机器视觉与智能感知

图像处理与深度学习

机器人控制与非接触式操控

2010-09--2013-06   中国科学院自动化研究所   博士学位
2007-09--2010-06   山东大学 数学学院   硕士学位
2003-09--2007-06   山东大学 数学与系统科学学院   学士学位

   

2017-10~现在, 中国科学院自动化研究所 精密感知与控制研究中心, 副研究员
2013-07~2017-10,中国科学院自动化研究所 精密感知与控制研究中心, 助理研究员

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[1] 何泳澔, 苏虎, 姜锐, 向世明, 潘春洪. 用于高分辨率图像的高效布匹缺陷检测方法、系统及设备. CN: CN112541915A, 2021-03-23.
[2] 何泳澔, 苏虎, 向世明, 潘春洪. 基于标注框虚拟扩增的微小人脸检测方法、系统及设备. CN: CN112434674A, 2021-03-02.
[3] 姜锐, 苏虎. 一种面向白玻璃盖板表面微弱缺陷的检测与测量方法. CN: CN112750119A, 2021-05-04.
[4] 沈飞, 苏虎, 张正涛, 徐德, 张峰, 杨化彬, 史亚莉. 基于主动约束状态多维微力及力矩控制方法、系统、装置. CN: CN109634316A, 2019-04-16.
[5] 宫新一, 徐德, 张正涛, 沈飞, 苏虎, 杨化彬, 袁智超. 图像的缺陷检测方法. CN: CN106815830A, 2017-06-09.
[6] 苏虎, 张正涛, 袁智超, 沈飞, 宫新一, 杨化彬, 张武杰. 白玻璃板表面崩边缺陷检测方法. CN: CN106651837A, 2017-05-10.
[7] 杨化彬, 张正涛, 沈飞, 张武杰, 张磊, 史亚莉, 苏虎, 徐德. 内窥镜套件以及包含该内窥镜套件的工业内窥镜检测系统. CN: CN106569327B, 2020-02-28.
[8] 杨化彬, 张正涛, 沈飞, 张武杰, 张磊, 史亚莉, 苏虎, 徐德. 内窥镜套件以及包含该内窥镜套件的工业内窥镜检测系统. CN: CN106569327A, 2017-04-19.
[9] 王鹏, 陶晶, 汤志鹏, 苏虎, 邹伟. 基于差分进化算法的智能管道布局优化方法和系统. CN: CN104077496A, 2014-10-01.
[10] 王鹏, 汤志鹏, 熊召, 苏虎, 陶晶. 一种基于动态规划与遗传算法的装配序列规划方法及装置. CN: CN103870658A, 2014-06-18.

发表论文 #代表共同第一作者，*代表通讯作者

期刊论文:

1. Qingyi Lu, Chengxi Zhong, Hu Su*, Song Liu*. Reconfigurable phase-only acoustic holography with surrogate model based on soft-GAN. Applied Acoustics, vol. 233, pp. 110625, 2025

2. Qing Liu#, Chengxi Zhong#, Zhenhuan Sun, Youfu Li, Hu Su*, and Song Liu*. Low-Cost Acoustic Reconstruction with Physics-based Deep learning for Binary Amplitude-Only Hologram. IEEE Transactions on Instrumentation and Measurement, Accepted. 

3. Chengxi Zhong, Zhenhuan Sun, Jiaqi Li, Yujie Jiang, Hu Su*, and Song Liu*. Accurate and Real-Time Acoustic Holography Using Super-Resolution and Physics Combined Deep Learning, Applied Physics Letters, vol. 123, issue. 5, pp. 054103, 2025.

4. Mingyue Wang, Jiaqi Li, Chengxi Zhong, Teng Li, Zhenhuan Sun, You Fu Li, Hu Su*, and Song Liu*. Vision-based Closed-loop Control with Spatiotemporal Multiplexing Strategy for Noncontact Trapping of Multiple Micro-particles, IEEE Transactions on Automation Science and Engineering, Accepted.

5. Qingyi Lu#, Chengxi Zhong#, Hu Su*, and Song Liu*. Physics-based Generative Adversarial Network for Real-Time Acoustic Holography, Ultrasonics, vol. 149, pp. 107583, 2025.

6. Hu Su#, Ying Li#, Yifan Xu, Xiang Fu, Song Liu*.  A Review of Deep-learning-based Super-Resolution: from Methods to Applications. Pattern Recognition, vol. 157, pp. 110935, 2025.

7. Qingyi Lu#, Chengxi Zhong#, Qing Liu, Hu Su*, and Song Liu*. Deep learning-based super-resolution acoustic holography for phased transducer array, Journal of Applied Physics, vol. 136, pp. 134902, 2024.

8. Chengxi Zhong, Jiaqi Li, Zhenhuan Sun, Teng Li, Yao Guo, Hu Su*, and Song Liu*. Real-time acoustic holography with physics-based deep learning for robotic manipulation. IEEE Transactions on Automation Science and Engineering, vol. 21, no. 3, pp. 4155-4164, 2024.

9. Mingyue Wang, Jiaqi Li, Yuyu Jia, Zhenhuan Sun, Hu Su*, and Song Liu*.  3D Noncontact Micro-Particle Manipulation With Acoustic Robot End-Effector Under Microscope. IEEE Robotics and Automation Letters, vol. 9, no. 9, pp. 7979-7986, 2024.

10. Kaihui Wang, Wei Zou, Ruichen Ma, Yu Wang, and Hu Su*. Model predictive trajectory tracking control of an underactuated bionic underwater vehicle. IEEE/ASME Transactions on Mechatronics, vol. 29, no. 3, pp. 1690-1701, 2024.

11. Kaihui Wang, Wei Zou, Ruichen Ma, Jiaqi Lv, Hu Su*, Yu Wang*, and Hongxuan Ma. Bionic underwater vehicle: a data-driven disturbance rejection control  framework. IEEE Robotics & Automation Magazine, vol. 31, no. 1, pp. 18-28, 2024.

12. Yuhao Zhao#, Qing Liu#, Hu Su#, Jiabin Zhang, Hongxuan Ma, Wei Zou*, and Song Liu*.  Attention-based Multi-scale Feature Fusion for Efficient Surface Defect Detection. IEEE Transactions on Instrumentation and Measurement, vol. 73, 5013310, 2024.

13. Chengxi Zhong, Qingyi Lu, Teng Li, Hu Su*, and Song Liu*. Real-time acoustic holography with physics-reinforced contrastive learning for acoustic field reconstruction, Journal of Applied Physics, vol. 135, pp. 014902, 2024.

14. Donghui Li, Hu Su, Xinyi Xu, Qingbin Wang, Jie Qin, and Wei Zou. Cooperative task scheduling and planning considering resource conflicts and precedence constraints. International Journal of Precision Engineering and Manufacturing, vol. 24, pp. 1503-1516, 2023.

15. Zhiqing Wang, Wei Zou, Hu Su, Yuxin Guo, Donghui Li. Multiple sound source localization exploiting robot motion and approaching control. IEEE Transactions on Instrumentation and Measurement, vol. 72, no. 7505316, pp. 1-16, 2023.

16.  Jiabin Zhang#, Hu Su#*, Yonghao He, Wei Zou*. Weakly supervised instance segmentation via category-aware centerness learning with localization supervision, Pattern Recognition, vol. 136, pp. 109165, 2023.

17. Rui Jiang, Ruixiang Zhu, Hu Su*, Yinlin Li, Yuan Xie, Wei Zou. Deep learning based moving objects segmentation: recent progress and research prospects, Machine Learning Intelligence, vol. 20, no. 3, pp. 335-369, 2023.

18. 苏虎, 张家斌, 张博豪, 邹伟. 基于视觉感知的表面缺陷检测综述, 计算机集成制造系统, vol. 29, no. 1, pp. 169-191, 2023. (2023年度优秀论文)

19. Hu Su#, Yonghao He#, Rui Jiang, Jiabin Zhang, Wei Zou, Bin Fan. DSLA: Dynamic smooth label assignment for efficient anchor-free object detection, Pattern Recognition, vol. 131, pp. 108868, 2022.

20. Jiabin Zhang, Zhengtao Zhang, Hu Su*, Wei Zou, Xinyi Gong, and Feng Zhang. Quality Inspection based on quadrangular object detection for deep aperture component, IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 51, Issue. 10, 5938-5948, 2021.

21. Jiabin Zhang, Hu Su*, Wei Zou, Xinyi Gong, Zhengtao Zhang, and Fei Shen. CADN: A weakly supervised learning-based category-aware object detection network for surface defect detection, Pattern Recognition, vol. 109, pp. 107571, 2021.

22. Tong Zhou, Jiabin Zhang, Hu Su*, Wei Zou, and Bohao Zhang. EDDs: A series of efficient defect detectors for fabric quality inspection, Measurement, vol. 172, pp. 108885, 2021.

23. Xinyi Gong, Hu Su, De Xu, Jiabin Zhang, Lei Zhang, and Zhengtao Zhang. Visual Defect Inspection for Deep-aperture Components with Coarse-to-fine Contour Extraction. IEEE Transactions on Instrumentation and Measurement, vol. 69, Issue 6, pp. 3262-3274, June 2020.

24. Chengkan Lv, Zhengtao Zhang, Fei Shen, Feng Zhang, and Hu Su. A fast surface defect detection method based on background reconstruction. International Journal of Precision Engineering and Manufacturing, vol. 21, no. 3, pp.363-375, 2020.

25. Xinyi Gong, Hu Su, De Xu, Huabin Yang, Zhengtao Zhang, and Lei Zhang. Contour extraction and quality inspection for inner structure of deep hole components. IEEE Transactions on Components, Packaging, and Manufacturing Technology, vol. 9, Issue 3, pp. 575-585, 2019.

26. Xinyi Gong, Hu Su, De Xu, Zhengtao Zhang, Fei Shen, and Huabin Yang. An overview of contour detection approaches, International Journal of Automation and Computing, vol. 15, no. 6, pp. 656-672, 2018.

27. Zhichao Yuan, Zhengtao Zhang, Hu Su*, Lei Zhang, Fei Shen, and Feng, Zhang. Vision-based defect detection for mobile phone cover glass using deep neural networks. International Journal of Precision Engineering and Manufacturing, vol. 19, no. 6, pp. 801-810, 2018. (2017-2018 IJPEM “most downloaded reward”)

28. Song Liu, Youfu Li, Dengpeng Xing, De Xu, Hu Su, An efficient insertion control method for precision assembly of cylindrical components, IEEE Transactions on Industrial Electronics, vol. 64, no. 12, pp. 9355-9365, 2017.

29. 卜新苹, 苏虎*, 邹伟, 王鹏, 周海. 基于非均匀环境建模与三阶Bezier曲线的平滑路径规划. 自动化学报, vol. 43, no. 5, pp.701-724, 2017. (2023 领跑 5000 中国精品科技期刊顶尖学术论文)

30. Hu Su, De Xu, Guodong Chen, Zaojun Fang, and Min Tan. A learning model for racket motion decision in ping-pong robotic system, Asian Journal of Control, vol. 18, no. 1, pp. 236-246, 2016.

31. 卜新苹, 苏虎*, 邹伟, 王鹏, 周海. 基于复杂环境非均匀建模的蚁群路径规划. 机器人, vol. 38, no. 3, pp. 276-284, 2016. 

32. 苏虎, 徐德, 陈国栋, 方灶军. 基于两阶段多目标模糊决策的乒乓球机器人击球点选择, 控制理论与应用, vol. 30, no. 5, pp. 597-603, 2013.

33. Hu Su, Zaojun Fang, De Xu, and Min Tan. Trajectory prediction of spinning ball based on fuzzy filtering and local modeling for robotic ping-pong player. IEEE Transactions on Instrumentation and Measurement, vol. 62, Issue. 11, pp. 2890-2900, 2013.

34. Yanlong Huang, De Xu, Min Tan, and Hu Su. Adding active learning to LWR for ping-pong player robot. IEEE Transactions on Control Systems Technology, vol. 21, no. 4, pp. 1489-1494, 2013.

35. 苏虎, 徐德, 黄艳龙, 谭民. 基于模糊自调节算法的乒乓球机器人回球速度计算, 自动化学报, vol. 38, no. 6, pp. 923-931, 2012.

会议论文:

1. Yonghao He#, Hu Su#∗, Haiyong Yu#, Cong Yang, Wei Sui, Cong Wang, and Song Liu*. A Light-Weight Framework for Open-Set Object Detection with Decoupled Feature Alignment in Joint Space. IEEE International Conference on Robotics and Automation (ICRA 2025), Accepted.
2. Qing Liu#, Hu Su#, Jiaqi Li, Youfu Li, Zhiyuan Zhang, and Song Liu*. Binary Amplitude-Only Hologram Generation for Acoustic End-Effector Design by Physics-based deep learning. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Oct. 2024, pp. 466-471, Abu Dhabi, UAE.

3. Xiang Fu, Yifan Xu, Shudong Wang, Haojian Lu, Jiaqi Li, Youfu Li, Hu Su*, and Song Liu*. NanoNeRF: Robot-assisted Nanoscale 360 reconstruction with neural radiance field under scanning electron microscope. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Oct. 2024, pp. 1343-1348, Abu Dhabi, UAE.

4. Chengxi Zhong, Zhenhuan Sun, Teng Li, Hu Su*, and Song Liu*. Real-time Acoustic Holography with Iterative Unsupervised Learning for Acoustic Robotic Manipulation. IEEE International Conference on Robotics and Automation (ICRA 2023), June 2023, pp. 5466-5472, London, United Kingdom.

5. Yexin Zhang, Jiaqi Li, Yuyu Jia, Teng Li, Hu Su*, and Song Liu*. Noncontact Particle Manipulation on Water Surface With Ultrasonic Phased Array System and Microscopic Vision. IEEE International Conference on Robotics and Automation (ICRA 2023), June 2023, pp. 54559-5465, London, United Kingdom.

6. Qingyi Lu, Chengxi Zhong, Qing Liu, Teng Li, Hu Su*, and Song Liu*. Ultrafast Acoustic Holography with Physics-Reinforced Self-Supervised Learning for Precise Robotic Manipulation. IEEE International Conference on Intelligent Robots and Systems (IROS 2023), Oct. 2023, pp. 2673-2678, Detroit, MI, USA.

7. Kaihui Wang, Hu Su, Wei Zou*, Hongxuan Ma, Chi Zhang, and Zhiqing Wang. Efficient 3D path planning for underwater vehicle based on non-uniformly modeling. 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 23-27 Aug. 2021, pp. 1148-1154, Lyon, France.

8. Jiabin Zhang, Zhengtao Zhang, Fei Shen, Feng Zhang, and Hu Su. A New Calibration Method of Line Scan Camera for High-Precision Two-Dimensional Measurement. IEEE International Conference on Automation Science and Engineering (CASE), 20-24 August 2018, pp. 678-683, Munich, German. (2019 CASE “best student paper candidate”)

9. Xinping Bu, Hu Su*, Wei Zou, and Peng Wang. Curvature continuous path smoothing based on cubic Bezier curves for car-like vehicles. IEEE Conference on Robotics and Biomimetics (ROBIO 2015). 6-9 December  2015, pp. 1453-1458, Zhuhai, China.

10. Xinyi Gong, Hu Su, Zhengtao Zhang, and De Xu. Vision-based Quality Inspection for Components with Small Diameter and Deep Hole. IEEE International Conference on Mechatronics and Automation. 6-9 August 2017, pp. 2016-2021, Takamatsu, Japan.

11. Hu Su, De Xu, and Yanlong Huang. Development of learning control in robots. IEEE International Conference on Mechatronics and Automation. August 7-10 2011, pp. 433-439, Beijing, China

12. Yanlong Huang, De Xu, Min Tan, and Hu Su. Trajectory prediction of spinning ball for ping-pong player robot. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011). 25-30 September 2011, pp. 3434-3439, San Francisco, CA, USA.

   

（ 1 ） 面向跨域异构自主无人系统 的高端智能控制器集成验证, 参与, 国家任务, 2022-06--2025-05
（ 2 ） 面向精子筛选捕获的图像处 算法及其软件开发, 参与, 其他, 2023-05--2023-09
（ 3 ） 操纵员人工录取经验及目标 活动规律挖掘技术研究, 参与, 国家任务, 2023-07--2025-12