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| 部门： | 信息与通信工程系 |
| 姓名： | 余淮 |
| 邮箱： | yuhuai@whu.edu.cn |
| 性别： | 男 |
| 职称： | 特聘副研究员 |
| 学历学位： | 博士 |
| 导师类型： | 硕导 |
| 办公电话： | |
| 通信地址： | 武汉市武昌区珞珈山电子信息学院 |
| 邮政编码： | 430072 |
| 主要经历： | |
| 学习经历： | 2011-2015 武汉大学电子信息学院 电子信息工程 本科 2015-2020 武汉大学电子信息学院 通信与信息系统 硕博连读 2018-2020 美国卡内基梅隆大学(CMU)机器人研究所(RI) 机器人学 联合培养博士 |
| 任职经历： | 2019.11-2020.10 美国卡内基梅隆大学机器人研究所 助理研究员 2020.11-2021.10 美国卡内基梅隆大学机器人研究所 博士后研究员 2021.11- 至今 武汉大学电子信息学院 特聘副研究员 |
| 主讲课程： | |
| 本科生课程： | 人工智能导论 |
| 研究生课程： | |
| 科学研究： | |
| 主要研究方向： | 视觉多模态数据配准融合 SLAM、机器人感知定位导航 相关课题成果、机器人视频demo可见www.youtube.com/channel/UCOaRt40Vc108CSjZo9emLqQ |
| 主要科研课题及项目： | 国外参与课题：
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| 主要论文及著作： | [1] 余淮,杨文. 一种无人机航拍影像快速特征提取与匹配算法[J]. 电子与信息学报, 2016, 38(3): 509-516. [2] Huai Yu, Wen Yang, Gui-Song Xia and Gang Liu. A Color-Texture-Structure Descriptor for High-Resolution Satellite Image Classification. Remote Sensing, 2016, 8(3), 259. [3] 刘妍,余淮,杨文,李立. 利用SAR-FAST角点检测的合成孔径雷达图像配准方法[J]. 电子与信息学报, 2017, 39(2): 430-436. [4] Huai Yu, Wen Yang, Guang Hua and Hui Ru. Change Detection using High Resolution Remote Sensing Images Based on Active Learning and Markov Random Fields. Remote Sensing, 2017,9(12), 1233. [5] Huai Yu, Jinwang Wang, Yu Bai, Wen Yang and Gui-Song Xia. Analysis of Large Scale UAV Images using A Multi-scale Hierarchical Representation. Geo-spatial Information Science, 2018, 21(1): 33-44. [6] Huai Yu, Wen Yang, and Yan Liu. Coarse-to-Fine Accurate Registration for Airborne SAR Images Using SAR-FAST and DSP-LATCH. Progress In Electromagnetics Research, 2018, 163: 89-106. [7] Heng Zhang, Wen Yang, Huai Yu, Haijian Zhang and Gui-Song Xia. Detecting Power Lines in UAV Images with Convolutional Features and Structured Constraints. Remote Sensing, 2019, 11(11): 1342. [8] Huai Yu, Weikun Zhen, Wen Yang, Sebastian Scherer. Line-based 2D-3D Registration and Camera Localization in Structured Environments. IEEE Transactions on Instrumentation and Measurement, 2020, 69(11):8962-8972. [9] Weikun Zhen, Yaoyu Hu, Huai Yu, Sebastian Scherer. LiDAR Enhanced Structure-from-Motion. ICRA 2020:6773-6779. [10] Huai Yu, Weikun Zhen, Wen Yang, Ji Zhang and Sebastian Scherer. Monocular Camera Localization in Prior LiDAR Maps with 2D-3D Line Correspondences. IROS 2020: 4588-4594. [11] Hao Li#, Huai Yu#, Wen Yang, Lei Yu, and Sebastian Scherer. ULSD: Unified Line Segment Detection across Pinhole, Fisheye, and Spherical Cameras. ISPRS Journal of Photogrammetry and Remote Sensing, 2021, 178: 187-202 (#equal contribution, U. V. Helava Award – Best Paper 2021) [12] Yaoyu Hu, Wenshan Wang, Huai Yu, Weikun Zhen, and Sebastian Scherer. ORStereo: Occlusion-Aware Recurrent Stereo Matching for 4K-Resolution Images, IROS. 2021: 5671-5678. [13] Weikun Zhen#, Huai Yu#, Yaoyu Hu, Sebastian Scherer. Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics. ICRA 2022:5636-5642. (#equal contribution) [14] Yao He, Huai Yu*, Wen Yang and Sebastian Scherer. Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapping Monocular Cameras. IROS 2022. [15] Taimeng Fu, Huai Yu*, Wen Yang, Yaoyu Hu, Sebastian Scherer.Targetless Extrinsic Calibration of Stereo, Thermal, and Laser Sensors in Structured Environments. IEEE Transactions on Instrumentation and Measurement, 2022. [16] Xinhang Liu, Jiaben Chen, Huai Yu, Yu-Wing Tai, Chi-Keung Tang. Unsupervised Multi-View Object Segmentation Using Radiance Field Propagation. NeurIPS 2022. [17] Chang Xu, Jinwang Wang, Wen Yang, Huai Yu, Lei Yu, Gui-Song Xia. RFLA: Gaussian Receptive Field based Label Assignment for Tiny Object Detection. ECCV 2022. [18] Chang Xu, Jinwang Wang, Wen Yang, Huai Yu, Lei Yu, Gui-Song Xia. Detecting tiny objects in aerial images: A normalized Wasserstein distance and a new benchmark. ISPRS Journal of Photogrammetry and Remote Sensing. 190: 79-93. [19] Kuangyi Chen, Huai Yu*, Wen Yang, Lei Yu, Sebastian Scherer, Gui-Song Xia , I2D-Loc: Camera Localization via Image to LiDAR Depth Flow. ISPRS Journal of Photogrammetry and Remote Sensing. 2022, 194: 209-221. [20] Bo Guo; Ruixiang Zhang; Haowen Guo; Wen Yang; Huai Yu; Peng Zhang; Tongyuan Zou, Fine-Grained Ship Detection in High-Resolution Satellite Images With Shape-Aware Feature Learning, IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing, vol. 16, pp. 1914-1926, 2023 [21] Yan Zhang, Huai Yu*, Yujie He, Xingya Wang and Wen Yang, Illumination-Guided RGBT Object Detection With Inter- and Intra-Modality Fusion, IEEE Transactions on Instrumentation and Measurement, vol. 72, pp. 1-13, 2023, Art no. 2508013 [22] Zhipeng Zhao, Huai Yu*, Chenwei Lyu, Wen Yang, Sebastian Scherer. Attention-Enhanced Cross-modal Localization Between Spherical Images and Point Clouds. IEEE Sensors Journal, Vol. 23, Iss. 19. 10.1109/JSEN.2023.3306377. [23] Yan Zhang, Chang Xu, Wen Yang, Guangjun He, Huai Yu, Lei Yu, Gui-Song Xia. Drone-based RGBT tiny person detection. ISPRS Journal of Photogrammetry and Remote Sensing, 2023, 204: 61-76. [24] Bingde Liu; Chang Xu; Wen Yang*; Huai Yu; Lei Yu. Motion Robust High-Speed Light-Weighted Object Detection With Event Camera，IEEE Transactions on Instrumentation and Measurement，Vol. 72, pp. 1-13, Art no. 5013113, 2023. [25] Chang Xu, Jian Ding, Jinwang Wang, Wen Yang, Huai Yu, et al. Dynamic Coarse-to-Fine Learning for Oriented Tiny Object Detection. CVPR 2023: 7318-7328 [26] Chen Wang, et al. PyPose: A library for robot learning with physics-based optimization. CVPR 2023: 22024-22034. [27] Huai Yu, Hao Li, Wen Yang, Lei Yu, and Gui-Song Xia. Detecting Line Segments in Motion-blurred Images with Events. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2023, accepted. 详细论文列表可查阅Google Scholar |
| 其它： | |
| 获奖情况： | [1] 飞思卡尔杯全国大学生智能汽车竞赛，全国一等奖 2014.8 [2] 2016年全球无人机开发者大赛，第三名 2016.8 [3] ICRA2017 RoboMasters国际机器人挑战赛，Finalists, 第六名 2017.5 [4] 第十二届全国研究生电子设计竞赛，华南赛区一等奖，全国二等奖. 2017.8 [5] 全国高分无人飞行器智能感知技术竞赛，单项亚军，综合季军 2017.8 [6] ICRA2018 DJI RoboMasters人工智能挑战赛，Finalists，第六名. 2018.5 [7] 第十三届全国研究生电子设计竞赛，全国一等奖，排名5/2437. 2018.5 [8] “智能隧道巡检无人机系统”获“兆易创新杯”第十四届中国研究生电子设计竞赛华中分赛区一等奖 2019.7 [9] 2021年度ISPRS Journal of Photogrammetry and Remote Sensing最佳论文奖 U.V. Helava Award - Best Paper 2021 [10] 2022年湖北省楚天学子 [11] 2023年全国研究生电子设计竞赛全国总决赛优秀指导教师奖 研究生国家奖学金，于刚-宋晓、阮立平专项奖学金，地球空间信息技术协同创新研究生奖学金等
4项国际会议的travel grants，ISPRS Congress 2016, ICRA 2017 RoboMasters MMC Sponsorship, IGARSS 2017, IMAV 2017
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| 主要社会及学术兼职： | Associate Editor of IROS 2023 《中国舰船研究》青年编委 Guest Editor for SI of 《Drones》 IEEE TIP/TIM/TRO/TGRS/IV, IJRR, Neurocomputing, RAL, ICRA, IROS 等期刊和会议审稿人 IEEE,CCF, CSIG会员 |
| 所带研究生情况： | 课题组统一招收研究生，团队负责人(杨文教授)，每年可招3-4名硕士研究生，1-2名博士 指导学生获奖： [1] 2022年指导本科生设计的“智能全景建图楼栋服务机器人”获英特尔杯全国大学生电子设计竞赛-嵌入式系统专题邀请赛一等奖， 2022.8 [2] 2022年“中国光谷·华为杯”第十九届中国研究生数学建模竞赛全国二等奖和三等奖各一项。 [3] 2022年指导的"Ghost-Alert: 鬼探头高速检测避障系统"获第十七届中国研究生电子设计竞赛华中分赛区二等奖， 2022.8 [4] 2023年指导武汉大学“全息宇宙”队获“兆易创新杯”第十八届中国研究生电子设计竞赛全国总决赛一等奖和最佳技术论文奖 [5] 2023年研究生国家奖学金： 吴忌 王馨雅 余跃 学生去向： |