科学研究情况
1、承担项目情况
[1] 国家自然科学基金青年科学基金：野外环境下移动机器人基于复合地图的自主导航效能优化，2024.01-2026.12，30万元，主持。
[2] 国家自然科学基金联合基金：开放复杂环境下无人系统自适应多源协同感知与决策, 2024.01-2027.12，260万元，项目骨干。
[3] 国家自然科学基金面上项目, 基于空中先验信息的地面救援机器人灾情地图自主构建, 2022.01-2025.12，59万元，参与。
[4] 国家自然科学基金面上项目, 空-地机器人基于三维激光测距的协作室外场景理解, 2020.01-2023.12，62万元，参与。
2、发表学术论文情况
主要期刊论文
1. Wenzhe Yang, Guojian He, Fei Yan, Wei Wang, and Yan Zhuang, “Spatial and Temporal Calibration of Self-built Panoramic LiDAR in Targetless Environments”, IEEE Transactions on Instrumentation and Measurement, Jan. 2025.
2. Guojian He, Yisha Liu, Chengxiang Li, “Tightly coupled laser-inertial pose estimation and map building based on B-spline curves”, Measurement Science and Technology, vol. 34, no. 12, art no. 125130, Sep. 2023.
3. Guojian He, Qinhan Zhang, Yan Zhuang, “Online semantic-assisted topological map building with LiDAR in larger-scale outdoor environments: towards robust place recognition”, IEEE Transactions on Instrumentation and Measurement, vol. 71, art no. 8504412, Jul. 2022.
4. Guojian He,Xingda Yuan, Yan Zhuang, et al., “An integrated GNSS/LiDAR-SLAM pose estimation framework for large-scale map building in partially GNSS-denied environments”, IEEE Transactions on Instrumentation and Measurement, vol. 70, art no. 7500709, Sep. 2021.
5. Fei Yan, Jiawei Wang, Guojian He, Huan Chang, Yan Zhuang, “Sparse semantic map building and relocalization for UGV using 3D point clouds in outdoor environments”, NEUROCOMPUTING, vol. 400, pp. 333-342, Aug. 2020.
6. Yan Zhuang, Guojian He, Huosheng Hu, et al., "A Novel Outdoor Scene-Understanding Framework for Unmanned Ground Vehicles with 3D Laser Scanners", Transactions of the Institute of Measurement and Control, vol. 37, no. 4, pp. 435-445, 2015.
主要会议论文
1.Guojian He, Yisha Liu, Qingyang Tan, “LSR-RIBNet: A Novel LiDAR Super-Resolution Model for Scene Semantic Segmentation in Outdoor Environments”, In Proceedings of the 13th International Conference on Information Science and Technology (ICIST), Cairo, Egypt, Dec. 2023, pp. 129-135.
2. Xiangwei Zeng, Guojian He, Yan Zhuang, “B-spline-based trajectory estimation for handheld LiDAR-SLAM device”, In Proceedings of the 3rd International Conference on Industrial Artificial Intelligence (IAI), Shenyang, China, Nov. 2021, pp. 1-5.
3. Fei Yan, Guojian He, Yan Zhuang, et al., “Scene Understanding and Semantic Mapping for Unmanned Ground Vehicles Using 3D Point Clouds”, in Proceedings of the 8th International Conference on Information Science and Technology (ICIST), Granada, Spain, Jun. 2018, pp. 335-341.
4. Hongkai Liu, Guojian He， Haichen Yu, et al., “Fast 3D Scene Segmentation and Classification with Sequential 2D Laser Scanning Data in Urban Environments”, in Proceedings of the 35th Chinese Control Conference (CCC), Chengdu, China, Jul. 2016. pp. 7131-7136.
5. Yan Zhuang, Yisha Liu,Guojian He, Wei Wang, “Contextual Classification of 3D Laser points with Conditional Random Fields in Urban Environments”, in Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, Sep. 2015, pp. 3908-3913.
3、获得授权专利情况
4、出版学术专著情况
