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动态不Ĵ=
30;定环境下的多传感器=
信息融合
教育部Õ=
38;士点基金项目(20040248046)
研究内容
²
研究能面向动态=
;不确定环境和任务的=
22810;传感器融合结构和ę=
76;进式学习算法,通过=
融合系统模型的不断=
6827;化,适应环境和任ࡃ=
3;不断变化的需求
²
实现机器人在多=
;传感器信息反馈下完=
25104;用毛笔写字这一有İ=
56;当难度的任务为具体=
应用,构筑实验系统=
5292;验证研究成果的可ඡ=
2;性和先进性,同时完&=
#25104;的技术也为智能机=
120;人的仿人行为研究提=
;供核心技术支持
研究成果
²
研究了动态不确=
;定环境下的不同传感=
22120;的信息融合理论和Ą=
41;法。以多传感器系统=
在基于传感的机器人=
5511;制、仿人机器人智೦=
1;开发和进化,以及人&=
#26426;交互技术中的应用为背=
景开展研究
²
探讨了基于接受=
;域融合方法的摄像机=
24314;模理论和技术、视Š=
73;信息处理理论和方法=
、基于多个视觉传感=
2120;的仿人机器人对人=
0;手势跟踪和语义识别&=
#12289;以及网络环境下机=
120;人通过多种不同传感=
;器对未知环境的感知=
21644;运动规划策略
²
成功构建了基于=
;多传感器融合的书法=
26426;器人系统
²
出版专著《人脸=
;检测》
期刊论ă=
91;
1) Jianbo Su, “= Camera calibration based on receptive fields”, Pattern Recognition= , Vol.40, No. 10, pp. 2837-2845, Oct., 2007. * (SCI 184NZ)<= /span>(EI 072110617933)
2) =
span>Houqin Bian, Jianbo Su,
“Feature matching based on geometric constraints in weakly calibrated
stereo views of curved scenes”, Journal of Systems Engineering and
Electronics, Vol.19, No.3, pp.562-570, June, 2008. (SCI
322XF) (EI 082711349957)
3)&nbs=
p;
彭娟春,顾立忠,Ŏ=
87;剑波,“基于Camshift和Kalman滤波的仿ߟ=
4;机器人手势跟踪”,上海交通大学学报,第40卷第7期,pp.1161-1165,2006年7月。 *(EI
063910135780)
会议论文
1) Kejun Zhang, Jianbo Su, “Gen=
eral
software architecture for multi-sensor information fusion system”, Proceedings of the 5th World Congr=
ess on
Intelligent Control and Automation, pp. 4640-4644, June, 2004. (EI 04388367=
892)
2) Keju=
n Zhang,
Jianbo Su, “RTOS-based software architecture for multisensor fusion
system” Proceedings of the 5th A=
sian
Control Conference, pp.906-913,
July, 2004. (EI 05169044535)
3) Xusheng Lei, Jianbo Su,
“Application of RBFNN for humanoid robot real time optimal trajectory
generation in running”, Lecture Notes in Computer Science: Ad=
vances
in Neural Networks (Proceedings
of International Symposium on Neural Networks=
), Vol.3174, pp.1-6, Aug., 2004. * (SCI BAT68)
(ISTP BAT 68)=
4)
Xushe=
ng Lei,
Jianbo Su, “Running trajectory generation for humanoid robot”, =
Proceedings
of the 3rd International
Conference on Machine Learning and
Cybernetics,
pp.1002-1007, Aug., 2004.* (EI 04458446581) (ISTP
BBF92)
5) Kejun Zhang, Jianb=
o Su,
“A new method for asynchronous multisensor information fusion”,=
Lecture Notes in Computer Science: Ad=
vances
in Artificial Intelligence (Proceedings of 27th German Conference on Artificial Intelligence),
Vol.3288, pp.410-423, Sept., 2004. (SCI BBB85)(ISTP BBB85=
)
6) Keju=
n Zhang,
Jianbo Su, “On sensor management of calligr=
aphic
robot”, Proce=
edings
of IEEE International Conference on Robotics and Automation<=
span
lang=3DEN-US style=3D'mso-bidi-font-size:10.5pt;mso-font-kerning:0pt;mso-bi=
di-font-style:
italic'>, pp.3570-3575, April, 2005.
(ISTP BDU48)
7) Jing=
Pan,
Jianbo Su, Xusheng Lei, Feng Lan, “ Motion control strategy for human=
oid
robot MIH
8) <=
/span>Xushe=
ng Lei,
Jing Pan, Jianbo Su, “Humanoid robot locomotion”, Proceedings of the 4th Int=
ernational
Conference on Machine Learning and Cybernetics, pp.882-887, Aug., 2005. * (EI 05509538=
864) (ISTP BDT 94)
9) Xusheng Lei, Jianbo Su, “Feedback control of humanoid robot locomotion<=
span
style=3D'mso-bidi-font-weight:bold'>”, Lecture Notes in Artific=
ial
Intelligence (First Int. Conf. on Na=
tural
Computation (ICNC'05) and the Second Int. Conf. on Fuzzy Systems and Knowle=
dge
Discovery (FSKD'05)=
),
Vol.3613, pp.<=
span
lang=3DEN-US style=3D'mso-bidi-font-size:10.5pt;mso-font-kerning:0pt'> 890-
899, Aug., 2005. *
10) Lizhong Gu,
11)&nbs=
p;
Lizhong Gu, Jianbo Su, “Humanoid robot behavior learning based on
ART neural network and cross-modality learning”, Lecture Notes in Computer Science: Advances in Natural
Computation (Proceedings of the 2nd
International Conference on Natural Computation (ICNC)), Vol.4221,
pp.447-450, Sept., 2006. * (SCI BFH67) =
(EI
064410206638) (ISTP BFH67)
12) Jianbo Su, Wendong Peng,
“Incremental learning method for unified camera calibration”, Lecture Notes in Computer Science<=
/i>: Neural Information Processing
13)<=
span
lang=3DEN-US> 苏剑=
874;,“无标定手眼协调=
跟踪系统性能分析与=
5913;进”,
第26届中国控制会议,Ě=
46;南张家界
14) 苏剑=
874;,“弱标定复杂场景=
特征匹配中同形映射=
5823;差分析”,2007中=
;国智能自动化会议ᦁ=
2;中南工业ä=
23;学学报,第38卷增刊,pp=
.376-382,
2007年8<=
span
style=3D'font-size:11.0pt;mso-bidi-font-size:12.0pt;font-family:SimSun;
mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Ro=
man"'>月
15) 苏剑波,=
8220;基于事件的仿人机ࢤ=
0;人步态规划”,2007中国智能自动化会ť=
58;,中南工
业大学学= 25253;,第38= 卷增刊,pp.484-489= span>,2007年8<= span style=3D'font-size:11.0pt;mso-bidi-font-size:12.0pt;font-family:SimSun; mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Ro= man"'>月。
16=
span>) Xusheng Lei, Tianmaio Wang,
Dianshen Chen, Jianbo Su, “The design and control of a low cost human=
oid
robot”, Proceedings of
IEEE International Conference on Robotics and Biomimetics=
(ROBIO), pp.763-768, Dec. 2007.=
(EI 083411464230<=
/span>)(ISTP BHW67)
学位论文=
span>
1) = 张克军,“动态&= #19981;确定环境下异种多= 256;感器信息融合方法的= ;研究”,上海交通大= 3398;博士学位论文,2004
2) = 雷旭升,“仿人&= #26426;器人运动控制研究R= 21;,上海交通大学博士= 学位论文,2006
3=
65289; 顾立忠=
;,“基于表观的手势=
识别及人机交互研究=
8221;,上海交通大学博ࣤ=
3;学位论文,2008
4) 潘晶,“仿人机器人=
;运动控制系统的研究=
span>”,=
19978;海交通大学硕士学Ë=
01;论文,2006
5) 蓝峰,“小型仿人机=
;器人MIH-I机构设计和步=
34892;控制的研究”,=
=
19978;海交通大学硕士学Ë=
01;论文,2006
6) 彭娟春,“基于视觉的=
;仿人机器人手势识别=
25216;术及硬件实现”,=
19978;海交通大学硕士学Ë=
01;论文,2006
7=
65289; 陈健,=
;“基于智=
3021;体的仿人机器人控࠸=
6;系统设计=
8221;,上海交通大学硕ࣤ=
3;学位论文,2007
8=
65289; 刘飞,=
;“小型仿=
0154;机器人主控层和通=
9;层系统研究与实现”=
65292;=
19978;海交通大学硕士学Ë=
01;论文,2007
专利申请和公开=
;
1. 0310108456.1 基于实&=
#26102;操作系统的多传感=
120;融合系统资源调配实=
;现方法,公开号:1542603,=
span> 张克军;ഔ=
7;剑波;席裕庚;曲波
2. 0410016869.1 动=
态情况下异步多传感=
2120;信息融合方法,公开Ö=
95;:1560568,专利授权号