教授、博士、硕士生导师

研究领域：计算机视觉与图像处理；三维重建与元宇宙；智能机器人

办公室＆实验室：

电子邮件：ylhap@163.com

联系电话：18099193518

教育背景

1. 2006/9–2011/8， 美国俄亥俄州立大学，电子与计算机工程，博士

2. 2004/9–2006/6， 上海交通大学，控制科学与工程，博士学习

3. 1998/9–2001/6， 华中科技大学，机械工程，硕士

4. 1991/9–1995/7，伟德BETVlCTOR1946，机械工程，本科

工作简历

1. 1995/7–2020/1， 伟德BETVlCTOR1946机械学院，教授

2. 2020/2–至今， 北京化工大学信息学院，教授

学术成果

1. 主持项目

2. 基于人机物共享空间的医疗服务移动机器人定位和导航关键技术研究，国家自然科学基金重点项目， 2019-2022

3. 基于图像与点云融合的园区自动驾驶环境感知与定位导航研究，国家自然基金面上项目，2023-2026

4. 基于全方位视觉跟踪的机器人轮椅的研究，国家自然科学基金地区项目，2013-2016

5. 基于荧光显微图像的神经微丝自动跟踪的研究，国家自然科学基金地区项目，2015-2018

6. 基于视觉跟踪的小型四旋翼无人机的研究，国家自然科学基金地区项目，2017-2020

u 期刊论文

1. Liang Yuan, Yuan F. Zheng^*, Junda Zhu, Lina Wang, and Anthony Brown, “Object Tracking with Particle Filtering in Fluorescence Microscopy Images: Application to the Motion of Neurofilaments in Axons,” IEEE Transactions on Medical Imaging, 31(1), 2012.  Top

2. X. Ni, L. Yuan, and K. Lv, “Efficient Single-Object Tracker Based on Local-Global Feature Fusion,” IEEE Transactions on Circuits and Systems for Video Technology, pp. 1–1, 2023.

3. T. Ran, L. Yuan, J. Zhang, L. He, R. Huang and J. Mei, “Not Only Look But Infer: Multiple Hypothesis Clustering of Data Association Inference for Semantic SLAM,” in IEEE Transactions on Instrumentation and Measurement, vol. 70, pp. 1-9, 2021, Art no. 3515409.

4. T. Ran, L. Yuan, J. Zhang, D. Tang and L. He, “RS-SLAM: A Robust Semantic SLAM in Dynamic Environments Based on RGB-D Sensor,” in IEEE Sensors Journal, vol. 21, no. 18, pp. 20657-20664, 15 Sept.15, 2021.

5. K. Lv, L. Yuan, L. He, R. Huang, and J. Mei, “Adaptive Learning Rate and Spatial Regularization Background Perception Filter for Visual Tracking,” in Artificial Intelligence, L. Fang, Y. Chen, G. Zhai, J. Wang, R. Wang, and W. Dong, Eds., in Lecture Notes in Computer Science, vol. 13069. Cham: Springer International Publishing, 2021, pp. 674–685.

6. J. Zhang, L. Yuan, T. Ran, Q. Tao and L. He, “Bayesian Nonparametric Object Association for Semantic SLAM,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5493-5500, July 2021.

7. T. Ran, L. Yuan and J. b. Zhang, “Scene perception based visual navigation of mobile robot in indoor environment, ”ISA Transactions, vol 109, pp 389-400, March, 2021.

8. W. Xiao, L. Yuan, L. He, T. Ran, J. Zhang and J. Cui, “Multigoal Visual Navigation With Collision Avoidance via Deep Reinforcement Learning,” in IEEE Transactions on Instrumentation and Measurement, vol. 71, pp. 1-9, 2022, Art no. 2505809.

9. P. Li, L. Yuan, T. Ran and J. Zhang, “Geometry-appearance Ensemble Object Association for Semantic SLAM,” 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), Jinghong, China, 2022, pp. 1934-1940.

10. K. Lv, L. Yuan, L. He, R. Huang, and J. Mei, “Environmental Perception with Spatial Regularization Correlation Filter for Visual Tracking,” Displays, vol. 70, p. 102098, Dec. 2021.

11. W. He and L. Yuan, “Global finite-time control for image-based visual servoing of quadrotor using backstepping method,” Journal of Vibration and Control, p. 10775463221108542, Jun. 2022.

12. J. Tian, L. Yuan, W. Xiao, T. Ran, J. Zhang, and L. He, “Constrained control methods for lower extremity rehabilitation exoskeleton robot considering unknown perturbations,” Nonlinear Dynamics, vol. 108, no. 2, pp. 1395–1408, Apr. 2022.

13. J. Tian, L. Yuan, W. Xiao, T. Ran, J. Zhang, and L. He, “Optimal robust control with cooperative game theory for lower limb exoskeleton robot,” Nonlinear Dynamics, vol. 108, no. 2, pp. 1283–1303, Apr. 2022.

14. J. Tian, L. Yuan, W. Xiao, T. Ran, and L. He, “Trajectory following control of lower limb exoskeleton robot based on Udwadia–Kalaba theory,” Journal of Vibration and Control, vol. 28, no. 21–22, pp. 3383–3396, Nov. 2022.

15. K. Lv and L. Yuan, “SKGACN: Social Knowledge-Guided Graph Attention Convolutional Network for Human Trajectory Prediction,” in IEEE Transactions on Instrumentation and Measurement, vol. 72, pp. 1-11, 2023, Art no. 2517111.

16. J. Zhang, L. Yuan, T. Ran, Q. Tao and Z. Wu, “Outlier Elimination for Monocular Object SLAM Based on Spatiotemporal Consistency Constraints,” in IEEE Sensors Journal, vol. 23, no. 8, pp. 8887-8898, 15 April15, 2023.

17. W. Xiao, G. Wang, J. Tian, and L. Yuan, “A novel adaptive robust control for trajectory tracking of mobile robot with uncertainties,” Journal of Vibration and Control, p. 10775463231161848, Mar. 2023.

18. W. Xiao, L. Yuan, T. Ran, L. He, J. Zhang, and J. Cui, “Multimodal fusion for autonomous navigation via deep reinforcement learning with sparse rewards and hindsight experience replay,” Displays, vol. 78, p. 102440, Jul. 2023.

19. G. Zheng and L. Yuan, “A review of QoE research progress in metaverse,” Displays, vol. 77, p. 102389, Apr. 2023.

20. W. He and L. Yuan, “Image-based finite-time visual servoing of a quadrotor for tracking a moving target,” Nonlinear Dynamics, vol. 111, no. 6, pp. 5307–5328, Mar. 2023.

21. J. Cui, L. Yuan, L. He, W. Xiao, T. Ran and J. Zhang, “Multi-Input Autonomous Driving Based on Deep Reinforcement Learning With Double Bias Experience Replay,”in IEEE Sensors Journal, vol. 23, no. 11, pp. 11253-11261, 1 June1, 2023.

22. T. Ran, L. Yuan, J. Zhang, Z. Wu and L. He, “Object-Oriented Semantic SLAM Based on Geometric Constraints of Points and Lines,” in IEEE Transactions on Cognitive and Developmental Systems, vol. 15, no. 2, pp. 751-760, June 2023.