苑晶｜南开大学｜学者主页

2026

UCA-SLAM: Tightly Coupled Visual-LiDAR SLAM with DoF-wise Uncertainty-driven Constraint Analysis

Shizhuo Yu, Wenbin Zhu, Jing Yuan, Yuanxi Gao

Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI

2026

VPS-SLAM: LiDAR-Inertial SLAM via Voxel-Based Probabilistic Surfels

Yi Jiang, Wenbin Zhu, Jing Yuan, Fei Chen

IEEE Transactions on Industrial Electronics

DOI

2026

A Model‐Free Non‐Zero‐Sum Game Framework for Safe and Optimal Vehicle Platooning Control

J T Liu, Fei Chen, Jing Yuan

International Journal of Robust and Nonlinear Control

DOI

2026

URGE: Efficient Decentralized Multirobot Exploration Guided by Unknown Regions Under Limited Communication

Qingchen Bi, Xuebo Zhang, Shiyong Zhang, Qianli Dong, Jing Yuan

IEEE Transactions on Robotics

DOI

2024

双目视觉辅助的激光惯导SLAM算法

刘辉，张雪波，李如意，苑晶

《控制与决策》

DOI

2024

GAF-PCNN: A Multisensor Fusion Navigation Integrity Monitoring Method Based on Gramian Angular Field and Parallel CNN

Rui Chen, Yue Yu, Dongyang Hu, Jing Yuan, Yongjie Zhai

IEEE Sensors Journal

DOI

2023

PLVO:基于平面和直线融合的RGB-D视觉里程计

孙沁璇，苑晶，张雪波，高远兮

《自动化学报》

DOI

2022

低光照场景下基于序列增强的移动机器人人体检测与姿态识别

祝文斌，苑晶，朱书豪，胡天帅，高远兮，张雪波

《机器人》

2022

旋翼无人机环境覆盖与探索规划方法综述

张世勇，张雪波，苑晶，方勇纯

《控制与决策》

DOI

2021

A two-level framework for place recognition with 3D LiDAR based on spatial relation graph

Yansong Gong, Fengchi Sun, Jing Yuan, Wenbin Zhu, Qinxuan Sun

Pattern Recognition

DOI

2021

Robust localization and map updating based on Euclidean signed distance field map in dynamic environments

Hui Liu, Xuebo Zhang, Haiming Gao, Jing Yuan, Xinwei Chen

International Conference on Robotics and Control Engineering (RobCE)

DOI

2021

Moving Target Tracking with a Mobile Robot based on Modified Social Force Model

Qinxuan Sun, Shengming Zhang, Jing Yuan, Xuebo Zhang, Shuhao Zhu

International Conference on Robotics and Control Engineering (RobCE)

DOI

2020

基于分层词袋模型的室外环境增量式场景发现

陈昊天，张彪，孙凤池，黄亚楼，苑晶

《控制理论与应用》

2020

结构化环境下基于结构单元软编码的3维激光雷达点云描述子

周光召，苑晶，高海明，孙沁璇，张雪波，俞诗卓

《机器人》

DOI

2019

室内环境下基于图像序列拓扑关系的移动机器人全局定位

董星亮，苑晶，张雪波，黄亚楼

《机器人》

DOI

2019

Scan Matching of Laser Point Clouds Based on the 3D Angle Features within Indoor Environments

Yansong Gong, Yutong Zhang, Fengchi Sun, Jing Yuan

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

DOI

2018

室内环境下基于平面与线段特征的RGB-D视觉里程计

董星亮，苑晶，黄枢子，杨少坤，张雪波，孙凤池，黄亚楼

《机器人》

2018

Extendable Flight System for Commercial UAVs on ROS

Jingqi Jiang, Xuetao Zhang, Jing Yuan, Kaitao Tang, Xuebo Zhang

Chinese Control Conference (CCC)

DOI

2018

Image-Sequence-Based Mobile Robot Localization

Xingliang Dong, Jing Yuan, Fengchi Sun, Qinxuan Sun, Yalou Huang

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

DOI

2018

Consistent Path Planning for On-Axle-Hitching Multisteering Trailer Systems

Jing Yuan, Shaokun Yang, Jingxin Cai

IEEE Transactions on Industrial Electronics

DOI

2017

基于运动模式在线分类的移动机器人目标跟踪

苑晶，李阳，董星亮，黄亚楼

《仪器仪表学报》

DOI

2017

RGB-D SLAM in Indoor Environments With STING-Based Plane Feature Extraction

Qinxuan Sun, Jing Yuan, Xuebo Zhang, Fengchi Sun

IEEE/ASME Transactions on Mechatronics

DOI

2017

Hierarchical Motion Planning for Multisteering Tractor–Trailer Mobile Robots with On-Axle Hitching

Jing Yuan

IEEE/ASME Transactions on Mechatronics

DOI

2017

Cooperative localization for disconnected sensor networks and a mobile robot in friendly environments

Jing Yuan, Jinhe Zhang, Song Z. Ding, Xingliang Dong

Information Fusion

DOI

2017

A Two-Layered Pipeline for Topological Place Recognition Based on Topic Model

Xingliang Dong, Jing Yuan, Fengchi Sun, Yalou Huang

Communications in computer and information science

DOI

2016

激光与单目视觉融合的移动机器人运动目标跟踪

苑晶，刘钢墩，孙沁璇

《控制理论与应用》

2016

Terrain classification in field environment based on Random Forest for the mobile robot

Hui Zhang, Dai Xiaofang, Fengchi Sun, Jing Yuan

Chinese Control Conference (CCC)

DOI

2015

SLAM and moving target tracking based on constrained local submap filter

Song Z. Ding, Gangdun Liu, Li Yang, Jinhe Zhang, Jing Yuan, Fengchi Sun

IEEE International Conference on Information and Automation (ICIA)

DOI

2015

Trajectory Generation and Tracking Control for Double-Steering Tractor–Trailer Mobile Robots With On-Axle Hitching

Jing Yuan, Fengchi Sun, Yalou Huang

IEEE Transactions on Industrial Electronics

DOI

2015

Pseudospectral motion planning for autonomous bicycles

Jing Yuan, Jinhe Zhang, Song Z. Ding

IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

DOI

2015

Multisensor Information Fusion for People Tracking With a Mobile Robot: A Particle Filtering Approach

Jing Yuan, Huan Chen, Fengchi Sun, Yalou Huang

IEEE Transactions on Instrumentation and Measurement

DOI

2014

Optimal design of trajectory parameters and position tracking with balance for riderless bicycle

Jing Yuan, Fengchi Sun, Yalou Huang

Optimal Control Applications and Methods

DOI

2014

Coordinated motion planning for multi-robot based on multi-stage Pseudospectral Method

Huan Chen, Jing Yuan, Song Z. Ding, Fengchi Sun

Chinese Control Conference (CCC)

DOI

2014

Trajectory planning and tracking control for autonomous bicycle robot

Jing Yuan, Huan Chen, Fengchi Sun, Yalou Huang

Nonlinear Dynamics

DOI

2014

Terrain classification in field environment with grid-based SURF feature

Ming Chen, Dai Xiaofang, Zhounan Lv, Fengchi Sun, Yuan Jing

Chinese Control Conference (CCC)

DOI

2013

Active exploration using a scheme for autonomous allocation of landmarks

Jing Yuan, Yalou Huang, Fengchi Sun, Tao Tong

Robotica

DOI

2013

A study of the joint decision between spatial intelligence and agent intelligence based on multi-source information

Wenyu Li, Qi Li, Feng Duan, Jeffrey Too Chuan Tan, Jing Yuan, Jin Zhang

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2013

An designated obstacle monitoring approach based on self-defined landmarks for a mobile robot

Shun Han, Kang Peipei, Gangdun Liu, Feng Duan, Jing Yuan, Jeffrey Too Chuan Tan, Jingtai Liu

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2012

通讯范围受限条件下的多机器人主动SLAM

吴晓琳，宋萌，苑晶，孙凤池，陶通

《系统工程与电子技术》

2012

基于协助校正方法的多机器人主动同时定位与建图

陶通，黄亚楼，苑晶，孙凤池

《模式识别与人工智能》

2012

An approach to multi-robot cooperative SLAM

Xiaolin Wu, Jing Yuan, Fengchi Sun, Huan Chen, Huang Shuzi

2012

An autonomous target-tracking algorithm based on visual feature

Kun Zhao, Fengchi Sun, Jing Yuan

2012

Mobile robot active observation and mapping based on factored method

Jing Yuan, Yalou Huang, Fengchi Sun, Huang Shuzi, Huan Chen

World Congress on Intelligent Control and Automation

DOI

2011

一种基于几何统计特征的全局扫描匹配方法

郭瑞，孙凤池，苑晶，黄亚楼

《模式识别与人工智能》

2011

多转向驱动拖挂式移动机器人镇定控制

苑晶，黄亚楼，孙凤池

《自动化学报》

2011

面向移动机器人自定位的无线网络构造算法及实现

苑晶，黄亚楼，孙凤池

《仪器仪表学报》

DOI

2010

一种用于未知环境探索的可动态配置路标系统

孙凤池，苑晶，黄亚楼，刘光

《机器人》

2010

A cooperative approach for multi-robot area exploration

Jing Yuan, Yalou Huang, Tao Tong, Fengchi Sun

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI

2010

Cooperative simultaneous localization and mapping for multi-robot: Approach & experimental validation

Tao Tong, Yalou Huang, Jing Yuan, Fengchi Sun, Wu Xiaolin

World Congress on Intelligent Control and Automation

DOI

2009

基于局部子地图方法的多机器人主动同时定位与地图创建

苑晶，黄亚楼，陶通，习白羽

《机器人》

2009

基于陆标动态配置的移动机器人主动探索

苑晶，黄亚楼，孙凤池

《控制理论与应用》

2009

一种基于线段特征的室内环境主动SLAM方法

武涛，孙凤池，苑晶，黄亚楼

《机器人》

2009

ICP based on Polar Point Matching with application to Graph-SLAM

Rui Guo, Fengchi Sun, Jing Yuan

International Conference on Mechatronics and Automation

DOI

2009

Active exploration using scheme of autonomous distribution for landmarks

Jing Yuan, Yalou Huang, Fengchi Sun, Tao Tong

Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI

2008

两种连接形式的拖挂式移动机器人路径跟踪控制

苑晶，黄亚楼，孙凤池

《控制理论与应用》

2008

Monocular SLAM using vertical straight lines with inverse-depth representation

Chao Li, Yalou Huang, Yewei Kang, Jing Yuan

World Congress on Intelligent Control and Automation

DOI

2008

An approach to adaptive map building of mobile robots in unknown environment

Tao Wu, Fengchi Sun, Jing Yuan

World Congress on Intelligent Control and Automation

DOI

2008

Multi-robot cooperative map building in unknown environment considering estimation uncertainty

Tao Tong, Yalou Huang, Yuan Jing, Sun Fengchi

Chinese Control and Decision Conference (CCDC)

DOI

2007

带拖车移动机器人全局路径跟踪控制

苑晶，黄亚楼，孙凤池

《控制与决策》

DOI

2007

一种改进的FastSLAM算法

康叶伟，黄亚楼，孙凤池，苑晶

《计算机工程与应用》

2007

Improved FastSLAM algorithm

Jing Yuan

Computer Engineering and Applications Journal

2007

A Compound PRM Method for Path Planning of the Tractor-Trailer Mobile Robot

Fengchi Sun, Yalou Huang, Jing Yuan, Yewei Kang, Fengying Ma

IEEE International Conference on Automation and Logistics (ICAL)

DOI

2006

拖挂式移动机器人的结构优化

韩强，黄亚楼，苑晶，康叶伟

《机器人》

2006

Path Following Control for Tractor-Trailer Mobile Robots with Two Kinds of Connection Structures

Jing Yuan, Yalou Huang

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI

2006

Optimization Design for Connection Relation of Tractor-Trailer Mobile Robot with Variable Structure

Jing Yuan, Yalou Huang, Fengchi Sun, Yewei Kang

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI

2006

Path Following Control for Tractor-Trailer Mobile Robot Based on Virtual Desired Path

Jing Yuan, Yalou Huang, Fengchi Sun, Yewei Kang

World Congress on Intelligent Control and Automation

DOI

2005

Design for Physical Structure of Tractor-Trailer Mobile Robot

Jing Yuan, Yalou Huang, Fengchi Sun

IEEE International Conference on Robotics and Biomimetics (ROBIO)

DOI

2004

Computation of equivalent size for tractor-trailer wheeled mobile robot

Jing Yuan, Yalou Huang, Fengchi Sun, Yewei Kang

World Congress on Intelligent Control and Automation

DOI

2003

带拖车轮式移动机器人包络路径的分析与量化

苑晶，黄亚楼，康叶伟，刘作军，孙凤池

《机器人》

2003

SOMR结构网络机器人的核心数据调度

刘作军，黄亚楼，苑晶，康叶伟

《机器人》

精选作品

期刊论文

UCA-SLAM: Tightly Coupled Visual-LiDAR SLAM with DoF-wise Uncertainty-driven Constraint Analysis

VPS-SLAM: LiDAR-Inertial SLAM via Voxel-Based Probabilistic Surfels

A Model‐Free Non‐Zero‐Sum Game Framework for Safe and Optimal Vehicle Platooning Control

URGE: Efficient Decentralized Multirobot Exploration Guided by Unknown Regions Under Limited Communication

双目视觉辅助的激光惯导SLAM算法

GAF-PCNN: A Multisensor Fusion Navigation Integrity Monitoring Method Based on Gramian Angular Field and Parallel CNN

PLVO:基于平面和直线融合的RGB-D视觉里程计

低光照场景下基于序列增强的移动机器人人体检测与姿态识别

旋翼无人机环境覆盖与探索规划方法综述

A two-level framework for place recognition with 3D LiDAR based on spatial relation graph

Robust localization and map updating based on Euclidean signed distance field map in dynamic environments

Moving Target Tracking with a Mobile Robot based on Modified Social Force Model

基于分层词袋模型的室外环境增量式场景发现

结构化环境下基于结构单元软编码的3维激光雷达点云描述子

室内环境下基于图像序列拓扑关系的移动机器人全局定位

Scan Matching of Laser Point Clouds Based on the 3D Angle Features within Indoor Environments

室内环境下基于平面与线段特征的RGB-D视觉里程计

Extendable Flight System for Commercial UAVs on ROS

Image-Sequence-Based Mobile Robot Localization

Consistent Path Planning for On-Axle-Hitching Multisteering Trailer Systems

基于运动模式在线分类的移动机器人目标跟踪

RGB-D SLAM in Indoor Environments With STING-Based Plane Feature Extraction

Hierarchical Motion Planning for Multisteering Tractor–Trailer Mobile Robots with On-Axle Hitching

Cooperative localization for disconnected sensor networks and a mobile robot in friendly environments

A Two-Layered Pipeline for Topological Place Recognition Based on Topic Model

激光与单目视觉融合的移动机器人运动目标跟踪

Terrain classification in field environment based on Random Forest for the mobile robot

SLAM and moving target tracking based on constrained local submap filter

Trajectory Generation and Tracking Control for Double-Steering Tractor–Trailer Mobile Robots With On-Axle Hitching

Pseudospectral motion planning for autonomous bicycles

Multisensor Information Fusion for People Tracking With a Mobile Robot: A Particle Filtering Approach

Optimal design of trajectory parameters and position tracking with balance for riderless bicycle

Coordinated motion planning for multi-robot based on multi-stage Pseudospectral Method

Trajectory planning and tracking control for autonomous bicycle robot

Terrain classification in field environment with grid-based SURF feature

Active exploration using a scheme for autonomous allocation of landmarks

A study of the joint decision between spatial intelligence and agent intelligence based on multi-source information

An designated obstacle monitoring approach based on self-defined landmarks for a mobile robot

通讯范围受限条件下的多机器人主动SLAM

基于协助校正方法的多机器人主动同时定位与建图

An approach to multi-robot cooperative SLAM

An autonomous target-tracking algorithm based on visual feature

Mobile robot active observation and mapping based on factored method

一种基于几何统计特征的全局扫描匹配方法

多转向驱动拖挂式移动机器人镇定控制

面向移动机器人自定位的无线网络构造算法及实现

一种用于未知环境探索的可动态配置路标系统

A cooperative approach for multi-robot area exploration

Cooperative simultaneous localization and mapping for multi-robot: Approach & experimental validation

基于局部子地图方法的多机器人主动同时定位与地图创建

基于陆标动态配置的移动机器人主动探索

一种基于线段特征的室内环境主动SLAM方法

ICP based on Polar Point Matching with application to Graph-SLAM

Active exploration using scheme of autonomous distribution for landmarks

两种连接形式的拖挂式移动机器人路径跟踪控制

Monocular SLAM using vertical straight lines with inverse-depth representation

An approach to adaptive map building of mobile robots in unknown environment

Multi-robot cooperative map building in unknown environment considering estimation uncertainty

带拖车移动机器人全局路径跟踪控制

一种改进的FastSLAM算法

Improved FastSLAM algorithm

A Compound PRM Method for Path Planning of the Tractor-Trailer Mobile Robot

拖挂式移动机器人的结构优化

Path Following Control for Tractor-Trailer Mobile Robots with Two Kinds of Connection Structures

Optimization Design for Connection Relation of Tractor-Trailer Mobile Robot with Variable Structure

Path Following Control for Tractor-Trailer Mobile Robot Based on Virtual Desired Path

Design for Physical Structure of Tractor-Trailer Mobile Robot

Computation of equivalent size for tractor-trailer wheeled mobile robot

带拖车轮式移动机器人包络路径的分析与量化

SOMR结构网络机器人的核心数据调度

会议论文

A 3 RGB-D SLAM: Active RGB-D SLAM with Active Exploration,Adaptive TEB and Active Loop Closure

基于WiFi无线信号的室内环境移动机器人定位

基于多阶段伪谱法的多移动机器人协同运动规划

基于网格化SURF特征的野外环境地形分类

一种多机器人协作SLAM方法

一种基于视觉特征的自主目标跟踪算法

研究方向