多模态融合空间智能计算理论及应用、三维计算机视觉理论及应用、结合大模型的空间智能理解推理及交互，机器人智能行为

   

中国科学院数学与系统科学院 19980901--20010701 研究生毕业

中国科学院数学与系统科学院 19980901--20010701 博士

代表性论文

1. Chenhui Shi, Fulin Tang, Ning An, Yihong Wu. A Super Lightweight Neural Representation for Large-scale 3D Mapping, CVPR, 2025.

2. Chade Li, Pengju Zhang, Bo Liu, Hao Wei, Yihong Wu. FEAST-Mamba: FEAture and SpaTial Aware Mamba Network with Bidirectional Orthogonal Fusion for Cross-Modal Point Cloud Segmentation. AAAI, 2025.

3. Zewen Xu, Yija He, Hao Wei, Yihong Wu. DOGE: An Extrinsic Orientation and Gyroscope Bias Estimation for Visual-Inertial Odometry Initialization, ICRA, 2025.

4. Chenhui Shi, Fulin Tang, Yihong Wu, Hongtu Ji, Hongjie Duan. Accurate and Complete Neural Implicit Surface Reconstruction in Street Scenes Using Images and LiDAR Point Clouds, ISPRS Journal of Photogrammetry and Remote Sensing, 2025.

5. Yidi Zhang, Ning An, Chenhui Shi, Shuo Wang, Hao Wei, Pengju Zhang, Xinrui Meng, Zengpeng Sun, Jinke Wang, Wenliang Liang, Fulin Tang, Yihong Wu. CID-SIMS: Complex Indoor Dataset with Semantic Information and Multi-sensor Data from a Ground Wheeled Robot Viewpoint. The International Journal of Robotics Research, 43(7):899-917, 2024.

6. Bingxi Liu, Yujie Fu, Feng Lu, Jinqiang Cui, Yihong Wu, and Hong Zhang. NPR: Nocturnal Place Recognition Using Nighttime Translation in Large-Scale Training Procedures. IEEE Journal of Selected Topics in Signal Processing, 18(3): 368-379, 2024.

7. Haolin Wang, Hao Wei, Zewen Xu, Zeren Lv, Pengju Zhang, Ning An, Fulin Tang, Yihong Wu. RSS: Robust Stereo SLAM With Novel Extraction and Full Exploitation of Plane Features. IEEE Robotics and Automation Letters, 9(6): 5158-5165, 2024.

8. Yujie Fu, Pengju Zhang, Fulin Tang, Yihong Wu, Covariant Peak Constraint for Accurate Keypoint Detection and Keypoint-Specific Descriptor. IEEE Transactions on Multimedia, 26(15): 5383-5397, 2024.

9. Yujie Fu, Pengju Zhang, Bingxi Liu, Zheng Rong, Yihong Wu. Learning to Reduce Scale Differences for Large-Scale Invariant Image Matching. IEEE Transactions on Circuits and Systems for Video Technology, 33(3):1335-1348, March, 2023. 

10. Chenhui Shi, Fulin Tang, Yihong Wu, Xin Jin, Gang Ma. Accurate Implicit Neural Mapping With More Compact Representation in Large-Scale Scenes Using Ranging Data. IEEE Robotics and Automation Letters, 8(10): 6683-6690, 2023. 

11. Shiyi Guo, Fulin Tang, Bingxi Liu, Yujie Fu, Yihong Wu. An Accurate Outlier Rejection Network With Higher Generalization Ability for Point Cloud Registration.IEEE Robotics and Automation Letters，8(8): 4649-4656, 2023.

12. Zewen Xu. Zewen Xu, Hao Wei, Fulin Tang, Yidi Zhang, Yihong Wu. PLPL-VIO: A Novel Probabilistic Line Measurement Model for Point-Line-based Visual-Inertial Odometry. IROS 2023.

13. Fulin Tang, Shaohuai Wu, Zhengda Qian, Yihong Wu. Efficient 6D Camera Pose Tracking with Circular Edges. Computer Vision and Image Understanding, 235:103767, 1-9, 2023.

14. Pengju Zhang, Bingxi Liu, Yihong Wu. Leveraging Local and Global Descriptors in Parallel to Search Correspondences for Visual Localization. Pattern Recognition, Vol. 122, 2022. 

15. Shiyi Guo, Zheng Rong, Yihong Wu. Keyframe-based LiDAR SLAM with Robust Feature Extraction and Efficient Mapping, to IEEE Transactions on Instrumentation and Measurement，71: 8501711，2022.

16. Hao Wei，Fulin Tang, Zewen Xu, Yihong Wu. Structural Regularity Aided Visual-Inertial Odometry With Novel Coordinate Alignment and Line Triangulation. IEEE Robotics and Automation Letters， 7(4): 10613-10620, 2022.

17. Hao Wei, Fulin Tang, Zewen Xu, Chaofan Zhang, Yihong Wu. A Point-Line VIO System with Novel Feature Hybrids and with Novel Line Predicting-Matching. IEEE Robotics and Automation Letters, 6(4): 8681-8688, 2021. 

18. Xiaomei Zhao, Yihong Wu, Guidong Song, Zhenye Li, Yazhuo Zhang, Yong Fan. A Deep Learning Model Integrating FCNNs and CRFs for Brain Tumor Segmentation. Medical Image Analysis, Vol. 43, pp. 98-111, 2018.

19. Zhijun Dai, Yihong Wu, Fengjun Zhang, Hongan Wang. A Novel Fast Method for L_infinity Problems in Multiview Geometry. ECCV, pp. 116-129, 2012.

20. Youji Feng, Lixin Fan, Yihong Wu. Fast Localization in Large Scale Environments Using Supervised Indexing of Binary Features. IEEE Transactions on Image Processing, Vol. 25, No. 1, pp. 343-358, 2016.

21. Yihong Wu, Zhanyi Hu, Youfu Li. Radial Distortion Invariants and Lens Evaluation under a Single-Optical-Axis Omnidirectional Camera. Computer Vision and Image Understanding, 126: 11-27, 2014.

22. Yihong Wu, Youfu. Li, Zhanyi Hu. Detecting and Handling Unreliable Points for Camera Parameter Estimation. International Journal of Computer Vision (IJCV), Vol. 79, No. 2, pp. 209-223, 2008. 

23. Pierre Gurdjos, Peter Sturm, Yihong Wu. Euclidean Structure from N>=2 Parallel Circles: Theory and Algorithms. The 10th European Conference on Computer Vision (ECCV), pp. 238-252, 2006.

24. Yihong Wu, Xinju Li, Fuchao Wu, Zhanyi Hu. Coplanar Circles, Quasi-Affine Invariance and Calibration. Image and Vision Computing, Vol. 24, Iss. 4, pp. 319-326, 2006.

25. Yihong Wu and Zhanyi Hu. PnP Problem Revisited. Journal of Mathematical Imaging and Vision, Vol. 24, No. 1, pp. 131-141, 2006.

26. Yihong Wu and Zhanyi Hu. Geometric Invariants and Applications under Catadioptric Camera Model. The 10th International Conference on Computer Vision (ICCV), pp.1547-1554, 2005.  

27. Yihong Wu, Haijiang Zhu, Zhanyi Hu, Fuchao Wu. Camera Calibration from the Quasi-Affine Invariance of Two Parallel Circles. The 8th European Conference on Computer Vision (ECCV), pp. 190-202, 2004.

28. Yihong Wu and Zhanyi Hu. Invariant Representations of a Quadric Cone and a Twisted Cubic. IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), Vol. 25, No. 10, pp. 1329-1332, 2003.

29. Hongbo Li and Yihong Wu. Automated Short Proof Generation with Cayley and Bracket Algebras I. Incidence Geometry. Journal of Symbolic Computation, Vol. 36, Iss. 5, pp. 717-762, 2003.

30. Hongbo Li and Yihong Wu. Automated Short Proof Generation with Cayley and Bracket Algebras II. Conic Geometry. Journal of Symbolic Computation, Vol. 36, Iss. 5, pp. 763-809, 2003.

31. Huishi Li and Yihong Wu. Filtered-Graded Transfer of Groebner Basis Computation in Solvable Polynomial Algebra. Communications in Algebra, Vol.28, No.1, pp. 15-32, 2000.

 

更多内容，欢迎大家访问：

http://vision.ia.ac.cn/Faculty/yhwu/index.htm

教授课程：机器人视觉定位与导航

承担国家自然科学基金重点项目、面上项目、北京市自然科学基金重点项目、科技部重点研发、863、973子课题等多项。

担任《Pattern Recognition》编委、《自动化学报》编委、《计算机辅助设计与图形学学报》编委、《计算机科学与探索》编委，《Visual Computing for Industry, Biomedicine, and Art》编委。 担任全球人工智能顶级会议 CVPR2021、CVPR2023、ICLR2023、ICLR2025、NeurIPS2023、NeurIPS2024的领域主席。

中国图象图形学学会三维视觉专委会副主任，中国图象图形学学会机器视觉专委会常委。

南方科技大学、鹏程实验室、浙江大学、北京大学、诺基亚芬兰、三星中国北京、华为、IRIT of France、 City University of Hong Kong

已指导学生

戴志军  博士研究生  081104-模式识别与智能系统  

陆玲玲  硕士研究生  081104-模式识别与智能系统  

陈占军  硕士研究生  081104-模式识别与智能系统  

兰添  博士研究生  081104-模式识别与智能系统  

白沁洵  硕士研究生  081104-模式识别与智能系统  

李炜明  博士研究生  081104-模式识别与智能系统  

董秋雷  博士研究生  081104-模式识别与智能系统  

段慧仙  博士研究生  081104-模式识别与智能系统  

谢远帆  博士研究生  081104-模式识别与智能系统  

刘伟  博士研究生  081104-模式识别与智能系统  

司建敏  博士研究生  081104-模式识别与智能系统  

冯友计  博士研究生  081104-模式识别与智能系统  

雷娟  博士研究生  081104-模式识别与智能系统  

李立杭  硕士研究生  081104-模式识别与智能系统  

李傲  硕士研究生  085211-计算机技术  

王浩人  博士研究生  081104-模式识别与智能系统  

张亮  硕士研究生  085211-计算机技术  

李建伟  博士研究生  081104-模式识别与智能系统  

赵晓梅  博士研究生  081104-模式识别与智能系统  

唐付林  博士研究生  081104-模式识别与智能系统  

张朋举  博士研究生  081203-计算机应用技术  

钱正达  硕士研究生  085211-计算机技术  

卫浩  博士研究生  081203-计算机应用技术  

刘秉熙  硕士研究生  085211-计算机技术  

现指导学生

傅禹杰  博士研究生  081104-模式识别与智能系统  

徐泽文  博士研究生  081104-模式识别与智能系统  

王硕  博士研究生  081203-计算机应用技术  

郭世毅  博士研究生  081104-模式识别与智能系统  

李查德  博士研究生  081104-模式识别与智能系统  

张怡迪  博士研究生  081203-计算机应用技术  

赵旭  博士研究生  081104-模式识别与智能系统  

谢滨键  硕士研究生  081104-模式识别与智能系统  

师晨辉  博士研究生  081104-模式识别与智能系统