高速公路场景中无人驾驶车的换道决策问题,提出一种基于竞争结构的双深度Q网络(DDQN)的无人车换道决策模型.在深度Q网络的基础上,将无人车动作的选择和评估分别用不同的神经网络来实现,并将Q网络分为仅与状态S相关的价值...
