机器人视觉系统、高性能低功耗嵌入式视觉系统、基于FPGA硬件的机器人视觉导航与定位

招收智能机器人、视觉导航与定位方向硕士

081101-控制理论与控制工程

机器人视觉系统
嵌入式系统

2003-09--2008-07   中国科学院自动化研究所   硕博连读
1999-09--2003-07   北京航空航天大学   学士

   

2008-07~2016-07,中国科学院自动化研究所, 副研究员

智能传感与信息处理

   

[1] 何文浩, 张永昌, 郭跃, 宋海涛, 叶昌键, 崔凌志. 基于图像和点云融合的目标检测定位方法与系统. CN: CN114638891A, 2022-06-17.
[2] 何文浩, 张永昌, 郭跃, 宋海涛, 叶昌键, 崔凌志. 目标车辆3D实时追踪方法及系统. CN: CN114140497A, 2022-03-04.
[3] 何文浩, 郭跃, 宋海涛, 李云松, 叶昌键. 图案喷涂检测系统. CN: CN113828439A, 2021-12-24.
[4] 何文浩, 宋海涛, 宋金连. 醅料出缸设备. CN: CN113667555A, 2021-11-19.
[5] 何文浩, 宋海涛, 宋金连. 醅料出窖设备. CN: CN113581869A, 2021-11-02.
[6] 何文浩, 王晓楠, 宋海涛. 一机多甑上甑系统. CN: CN111747137B, 2021-09-07.
[7] 郭跃, 张希诺, 海涌, 何文浩, 宋海涛, 关立, 刘玉增, 李越, 杨宏浩. 一种脊柱Cobb角测量方法和系统. CN: CN113223072A, 2021-08-06.
[8] 何文浩, 郭跃, 宋海涛, 周小伟. 基于线结构光的厚度测量方法和系统. CN: CN113048899A, 2021-06-29.
[9] 何文浩, 王晓楠, 宋海涛, 邓天祺. 仿人智能上甑方法、系统、装置. CN: CN112573223A, 2021-03-30.
[10] 何文浩, 宋金连, 宋海涛, 边桂彬. 基于医疗显微影像的快门式自适应3D显示系统. CN: CN112068300B, 2021-03-16.
[11] 李安军, 何宏魁, 房立新, 刘洪涛, 何文浩, 丁锋, 左飞, 贾超. 自动化曲块翻转装置. CN: CN108438738A, 2018-08-24.
[12] 何文浩, 房立新, 樊是星, 宋海涛, 曹学为. 一种自动上甑装置. CN: CN106272381A, 2017-01-04.
[13] 何文浩, 房立新, 原魁, 宋海涛, 曹学为. 白酒全自动上甑机器人系统. CN: CN105690369A, 2016-06-22.
[14] 何文浩, 原魁, 宋海涛, 房立新, 曹学为. 回转式自动灯检机. CN: CN105445281A, 2016-03-30.
[15] 肖晗, 何文浩, 宋海涛, 原魁. 基于数字电路和稀疏点配准的零延迟电子稳像方法. CN: CN105282399A, 2016-01-27.
[16] 何文浩, 原魁, 房立新, 柴晓杰, 宋海涛. 一种基于视觉的白酒瓶内异物自动检测装置和方法. CN: CN104597058A, 2015-05-06.
[17] 何文浩. 面向移动互联终端的皮肤或毛发的检测与保养系统. CN: CN104586362A, 2015-05-06.
[18] 何文浩, 原魁, 邹伟, 李园. 一种基于FPGA和DSP的机器视觉系统. CN: CN102044063A, 2011-05-04.
[19] 何文浩, 原魁, 邹伟, 徐正东, 李园. 一种嵌入式喷枪位姿实时测量装置及方法. CN: CN101961698A, 2011-02-02.
[20] 邹伟, 原魁, 鲁涛, 何文浩, 叶爱学, 任亚楠. 一种面向智能型室内助动系统的交互控制装置及方法. CN: CN101950170A, 2011-01-19.

   

[1] Lingzhi Cui, Wenhao He. Optimizing Reward Function Weights and Enhancing Control Mechanisms for Bipedal Robots Using LSTM and Attention Mechanisms. ICIVIS 2023: International Conference on Image, Vision and Intelligent Systemsnull. 2023, [2] Yongchang Zhang, Wenhao He. MLCFNet: Multi-Level Context Fusion Network for 3D Object Tracking. International Conference on Pattern Recognitionnull. 2022, [3] Yongchang Zhang, Wenhao He. 3D Single-Object Tracking with Spatial-Temporal Data Association. International Conference on Intelligent Robots and Systemsnull. 2022, [4] Yue Guo, Wenhao He. Conditional Relativistic GAN for Fast Part Segmentation of Surgical Instruments. International Conference on Computer Vision, Image and Deep Learningnull. 2022, [5] Yue Guo, Wenhao He. Cobb Angle Rectification with Dual-Activated Linformer. International Conference on Mechatronics and Automationnull. 2022, [6] Yongchang Zhang, Wenhao He. Directed Data Association for Single Object Tracking in Point Clouds. International Conference on Automation Science and Engineering[J]. 2022, [7] Yongchang Zhang, 何文浩. 3D Pot-Shaped Object Localization Based on RGB-Image and Point Clouds. International Conference on Image, Vision and Intelligent Systemsnull. 2022, [8] He, Wenhao, Song, Haitao, Guo, Yue, Bian, Guibin, Sun, Yuejie, Zhou, Xiaowei, Wang, Xiaonan. Multiscale matters for part segmentation of instruments in robotic surgery. IET IMAGE PROCESSING[J]. 2020, 14(13): 3215-3222, http://dx.doi.org/10.1049/iet-ipr.2020.0320.
[9] He, Wenhao, Song, Haitao, Guo, Yue, Wang, Xiaonan, Bian, Guibin, Yuan, Kui. A Trajectory-based Attention Model for Sequential Impurity Detection. NEUROCOMPUTING[J]. 2020, 410: 271-283, http://dx.doi.org/10.1016/j.neucom.2020.06.008.
[10] He, Wenhao, Song, Haitao, Guo, Yue, Yin, Xiaoyi, Wang, Xiaonan, Bian, Guibin, Qian, Wen. A Gallery-Guided Graph Architecture for Sequential Impurity Detection. IEEE ACCESS[J]. 2019, 7: 149105-149116, https://doaj.org/article/8fd2f5a9961242fdb66f7f874cb3ff2a.
[11] 宋海涛, 何文浩, 原魁. 一种基于SIFT特征的机器人环境感知双目立体视觉系统. 控制与决策[J]. 2019, 34(7): 1545-1552, http://lib.cqvip.com/Qikan/Article/Detail?id=7002570126.
[12] 闫兴, 曹禹, 王晓楠, 朱立夫, 王君, 何文浩. 眼科手术机器人双目视觉标定方法研究. 工具技术[J]. 2019, 53(12): 97-101, http://lib.cqvip.com/Qikan/Article/Detail?id=7100440636.
[13] He, Yijia, Zhao, Ji, Guo, Yue, He, Wenhao, Yuan, Kui. PL-VIO: Tightly-Coupled Monocular Visual-Inertial Odometry Using Point and Line Features. SENSORS[J]. 2018, 18(4): https://doaj.org/article/07981d1724df42829ed42741652b14d8.
[14] Guo, Yue, He, Yijia, Song, Haitao, He, Wenhao, Yuan, Kui. Correlational examples for convolutional neural networks to detect small impurities. NEUROCOMPUTING[J]. 2018, 295(21): 127-141, http://dx.doi.org/10.1016/j.neucom.2018.03.017.
[15] Xiao Han, Gu Jiaojiao, Wang Xiaonan, Yuan Kui, Wang Shijun, He Wenhao. FPGA Based Real-time Vehicle Detection System under Complex Background. 2016IEEEINTERNATIONALCONFERENCEONMECHATRONICSANDAUTOMATIONnull. 2016, http://ir.ia.ac.cn/handle/173211/12123.
[16] Xiao Han, He Wenhao, Yuan Kui, Wang Zhao, Gu Jiaojiao, Song Haitao. A real-time small immobile object recognition system using wavelet moment invariants. 2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONnull. 2015, http://ir.ia.ac.cn/handle/173211/12129.
[17] Hao Guo, Han Xiao, Shijun Wang, Wenhao He, Kui Yuan. Real-time Detection and Classification of Machine Parts with Embedded System for Industrial Robot Grasping. PROCEEDINGS OF 2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONnull. 2015, 1691-1696, http://ir.ia.ac.cn/handle/173211/10350.
[18] Han Xiao, Haitao Song, Wenhao He, Kui Yuan. Real-time Shape and Pedestrian Detection with FPGA. MECHATRONICS AND AUTOMATION (ICMA), 2015 IEEE INTERNATIONAL CONFERENCE ONnull. 2015, 2381-2386, http://ir.ia.ac.cn/handle/173211/10349.
[19] Guo, Hao, Xiao, Han, Wang, Shijun, He, Wenhao, Yuan, Kui, IEEE. Real-time Detection and Classification of Machine Parts with Embedded System for Industrial Robot Grasping. 2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONnull. 2015, 1691-1696, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000380447600295.
[20] Zhao Wang, Haitao Song, Han Xiao, Wenhao He, Jiaojiao Gu, Kui Yuan. A Real-time Small Moving Object Detection System Based on Infrared Images. PROCEEDINGS OF 2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONnull. 2014, 1149-1154, http://ir.ia.ac.cn/handle/173211/10352.
[21] Kui Yuan, Wenhao He, Han Xiao, Haitao Song, Xuewei Cao, 王照, Zhao Wang. Embedded 3D Vision Measurement System Based on the Line Structured Light. THE 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATIONnull. 2014, http://ir.ia.ac.cn/handle/173211/11461.
[22] Wang, Zhao, Xiao, Han, He, Wenhao, Wen, Feng, Yuan, Kui. Real-time SIFT-based Object Recognition System. IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION ( ICMA)null. 2013, 1361-1366, http://www.irgrid.ac.cn/handle/1471x/973544.
[23] Wang, Zhao, Xiao, Han, He, Wenhao, Wen, Feng, Yuan, Kui, IEEE. Real-time SIFT-based Object Recognition System. 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)null. 2013, 1361-1366, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000335375900228.
[24] Song, Haitao, Xiao, Han, He, Wenhao, Wen, Feng, Yuan, Kui. A Vision Measurement Algorithm Based on Divergent Facula Structured Light. IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION ( ICMA)null. 2013, 1350-1355, http://www.irgrid.ac.cn/handle/1471x/973543.
[25] He Wenhao, Wang Zhao, Wen Feng, Yuan Kui, Xiao Han. Real-time SIFT-based Object Recognition System. 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONnull. 2013, http://ir.ia.ac.cn/handle/173211/12135.
[26] Xiao, Han, He, Wenhao, Yuan, Kui, Wen, Feng, IEEE. Real-time Scene Recognition on Embedded System with SIFT Keypoints and a New Descriptor. 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)null. 2013, 1317-1324, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000335375900221.
[27] 何文浩, 肖晗, 原魁. 基于FPGA的嵌入式图像处理系统设计（译著）. 2013, http://ir.ia.ac.cn/handle/173211/12128.
[28] Yuan Kui, Xiao Han, He Wenhao, Wen Feng. Real-time Scene Recognition on Embedded System with SIFT Keypoints and a New Descriptor. 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONnull. 2013, http://ir.ia.ac.cn/handle/173211/12134.
[29] Song, Haitao, Xiao, Han, He, Wenhao, Wen, Feng, Yuan, Kui, IEEE. A Fast Stereovision Measurement Algorithm Based on SIFT Keypoints for Mobile Robot. 2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)null. 2013, 1743-1748, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000335375900296.
[30] Xiao, Han, He, Wenhao, Yuan, Kui, Wen, Feng. Real-time Scene Recognition on Embedded System with SIFT Keypoints and a New Descriptor. IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION ( ICMA)null. 2013, 1317-1324, http://www.irgrid.ac.cn/handle/1471x/973542.
[31] Song, Haitao, Xiao, Han, He, Wenhao, Wen, Feng, Yuan, Kui. A Fast Stereovision Measurement Algorithm Based on SIFT Keypoints for Mobile Robot. IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION ( ICMA)null. 2013, 1743-1748, http://www.irgrid.ac.cn/handle/1471x/973546.
[32] Fang Lixin, Yuan Kui, Lu Tao, He Wenhao. Dynamic and tip-over stability analysis of a planetary wheeled stair-climbing wheelchair. IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION ( ICMA)null. 2012, 2541-2546, http://ir.ia.ac.cn/handle/173211/5261.
[33] 肖晗, 何文浩, 原魁, 柴晓杰. 基于FPGA的SIFT特征点检测. 高技术通讯[J]. 2012, 22(4): 429-435, http://lib.cqvip.com/Qikan/Article/Detail?id=41757153.
[34] Yuan Kui, Ye Aixue, Xu Zhengdong, He Wenhao. A U-shape bed localization method on embedded vision system. IEEE WORLD CONGRESSON INTELLIGENT CONTROL AND AUTOMATION （WCICA）null. 2011, 202-207, http://ir.ia.ac.cn/handle/173211/5228.
[35] Yuan Kui, Xu Zhengdong, He Wenhao. An implementation method of Canny edge detection algorithm on FPGA. INTERNATIONAL CONFERENCE ON ELECTRIC INFORMATION AND CONTROL ENGINEERING (ICEICE)null. 2011, 3958-3962, http://ir.ia.ac.cn/handle/173211/5231.
[36] Yuan Kui, Zou Wei, He Wenhao. A robot automatic inspection system for RFID intelligent warehouse. IEEE WORLD CONGRESSON INTELLIGENT CONTROL AND AUTOMATION （WCICA）null. 2011, 124-129, http://ir.ia.ac.cn/handle/173211/5227.
[37] He Wenhao, Yuan Kui. An improved hough transform and its realization on FPGA. IEEE WORLD CONGRESSON INTELLIGENT CONTROL AND AUTOMATION （WCICA）null. 2011, 13-17, http://ir.ia.ac.cn/handle/173211/5250.
[38] He, Wenhao, Yuan, Kui, Xiao, Han, Xu, Zhengdong. A high speed robot vision system with GigE vision extension. IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION ( ICMA)null. 2011, 452-457, http://www.irgrid.ac.cn/handle/1471x/973515.
[39] Yuan Kui, He Wenhao, Xu Zhengdong. A real-time position and posture measurement device for painting robot. INTERNATIONAL CONFERENCE ON ELECTRIC INFORMATION AND CONTROL ENGINEERING (ICEICE)null. 2011, 1942-1946, http://ir.ia.ac.cn/handle/173211/5226.
[40] 原魁, 肖晗, 何文浩, 肖晗. An Improvement on the Keypoint Detection Method of SIFT for Hardware Computation. THE 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATIONnull. 2011, http://ir.ia.ac.cn/handle/173211/12130.
[41] Yuan Kui, Xu Zhengdong, Xiao Han, He Wenhao. A high speed robot vision system with GigE vision extension. 2011 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONnull. 2011, http://ir.ia.ac.cn/handle/173211/12127.
[42] Xiao, Han, Yuan, Kui, He, Wenhao. An improvement on the keypoint detection method of SIFT for hardware computation. IEEE WORLD CONGRESSON INTELLIGENT CONTROL AND AUTOMATION （WCICA）null. 2011, 63-68, http://www.irgrid.ac.cn/handle/1471x/973523.
[43] Xu Zhengdong, Ye Aixue, Ren Yanan, He Wenhao, Yuan Kui, IEEE. A U-shape bed localization method on embedded vision system. 2011 9TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2011)null. 2011, 202-207, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000395331000040.
[44] Xiao, Han, Yuan, Kui, He, Wenhao, IEEE. An Improvement on the Keypoint Detection Method of SIFT for Hardware Computation. 2011 9TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2011)null. 2011, 63-68, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000395331000014.
[45] Xiao Han, He Wenhao, Zou Wei, Xiao Han, Yuan Kui. Line Object Extraction and Image Matching Based on an Intelligent Image Card. THE 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATIONnull. 2010, http://ir.ia.ac.cn/handle/173211/12125.
[46] 原魁, 肖晗, 何文浩. 采用FPGA的机器视觉系统发展现状与趋势. 计算机工程与应用[J]. 2010, 46(36): 1-6, http://lib.cqvip.com/Qikan/Article/Detail?id=36222541.
[47] 何文浩, 原魁, 邹伟. 自适应阈值的边缘检测算法及其硬件实现. 系统工程与电子技术[J]. 2009, 233-237, http://lib.cqvip.com/Qikan/Article/Detail?id=29378189.
[48] 何文浩, 原魁, 邹伟. 一种嵌入式移动机器人控制系统. 高技术通讯[J]. 2007, 17(6): 595-599, http://lib.cqvip.com/Qikan/Article/Detail?id=24783108.

（1） 基于FPGA的嵌入式图像处理系统设计, 电子工业出版社, 2013-02, 第 2 作者

   

（ 1 ） 机器人仿生眼图像处理平台, 主持, 国家级, 2016-03--2019-01
（ 2 ） 两乘员智能总体技术, 主持, 国家级, 2011-03--2016-12
（ 3 ） 不透明白酒瓶内异物检测系统, 主持, 院级, 2015-04--2016-10
（ 4 ） 机器人自动上甑系统, 主持, 院级, 2015-03--2016-10
（ 5 ） 经济型物流机器人, 主持, 国家级, 2013-01--2016-06
（ 6 ） 青促会会员经费, 主持, 部委级, 2016-01--2019-12
（ 7 ） 基于视觉的智能机器人, 主持, 国家级, 2016-01--2020-12
（ 8 ） 智能化制曲技术与装备, 主持, 院级, 2017-12--2020-06
（ 9 ） 基于自动探汽的酿造工艺参数智能化检测与控制技术, 主持, 国家级, 2019-01--2021-12
（ 10 ） 眼科显微手术机器人系统研制与临床试验, 参与, 国家级, 2017-12--2020-11

现指导学生

钱文  硕士研究生  081101-控制理论与控制工程  

中科院青年促进会会员

杭州市“5213”产业领军人才资助计划