高伟 研究员 中国科学院自动化研究所

电子邮件：wei.gao@ia.ac.cn

个人主页：https://weigao-3dv.github.io/

研究领域：计算机视觉、三维重建、视觉定位、机器人导航

工作经历：

中国科学院自动化研究所，研究员，2023-至今

中国科学院自动化研究所，副研究员，2012-2023

中国科学院自动化研究所，助理研究员，2008-2012

兼职情况：

中国电子工业标准化技术协会团体标准专家委员会, 委员

全国信息技术标准化技术委员会, 工作组成员

中国卫星导航定位协会室内导航与定位专委会，委员

中国图像图形学学会机器视觉专委会，委员

中国图像图形学学会三维视觉专委会，委员

科研项目：

1.      基于草图CAD模型智能生成, 负责人, 重点研发项目, 2022-2025.

2.      室内地标特征匹配与位姿精密估计, 负责人, 重点研发项目, 2016-2020.

3.      基于弱监督学习和图神经网络的大型建筑室内视觉定位技术研究, 负责人, 国家自然科学基金, 2022-2025.

4.      几何与语义相结合的复杂室内场景三维重建技术研究, 负责人, 国家自然科学基金, 2019-2022.

5.      基于微型旋翼无人飞行器的古代建筑影像获取与三维重建方法研究, 负责人, 国家自然科学基金, 2015-2018.

6.      针对中国古代建筑的结构与图像相融合的三维重建方法研究, 负责人, 国家自然科学基金, 2013-2015.

专利成果：

1.      高伟, 郭任, 吴毅红, “室内定位方法、装置、电子设备及存储介质”, 2021107847343.

2.      高伟，周宇东，吴毅红，”一种多视角三维对象姿态估计方法及装置”, 2021107861374.

3.      高伟，万一鸣，吴毅红，”单目视觉里程计定位方法及系统”, ZL. 202011153385.7.

4.      高伟，万一鸣，吴毅红，”端到端的视觉定位方法及系统”，202011154636.3.

5.      高伟，韩胜，吴毅红，”基于生成式对抗网络的统一场景视觉定位方法”，ZL. 202010517260.1.

6.      高伟，刘津旭，胡占义，”车辆拐弯轨迹双向计算方法、系统、装置”，ZL. 201911307058.X.

7.      高伟，万一鸣，吴毅红，”基于深度学习的单目视觉里程计方法及系统”，201911277617.7.

8.      高伟, 刘津旭, 胡占义, “紧耦合车辆轮子编码器数据的视觉惯性测程方法及系统”, ZL. 201910127778.1.

9.      李建伟, 高伟, 吴毅红, “深度图超分辨率补全方法及高质量三维重建方法与系统”, ZL. 201910079993.9.

10.    李建伟, 李和平, 唐付林, 高伟, 吴毅红, “快速鲁棒的RGB-D室内三维场景重建方法”, ZL. 201810213575.X.

11.    高伟, 刘津旭, 胡占义, “使用在线时间标定的视觉惯性测程法与设备”, ZL. 201810239278.2.

12.    高伟, 刘养东, 胡占义, “高效利用内存的高精度三维重建方法与系统及设备”, ZL. 201810200698.X.

13.    高伟, 刘养东, 胡占义, “移动设备上在线跟踪与稠密重建方法、系统及设备”, ZL. 201810201502.9.

14.    刘畅, 高伟, “三维重建的方法和装置”, ZL. 201710279146.8, 2017/04/25.

15.    高伟, 罗亨亮, 吴福朝, “交通标志的识别方法、存储介质、处理设备”, ZL. 201710699922.X.

16.    高伟, 李建伟, 吴毅红, “基于深度相机进行室内完整场景三维重建的方法及系统”, ZL. 201710051366.5.

17.    胡占义, 崔海楠, 申抒含, 高伟, “一种融合附加信息的大场景三维重建方法”, ZL. 201410460622.2.

18.    曾慧, 高伟, 胡占义, “四自由度双目视觉系统中的摄像机标定方法”, ZL. 201410123114.5.

国家标准：

1.      GB/T 41784-2022 信息技术 实时定位 视觉定位系统数据接口

2.      GB/T 38627-2020 信息技术 实时定位 磁定位数据接口

3.      GB/T 38630-2020 信息技术 实时定位 多源融合定位数据接口

发表论文：

1.      Yuchen Liu, Wei Gao*, Zhanyi Hu. A large-scale dataset for indoor visual localization with high-precision ground truth. The International Journal of Robotics Research, 41(2), pp. 129-135, 2022.

2.      Jianwei Li*, Wei Gao, Yihong Wu, Yangdong Liu, Yanfei Shen. High-quality indoor scene 3D reconstruction with RGB-D cameras: A brief review. COMPUTATIONAL VISUAL MEDIA, 2022 , 8(3) : 369-393.

3.      Heping Li*, Changliang Xue, Feng Wen, Hongbo Zhang, Wei Gao. BSP-MonoLoc: Basic Semantic Primitives Based Monocular Localization on Roads. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, 9.27-10.01, IROS 2021.

4.      Jinxu Liu, Wei Gao*, Zhanyi Hu. Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements. Xi’an International Convention and Exhibition Center, Xi’an, China, 5.30-6.5, ICRA 2021.

5.      Jinxu Liu, Wei Gao*, Zhanyi Hu. Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM. Xi’an International Convention and Exhibition Center, Xi’an, China, 5.30-6.5, ICRA 2021.

6.      Jinxu Liu, Wei Gao*, Zhanyi Hu. Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM. in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1670-1677, April 2021.

7.      Ruijin Chen, Wei Gao*. Color-Guided Depth Map Super-Resolution Using a Dual-Branch Multi-Scale Residual Network with Channel Interaction. Sensors, 20(6), 1560, 2020.

8.      Wei Wang, Wei Gao*, Hainan Cui, Zhanyi Hu. Reconstruction of lines and planes of urban buildings with angle regularization. ISPRS Journal of Photogrammetry and Remote Sensing, 165, pp 54-66, 2020.

9.      Sheng Han, Wei Gao*, Yiming Wan, Yihong Wu. Scene-unified image translation for visual localization. Abu Dhabi National Exhibition Center (ADNEC), Abu Dhabi, United Arab Emirates (UAE), 10.25-10.28, 2266-2270, ICIP 2020.

10.    Yiming Wan, Wei Gao*, Sheng Han, Yihong Wu. Boosting image-based localization via randomly geometric data augmentation. Abu Dhabi National Exhibition Center (ADNEC), Abu Dhabi, United Arab Emirates (UAE), 10.25-10.28, 688-692, ICIP 2020.

11.    Yiming Wan, Wei Gao*, Sheng Han, Yihong Wu. Dynamic object-aware monocular visual odometry with local and global information aggregation. Abu Dhabi National Exhibition Center (ADNEC), Abu Dhabi, United Arab Emirates (UAE), 10.25-10.28, 603-607, ICIP 2020.

12.    Wei Wang*, Hainan Cui, Wei Gao, Zhanyi Hu. Effective two-view line segment reconstruction based on structure priors. SCIENCE CHINA Information Sciences, 63(1): 119102, 2020.

13.    Yiming Wan, Wei Gao* and Yihong Wu. Optical Flow Assisted Monocular Visual Odometry. ACPR, Auckland, New Zealand, 11.26-11.29, pp 366-377, 2019.

14.    Hainan Cui*, Shuhan Shen, Wei Gao, Hongmin Liu, Zhiheng Wang. Efficient and robust large-scale structure-from-motion via track selection and camera prioritization. ISPRS Journal of Photogrammetry and Remote Sensing, vol. 156, 202-214, 2019.

15.    Jinxu Liu, Wei Gao*, Zhanyi Hu. Visual-Inertial Odometry Tightly Coupled with Wheel Encoder Adopting Robust Initialization and Online Extrinsic Calibration. IROS, THE VENETIAN MACAO, MACAU, CHINA, 11.4 - 11.8, pp. 5391-5397, 2019.

16.    Wei Wang*, Wei Gao, Zhanyi Hu. Effective Piecewise Planar Modeling Based on Sparse 3D Points and Convolutional Neural Network. Neurocomputing, vol. 378, pp. 350-363, 2020.

17.    Wei Wang*, Wei Gao. Efficient Multi-plane Extraction from Massive 3D Points for Modeling Large-scale Urban Scenes, The Visual Computer,35(5), 625-638, 2019.

18.    Yangdong Liu, Wei Gao*, Zhanyi Hu. 3D Scanning of High Dynamic Scenes Using an RGB-D Sensor and an IMU on a Mobile Device, IEEE Access, vol. 7, pp. 24057-24070, 2019.

19.    Jianwei Li, Wei Gao*, Yihong Wu. High-Quality 3D Reconstruction With Depth Super-Resolution and Completion, IEEE Access, vol. 7, pp. 19370-19381, 2019.

20.    Wei Wang, Wei Gao, Zhanyi Hu. Effectively Modeling Piecewise Planar Urban Scenes Based on Structure Priors and CNN. Science China-Information Sciences, 62(2): 29102, 2019.

21.    Jianwei Li, Wei Gao*, Heping Li, Fulin Tang, Yihong Wu. Robust and Efficient CPU-Based RGB-D Scene Reconstruction. Sensors, 18(11), 2018.

22.    Xinrui Meng, Wei Gao*, Zhanyi Hu. Dense RGB-D SLAM with Multiple Cameras. Sensors, 18(7), 2018.

23.    Jinxu Liu, Wei Gao*, Zhanyi Hu. Online Temporal Calibration of Camera and IMU Using Nonlinear Optimization. ICPR, 1761-1766, 2018.

24.    Hainan Cui, Shuhan Shen, Wei Gao. Voting-Based Incremental Structure-From-Motion. ICPR, 1929-1934, 2018.

25.    Yangdong Liu, Wei Gao*, Zhanyi Hu. High-Quality and Memory-Efficient Volumetric Integration of Depth Maps Using Plane Priors. ICPR, 1749-1754, 2018.

26.    Yangdong Liu, Wei Gao*, Zhanyi Hu. Geometrically Stable Tracking for Depth Images Based 3D Reconstruction on Mobile Devices. ISPRS Journal of Photogrammetry and Remote Sensing, 143, 222-232, 2018.

27.    Jianwei Li, Wei Gao*, Yihong Wu. Elaborate Scene Reconstruction with a Consumer Depth Camera, International Journal of Automation and Computing, 15(4), 443-453, 2018.

28.    Rizhen Qin, Wei Gao, Huarong Xu, Zhanyi Hu. Modern physiognomy: an investigation on predicting personality traits and intelligence from the human face. Science China-Information Sciences, 61(5), 058105, 2018.

29.    Hainan Cui, Shuhan Shen, Wei Gao, Zhiheng Wang. Progressive Large-Scale Structure-from-Motion with Orthogonal MSTs, 3DV, 79-88, 2018.

30.    Xinrui Meng, Wei Gao*, Zhanyi Hu. Robust 3D Indoor Map Building via RGB-D SLAM with Adaptive IMU Fusion on Robot. In: Zhao Y., Kong X., Taubman D. (eds) Image and Graphics. ICIG 2017. Lecture Notes in Computer Science, vol 10666, pp 454-467. Springer, Cham, 2017.

31.    Ting Zhang, Ri-Zhen Qin, Qiu-Lei Dong, Wei Gao, Hua-Rong Xu, Zhan-Yi Hu. Physiognomy: Personality Traits Prediction by Learning. International Journal of Automation and Computing, 14(4): 386-395, 2017.

32.    Hainan Cui, Shuhan Shen, Wei Gao, Zhanyi Hu. Efficient Large-Scale Structure from Motion by Fusing Auxiliary Imaging Information. IEEE Transactions on Image Processing, 22(11): 3561-3573, 2015.

33.    Hainan Cui, Shuhan Shen, Wei Gao, Zhanyi Hu. Fusion of Auxiliary Imaging Information for Robust, Scalable and Fast 3D Reconstruction, ACCV, 9003, 227-242, 2014.