联系方式

通讯地址：福建省福州市福州地区大学新区学园路2号 邮编:350116

电子邮箱：lw.zhang@fzu.edu.cn

教育工作经历

2007/09-2011/01，中国科学院自动化研究所，博士

2001/09-2004/06，复旦大学，数学研究所，硕士

1997/09-2001/06，曲阜师范大学，数学系，本科

2021/12-至今，福州大学，suncitygroup太阳集团机电系，教授

2014/12-2021.12，福州大学，suncitygroup太阳集团机电系，副教授

2012/04-2015/01， 德国汉堡大学计算机系TAMS研究组，博士后

2010/11-2012/03，中国科学院深圳先进技术研究院，认知技术研究中心，助理研究员

2009/09-2010/02，香港城市大学，制造工程及工程管理系(MEEM)，研究助理

2004/07-2007/08，山东科技大学，信息科学与工程学院，助教

社会兼职

1. 福州大学人工智能实验班 班主任

2. 2022年福建省青少年人工智能大赛 裁判长

3. 第18/19届福建省青少机器人竞赛 裁判、裁判长

研究领域（研究课题）

1）机器人学习（主要研究领域：基于视觉、激光、文本等多模态的机器人学习）

2）机器人操作系统（Robot Operating System, ROS, www.ros.org）

3）多机器人系统（主要研究领域：①多机器人即时定位与地图构建 (Multiple Robot SLAM)，②多机器人协同避障(Multiple Robot Collision Avoidance)，③地图融合(Multiple Robot Map Merging)）

4）机器视觉（主要研究领域：基于视觉的产品检测、AGV）

科研纵向项目：

1. 基于深度学习的带有相似性约束的机器人视觉语义联合表示模型研究，国家自然科学基金面上项目（项目编号：61673115）, 2017.01-2020.12, 73.4万元，项目负责人。

2. 基于深度学习的带有相似性约束的机器人视觉语义联合表示模型研究，福建省自然基金面上项目（项目编号：2017J01749）, 2017.03-2020.04, 9万元，项目负责人。

3. 基于词向量与深度学习的机器人视觉语义联合表示模型研究，福建省高等学校新世纪优秀人才支持计划, 2017.04-2019.04, 9万元，项目负责人。

4. 基于鲁棒优化的非友好环境多视角几何问题研究, 国家自然科学基金青年基金(项目编号：61105130), 2012.01-2014.12, 22万, 项目负责人。

科研横向项目

1. 助教机器人问答语料资源采集加工，首都师范大学，项目负责人。

2. 无人驾驶系统软件，深圳市重器科技有限公司，项目负责人。

3. 复杂环境下的异构群机器人协作探索与操作，上海宇航系统工程研究所，项目负责人。

4. 空地多机器人协作探索复杂地形环境地图方法研究，上海市空间飞行器机构重点实验室开放课题，项目负责人。

5. 机器人系统（ROS机器人系统原理与应用）课程开发及技术服务，湖南瑞森可机器人科技有限公司，项目负责人。

6. 智能仓系统数字孪生、仿真与算法开发，深圳市鲸仓科技有限公司，项目核心成员。

专著

1.专著：张立伟, 何炳蔚, 张建伟. 基于ROS的机器人理论与应用（第二版）. 科学出版社, 2022.08, ISBN：978-7-03-072620-9

2.专著：何炳蔚, 张立伟, 张建伟. 基于ROS的机器人理论与应用. 科学出版社, 2017.06, ISBN: 978-7-03-053057-8.

3.专著：张立伟, 何炳蔚, 张建伟. 基于逼近论的多模态信息表示. 科学出版社,2016.12, ISBN: 978-7-03-050253-7.

5.专著：张建伟, 张立伟,胡颖, 张俊. 开源机器人操作系统—ROS. 科学出版社，2012.09, ISBN: 978-7-03-035434-1.

期刊论文

1. Liwei Zhang,Zhibin Lin,Jie Wang,Bingwei He,Rapidly-exploring Random Trees Multi-Robot Map Exploration Under Optimization Framework, Robotics and Autonomous Systems,Volume 131, September 2020, 103565(SCI)

2. Liwei Zhang, Jie Wang, Zhibin Lin, Lixiong Lin, Yanjie Chen, Bingwei He, Distributed Cooperative Obstacle Avoidance for Mobile Robots Using Independent Virtual Center Points. Journal of Intelligent & Robotic Systems, 2019(98),791-805, DOI: 10.1007/s10846-019-01084-0(SCI)

3. Zhen Deng, Xiaoxiang Zheng, Liwei Zhang, Jianwei Zhang, A learning framework for semantic reach-to-grasp tasks integrating machine learning and optimization, Robotics and Autonomous Systems. Volume 108, October 2018, pp 140-152.(SCI)

4. Mingzhu Zhu, Bingwei He, Liwei Zhang, Atmospheric light estimation in hazy images based on color-plane model. Computer Vision and Image Understanding, Vol. 165, December 2017, 33-42.(SCI)

5. Cheng Zou, Bingwei He, Liwei Zhang, Jianwei Zhang, Static map reconstruction and dynamic object tracking for a camera and laser scanner system. IET Computer Vision, Volume 12, Issue 4, 2018, 384-392(SCI)

6. Cheng Zou, Bingwei He, Liwei Zhang, Jianwei Zhang, Scene flow for 3D laser scanner and camera system. IET Image Processing, Volume 12, Issue 4, 2018, 612-618(SCI)

7. Zhen Deng, Haojun Guan, Rui Huang, Hongzhuo Liang, Liwei Zhang, Jianwei Zhang, Combining Model-based Q-learning with Structural Knowledge Transfer for Robot Skill Learning, IEEE Transactions on Cognitive and Developmental Systems, PP(99):1-1, June, 2017.(SCI)

8. Liping Liu, Bingwei He, Jianghui Zhuang, Liwei Zhang*, Ao Lv, Force Measurement System for Invisalign Based on Thin Film Single Force Sensor. Measurement 97C 2017) pp. 1-7.(SCI)

9. Liwei Zhang,Ying Hu,Jianwei Zhang, Youfu Li,Multiview geometry in traditional vision and omnidirectional vision under the Linifity-norm.IET Computer Vision, January 2012, Volume 6, Issue 1, p.13–20.

10. Joachim Hertzberg, Jianwei Zhang, Liwei Zhang, Sebastian Rockel, Bernd Neumann, Jos Lehmann, Krishna S. R. Dubba, Anthony G. Cohn, Alessandro Saffiotti, Federico Pecora, Masoumeh Mansouri, Stefan Konecny, Martin Günther, Sebastian Stock, Luis Seabra Lopes, Miguel Oliveira, Gi Hyun Lim, Hamidreza Kasaei, Vahid Mokhtari, Lothar Hotz, Wilfried Bohlken, The RACE Project, KI – Künstliche Intelligenz, 2014, 28(4),1-8.

会议论文

1.Guangjin Xu, Liwei Zhang, Meng Chen, Bingwei He,Hybrid Frontier Detection Strategy for Autonomous Exploration in Multi-obstacles Environment,2021 IEEE International Conference on Robotics and Biomimetics(ROBIO2021). 1909-1915(EI)

2. Liwei Zhang, Yuzhao Sui, Mingzhu Zhu, Bingwei He, Zhen Deng, Fast barcode detection method based on ThinYOLOv4. International Conference on Cognitive Systems and Information Processing, December 25-27, 2020, Hengqin, Zhuhai, China.(Best Conference Paper Finalist)(EI)

3. Liwei Zhang, Yuan Chen, Bingwei He, Jianwei Zhang. Real-time Indoor Dense 3D Reconstruction of Integration Inertial Measurements Into Surfels. 2018 International Conference on Information and Automation(ICIA 2018), 225-231, Wuyi Mountain, China, August 2018.(EI)

4. Zhefan Li, Bingwei He, Liwei Zhang, Jianwei Zhang. Multi-robot CSLAM in the Unknown Environment. 2018 International Conference on Information and Automation(ICIA 2018), 45-50, Wuyi Mountain, China, August 2018.(EI)

5. Fangyi Wu, Bingwei He, Liwei Zhang, Jianwei Zhang. Multi-robot CSLAM in the Unknown Environment. 2018 International Conference on Information and Automation(ICIA 2018), 233-237, Wuyi Mountain, China, August 2018.(EI)

6.Cheng Zou, Bingwei He, Liwei Zhang, Jianwei Zhang. Dynamic Objects Detection and Tracking for a Laser Scanner and Camera System. 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO 2017),350-354. Macao, China, December 5-8, 2017.(EI)

7.Cheng Zou, Bingwei He, Liwei Zhang, Jianwei Zhang, Zhen Deng. An automatic calibration between an omni-directional camera and a laser rangender for dynamic scenes reconstruction.ROBIO2016,1528-1534.Qingdao, China, December 3-7, 2016.(EI)

8.Peiqing Yan, Bingwei He, Liwei Zhang, Jianwei Zhang. Task Execution Based-on Human-Robot Dialogue and Deictic Gestures. ROBIO2016,1918-1923.Qingdao, China, December 3-7, 2016.(EI)

9.Haiyang Jin, Liwei Zhang, Sebastian Rockel, Jun Zhang, Ying Hu, Jianwei Zhang. A Novel Optical Tracking based Tele-control System for Tabletop Object Manipulation Tasks, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2015). (EI)

10.Liwei Zhang, Alessandro Saffiotti, Federico Pecora, Jianwei Zhang, An Experience based Approach for Cognitive Service Robot System, The 11th World Congress on Intelligent Control and Automation (WCICA2014), 2225-2232, 2014.07.(EI)

11.Sebastian Rockel, Denis Klimentjew, Liwei Zhang, Jianwei Zhang, An Hyperreality Imagination based Reasoning and Evaluation System (HIRES), 2014 IEEE International Conference on Robotics and Automation(ICRA 2014), 5705-5711, 2014.06. (EI)

12.Liwei Zhang, Jianhua Zhang, Bo Chen, Zhenli Lu, Ying Hu, Jianwei Zhang, Multiview Triangulation with Uncertain Data, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO 2013), 1414-1419, 2013.12.(EI)

13.Lasse Einig, Denis Klimentjew, Sebastian Rockel, Liwei Zhang, Jianwei Zhang.Parallel Plan Execution and Re-planning on a Mobile Robot using State Machines with HTN Planning Systems, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO 2013), 151-157, 2013.12.(EI)

14.Zhenli Lu, Luis Seabra Lopes, Filipe Silva, Liwei Zhang, Huigang Xu. MNSMInspired Method for Dual-Arm Robot Motion Control, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO 2013), 1341-1346, 2013.12.(EI)

15.Liwei Zhang, Sebastian Rockel, Alessandro Saffiotti, Federico Pecora, Lothar Hotz, Zhenli Lu, Denis Klimentjew, Jianwei Zhang, Evaluation Metrics for an Experience-based Mobile Artificial Cognitive System, 2013 IEEE International Conference On Intelligent Robots and Systems (IROS 2013): Workshop on Metrics of Embodied Learning Processes in Robots and Animals, 2013.11.(EI)

16.Liwei Zhang, Sebastian Rockel, Jianwei Zhang, Exception Handling for Experience-based Mobile Cognitive Systems in Restaurant Environments Exemplified by Guest Detection, 2013 IEEE International Conference on Information and Automation (ICIA 2013), 970-975, 2013.08.(EI)

17.Yongqiang Gao, Jianhua Zhang, Liwei Zhang, Ying Hu, Jianwei Zhang, Finding Objects at Indoor Environment Combined with Depth Information. 2011 IEEE International Conference on Mechatronics and Automation (ICMA2011), 687-692, 2011.08.(EI)

18.Xi Yong, Liwei Zhang, Zhangjun Song, Ying Hu, Jianwei Zhang, Real-time Vehicle Detection Based on Haar Features and Pairwise Geometrical Histograms, 2011 IEEE International Conference on Information and Automation (ICIA2011),390-395, 2011.06.(EI)

19.Liwei Zhang, Youfu Li, Jianwei Zhang, Ying Hu, Homography Estimation in Omnidirectional Vision under the L1 Norm, 2010 IEEE International Conference on Robotics and Biomimetics(ROBIO 2010), 1468-1473, 2010.12.(EI)

20.Weiwei Lu, Liwei Zhang, Zhong Wan, Ying Hu, Jianwei Zhang, Design and Implementation of a Complex Agent using DFA for MPR Vision System. 2010 IEEE International Conference on Mechatronics and Automation (ICMA2010), 1945-1950, 2010.08.(EI)

19.Liwei Zhang, Jianwei Zhang, Ying Hu, Triangulation in Omnidirectional Vision under the L1 Norm, 2010 IEEE International Conference on Information and Automation (ICIA 2010), 1757-1762, 2010.06.(EI)

20.Liwei Zhang, Jianwei Zhang, Ying Hu, A Practical Method for Calibrating Omnidirectional Cameras Using LCD Panel. 2009 IEEE International Conference on Information and Automation (ICIA 2009), 352-358, 2009.06.(EI)

发明专利

1. 张立伟, 林志彬, 王杰, 何炳蔚, 陈彦杰, 林立雄, 基于独立虚拟中心点的机器人分散式协同避障方法, 专利号: ZL201910038299.2, 授权公告日： 20210302

2. 张立伟，王杰，林志彬，何炳蔚，陈彦杰，林立雄，一种基于快速探索随机树的多机器人地图探索方法，专利号：ZL 2019 1 0513339.4, 授权公告日: 20220601

3. 张立伟，陈睿函，邓震，何炳蔚，基于树搜索的桁架装配序列规划方法，专利号: ZL2021 1 0101197.8, 授权公告日: 20220621

4. 张立伟, 朱富伟，刘宸希，何炳蔚，一种基于激光雷达的室外三维同步定位与建图方法，专利号：ZL202110129307.1，授权公共告日：20220621

5. 张立伟，张增辉，何炳蔚，一种基于改进生成对抗网络的交通图像去雾方法，专利号: ZL2021 1 0129493.9, 授权公告日: 20220621

6. 张立伟，徐光进，何炳蔚，一种基于复合式边界检测的机器人自主探索方法，专利号: ZL2021 1 0582540.5, 授权公告日: 20220708

获奖情况

1. 福州大学, 2017/2019年度优秀员工

2. 2018年度福州大学第七届“杰出青年教师励志奖”

3. suncitygroup太阳集团, 2018年度“我心目中的好老师”

4. 福州大学2019-2020学年教学优秀奖，二等奖

5. 福建省高等学校新世纪优秀人才支持计划