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Ge Zhang - IEEE Xplore Author Profile

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Author details

Ge Zhang

Also published under: G. Zhang

Publications

8

Citations

85

Publications by Year

20142021

Co-Authors:

Wenqing ChengWenchao DingZhiiie GaoZhengze GongXiaojun Hei

Show All Co-Authors (18)

Ge Zhang

Also published under: G. Zhang

Affiliation

School of Computer and Information Engineering

Henan University

Kaifeng, China

Publication Topics

Content Caching,
Content Delivery,
Dimensionality Reduction,
Feature Subset,
Live Streaming,
P2P Network,
Start-up Phase,
Streaming System,
User Requests,
10-fold Cross-validation,
Adaptive Algorithm,
Android Application

Biography

Ge Zhang received the B.S. and M.S. degrees in computer science from the Zhongnan University of Economics and Law, Wuhan, China, in 2005 and 2007, respectively, and is currently working toward the Ph.D. degree at the School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan, China.,His research interests include streaming media, network modeling, and measurement.(Based on document published on 18 December 2014).

Publications

8

Citations

85

Publications by Year

20142021

Co-Authors:

Wenqing Cheng
Wenchao Ding
Zhiiie Gao
Zhengze Gong
Xiaojun Hei

Show All Co-Authors (18)

Author's Published Works

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Showing 1-24 of 24 results

Conferences (17)

Journals (6)

Early Access Articles (1)

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Xunyu Zhong(24)
Xiafu Peng(12)
Xungao Zhong(10)
Qiang Liu(5)
Jiehua Zhou(4)
School of Electrical Engineering and Automation, Xiamen University of Technology, Xiamen, China(7)
School of Aerospace Engineering, Xiamen University, Xiamen, China(7)
Department of Automation, Xiamen University, Xiamen, China(6)
School of Computer Science and Electronic Engineering, University of Essex, Colchester, U.K.(3)
School of Engineering Mathematics and Technology, University of Bristol, Bristol, U.K.(3)
2018 37th Chinese Control Conference (CCC)(3)
2017 29th Chinese Control And Decision Conference (CCDC)(2)
2021 40th Chinese Control Conference (CCC)(2)
IEEE Access(2)
IEEE Robotics and Automation Letters(2)
IEEE(24)
Media(3)
Chongqing, China(3)
Wuhan, China(3)
Changchun, China(2)
Shanghai, China(2)
Chengdu, China(1)
Point Cloud(7)
Kalman Filter(5)
Path Planning(5)
Automated Guided Vehicles(4)
Inertial Measurement Unit(4)

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SS-ARGNet: A Novel Cascaded Schema for Robots’ 7-DoF Grasping in Adjacent and Stacked Object Scenarios

Xungao Zhong;Jiaguo Luo;Xunyu Zhong;Huosheng Hu;Qiang Liu

IEEE Transactions on Instrumentation and Measurement

Year: 2025 | Volume: 74 | Journal Article |

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Multiple objects in tightly adjacent and stacked configurations pose significant challenges for robotic systems in achieving reliable grasping, as existing algorithms often struggle to distinguish stacked objects and are prone to causing disruptions to the original scene due to improper grasping postures and collisions. In order to address these challenges, we developed a category-agnostic segment...Show More

SS-ARGNet: A Novel Cascaded Schema for Robots’ 7-DoF Grasping in Adjacent and Stacked Object Scenarios

Xungao Zhong;Jiaguo Luo;Xunyu Zhong;Huosheng Hu;Qiang Liu

IEEE Transactions on Instrumentation and Measurement

Year: 2025 | Volume: 74 | Journal Article |

RIGNet: Robot Intention Grasp for Dense Stacked Targets With Multi-Task Siamese Schema Through RoIs Learning

Xungao Zhong;Tao Gong;Junzhi Yu;Chengxian Zhou;Xunyu Zhong;Qiang Liu

IEEE Transactions on Automation Science and Engineering

Year: 2024 | Early Access Article |

Autonomous grasping is a critical topic of robotic embodied intelligence. However, it remains challenging for robots to grasp an intended target, particularly in cluttered and densely stacked environments. This paper presents a novel solution by proposing a Robot Intention Grasp Network (RIGNet) with a multi-task siamese schema, which is based on an improved Region Proposal Network (RPN) and a Reg...Show More

RIGNet: Robot Intention Grasp for Dense Stacked Targets With Multi-Task Siamese Schema Through RoIs Learning

Xungao Zhong;Tao Gong;Junzhi Yu;Chengxian Zhou;Xunyu Zhong;Qiang Liu

IEEE Transactions on Automation Science and Engineering

Year: 2024 | Early Access Article |

Real-Time Support Terrain Mapping and Terrain Adaptive Local Planning for Quadruped Robots

Han Xie;Chang Cui;Xunyu Zhong;Xungao Zhong;Qiang Liu

IEEE Robotics and Automation Letters

Year: 2024 | Volume: 9, Issue: 12 | Journal Article |

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The expanding application of quadruped robots in complex environments poses new challenges to their perception and planning systems. This letter proposes a novel approach for local perception and planning, which integrates exteroception, such as laser point clouds and depth images, with proprioception such as foot force and achieves terrain elevation mapping with dense support surface prediction a...Show More

Real-Time Support Terrain Mapping and Terrain Adaptive Local Planning for Quadruped Robots

Han Xie;Chang Cui;Xunyu Zhong;Xungao Zhong;Qiang Liu

IEEE Robotics and Automation Letters

Year: 2024 | Volume: 9, Issue: 12 | Journal Article |

Towards Low-Cost and High Precision: Software Enhanced Terrestrial Laser Scanner Consists of Consumer-Grade Multi-Beam LiDAR and Servo Motor

Pengfei Peng;Xunyu Zhong;Han Xie;Bushi Chen;Ningning Wang;Xungao Zhong

2023 China Automation Congress (CAC)

Year: 2023 | Conference Paper |

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3D laser scanning technology, as a rapid and non-contact measurement method, enables the acquisition of high-precision 3D data from the real world. It has been widely applied in the Architecture-Engineering-Construction (AEC) industry for quality inspection, project progress management, reverse engineering, and building information modeling. However, the prevalent Terrestrial Laser Scanner (TLS) i...Show More

Towards Low-Cost and High Precision: Software Enhanced Terrestrial Laser Scanner Consists of Consumer-Grade Multi-Beam LiDAR and Servo Motor

Pengfei Peng;Xunyu Zhong;Han Xie;Bushi Chen;Ningning Wang;Xungao Zhong

2023 China Automation Congress (CAC)

Year: 2023 | Conference Paper |

LIO-Fusion: Reinforced LiDAR Inertial Odometry by Effective Fusion With GNSS/Relocalization and Wheel Odometry

Wenhong Wu;Xunyu Zhong;Dongjie Wu;Bushi Chen;Xungao Zhong;Qiang Liu

IEEE Robotics and Automation Letters

Year: 2023 | Volume: 8, Issue: 3 | Journal Article |

Cited by: Papers (13)

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Reliable state estimation is a prerequisite for autonomous robot navigation in complex environments. In this work, we present LIO-Fusion, a reinforced LiDAR inertial odometry system that optimally fuses GNSS/relocalization and wheel odometry to provide accurate and robust 6-DoF movement estimation under challenging perceptual conditions. LIO-Fusion formulates multi-source sensors fusion based on f...Show More

LIO-Fusion: Reinforced LiDAR Inertial Odometry by Effective Fusion With GNSS/Relocalization and Wheel Odometry

Wenhong Wu;Xunyu Zhong;Dongjie Wu;Bushi Chen;Xungao Zhong;Qiang Liu

IEEE Robotics and Automation Letters

Year: 2023 | Volume: 8, Issue: 3 | Journal Article |

Multimodal Information Fusion for High-Robustness and Low-Drift State Estimation of UGVs in Diverse Scenes

Dongjie Wu;Xunyu Zhong;Xiafu Peng;Huosheng Hu;Qiang Liu

IEEE Transactions on Instrumentation and Measurement

Year: 2022 | Volume: 71 | Journal Article |

Cited by: Papers (7)

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Currently, the autonomous positioning of unmanned ground vehicles (UGVs) still faces the problems of insufficient persistence and poor reliability, especially in the challenging scenarios where satellites are denied, or the sensing modalities such as vision or laser are degraded. Based on multimodal information fusion and failure detection (FD), this article proposes a high-robustness and low-drif...Show More

Multimodal Information Fusion for High-Robustness and Low-Drift State Estimation of UGVs in Diverse Scenes

Dongjie Wu;Xunyu Zhong;Xiafu Peng;Huosheng Hu;Qiang Liu

IEEE Transactions on Instrumentation and Measurement

Year: 2022 | Volume: 71 | Journal Article |

Pixel-Level Grasp Detection for Unknown Objects with Encoder-Decoder-Inception Deep Network

Chaoquan Shi;Chunxiao Miao;Xungao Zhong;Xunyu Zhong;Jing Zhao

2022 IEEE 5th International Conference on Electronics Technology (ICET)

Year: 2022 | Conference Paper |

Cited by: Papers (3)

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In the past, robot grasping mostly used the extraction of candidate grasping rectangles. This method is discrete sampling, time-consuming, and may ignore potential best grasping pose, which has limitations. To solve the above problems, a pixel-level grasping detection method is proposed in this paper, which uses deep neural network to directly generate grasping pose on pixels. Firstly, the Encoder...Show More

Pixel-Level Grasp Detection for Unknown Objects with Encoder-Decoder-Inception Deep Network

Chaoquan Shi;Chunxiao Miao;Xungao Zhong;Xunyu Zhong;Jing Zhao

2022 IEEE 5th International Conference on Electronics Technology (ICET)

Year: 2022 | Conference Paper |

Detection and Grasping of Texture-Less Objects Based on 3D Template Matching

Chunxiao Miao;Xungao Zhong;Xunyu Zhong;Zetao Yang;Min Xu

2021 40th Chinese Control Conference (CCC)

Year: 2021 | Conference Paper |

Cited by: Papers (1)

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This paper studied a robust matching method using 3D point cloud for texture-less object detection and robotics grasping tasks. In view of the few surface feature points of texture-less objects, the template matching method based on Iterative Closest Point (ICP) improved LINEMOD algorithm is proposed to estimate the object pose. In our findings, the feature extraction of the LINEMOD algorithm is o...Show More

Detection and Grasping of Texture-Less Objects Based on 3D Template Matching

Chunxiao Miao;Xungao Zhong;Xunyu Zhong;Zetao Yang;Min Xu

2021 40th Chinese Control Conference (CCC)

Year: 2021 | Conference Paper |

Optical-Flow-Based Visual Servoing for Robotic Moving Control Using Closed-Loop Joints

Zetao Yang;Xungao Zhong;Chunxiao Miao;Jing Zhao;Xunyu Zhong

2021 40th Chinese Control Conference (CCC)

Year: 2021 | Conference Paper |

Cited by: Papers (3)

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This paper studied an optical-flow-based visual servoing method for eye-in-hand robotics task manipulation without system calibration. Firstly, considering the object feature points are easy to be lost with the traditional Lucas-Kanade(LK) optical flow method in the process of camera fast moving. We propose an improved pyramid optical flow tracking algorithm which iterates the vision image by laye...Show More

Optical-Flow-Based Visual Servoing for Robotic Moving Control Using Closed-Loop Joints

Zetao Yang;Xungao Zhong;Chunxiao Miao;Jing Zhao;Xunyu Zhong

2021 40th Chinese Control Conference (CCC)

Year: 2021 | Conference Paper |

Online Self-calibration of Camera-IMU External Parameters and IMU Initialization for Stereo VI-SLAM

Jian Peng;Xunyu Zhong;Xiafu Peng;Yueliang Li

2020 39th Chinese Control Conference (CCC)

Year: 2020 | Conference Paper |

Cited by: Papers (3)

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The positioning accuracy of simultaneous localization and mapping (SLAM) system based on visual and IMU fusion depends on accurate IMU initialization and external parameters between camera and IMU to a large extent. Hence, the SLAM system recalibrated when the relative position of the camera and IMU changed. Unfortunately, the off-line calibration of the SLAM system is complicated work. To solve t...Show More

Online Self-calibration of Camera-IMU External Parameters and IMU Initialization for Stereo VI-SLAM

Jian Peng;Xunyu Zhong;Xiafu Peng;Yueliang Li

2020 39th Chinese Control Conference (CCC)

Year: 2020 | Conference Paper |

An Adaptive Unsupervised Learning Framework for Monocular Depth Estimation

Delong Yang;Xunyu Zhong;Lixiong Lin;Xiafu Peng

Year: 2019 | Volume: 7 | Journal Article |

Cited by: Papers (2)

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Depth estimation from a single image plays an important role in 3D scene perception. Owing to the development of deep convolutional neural networks (CNNs), monocular depth estimation models have achieved a large number of exciting results. However, the requirement for the manual per-pixel labeled dataset (ground truth) limits the application of these supervised methods. Basing on a geometric const...Show More

An Adaptive Unsupervised Learning Framework for Monocular Depth Estimation

Delong Yang;Xunyu Zhong;Lixiong Lin;Xiafu Peng

Year: 2019 | Volume: 7 | Journal Article |

Real-time Obstacle Avoidance and Person Following Based on Adaptive Window Approach

Minfeng Cen;Yonglong Huang;Xunyu Zhong;Xiafu Peng;Chaosheng Zou

2019 IEEE International Conference on Mechatronics and Automation (ICMA)

Year: 2019 | Conference Paper |

Cited by: Papers (5)

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Autonomous mobile robots need safe navigation capabilities in order to interact with humans in a dynamic environment. As a step toward this goal, we are applying a realtime obstacle avoidance method for a robot to follow behind a person. This paper presents a laser-based people tracking and following while at the same time avoiding obstacles method. A novel feature of our approach is it considers ...Show More

Real-time Obstacle Avoidance and Person Following Based on Adaptive Window Approach

Minfeng Cen;Yonglong Huang;Xunyu Zhong;Xiafu Peng;Chaosheng Zou

2019 IEEE International Conference on Mechatronics and Automation (ICMA)

Year: 2019 | Conference Paper |

Adaptive Neuro-Filtering Based Visual Servo Control of a Robotic Manipulator

Xungao Zhong;Xunyu Zhong;Huosheng Hu;Xiafu Peng

Year: 2019 | Volume: 7 | Journal Article |

Cited by: Papers (15)

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This paper focuses on the solutions to flexibly regulate robotic by vision. A new visual servoing technique based on the Kalman filtering (KF) combined neural network (NN) is developed, which need not have any calibration parameters of robotic system. The statistic knowledge of the system noise and observation noise are first given by Gaussian white noise sequences, the nonlinear mapping between r...Show More

Adaptive Neuro-Filtering Based Visual Servo Control of a Robotic Manipulator

Xungao Zhong;Xunyu Zhong;Huosheng Hu;Xiafu Peng

Year: 2019 | Volume: 7 | Journal Article |

Design and Implementation of New AGV System Based on Two-layer Controller Structure

Jiawei Liu;Xunyu Zhong;Xiafu Peng;Jun Tian;Chaosheng Zou

2018 37th Chinese Control Conference (CCC)

Year: 2018 | Conference Paper |

Cited by: Papers (1)

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Automated guided vehicle (AGV) is playing an major role in industrial applications to move materials around a manufacturing facility or warehouse. As task complexity increases, however, the traditional design of AGV can't meet user's demands any longer. Therefore, a new AGV control system is introduced in this paper, which is designed by the two-layer controller system structure. This structure in...Show More

Design and Implementation of New AGV System Based on Two-layer Controller Structure

Jiawei Liu;Xunyu Zhong;Xiafu Peng;Jun Tian;Chaosheng Zou

2018 37th Chinese Control Conference (CCC)

Year: 2018 | Conference Paper |

Effective Road Lane Detection and Tracking Method Using Line Segment Detector

Shiwang Liu;Linhong Lu;Xunyu Zhong;Jianping Zeng

2018 37th Chinese Control Conference (CCC)

Year: 2018 | Conference Paper |

Cited by: Papers (11)

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In this paper, we present an effective lane detection and tracking system using a fusion of Line Segment Detector (LSD) and Kalman filter. We employ line segment as low-level features to detect lane markings on structured road. Firstly, we segment the road surface region through adaptive method, and then a different grayscale method is used to achieve strong contrast than the previous studies. Sec...Show More

Effective Road Lane Detection and Tracking Method Using Line Segment Detector

Shiwang Liu;Linhong Lu;Xunyu Zhong;Jianping Zeng

2018 37th Chinese Control Conference (CCC)

Year: 2018 | Conference Paper |

Stereo Visual Inertial Odometry Using Incremental Smoothing

Yueliang Li;Xunyu Zhong;Jun Tian;Chaosheng Zou;Xiafu Peng

2018 37th Chinese Control Conference (CCC)

Year: 2018 | Conference Paper |

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Visual inertial odometry (VIO) is a technique which estimates the motion of a mobile platform using the measurements from visual and inertial sensors. Recently, these sensors are made available with higher accuracy, smaller size, but lower cost thanks to the developing manufacturing of chips and micro-electromechanical systems (MEMS) devices. However, it is very challenging for real-time visual in...Show More

Stereo Visual Inertial Odometry Using Incremental Smoothing

Yueliang Li;Xunyu Zhong;Jun Tian;Chaosheng Zou;Xiafu Peng

2018 37th Chinese Control Conference (CCC)

Year: 2018 | Conference Paper |

Adaptive observer-based fault diagnosis for sensor in a class of MIMO nonlinear system

Qi Ding;Xiafii Peng;Xiaoli Zhang;Xiaoqiang Hu;Xunyu Zhong

2017 36th Chinese Control Conference (CCC)

Year: 2017 | Conference Paper |

Cited by: Papers (2)

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This paper presents a novel sensor parameter fault diagnosis method for generally multiple-input mutiple-output (MIMO) affine nonlinear systems based on adaptive observer. Firstly, the affine nonlinear systems are transformed into the particular systems via diffeomorphic transformation using Lie derivative. Then, based on the techniques of high-gain observer and adaptive estimation, an adaptive ob...Show More

Adaptive observer-based fault diagnosis for sensor in a class of MIMO nonlinear system

Qi Ding;Xiafii Peng;Xiaoli Zhang;Xiaoqiang Hu;Xunyu Zhong

2017 36th Chinese Control Conference (CCC)

Year: 2017 | Conference Paper |

A method to coordinate balance and speed control of a two-wheeled robot

Shaohui Hong;Guiyi Zhao;Xiang Wang;Xunyu Zhong

2017 29th Chinese Control And Decision Conference (CCDC)

Year: 2017 | Conference Paper |

Cited by: Papers (2)

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Two-wheeled robot draws attention of scientists in fields of robotics and robot technique due to its intrinsic instability in kinetic and enormous application prospect. In order to get accurate pitch angle of robot body, Kalman filter is applied to data fusion of both gyroscope and accelerometer. For wheel speed measurement perturbed by pitch angle change of robot body, effective compensation is r...Show More

A method to coordinate balance and speed control of a two-wheeled robot

Shaohui Hong;Guiyi Zhao;Xiang Wang;Xunyu Zhong

2017 29th Chinese Control And Decision Conference (CCDC)

Year: 2017 | Conference Paper |

Motion planning implemented in ROS for mobile robot

Yingbing Chen;Xiang Wang;Shaohui Hong;Xunyu Zhong;Chaosheng Zou

2017 29th Chinese Control And Decision Conference (CCDC)

Year: 2017 | Conference Paper |

Cited by: Papers (7)

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In a dynamic environment, the automatic mobile robot requires a real-time independent path planning for safe navigation. To solve this problem, this paper represents a hybrid path planning approach combining the safe global path planning and a new improved adaptive window approach. The improved adaptive window approach base on the concept of safe path which improves the accuracy of obstacle avoida...Show More

Motion planning implemented in ROS for mobile robot

Yingbing Chen;Xiang Wang;Shaohui Hong;Xunyu Zhong;Chaosheng Zou

2017 29th Chinese Control And Decision Conference (CCDC)

Year: 2017 | Conference Paper |

Multi-channel with RBF neural network aggregation based on disparity space for color image stereo matching

Xungao Zhong;Xiafu Peng;Xunyu Zhong;Xueren Dong

2012 IEEE Fifth International Conference on Advanced Computational Intelligence (ICACI)

Year: 2012 | Conference Paper |

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Stereo matching is widely using for 3D reconstruction, which aims to obtain corresponding locations between pairs of stereo images. In this paper we present a robust neural aggregation method for matching correspondences in stereoscopic color image. A data structure disparity space image (DSI) was firstly introduced for development of a local-based matching algorithm. To make good use of color inf...Show More

Multi-channel with RBF neural network aggregation based on disparity space for color image stereo matching

Xungao Zhong;Xiafu Peng;Xunyu Zhong;Xueren Dong

2012 IEEE Fifth International Conference on Advanced Computational Intelligence (ICACI)

Year: 2012 | Conference Paper |

A Modified Speed and Position Estimation Technique for PMSM Based on Estimation Rotating Reference Frame Model

Dongwei He;Xiafu Peng;Jiehua Zhou;Xunyu Zhong;Xuecheng Jiang

2012 Spring Congress on Engineering and Technology

Year: 2012 | Conference Paper |

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In order to improve the speed and position estimation technique in [13], this paper presents a modified method. From [13] we found that the speed and position estimation technique, which was base on estimated reference frame, could give exceptional estimation results without several problems. Since the Extended Kalman Filter (EKF) method in [13] could not track the speed variation properly, a modi...Show More

A Modified Speed and Position Estimation Technique for PMSM Based on Estimation Rotating Reference Frame Model

Dongwei He;Xiafu Peng;Jiehua Zhou;Xunyu Zhong;Xuecheng Jiang

2012 Spring Congress on Engineering and Technology

Year: 2012 | Conference Paper |

Mobile robot teleoperation system based on remote reality

Xunyu Zhong;Xiafu Peng;Jiehua Zhou

Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE)

Year: 2011 | Conference Paper |

Cited by: Patents (1)

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Remote Reality (RR) system was designed based on omni-directional vision, which was used for mobile robot teleoperation. In order to improve the human-computer interaction, Augmented Reality (AR) was introduced to the remote reality to form ARR system. With multiple interactive inputs to control and intervene the mobile robot, and use the principle of 3D registration of AR and a fast approximate a...Show More

Mobile robot teleoperation system based on remote reality

Xunyu Zhong;Xiafu Peng;Jiehua Zhou

Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE)

Year: 2011 | Conference Paper |

Dynamic collision avoidance of mobile robot based on velocity obstacles

Xunyu Zhong;Xiafu Peng;Jiehua Zhou

Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE)

Year: 2011 | Conference Paper |

Cited by: Papers (11)

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The dynamic avoiding collision with moving obstacles of mobile robot has been studied. For the existing problems of the past velocity obstacles methods used for dynamic collision avoidance, the collision distance and collision time were considered. Furthermore, in the velocity variation space, we translated the dynamics collision avoidance problem into an optimization problem, defined a new object...Show More

Dynamic collision avoidance of mobile robot based on velocity obstacles

Xunyu Zhong;Xiafu Peng;Jiehua Zhou

Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE)

Year: 2011 | Conference Paper |

Detection of moving obstacles for mobile robot using laser sensor

Xunyu Zhong;Xiafu Peng;Jiehua Zhou

Proceedings of the 30th Chinese Control Conference

Year: 2011 | Conference Paper |

Cited by: Papers (1)

Detection of moving obstacles is a difficult problem of mobile robot navigation. Considering the dynamic unknown environments as research background, an autonomous detection method of moving obstacles based on laser sensor is presented. The polar-coordinates-based nearest neighbor approach is adopted to realize the spatial clustering of obstacles according to the ranging data of laser sensor. The ...Show More

Detection of moving obstacles for mobile robot using laser sensor

Xunyu Zhong;Xiafu Peng;Jiehua Zhou

Proceedings of the 30th Chinese Control Conference

Year: 2011 | Conference Paper |

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