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科研项目、成果、获奖、专利
主持科研项目： [1] 国家自然科学基金区域创新发展联合基金重点项目，可视度受限环境下跨光谱多传感信息融合的机器人语义感知与交互协作，2022.01-2025.12。 [2] 国家自然科学基金面上项目，以物体为中心的机器人单目视觉环境覆盖与建图，2025.01-2028.12。 [3] 国家自然科学基金面上项目，多重异构源的空地协作紧耦合环境感知与建图，2021.01-2024.12。 [4] 国家自然科学基金面上项目，以RGB-D图像序列为单位的移动机器人场景识别与环境建图，2016.01-2019.12。 [5] 国家自然科学基金面上项目，基于运动模式在线学习的移动机器人对运动目标的主动观测与最优跟踪，2012.01-2015.12。 [6] 国家自然科学基金青年基金项目，未知环境下基于多传感信息融合的多机器人协作主动探索与建图，2009.01-2011.12。 [7] 天津市杰出青年科学基金项目，2020.10-2024.09。 [8] 天津市自然科学基金面上项目，视觉-惯导融合的无人机运动目标识别与跟踪，2020.04-2023.03。 [9] 天津市自然科学基金面上项目，室内环境下基于Wi-Fi无线信号场的移动机器人定位与导航，2015.04-2018.03。 [10] 天津市自然科学基金面上项目，基于多传感信息融合的移动机器人运动目标识别与跟踪，2010.04-2013.03。 [11] 教育部高等学校博士学科点专项科研基金新教师基金项目，基于移动机器人主动探索的未知环境的地图创建，2009.01-2011.12。 [12] 中国民航信息技术科研基地开放基金项目，面向机场智能服务的移动机器人环境建图与导航，2015.09-2017.08。 [13] 智能辅助作业平台识别定位系统，校企合作项目。 [14] 双舵轮2D SLAM车型里程系统内参标定，校企合作项目。 [15] 储罐机器人自主导航算法研究，校企合作项目。
参与科研项目： [1] 国家高技术研究发展计划(863计划)重点项目，机器人模块化技术——家用服务机器人网络化及环境识别技术研究，2012.01-2014.12。 [2] 国家重点研发计划课题，术前手术规划与术中主动导航系统，2019.06-2022.05。 [3] 国家高技术研究发展计划(863计划)项目，未知环境下移动机器人主动探索与建图，2006.12-2008.12。 [4] 国家自然科学基金面上项目，基于主动学习的移动机器人室内场景理解与统一建图，2019.01-2022.12。 [5] 国家自然科学基金面上项目，野外环境中基于自适应学习的移动机器人地形分类与建图，2012.01-2015.12。 [6] 国家自然科学基金青年基金项目，未知环境下基于陆标动态配置的移动机器人主动同时定位与地图创建，2007.01-2009.12。 [7] 山东省自然科学基金重大基础研究项目，面向康养服务机器人的人-机-环境共融基础理论与关键技术，2019.12-2024.12，课题负责人。
专利： [1] 苑晶, 唐光盛, 张雪波, 王扬, 一种自适应的视觉惯导里程计输出方法, 发明专利, 2024。 [2] 苑晶, 俞诗卓, 公岩松, 张雪波, 激光点云2D-3D双模态交互增强不规则电线检测方法, 发明专利, 2024。 [3] 苑晶, 周光召, 孙沁璇, 基于线段阴影的深度相机视觉里程测量方法, 发明专利, 2023。 [4] 苑晶, 蔡晶鑫, 高远兮, 融合骨骼识别和IFace-TLD的移动机器人目标跟踪系统, 发明专利, 2023。
[5] 苑晶, 朱书豪, 胡天帅, 祝文斌, 高远兮, 基于三维人体关键点的人体姿态分层分类方法, 发明专利, 2023。 [6] 苑晶, 杨少坤, 董星亮, 孙沁璇, 基于ESN神经网络的移动机器人场景识别方法, 发明专利, 2022。 [7] 苑晶, 刘章臣, 刘艳霞, 一种具有全方位测距功能的移动平台及其测距方法, 发明专利, 2017。 [8] 苑晶, 黄枢子, 陈欢, 孙凤池, 黄亚楼, 郑杰, 一种面向运动目标追踪的视觉系统及其控制方法, 发明专利, 2014。 [9] 苑晶, 黄亚楼, 吴晓琳, 陶通, 孙凤池, 未知环境下通讯距离受限的多机器人协作探索与建图方法, 发明专利, 2013。
获奖与荣誉： [1] 获天津市杰出青年科学基金资助。 [2] 入选“南开大学百名青年学科带头人培养计划”。 [3] 入选斯坦福大学/Elsivier全球前2%顶尖科学家榜单。 [4] 国家电网科技进步一等奖, 2021。 [5] Best Paper in Automation Award, IEEE International Conference on Automation and Logistics, 2007. [6] Finalist for Best Paper Award, IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, 2018. [7] Finalist for Best Paper Award, IEEE International Conference on Real-time Computing and Robotics, 2018. [8] 最佳论文展示奖, 中国光谷人工智能大会, 2019. [9] 自动化学报优秀审稿专家, 2020.
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撰写论文、专著、教材等
期刊论文：
[1] Qingyun Zhang, Fei Chen, Jing Yuan, Zhongxin Liu, and Gang Feng, “Distributed optimal control of multi-agent systems under control variation cost,” IEEE Transactions on Control of Network Systems, 2024, DOI: 10.1109/TCNS.2024.3432948. [2] Yong Du, Fei Chen, Jing Yuan, Zhongxin Liu, and Fan Yang, “Resilient distributed source localization for multi-vehicle systems under sybil attacks,” IEEE Transactions on Intelligent Vehicles, 2024, DOI: 10.1109/TIV.2024.3397872. [3] Songyang Wu, Xuebo Zhang, Shiyong Zhang, Zhixing Song, Runhua Wang, and Jing Yuan, “MPOC-SLAM: an RGB-D SLAM system with motion probability and object category in high dynamic environments,” IEEE/ASME Transactions on Mechatronics, 2024, DOI: 10.1109/TMECH.2024.3410508. [4] Jian Wen, Xuebo Zhang, Qingchen Bi, Hui Liu, Jing Yuan, and Yongchun Fang, “G2VD planner: efficient motion planning with grid-based generalized Voronoi diagrams,” IEEE Transactions on Automation Science and Engineering, 2024, DOI: 10.1109/TASE.2024.3398996.
[5] Ziqi Hu, Jing Yuan*, YuanXi Gao, Boran Wang, and Xuebo Zhang, “NALO-VOM: navigation-oriented LiDAR-guided monocular visual odometry and mapping for unmanned ground vehicles,” IEEE Transactions on Intelligent Vehicles, 2024, 9(1): 2612-2623. [6] Qingchen Bi, Xuebo Zhang, Jian Wen, Zhangchao Pan, Shiyong Zhang, Runhua Wang, and Jing Yuan, “CURE: a hierarchical framework for multi-robot autonomous exploration inspired by centroids of unknown regions,” IEEE Transactions on Automation Science and Engineering, 2024, 21(3): 3773-3786. [7] Yansong Gong, Jing Yuan*, Fengchi Sun, Qinxuan Sun, Wenbin Zhu, and Xuebo Zhang, “Adaptive soft-encoding: a general unsupervised feature aggregation method for place recognition,” IEEE Transactions on Instrumentation and Measurement, 2023, 72: 8505815. [8] Zhixing Song, Xuebo Zhang, Tianyi Li, Shiyong Zhang, Youwei Wang, and Jing Yuan, “IR-VIO: illumination-robust visual-inertial odometry based on adaptive weighting algorithm with two-layer confidence maximization,” IEEE/ASME Transactions on Mechatronics, 2023, 28(4): 1920-1929. [9] Haiming Gao, Xuebo Zhang, Jing Yuan, and Yongchun Fang, “NEGL: lightweight and efficient neighborhood encoding-based global localization for unmanned ground vehicles,” IEEE Transactions on Vehicular Technology, 2023, 72(6): 7111-7122. [10] Yuanxi Gao, Jing Yuan*, Jingqi Jiang, Qinxuan Sun, and Xuebo Zhang, “VIDO: a robust and consistent monocular visual-inertial-depth odometry,” IEEE Transactions on Intelligent Transportation Systems, 2023, 24(3): 2976-2992. [11] Shiyong Zhang, Xuebo Zhang, Tianyi Li, Jing Yuan, and Yongchun Fang, “Fast active aerial exploration for traversable path finding of ground robots in unknown environments,” IEEE Transactions on Instrumentation and Measurement, 2022, 71: 7502213. [12] Jing Yuan, Shuhao Zhu, Kaitao Tang, and Qinxuan Sun, “ORB-TEDM: an RGB-D SLAM approach fusing ORB triangulation estimates and depth measurements,” IEEE Transactions on Instrumentation and Measurement, 2022, 71: 5006315. [13] Jian Wen, Xuebo Zhang, Haiming Gao, Jing Yuan, and Yongchun Fang, “E³MoP: efficient motion planning based on heuristic-guided motion primitives pruning and path optimization with sparse-banded structure,” IEEE Transactions on Automation Science and Engineering, 2022, 19(4): 2762-2775. [14] Qinxuan Sun, Jing Yuan*, and Xuebo Zhang, “IT-HYFAO-VO: interpretation tree-based VO with hybrid feature association and optimization,” IEEE Transactions on Instrumentation and Measurement, 2021, 70: 5015218. [15] Jingqi Jiang, Jing Yuan*, Xuetao Zhang, and Xuebo Zhang, “DVIO: An optimization-based tightly coupled direct visual-inertial odometry,” IEEE Transactions on Industrial Electronics, 2021, 68(11): 11212-11222. [16] Jing Yuan, Wenbin Zhu, Xingliang Dong, Fengchi Sun, Xuebo Zhang, Qinxuan Sun, and Yalou Huang, “A novel approach to image-sequence-based mobile robot place recognition,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021, 51(9): 5377-5391. [17] Qinxuan Sun, Jing Yuan*, Xuebo Zhang, and Feng Duan, “Plane-Edge-SLAM: seamless fusion of planes and edges for SLAM in indoor environments,” IEEE Transactions on Automation Science and Engineering, 2021, 18(4): 2061-2075.
[18] Jing Yuan, Jingxin Cai, Xuebo Zhang, Qinxuan Sun, Fengchi Sun, and Wenbin Zhu, “Fusing skeleton recognition with face-TLD for human following of mobile service robots,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021, 51(5): 2963-2979. [19] Jing Yuan, Shengming Zhang, Qinxuan Sun, Gangdun Liu, and Jingxin Cai, “Laser-based intersection-aware human following with a mobile robot in indoor environments,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021, 51(1): 354-369. [20] Jian Wen, Xuebo Zhang*, Haiming Gao, Jing Yuan, and Yongchun Fang, “CAE-RLSM: consistent and efficient redundant line segment merging for online feature map building,” IEEE Transactions on Instrumentation and Measurement, 2020, 69(7): 4222-4237. [21] Qinglin Dong, Fangfei Ge, Ning Qiang, Yu Zhao, Jinglei Lv, Heng Huang, Jing Yuan, Xi Jiang, Dinggang Shen*, and Tianming Liu*, “Modeling hierarchical brain networks via volumetric sparse deep belief network (VS-DBN),” IEEE Transactions on Biomedical Engineering, 2020, 67(6): 1739-1748.
[22] Haiming Gao, Xuebo Zhang*, Jian Wen, Jing Yuan, and Yongchun Fang, “Autonomous indoor exploration via polygon map construction and graph-based SLAM using directional endpoint features,” IEEE Transactions on Automation Science and Engineering, 2019, 16(4): 1531-1542. [23] Haiming Gao, Xuebo Zhang*, Jing Yuan, Jianchao Song, and Yongchun Fang, “A novel global localization approach based on structural unit encoding and multiple hypothesis tracking,” IEEE Transactions on Instrumentation and Measurement, 2019, 68(11): 4427-4442. [24] Xuebo Zhang, Jiarui Wang, Yongchun Fang*, and Jing Yuan, “Multilevel humanlike motion planning for mobile robots in complex indoor environments,” IEEE Transactions on Automation Science and Engineering, 2019, 16(3): 1244-1258. [25] Jing Yuan, Shaokun Yang, and Jingxin Cai, “Consistent path planning for on-axle-hitching multi-steering trailer systems,” IEEE Transactions on Industrial Electronics, 2018, 65(12): 9625-9634. [26] Qinxuan Sun, Jing Yuan*, Xuebo Zhang, and Fengchi Sun, “RGB-D SLAM in indoor environments with STING-based plane feature extraction,” IEEE/ASME Transactions on Mechatronics, 2018, 23(3): 1071-1082. [27] Jing Yuan, “Hierarchical motion planning for multisteering tractor-trailer mobile robots with on-axle hitching,” IEEE/ASME Transactions on Mechatronics, 2017, 22(4): 1652-1662. [28] Jing Yuan, Fengchi Sun, and Yalou Huang, “Trajectory generation and tracking control for double-steering tractor-trailer mobile robots with on-axle hitching,” IEEE Transactions on Industrial Electronics, 2015, 62 (12): 7665-7677. [29] Jing Yuan, Huan Chen, Fengchi Sun, and Yalou Huang, “Multisensor information fusion for people tracking with a mobile robot: a particle filtering approach,” IEEE Transactions on Instrumentation and Measurement, 2015, 64(9): 2427-2744. [30] Haozhi Yang, Jing Yuan*, Yuanxi Gao, Xingyu Sun, and Xuebo Zhang, “UPLP-SLAM: Unified point-line-plane feature fusion for RGB-D visual SLAM,” Information Fusion, 2023, 96: 51-65. [31] Jing Yuan, Jinhe Zhang, Song Ding, and Xingliang Dong, “Cooperative localization for disconnected sensor networks and a mobile robot in friendly environments,” Information Fusion, 2017, 37: 22-36. [32] Jing Yuan, Xiang Li, Jinhe Zhang, Liao Luo, Qinglin Dong, Jinglei Lv, Yu Zhao, Xi Jiang, Shu Zhang, Wei Zhang, and Tianming Liu, “Spatio-temporal modeling of connectome-scale brain network interactions via time-evolving graphs,” NeuroImage, 2018, 180: 350-369.
[33] Jing Yuan, Senquan Ji, Liao Luo, Jinglei Lv, and Tianming Liu, “Control energy assessment of spatial interactions among macro-scale brain networks,” Human Brain Mapping, 2022, 43(7): 2181-2203. [34] Jing Yuan, Huan Chen, Fengchi Sun, and Yalou Huang, “Trajectory planning and tracking control for autonomous bicycle robot,” Nonlinear Dynamics, 2014, 78: 421-431. [35] Jing Yuan, Yalou Huang, Fengchi Sun, and Tong Tao, “Active exploration using a scheme for autonomous allocation of landmarks,” Robotica, 2014, 32(5): 757-782. [36] Jing Yuan, Fengchi Sun, and Yalou Huang, “Optimal design of trajectory parameters and position tracking with balance for riderless bicycle,” Optimal Control Applications and Methods, 2016, 37(1): 72-89. [37] Jing Yuan, and Yalou Huang, “Active and stable SLAM based on multi-objective optimization,” International Journal of Robotics and Automation, 2011, 26(3): 313-322. [38] 孙沁璇, 苑晶*, 张雪波, 高远兮, “PLVO:基于平面和直线融合的RGB-D视觉里程计,” 自动化学报, 2021, DOI: 10.16383/j.aas.c200878. [39] 苑晶, 黄亚楼, 孙凤池, “多转向驱动拖挂式移动机器人镇定控制,” 自动化学报, 2011, 37(4): 471-479. [40] 苑晶, 刘钢墩, 孙沁璇, “激光与单目视觉融合的移动机器人运动目标跟踪,” 控制理论与应用, 2016, 33(2): 196-204. [41] 苑晶, 黄亚楼, 孙凤池, “基于陆标动态配置的移动机器人主动探索,” 控制理论与应用, 2009, 26(4): 433-438. [42] 苑晶, 黄亚楼, 孙凤池, “两种连接形式的拖挂式移动机器人路径跟踪控制,” 控制理论与应用, 2008, 25(3): 398-406. [43] 苑晶, 黄亚楼, 孙凤池, “带拖车移动机器人全局路径跟踪控制,” 控制与决策, 2007, 22 (10): 1119-1124. [44] 祝文斌, 苑晶*, 朱书豪, 高远兮, 张雪波, “低光照场景下基于序列增强的移动机器人人体检测与姿态识别,” 机器人, 2022, 44(3): 299-309. [45] 周光召, 苑晶*, 高海明, 孙沁璇, 张雪波, 俞诗卓, “结构化环境下基于结构单元软编码的三维激光描述子,” 机器人, 2020, 42(6): 641-650. [46] 董星亮, 苑晶*, 张雪波, 黄亚楼, “室内环境下基于图像序列拓扑关系的移动机器人全局定位,” 机器人, 2019, 41(1): 83-94. [47] 董星亮, 苑晶*, 黄枢子, 杨少坤, 张雪波, 孙凤池, 黄亚楼, “室内环境下基于平面与线段特征的RGB-D视觉里程计,” 机器人, 2018, 40(6): 921-932. [48] 苑晶, 黄亚楼, 陶通, 习白羽, “基于局部子地图方法的多机器人主动同时定位与地图创建,” 机器人, 2009, 31(2): 97-103. [49] 苑晶, 黄亚楼, 康叶伟, 刘作军, 孙凤池, “带拖车轮式移动机器人包络路径的分析与量化,” 机器人, 2003, 25 (3): 222-226. [50] 苑晶, 李阳, 董星亮, 黄亚楼, “基于运动模式在线分类的移动机器人目标跟踪,” 仪器仪表学报, 2017, 38(3): 568-577. [51] 苑晶, 黄亚楼, 孙凤池, “面向移动机器人自定位的无线网络构造算法及实现,” 仪器仪表学报, 2011, 32(1): 99-106.
主要会议论文： [1] Jing Yuan, Yalou Huang, Fengchi Sun, and Tong Tao, “Active exploration using scheme of autonomous distribution for landmarks,” IEEE International Conference on Robotics and Automation, Kobe, Japan, pp. 4169-4174, 2009. [2] Jing Yuan, Yalou Huang, Tong Tao, and Fengchi Sun, “A cooperative approach for multi-robot area exploration,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, pp. 1390-1395, 2010. [3] Jing Yuan, Yalou Huang, Fengchi Sun, and Yewei Kang, “Optimization design for connection relation of tractor-trailer mobile robot with variable structure,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 4971-4976, 2006. [4] Jing Yuan, and Yalou Huang, “Path following control for tractor-trailer mobile robot with two kinds of connection structures,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 2533-2538, 2006.
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