代表性论文

 

更多课题组学术论文的开源代码、公开数据集、及团队英文网站请参考Github账号：jackyzengl.

 

[1] Zijie Zheng#, Zeshun Li#, Yunpeng Wang#, Qinghongbing Xie, Long Zeng*, Demonstrating DVS: Dynamic Virtual-Real Simulation Platform for Mobile Robotic Tasks, Robotics: Science and Systems 2025.

 

[2] Haodong Xiang†, Xinghui Li†, Kai Cheng†, Xiansong Lai, Wanting Zhang, Zhichao Liao, Long Zeng*, Xueping Liu*, GaussianRoom: Improving 3D Gaussian Splatting with SDF Guidance and Monocular Cues for Indoor Scene Reconstruction, Accepted by 2025 IEEE ICRA.

 

[3] Yan Chen, Di Huang, Zhichao Liao, Xi Cheng, Xinghui Li, Long Zeng*, Training-Free Point Cloud Recognition Based on Geometric and Semantic Information Fusion, 2024 International Conference on Acoustics, Speech and Signal Processing (CCF-B).

 

[4] Ente Lin, xujie zhang, Fuwei Zhao, Yuxuan Luo, Xin Dong, Long ZENG*, Xiaodan Liang, DreamFit: Garment-Centric Human Generation via a Lightweight Anything-Dressing Encoder, AAAI Conference on Artificial Intelligence 2024 (CCF-A).

 

[5] Fuhao Li, Long Zeng*, Dual-Alignment Domain Adaptation for Pedestrian Trajectory Prediction, IEEE Robotics Automation Letters (JCR Q1, IF4.6), 2024.

 

[6] Xi Cheng, Pingfa Feng, Long Zeng*, Approaching optimum sampling by sectional error equivalence, Measurement (JCR Q1, IF5.2), 2024.

 

[7] Zhaobo Xu, Chaoran Zhang, Song Hu, Pingfa Feng, Long Zeng*, Reconfigurable Flexible Assembly Model and Its Implementation for Cross-Category Products, Journal of Manufacturing Systems (JCR Q1, IF 12.2), 2024.

 

[8] Zhichao Liao, Di Huang, Pingfa Feng, Long Zeng*, Freehand Sketch Generation from Mechanical Components, ACM International Conference on Multimedia, 2024.

 

[9] Yihan Xie, Weijie Lv, Xinyu Zhang, YiHong Chen, Long Zeng*, ParametricNet+: A 6DoF Pose Estimation Network with Sparse Keypoint Recovery for Parametric Shapes in Stacked Scenarios, IEEE International Conference on Intelligent Robots and Systems, 2024.

 

[10] Xinghui Jing, Xin Xiong, Fuhao Li, Tao Zhang, Long Zeng*, A Two-Stage Reinforcement Learning Approach for Robot Navigation in Long-range Indoor Dense Crowd Environments, IEEE International Conference on Intelligent Robots and Systems, 2024.

 

[11] Dingtao huang, Ente Lin, Lipeng Chen, lifu Liu, Long Zeng*, SD-Net: Symmetric-Aware Keypoint Prediction and Domain Adaptation for 6D Pose Estimation In Bin-picking Scenarios, IEEE International Conference on Intelligent Robots and Systems, 2024.

 

[12] Zhe Ni, Xiaoxin Deng, Cong Tai, Xinyue Zhu, Qinghongbing Xie, Weihang Huang, Xiang Wu, Long Zeng*, GRID: Scene-Graph-based Instruction-driven Robotic Task Planning, 2024 IEEE International Conference on Intelligent Robots and Systems.

 

[13] Xinghui Li, Yuchen ji, Xiansong Lai, Wanting Zhang and Long Zeng*. Fine-detailed Neural Indoor Scene Reconstruction Using Multi-level Importance Sampling and Multi-view Consistency, 2024 IEEE International Conference on Image Processing (ICIP, CCF-B).

 

[14] Yi-Fan Tang, Cong Tai, Fang-Xin Chen, Wanting Zhang, Tao Zhang, Yongjin Liu, Long Zeng*, Mobile Robot Oriented Large-Scale Indoor Dataset for Dynamic Scene Understanding, IEEE International Conference Robotic and Automation, 2024（顶会，开源地址：jackyzengl.github.io/THUD-Robotic-Dataset.github.io/）.

 

[15] Fang-xing Chen, Yifan Tang, Cong Tai, Xue-ping Liu, Xiang Wu, Tao Zhang, and Long Zeng∗, FusedNet: End-to-end Mobile Robot Relocalization in Dynamic Large-scale Scene, IEEE Robotics and Automation Letters, 2024.

 

[16] XiaoMing Zhu, Shuo Wang, JunYu Su, Fei Liu*, Long Zeng*, High-speed and accurate cascade detection method for chip surface defects, IEEE Transactions on Instrumentation & Measurement (SCI 1区), 2023.

 

[17] Fei Liu, XiaoMing Zhu, PingFa Feng, Long Zeng*, Anomaly Detection via Progressive Reconstruction and Hierarchical Feature Fusion, Sensors (JCR Q2, IF3.9), MDPI, 2023.

 

[18] Shuo Wang, Weijie Lv, Xinyuan Zhao, Xinyu, Zhang, Junyu Su, Long Zeng*, Refined-mask guided multi-stream blending network, Multimedia Tools and Applications (SCI 2区), 2023.

 

[19] L. Zhao, W. J. Lv, X. Y. Zhang, L. Zeng*, Domain Adaptation on Point Clouds for 6D Pose Estimation in Bin-picking Scenarios, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023).

 

[20] X.H. L., Y. K. Ding, J. Guo, X.S. Lai, S. H. Ren, W. S. Feng, L. Zeng*, Edge-aware Neural Implicit Surface Reconstruction, International Conference on Multimedia and Expo (CCF-B), 2023.H. Zhang, H. Z. Liang, L. Cong, J. Z. Lyu, L. Zeng∗, P. F. Feng, and J. W. Zhang, Reinforcement Learning Based Pushing and Grasping Objects from Ungraspable Poses, IEEE International Conference Robotic and Automation (ICRA2023).

 

[21] L. C. Xiao, Z. B. Xu, L. Zeng*, X. P. Liu, Assembly language design and development for reconfigurable flexible assembly line, Robotics and Computer-Integrated Manufacturing (SCI 1区, IF5.1), 2022.

 

[22] Z. Sun, P. F. Feng, L. Zeng*, S. Q. Zhang, X. Cheng, Adaptive Machining Scheme for a Multi-Hole Part with Multi-Position Accuracy Tolerances, Journal of Advanced Manufacturing Technology (SCI 2区), 2022

 

[23] S. Wang, H. Y. Wang, F. Yang, F. Liu, L. Zeng*, Attention-based deep learning for chip-surface-defect detection, Journal of Advanced Manufacturing Technology (SCI 2区), 2022.

 

[24] L. Zeng, W. J. Lv, Z. K.Dong, Y. J. Liu, PPR-Net++, Accurate 6-D Pose Estimation in Stacked Scenarios, IEEE Transactions on Automation Science and Engineering (JCR 1区), 2021, 1(1): 1-13.

 

[25] F. Yang（学生）, k. Wu, S. Y. Zhang, G. N. Jiang, Y. Liu, F. Zheng, W. Zhang, C. J. Wang and L. Zeng, Class-Aware Contrastive Semi-Supervised Learning, 2022 IEEE Computer Vision and Pattern Recognition (CVPR2022, CCF-A).

 

[26] L. Zeng, W. J. Lv, X. Y. Zhang, Y. J. Liu, ParametricNet: 6DoF Pose Estimation Network for Parametric Shapes in Stacked Scenarios, IEEE International Conference Robotic and Automation (ICRA 2021).

 

[27] S. M. Li, L. Zeng*, Pingfa Feng, Dingwen Yu, An accurate probe pre-travel error compensation model for five-axis OMI system, Precision Engineering (SCI 1区, IF3.1), 2020, vol. 62, pp. 256-264.

 

[28] Y. M. Li, L. Zeng*, K. Tang, C. Xie, Orientation-point relation-based inspection path planning method for 5-axis OMI system, Robotics and Computer-Integrated Manufacturing (SCI 1区, IF5.1), 2020, vol. 51, pp. 1-17.

 

[29] Y. M. Li, L. Zeng*, K. Tang, S. M. Li, A dynamic pre-travel error prediction model for the kinematic touch trigger probe, Measurement (SCI 1区, IF3.4), 2019.

 

[30] Z. K. Dong, S. C. Liu, T. Zhou, H. Cheng, L. Zeng*, X. Y. Yu, H. D. Liu, PPR-Net: Point-wise Pose Regression Network for Instance Segmentation and 6D Pose Estimation in Bin-picking Scenarios, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (顶会，同年获得IROS2019位姿估计挑战赛双料冠军).

 

[31] Y. M. Li, L. Zeng*, K. Tang, C. Xie, Orientation-point relation based inspection path planning method for 5-axis OMI system, Robotics and Computer-Integrated Manufacturing (SCI 1区, IF4.4), 2019.

 

[32] L. Zeng*, Z.-k. Dong, J. Y. Yu, J. Hong, H. Y. Wang, Sketch-based Retrieval and Instantiation of Parametric Parts [J], Computer Aided Design (SCI 1区), 2019, 113(82-95).

 

[33] S. M. Li, L. Zeng*, P. F. Feng Y. M. , Li, C. Xu, Y. Ma, Error Compensation using 3D error map for OMI with touch trigger probe, Journal of Advanced Manufacturing Technology (SCI 2区, IF2.5), 2019.

 

[34] B. Li, P. F. Feng, L. Zeng*, et al. Path planning method for on-machine inspection of aerospace structures based on adjacent feature graph [J]. Robotics and Computer-Integrated Manufacturing (SCI 1区, IF4.4), 2018, 54:17-34.

 

[35] S. L. Mi, X. Y. Wu, L. Zeng*. Optimal build orientation based on material changes for FGM parts [J]. International Journal of Advanced Manufacturing Technology (JCR 2区, IF2.5), 2017, 94(3):1-14.

 

[36] Y. F. Xu（学生）, T. Fan, M. Xu, L. Zeng. SpiderCNN: Deep Learning on Point Sets with Parameterized Convolutional Filters, ECCV 2018 (全球计算机视觉三大会议之一，谷歌学术引用数>800次).

 

[37] L. Zeng*, Y. J. Liu, S. H. Lee, and M. M. F. Yuen. Q-Complex: Efficient Non-Manifold Boundary Representation with Inclusion Topology, Computer-Aided Design (JCR 1区，IF3.1), Vol. 44, No. 11, pp.1115-1126, 2012.

 

[38] L. Zeng*, L. M. L. Lai, D. Qi, Y. H. Lai, M. M. F. Yuen. Efficient Slicing Procedure based on Adaptive Layer Depth Normal Image, Computer-Aided Design (JCR 1区，IF3.1), Vol.43, No. 12, pp.1577-1586, 2011.

 

 

主要专利成果

 

目前，共申请专利42项，其中已授权发明专利21项，主要分布在可重构柔性装配、视觉抓取、缺陷检测和柔性装配。其中代表性的专利：

 

1. 曾龙; 赵嘉宇; 刘冠宏 ; 面向工业堆叠零件的抓取方法、终端设备及可读存储介质, 中国, ZL202010916161.0

 

2. 曾龙; 吕伟杰; 张欣宇 ; 面向工业零件6D位姿估计的方法及计算机可读存储介质, 中国,ZL202010872000.6

 

3. 曾龙; 林垟钵; 董至恺; 俞佳熠; 赵嘉宇 ; 一种应用于参数化零件的视觉机械臂抓取方法及装置,中国, ZL202010048562.9

 

4. 曾龙; 陈敏鹤; 邱楚锋; 杨远勇 ; 可重构柔性装配系统, 中国, 201910465156.X

 

5. 曾龙、张浩、冯平法，一种基于强化学习的堆叠场景机械臂抓取方法与装置，发明专利，ZL202110814252.8

 

6. 曾龙、张欣宇、吕伟杰多种类工业零件堆叠场景的仿真数据集生成方法及装置，发明专利ZL202110648136.3

 

7. 曾龙、胡松、赖显松、黄家明、冯平法一种面向可重构柔性装配线的可编程工夹具库，发明专利，ZL202110693909.X

 

8. 曾龙、王宏羽、杨凡、王硕、林宜龙、刘飞一种基于YOLO的深度学习芯片封装裂纹缺陷检测方法，发明专利，ZL202110219336.7

 

9. 曾龙、欧雪燕、冯平法、谢颂强基于集成学习的光纤缺陷检测方法与装置，发明专利，ZL202110744198.4

 

10. 赵铖、曾龙、罗博、陈敏鹤一种支持手指多种布局的欠驱动手手掌，发明专利，ZL201810608856.5

 

 

【主要专利成果Patents】

 

1. 可重构柔性装配和视觉抓取相关的8项发明专利，已产业成果转化给广州市富唯智能科技有限公司。