东北大学机器视觉实验室官方公众号
1. 研究方向
长期致力于机器视觉、模式识别、无线传感器网络、人工智能算法等研究工作，具体包括：
（1）动态场景的目标检测与语义分割
（2）深度学习、强化学习与迁移学习
（3）水下机器人航迹规划与SLAM
（4）视觉空间智能、三维重建（NeRF、3DGS）
（5）扩散模型（Diffusion Model）
2. 学术成果
期刊论文
[1] Baoquan Chen, Zhongxing Ma, Pengcheng Zhu, Yaoming Zhuang*, Weixin Lu, and Haoyang Zhao. InstGPMap: Real-Time Instance-Level Global Prior Mapping via Historical Predictions Fusion, IEEE Robotics and Automation Letters(RA-L), 2025. (SCI, JCR: Q1, IF: 5.30, 中科院二区TOP期刊)
IEEE Xplore: https://ieeexplore.ieee.org/document/11260936
[2] Yaoming Zhuang*, Longyu Ma, Jiaming Liu, Yonghao Xian,Baoquan Chen,Li Li, Chengdong Wu, Wei Cui, Zhanlin Liu. A Diffusion Model-Based Image Generation Framework for Underwater Object Detection, Communications Engineering, 2025. (Nature子刊)
RUOD dataset: https://github.com/dlut-dimt/RUOD
UDD dataset: https://github.com/chongweiliu/udd_official
Code: https://github.com/maxiaoha666/ULGF
[3] Weijia Chen, Jiaming Liu, Tong Liu, Yaoming Zhuang*. PCPE-YOLO with A Lightweight Dynamically Reconfigurable Backbone for Small Object Detections, Scientific Reports, 2025, 15: 29988. (Nature子刊)
Springer Nature: https://link.springer.com/article/10.1038/s41598-025-15975-w
Code: https://github.com/WeijiaChen123/PCPE-YOLO
[4] Zhenjie Duan, Yaoming Zhuang*, Yifan Chao, Pengcheng Zhu, Li Li, Chengdong Wu and Zhanlin Liu. BEV-PolyNet: BEV-Based Polygonal End to End Parking Slot Detection Framework, IEEE Robotics and Automation Letters(RA-L), 2025, 10(10): 10322-10329. (SCI, JCR: Q1, IF: 5.30, 中科院二区TOP期刊)
IEEE Xplore: https://ieeexplore.ieee.org/document/11129638
Code: https://github.com/Xiaoszs/name/tree/main
[5] Yaoming Zhuang*, Jiaming Liu, Haoyang Zhao, Longyu Ma, Zirui Fang, Li Li, Chengdong Wu, Wei Cui, Zhanlin Liu. A Deep Learning Framework Based on Structured Space Model for Detecting Small Objects in Complex Underwater Environments, Communications Engineering, 2025, 4(24): 1-11. (Nature子刊，东北大学首篇)
Springer Nature: https://www.nature.com/articles/s44172-025-00367-9
Code: https://github.com/JML123123/UWNet
[6] Yaoming Zhuang*, Zhenjie Duan, Li Li, Chengdong Wu, Zhanlin Liu. PC-FusionMap: A Novel Point Cloud Generation and Multimodal Fusion Approach for HD Map Construction, IEEE Transactions on Intelligent Vehicles(TIV) , 2024. (SCI, JCR: Q1, IF: 14.3, 中科院一区TOP期刊)
IEEE Xplore: https://ieeexplore.ieee.org/document/10786263
[7] Pengcheng Zhu, Yaoming Zhuang*, Baoquan Chen, Li Li, Chengdong Wu and Zhanlin Liu. MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth Smooth Regularization, IEEE Robotics and Automation Letters(IEEE RA-L with ICRA 2025), 2024, 9(11): 9486-9493. (SCI, JCR: Q2, IF: 4.60, 中科院二区TOP期刊)
IEEE Xplore: https://ieeexplore.ieee.org/document/10679906
arXiv: http://arxiv.org/abs/2405.06241
Code: https://github.com/Z-Pengcheng/MGS-SLAM
bilibili: https://b23.tv/BUIdKMZ
YouTube: https://youtu.be/twwELF3LgZs?si=Lav7qEIeqh476FBm
[8] Yaoming Zhuang*, Pengrun Jia, Zheng Liu, Li Li, Chengdong Wu, Xinye Lu, Wei Cui, and Zhanlin Liu. Amos-SLAM: An Anti-Dynamics Two-stage RGB-D SLAM Approach, IEEE Transactions on Instrumentation and Measurement(TIM), 2024, 73: 1-10. (SCI, JCR: Q1, IF: 5.60, 中科院二区TOP期刊)
IEEE Xplore: https://ieeexplore.ieee.org/document/10316308
Code: https://github.com/1812598631/Amos-slam
bilibili: https://www.bilibili.com/video/BV1qU411d7Mm
YouTube: https://youtu.be/TlzeyxawWUQ
[9] Qiang Zou, Haipen Wang, Tianle Zhang, Zhengqi Li, Yaoming Zhuang. Research on Path Planning Method for Autonomous Patrol Robots, Electronics, 2024, 13(14): 2865. (SCI, JCR: Q2, IF: 2.60)
[10] Zheng Liu, Yaoming Zhuang*, Pengrun Jia, Chengdong Wu, Hongli Xu, and Zhanlin Liu. A Novel Underwater Image Enhancement Algorithm and an Improved Underwater Biological Detection Pipeline [J]. Journal of Marine Science and Engineering, 2022, 10(9): 1-21. (SCI, JCR: Q1, IF: 2.744)
Code: https://github.com/April-LIU3479/master
[11] Li Li, Yaoming Zhuang, Yanpeng Gao*, and Shasha Li. One Man’s Trash Is Another Man’s Treasure: Negative Experiences of Tourists with Different Satisfaction Levels [J]. Sustainability, 2022, 14(23): 1-13. (SCI, JCR: Q2, IF: 3.889)
[12] Yaoming Zhuang*, Chengdong Wu, Hao Wu, Zuyuan Zhang, Hongli Xu, Qingyong Jia and Li Li. Event Coverage Hole Repair Algorithm Based on Multi-AUVs in Multi-Constrained Three-Dimensional Underwater Wireless Sensor Networks [J]. Symmetry, 2020, 12(11): 1-20. (SCI, JCR: Q2, IF: 2.645)
[13] Yaoming Zhuang*, Chengdong Wu, Hao Wu, Zuyuan Zhang, Yuan Gao and Li Li. Collaborative Neural Network Algorithm for Event-Driven Deployment in Wireless Sensor and Robot Networks [J]. Sensors, 2020, 20(10): 1-17. (SCI, JCR: Q1, IF: 3.275)
[14] Yaoming Zhuang*, Chengdong Wu, Hao Wu, Hao Chu, Yuan Gao and Li Li. The Repair Strategy for Event Coverage Holes Based on Mobile Robots in Wireless Sensor and Robot Networks [J]. Sensors, 2019, 19(22): 1-21. (SCI, JCR: Q1, IF: 3.275)
[15] Yaoming Zhuang, Chengdong Wu*, and Yunzhou Zhang. Non-Preference Bi-Objective Compound Event Barrier Coverage Algorithm in 3-D Sensor Networks [J]. IEEE Access, 2018, 2018(6): 34086-34097. (SCI, JCR: Q1, IF: 3.745)
[16] Yaoming Zhuang*, Chengdong Wu, Yunzhou Zhang, and Zixi Jia. Compound Event Barrier Coverage Algorithm Based on Environment Pareto Dominated Selection Strategy in Multi-Constraints Sensor Networks [J]. IEEE Access, 2017, 2017(5): 10150-10160. (SCI, JCR: Q1, IF: 3.745)
[17] Yaoming Zhuang*, Chengdong Wu, Yunzhou Zhang, and Zixi Jia. Compound Event Barrier Coverage in Wireless Sensor Networks under Multi-Constraint Conditions [J]. Sensors, 2017, 17(25): 1-17. (SCI, JCR: Q1, IF: 3.275)
[18] 庄曜铭, 吴成东, 张云洲. 一种面向三维感知的多媒体传感器网络覆盖增强算法[J]. 东北大学学报, 2018, 39(5): 609-612. (EI)
[19] Yuan Gao, Xiaosheng Yu, Chengdong Wu, Wei Zhou, Xiaonan Wang, and Yaoming Zhuang. Accurate Optic Disc and Cup Segmentation from Retinal Images Using a Multi-Feature Based Approach for Glaucoma Assessment [J]. Symmetry, 2019, 11(10): 1-18. (SCI, JCR: Q2, IF: 2.645)
[20] Yuan Gao, Xiaosheng Yu, Chengdong Wu, Wei Zhou, Xiaoliang Lei, and Yaoming Zhuang. Automatic Optic Disc Segmentation Based on Modified Local Image Fitting Model with Shape Prior [J]. Journal of Healthcare Engineering, 2019. (SCI, JCR: Q3, IF: 1.803)
[21] Yifei Yao, Yaoming Zhuang*, Yizhi Xie, Chengdong Wu. Prescribed Performance Global Non-Singular Fast Terminal Sliding Mode Control of PMSM Based on Linear Extended State Observer [J]. Actuators, 2025, 14(2): 1-20. (SCI, JCR: Q2, IF: 2.2)
[22] Shuai Wang, Yinuo Xie, Kangyi Huang, Jun Lang, Qi Liu*, and Yaoming Zhuang*. Advanced Servo Control and Adaptive Path Planning for a Vision-Aided Omnidirectional Launch Platform in Sports-Training Applications [J]. Actuators, 2025, 14(12): 1-26. (SCI, JCR: Q2, IF: 2.2)
Actuators: https://www.mdpi.com/2076-0825/14/12/614
会议论文
[1] Yaoming Zhuang*, Chengdong Wu, Yunzhou Zhang, Pengju Si, Yuan Gao and Yang Wu. Mobile Robots Healing Strategy for Event Coverage Holes in Wireless Sensor and Robot Networks [C].The 31st Chinese Control and Decision Conference (CCDC), 2019, 4743-4748. (EI)
[2] Yaoming Zhuang*, Chengdong Wu, and Yunzhou Zhang. A Coverage Hole Recovery Algorithm for Wireless Sensor Networks Based on Cuckoo Search [C]. IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), July, 2017, 1552-1557. (EI)
[3] Yaoming Zhuang*, Chengdong Wu, Yunzhou Zhang, and Sheng Feng. Realization of Moving Object Detection and Tracking Algorithm Based on Frame Difference Method and Particle Filter Algorithm [C]. The 29th Chinese Control and Decision Conference (CCDC), May, 2017, 161-166. (EI)
[4] Yuan Gao, Xiaosheng Yu, Cheng dong Wu, and Yaoming Zhuang. Automated Segmentation of the Optic Disc from Retinal Image Using Modified Local Intensity Clustering Model [C]. The 31st Chinese Control and Decision Conference (CCDC), 2019, 602-606. (EI)
[5] Yizhi Xie, Yaoming Zhuang*, Chengdong Wu, Fengkui Cao.Comprehensive suppression method of mechanical resonance and disturbance in servo system[C].14th Asian Control Conference(ASCC), 2024, 1854-1859. (EI)
[6] Yifei Yao, Yaoming Zhuang*, Chengdong Wu, Fengkui Cao. Auxiliary Linear Extended State Observer for Position Tracking Control of PMSM Based on Sliding Mode Control[C].14th Asian Control Conference(ASCC), 2024, 1866-1871. (EI)
[7] Peng Xu, Yaoming Zhuang*, Chengdong Wu, Fengkui Cao. Twin-motor Servo Drive Control Based on RL and Perturbation Observer [C].14th Asian Control Conference(ASCC), 2024, 1860-1865.(EI)
[8] Xingjia Zhang, Yaoming Zhuang, Chengdong Wu. Collaborative Control Algorithm of Dual PMSMs Based on Improved Sliding Mode Control. The 2nd International Conference on Intelligent Systems and Robotics (CISR 2025), 2025, 3108(1): 012013. (EI)
[9] Yi Zhang, Yekai Li, Yaoming Zhuang*. An Improved YOLOv8-based Precise Detection Model for Underwater Waste using SPPF_LSKA and C2F_MLCA. International Conference on Intelligent Systems and Robotics (CISR 2025), 2025, 3108(1): 012016. (EI)
[10] Baoquan Chen*, Yaoming Zhuang. YOLO-lite: A novel lightweight model for underwater object detection using large model and graph structure [C].2025 4th International Symposium on Computer Applications and Information Technology (ISCAIT), 2025, 722-725. (EI)
软件著作
[1] 庄曜铭, 杨建安, 黄昕洁, 王圣博, 何昕怡, 冯佳慧. 水下图像识别系统, 软件著作权, 软著登字第11640064号, 2023
[2] 庄曜铭, 王圣博, 王奚伟, 冯佳慧, 黄昕洁, 何昕怡. 水下先锋技术服务系统, 软件著作权, 软著登字第11640065号, 2023
[3] 庄曜铭, 翟梦阳. 基于空间域的多种高精度点云滤波软件, 软件著作权, 软著登字第12705008号, 2023
[4] 庄曜铭, 李烨凯, 张亦. 基于YOLOv8算法的水下小目标识别追踪软件, 软件著作权, 软著登字第15393133号, 2025
发明专利
[1] 吴成东,谢义智,庄曜铭,么佚非. 一种伺服系统中抑制机械共振和干扰的方法, 发明专利, CN202410862321.6, 2024
[2] 吴成东,么佚非,庄曜铭,谢义智. 一种基于反步滑膜控制的伺服系统位置跟踪控制方法, 发明专利, CN202410879197.4, 2024
[3] 吴成东,徐鹏,庄曜铭,么佚非. 基于强化学习的伺服电机控制方法, 发明专利, CN202411221156.2, 2024
3. 学术兼职
（1）联合新加坡国立大学研究院Institute for Infocomm Research, Astar，在SCI二区期刊《Electronics》(IF:2.900) 设立专刊“Advances in Mobile Networked Systems”，担任客座编辑。专刊网址
（2）在SCI二区期刊《Actuators》(IF:2.200) 设立专刊“Advanced High-Precision Servo Control Systems in Industrial Applications”，担任客座编辑。专刊网址
（3）现担任《IEEE Transactions on Industrial Informatics》、《IEEE Transactions on Mobile Computing》、《IEEE Transactions on Vehicular Technology》、《IEEE Transactions on Industrial Electronics》、《IEEE Transactions on Instrumentation and Measurement》、《IEEE Transactions on Aerospace and Electronic Systems》、《IEEE Transactions on Circuits and Systems for Video Technology》、《IEEE Transactions on Intelligent Transportation Systems》、《IEEE Transactions on Aerospace and Electronic Systems》和 IEEE ICRA、IEEE IROS等多个国际顶刊和顶会审稿人。
（4）《IEEE Transactions on Instrumentation and Measurement》杰出审稿人(IEEE TIM Outstanding Reviewers of 2024) 。
（5）中国人工智能学会会员
（6）长期与美国亚利桑那州立大学ASU、俄克拉荷马大学OU开展合作科研，合作教授：Prof. Junshan Zhang
（7）科技部战略咨询项目评审专家
（8）国家自然科学基金项目评审专家
（9）教育部学位与研究生教育发展中心 全国本科毕业论文（设计）抽检评审专家
（10）教育部学位与研究生教育发展中心 全国研究生教育评估监测专家
（11）山东省、陕西省、黑龙江省教育厅本科抽检毕业论文（设计）抽检评审专家
4. 国际合作
长期与国际顶尖院校和科研机构开展合作研究
（1）美国：华盛顿大学（UW）、加州大学戴维斯分校（UC Davis）、亚利桑那州立大学（ASU）、俄克拉何马州立大学（OSU）
（2）英国：阿尔斯特大学（Ulster University）
（3）澳大利亚：悉尼科技大学（UTS）
（4）新加坡：南洋理工大学（NTU）、新加坡国立大学（NUS）、Institute for Infocomm Research, Astar
5. 科研项目
主持国家级项目2项，国家级重点项目子课题1项，省部级科研项目7项，执行工信部重点研发项目1项，参与国家级重点科研项目2项，主持和执行科研经费超1000万元，课题经费充足，具备一流科研条件。
（1）“三断”环境的应急通信解决方案和技术路径研究，国家消防救援局重点研发计划项目（国家级重点研发项目），2025.06-2027.05，项目负责人，首席科学家
（2）化工场景下动态跨场景事件漏洞监测与修复策略迁移研究，国家自然科学基金青年科学基金项目，62403108，2025.01 - 2027.12，30万元，负责人
（3）面向危险复杂环境的移动机器人事件漏洞监测与修复方法研究，辽宁省自然科学基金面上项目，2023-MSBA-075，2023.12-2025.11，8万元，负责人
（4）基于语义地图与强化学习的智能化事件监测方法研究，中国博士后科学基金面上项目，2020M670778，2020.01-2021.12，8万元，负责人
（5）面向水下复杂环境的自主水下机器人智能化事件监测方法研究，辽宁省自然科学基金博士科研启动项目，2021-BS-051，2021.07-2023.06，3万元，负责人
（6）面向化工复杂场景的气体传感器事件漏洞自主监测方法研究，教育部中央高校基本科研业务费国家培育项目，N2426005，2024.01-2025.12，10万元，负责人
（7）无线传感器网络事件覆盖算法研究，教育部中央高校基本科研业务费启动项目，N2026006，2020.01-2021.12，15万元，负责人
（8）面向化工厂火灾事件监测的多机器人自主学习与迁移学习方法研究，东北大学博士后基金项目，20200308，2021.01-2022.12，3万元，负责人
（9）面向危险复杂环境的智能化多机器人事件监测方法研究，辽宁省教育厅科学研究经费项目，LT2020002，2020.9-2023.9，3万元，负责人
（10）面向智能工厂的人机协作型机器人协同机理与控制技术研究，国家自然科学基金区域创新发展联合基金重点项目，U2013216， 2021.01-2024.12，260万元，子课题负责人
（11）基于神经形态视觉的微小型无人机新型自主导航方法研究，国家自然科学基金面上项目，62073066，2021.01-2024.12，61.95万元，骨干成员
（12）面向室内动态环境的视觉语义SLAM关键技术，国家自然科学基金面上项目，61973066，2020.01-2023.12，59万元，骨干成员
（13）基于智慧云的智能税务服务系统研发与应用示范，辽宁省重点研发计划项目，2020JH2/10100040，2020.01-2022.12，60万元，骨干成员
（14）×××探测与识别系统，鹏城国家实验室项目，2020JQR04H002，2020.01-2020.12，126万元，骨干成员
（15）×××控制模块，鹏城国家实验室项目，2020JQR04H001，2020.05-2021.05，185万元，骨干成员
（16）高档数控机床用高性能伺服驱动器与编码器研发与应用，工信部重点研发计划项目，TC220H05X-04，2022.05-2025.04，2.2亿元，骨干成员
