服务机器人感认知、SLAM导航与智能操作

​2002.7-今：中国科学院自动化研究所，现在多模态人工智能系统全国重点实验室。研究员，博士生导师。

中国自动化学会 智能自动化专业委员会委员, 2013-；
中国自动化学会 平行控制与管理专业委员会, 2021-;
中国人工智能学会 智能机器人专业委员会委员, 2008-；
中国人工智能学会 智能服务专业委员会委员, 2015-；
中国机械工程学会 机器人分会第一届委员会委员, 2017-；
中国自动化学会 青年工作委员会委员, 2014-2017；
IEEE Senior Member, 2014-。

2002年，宝钢优秀学生奖； 
2004年，多机器人协调、控制与仿生关键技术，北京市科学技术二等奖，第6位；
2013年，仿生机器鱼高效与高机动控制的理论与方法，北京市科学技术一等奖，第6位。

1. LiDAR Odometry Method, System and Apparatus Based on Directed Geometric Point and Sparse Frame. United States Patent, US 11300664 B1, 第一发明人
2. Method for Detecting Horizontal and Gravity Directions of an Image. United States Patent, US 9886775 B2, 第一发明人
3. 基于场景坐标回归网络的视觉重定位方法、系统、装置. ZL202110548049.0, 第一发明人
4. 基于双通路卷积神经网络的服务机器人抓取检测方法. ZL202010690489.5, 第一发明人
5. 基于有向几何点和稀疏帧的激光里程计方法、系统、装置. ZL202011323411.6, 第二发明人
6. 一种机器人目标行人检索方法. ZL201910339613.0, 第二发明人
7. 基于视觉的服务机器人抓取目标物体的方法. ZL201810841533.0, 第一发明人
8. 基于深度卷积神经网络的物体识别与抓取位置检测方法. ZL201811504072.4, 第一发明人
9. 多机器人围捕方法. ZL201711250876.1, 第一发明人
10. 基于分层式结构和资源整合的多机器人任务分配方法. ZL201711168423.4, 第一发明人
11. 主动立体视觉系统标定方法. ZL202110822943.2, 第四发明人 
12. 多机器人系统无碰撞到达目标位置的方法. ZL201711430953.1, 第三发明人
13. 基于局部特征融合的目标再识别方法. ZL201510657838.2, 第一发明人
14. 图像水平重力方向的检测方法. ZL201480000151.5, 第一发明人
15. 一种使移动机械臂趋近并抓取目标物体的方法. ZL201310520979.0, 第一发明人
16. 一种应用于子母式机器人的升降式运输舱. ZL201410333909.9, 第一发明人
17. 一种基于母机器人视觉的子机器人入舱方法, ZL201310516094.3, 第一发明人
18. 一种舵机保护装置. ZL201310723764.9, 第一发明人
19. 一种网络化多机器人系统. ZL201010240033.5, 第一发明人
20. 一种仿生机器鱼. ZL200510105020.6, 第一发明人
21. 多机器人协调队形控制方法. ZL200810222774.3, 第二发明人
22. 多移动机器人局部跟随控制方法. ZL200810211063.6, 第三发明人
23. 网络化多机器人系统. ZL201110372814.4, 第二发明人
24. 子母式仿生机器鱼系统. ZL200710099868.1, 第二发明人
25. 一种基于机器海豚的水质监测系统. 201110158852.X, 第二发明人
26. 基于标识块的目标定位方法. ZL201110371986.X, 第二发明人
27. 一种基于放射形标识符号的目标识别方法. ZL201110323734.X, 第三发明人
28. 一种基于可行通道的机器人目标追踪方法. ZL200810119587.2, 第三发明人
29. 应用于仿生机器鱼的水面信息中继系统. ZL200510124096.3, 第二发明人
30. 应用于水下机器人的开放式负载舱. ZL200710099870.9, 第二发明人

1. Zhiqiang Cao, et al. A Fast Orientation Estimation Approach of Natural Images. IEEE Transactions on Systems, Man and Cybernetics: Systems, 2016.

2. Zhiqiang Cao, et al. Image Dynamics-based Visual Servoing for Quadrotors Tracking a Target with a Nonlinear Trajectory Observer. IEEE Transactions on Systems, Man and Cybernetics: Systems, 2020.

3. Zhiqiang Cao, et al. Cooperative Hunting by Distributed Mobile Robots Based on Local Interaction. IEEE Transactions on Robotics, 2006.

4. Yingying Yu, Zhiqiang Cao*, et al. A Two-stream CNN with Simultaneous Detection and Segmentation for Robotic Grasping. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2022.

5. Lei Pang, Zhiqiang Cao*, et al. A Visual Leader-Following Approach with a T-D-R Framework for Quadruped Robots. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021.

6. Chengpeng Wang, Zhiqiang Cao*, et al. Hierarchical Tightly-Coupled LiDAR Inertial Odometry Based on Distribution. IEEE Transactions on Intelligent Vehicles, DOI: 10.1109/TIV.2023.3273288, 2023.

7. Jierui Liu, Zhiqiang Cao#, et al. Bird’s-Eye-View Semantic Segmentation with Two-Stream Compact Depth Transformation and Feature Rectification. IEEE Transactions on Intelligent Vehicles, DOI: 10.1109/TIV.2023.3275993, 2023.

8. Chengpeng Wang, Zhiqiang Cao*, et al. A Hierarchical LiDAR Odometry via Maximum Likelihood Estimation with Tightly Associated Distributions. IEEE Transactions on Vehicular Technology, 2022.

9. Xilong Liu, Zhiqiang Cao*, Yingying Yu, et al. Robot Navigation Based on Situational Awareness. IEEE Transactions on Cognitive and Developmental Systems, 2022.

10. Jierui Liu, Zhiqiang Cao#, et al. Category-Level 6D Object Pose Estimation with Structure Encoder and Reasoning Attention. IEEE Transactions on Circuits and Systems for Video Technology, 2022.

11. Shuang Liang, Zhiqiang Cao*, et al. Hierarchical Estimation-Based LiDAR Odometry With Scan-to-Map Matching and Fixed-Lag Smoothing. IEEE Transactions on Intelligent Vehicles, 2023.

12. Peiyu Guan, Zhiqiang Cao*, et al. Visual Place Recognition via A Multi-task Learning Method with Attentive Feature Aggregation. IEEE Transactions on Cognitive and Developmental Systems, DOI: 10.1109/TCDS.2022.3206500, 2022.

13. Jierui Liu, Zhiqiang Cao#, et al. Self-Supervised Monocular Depth Estimation with Geometric Prior and Pixel-level Sensitivity. IEEE Transactions on Intelligent Vehicles, 2023.

14. Zhicheng Liu, Xilong Liu, Zhiqiang Cao, et al. High Precision Calibration for 3D Vision-Guided Robot System. IEEE Transactions on Industrial Electronics, 2023.

15. Xuanchang Gao, Xilong Liu, Zhiqiang Cao, et al. Dynamic Rigid Objects Mining and Motion Measurement Based on Monocular Camera. IEEE Transactions on Cybernetics, DOI: 10.1109/TCYB.2022.3163545, 2022.

16. Xilong Liu, Zhiqiang Cao*, et al. Intelligent Line Segment Perception with Cortex-Like Mechanisms. IEEE Transactions on Systems, Man and Cybernetics: Systems, 2015.

17. Jiaming Zhu, Zhiqiang Cao, et al. Sufficient Condition for the Existence of the Compact Set in the RBF Neural Network Control. IEEE Transactions on Neural Networks and Learning Systems, 2018.

18. Guangli Ren, Wenjie Geng, Peiyu Guan, Zhiqiang Cao*, et al. Pixel-wise Grasp Detection via Twin Deconvolution and Multi-Dimensional Attention. IEEE Transactions on Circuits and Systems for Video Technology, DOI: 10.1109/TCSVT.2023.3237866, 2023.

19. Kun Zhang, Zhiqiang Cao, et al. Real-time Visual Measurement with Opponent Hitting Behavior for Table Tennis Robot. IEEE Transactions on Instrumentation and Measurement, 2018.

20. Yuequan Yang, Zhiqiang Cao, et al. Fairness and Dynamic Flow Control in both Unicast and Multicast Architecture Networks. IEEE Transactions on Systems, Man, and Cybernetics-Part C: Applications and Reviews, 2007.

21. Mingyi Zhang, Xilong Liu, De Xu, Zhiqiang Cao. Feature-related Searching Control Model for Curve Detection. IEEE Transactions on Cybernetics, 2019.

22. Mingyi Zhang, Xilong Liu, De Xu, Zhiqiang Cao, et al. Vision-Based Target-Following Guider for Mobile Robot. IEEE Transactions on Industrial Electronics, 2019.

23. Shuang Liang, Zhiqiang Cao*, et al. A Novel 3D LiDAR SLAM based on Directed Geometry Point and Sparse Frame. IEEE Robotics and Automation Letters, 2021.

24. Peiyu Guan, Zhiqiang Cao*, et al. Scene Coordinate Regression Network with Global Context-Guided Spatial Feature Transformation for Visual Relocalization. IEEE Robotics and Automation Letters, 2021.

25. Shuang Liang, Zhiqiang Cao*, et al. A Novel Sparse Geometric 3D LiDAR Odometry Approach. IEEE Systems Journal, 2021.

26. Lei Pang, Zhiqiang Cao*, et al. A Robust Visual Person-Following Approach for Mobile Robots in Disturbing Environments. IEEE Systems Journal, 2020.

27. Zhiqiang Cao, et al. A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments. IEEE Systems Journal, 2018.

28. Jile Jiao, Zhiqiang Cao*, et al. Transportation by Multiple Mobile Manipulators in Unknown Environments with Obstacles. IEEE Systems Journal, 2017.

29. Wenjie Geng, Zhiqiang Cao*, et al. Grasp Detection with Hierarchical Multi-Scale Feature Fusion and Inverted Shuffle Residual. Tsinghua Science and Technology, DOI: 10.26599/TST.2023.9010003, 2023.

30. Jierui Liu, Zhiqiang Cao*, et al. Key-part Attention Retrieval for Robotic Object Recognition. Tsinghua Science and Technology, DOI: 10.26599/TST.2023.9010022, 2023.

31. Wenjie Geng, Zhiqiang Cao*, et al. Adaptive Long-neck Network with Atrous-Residual Structure for Instance Segmentation. IEEE Sensors Journal, 2023.

32. Shuang Liang, Zhiqiang Cao*, et al. A Tight Filtering and Smoothing Fusion Method With Feature Tracking for LiDAR Odometry. IEEE Sensors Journal, 2022.

33. Guangli Ren, Zhiqiang Cao, et al. PLJ-SLAM: Monocular Visual SLAM with Points, Lines, and Junctions of Coplanar Lines. IEEE Sensors Journal, 2022.

34. Yingying Yu, Zhiqiang Cao*, et al. A Novel Vision-based Grasping Method under Occlusion for Manipulating Robotic System. IEEE Sensors Journal, 2020.

服务机器人基于复合深度网络的复杂场景智能抓取研究, 国家级，主持
"基于动态多源信息的水下移动目标协同监测"子课题，国家级，负责
"智能伴护机器人关键技术研究"子课题，省级，负责
"面向野外环境的四足仿生机器人实用技术研发"子项，国家级，负责
基于三维激光雷达和视觉的双足机器人环境理解与跟随研究，主持
动态不确定环境下多机器人协调围捕控制，国家级，主持
局部感知型多机器人系统动态跟随问题研究，国家级，主持
多子体灵活收放的子母式机器人控制与协调研究，国家级，主持
"静态节点社区感知网络下的多机器人协调机理与控制研究"子项，国家级，负责
子母式多仿生机器鱼系统的研究，所级，主持
智能移动机器人定位与巡检导航，横向，主持
智能机器人定位与巡检设备识别，横向，主持