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Welcome to Kun Qian’s Pages

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Kun Qian received his Ph.D degree in control theory and control engineering from Southeast University in 2010. He is currently working as an associate professor at School of Automation, Southeast University. His research interests are robot vision and learning. From Oct. 2021 to Oct. 2022, I’ll be visiting the University of Liverpool and King’s College London, UK, sponsored by China Scholarship Council.

My SEU website

News

Research

Publications

Journal Paper

[41]Yongqiang Zhao, Kun Qian*, Boyi Duan and Shan Luo, FOTS: A Fast Optical Tactile Simulator for Sim2Real Learning of Tactile-Motor Robot Manipulation Skills, in IEEE Robotics and Automation Letters, vol. 9, no. 6, pp. 5647-5654,Paper

[40]Zhuoyang Zhang, Kun Qian*, Bo Zhou, Fang Fang, Xudong Ma, Gaze-assisted visual grounding via knowledge distillation for referred object grasping with under-specified object referring, Engineering Applications of Artificial Intelligence, Vol.133, Part E, July 2024, 108493, 2024. Paper

[39]Xin Xu, Kun Qian*, Bo Zhou, Fang Fang, Xudong Ma, Imitating via manipulability: Geometry-aware combined DMP with via-point and speed adaptation, Computers and Electrical Engineering, Vol.117, 2024. Paper

[38]Yixin Fang, Kun Qian*, Yun Zhang, Tong Shi, Hai Yu, Segmented Curved-Voxel Occupancy Descriptor for Dynamic-Aware LiDAR Odometry and Mapping, IEEE Transactions on Geoscience and Remote Sensing, vol. 62, pp. 1-16, 2024. Paper

[37]Kun Qian*, Zhuoyang Zhang, Wei Song, Jianfeng Liao. GVGNet: Gaze-Directed Visual Grounding for Learning Under-Specified Object Referring Intention, IEEE Robotics and Automation Letters, 2023, 8(9):1-8, DOI: 10.1109/LRA.2023.3301294. Paper

[36]Xingshuo Jing, Kun Qian*, Tudor Jianu, Shan Luo. Unsupervised Adversarial Domain Adaptation for Sim-to-Real Transfer of Tactile Images, IEEE Transactions on Instrumentation and Measurement , 2023, PP(99):1-1 DOI: 10.1109/TIM.2023.3268458. Paper

[35]Kun Qian*, Yanhui Duan, Chaomin Luo, Yongqiang Zhao, Xingshuo Jing. Pixel-Level Domain Adaptation for Real-to-Sim Object Pose Estimation, IEEE Transactions on Cognitive and Developmental Systems, 2023, PP(99):1-1 DOI: 10.1109/TCDS.2023.3237502. Paper

[34]Yongqiang Zhao, Xingshuo Jing, Kun Qian*, Daniel Fernandes Gomes, Shan luo, Skill generalization of tubular object manipulation with tactile sensing and Sim2Real learning, 2022, Robotics and Autonomous Systems 160(7815):104321 DOI: 10.1016/j.robot.2022.104321. Paper

[33]Yun Zhang, Rui Liu, Bo Zhou, Hai Yu, Kun Qian*. Visual Loop Closure Detection with Instance Segmentation and Image Inpainting in Dynamic Scenes using Wearable Camera, IEEE Sensors Journal, 2022, DOI: 10.1109/JSEN.2022.3190999.Paper

[32]Xin Xu, Kun Qian*, Xingshuo Jing, Wei Song, Learning Robot Manipulation Skills from Human Demonstration Videos using Two-stream 2D/3D Residual Networks with Self-Attention. IEEE Transactions on Cognitive and Developmental Systems, 2022, DOI: 10.1109/TCDS.2022.3182877. Paper

[31]Yinghui Liu, Kun Qian*, Xin Xu, Bo Zhou, Fang Fang, Grasp Pose Learning from Human Demonstration with Task Constraints. Journal of Intelligent & Robotic Systems, 2022, DOI:10.1007/s10846-022-01650-z.Paper

[30]Kun Qian, Xin Xu, Huan Liu, Jishen Bai, Shan Luo, Environment-adaptive learning from demonstration for proactive assistance in human–robot collaborative tasks, Robotics and Autonomous Systems, 2022, DOI: 10.1016/j.robot.2022.104046. Paper

[29]Xingshuo Jing, Kun Qian*, Xin Xu, Jishen Bai, Bo Zhou, Domain adversarial transfer for cross-domain and task-constrained grasp pose detection, Robotics and Autonomous Systems. 2021,145,103872, DOI: 10.1016/j.robot.2021.103872.Paper

[28]Bo Zhou, Yi He, Kun Qian, Xudong Ma, Xiaomao Li. S4-SLAM: A real-time 3D LIDAR SLAM system for ground/watersurface multi-scene outdoor applications. Autonomous Robots 45(3), DOI: 10.1007/s10514-020-09948-3.

[27]Jiale Ma, Kun Qian*, Xiaobo Zhang, Xudong Ma. Weakly Supervised Instance Segmentation of Electrical Equipment Based on RGB-T Automatic Annotation, IEEE Transactions on Instrumentation and Measurement, v 69, n 12, p 9720-9731, December 2020. DOI:10.1109/TIM.2020.3001796. Paper

[26]Kun Qian*, Huan Liu, Valls Miro Jaime, Xingshuo Jing, Bo Zhou. Hierarchical and Parameterized Learning of Pick-and-Place Manipulation from Under-specified Human Demonstrations, Advanced Robotics, v 34, n 13, p 858-872, July 2, 2020, DOI:10.1080/01691864.2020.1778523. Paper

[25]Kun Qian*, Xingshuo Jing, Yanhui Duan, Bo Zhou, Fang Fang, Jing Xia, Xudong Ma. Grasp Pose Detection with Affordance-based Task Constraint Learning in Single-view Point Clouds, Journal of Intelligent & Robotic Systems, v 100, n 1, p 145-163, October 1, 2020, DOI: 10.1007/s10846-020-01202-3. Paper

[24]Kun Qian*, Wei Zhao, Kai Li, Xudong Ma, Hai Yu. Visual SLAM with BoPLW Pairs using Egocentric Stereo Camera for Wearable-assisted Substation Inspection, IEEE Sensors Journal, 2020, 20(3):1630-1641. Code,Paper

[23]刘环, 钱堃*, 桂博兴, 马旭东, 基于多演示动作基元参数化学习的机器人任务泛化，机器人, 2019, 41(5):574-582.

[22]Kun Qian*, Wei Zhao, Zhewen Ma, Jiale Ma, Xudong Ma, Hai Yu, Wearable-assisted localization and inspection guidance system using egocentric stereo cameras, IEEE Sensors Journal, 2018, 18(2):809-821. Paper

[21]夏晶, 钱堃*, 马旭东, 刘环, 基于级联卷积神经网络的机器人平面抓取位姿快速检测, 2018,40(6): 794-802.

[20]Jie Niu, Xiongzhu Bo, Kun Qian, Exploiting contrast cues for salient region detection, Multimedia Tools and Applications, 2017, 76(8): 10427-10441.

[19]孙自飞, 钱堃*, 马旭东, 戴先中, 动态环境中基于多传感器观测可定位性估计的移动机器人自定位方法, 智能系统学报, 2017.4.7, (4)：1~7.10.13973/j.cnki.robot.170702

[18]Bo Zhou, Kun Qian, Xudong Ma, Xianzhong Dai, Ellipsoidal bounding set-membership identification approach for robust fault diagnosis with application to mobile robots, Journal of Systems Engineering and Electronics, 2017, 28(5):986-995.

[17]Kun Qian*, Xudong Ma, Xianzhong Dai, Fang Fang, Bo Zhou. Mobile robot self-localization in unstructured environments based on observation localizability estimation with low-cost laser range-finder and RGB-D sensors, International Journal of Advanced Robotic Systems, September-October:1-11, 2016. Paper

[16]Kun Qian*, Xudong Ma, Xianzhong Dai, Fang Fang, Bo Zhou. Gaussian Process based IAQ Distribution Maping using an Interactive Service Robot. Journal of Ambient Intelligence and Smart Environments. 2016, 8: 359-373. Paper

[15]Kun Qian*, Xudong Ma, Xianzhong Dai, Fang Fang, Bo Zhou. A utilization framework of ubiquitous resources for service robots using semantic matchmaking. International Journal of Advanced Robotic Systems, v 12, April 21, 2015.

[14]Changhai Peng, Kun Qian, Design and application of a VOC-monitoring system based on a ZigBee wireless sensor network. IEEE Sensors Journal, 2015, 15(4): 2255-2268.

[13]Kun Qian*, Xudong Ma, Xianzhong Dai, Fang Fang, Knowledge-enabled decision making for robotic system utilizing ambient service components, Journal of Ambient Intelligence and Smart Environments, 2014, 6(1):5-19.

[12]Changhai Peng, Kun Qian, Development and application of a ZigBee-based building energy monitoring and control system, the Scientific World Journal, Volume 2014, DOI: 10.1155/2014/528410).

[11]Kun Qian*, Xudong Ma, Xianzhong Dai, Fang Fang, Bo Zhou. Decision-theoretic Navigation of Service Robots using POMDPs with Human-Robot Co-occurrence Prediction. International Journal of Advanced Robotic Systems, 2013, Vol. 10, 2013, pp.1-12.

[10]Bo Zhou, Kun Qian, Xudong Ma, Xianzhong Dai. A set-theoretic algorithm for real-time terrain mapping of mobile robots in outdoor environments. International Journal of Advanced Robotic Systems, 2013, 10: 1-14.

[9]Kun Qian*, Xudong Ma, Xianzhong Dai and Fang Fang. Flexible Ambient Service Discovery and Composition for Component-based Robotic System. Journal of Ambient Intelligence and Smart Environments. 4(6), 2012, pp.547–562.

[8]Kun Qian*, Xudong Ma, Xianzhong Dai, Fang Fang. Improved Rao-Blackwellized particle filter for simultaneous robot localization and person-tracking with single mobile sensor. Journal of Control Theory and Applications, Vol. 9, No.4, 2011. 2011, 9(4):472-478.

[7]钱堃*, 马旭东, 戴先中, 房芳. 基于层次化SLAM的未知环境级联地图模型创建方法, 机器人, 2011, 33 (6): 736-741.

[6]Kun Qian*, Xudong Ma, Xianzhong Dai and Fang Fang. Socially Acceptable Pre-collision Safety Strategies for Human-Compliant Navigation of Service Robots. Advanced Robotics, 24(13), 2010, 1813–1840.

[5]Kun Qian*, Xudong Ma, Xianzhong Dai, Fang Fang. Robotic Etiquette: Socially Acceptable Navigation of Service Robots with Human Motion Pattern Learning and Prediction. Journal of Bionic Engineering, 7(2), 2010, 150–160.

[4]Chunhua Hu, Xudong Ma, Xianzhong Dai and Kun Qian, Reliable people tracking approach for mobile robot in indoor environments, Robotics and Computer-Integrated Manufacturing, 26(2): 174–179, 2010.

[3]钱堃*, 马旭东, 戴先中, 房芳. 预测行人运动的服务机器人POMDP导航. 机器人. 2010, 31(1), 18-24.

[2]钱堃*, 马旭东, 戴先中. 基于抽象隐马尔可夫模型的运动行为识别方法. 模式识别与人工智能. 2009, 22(3): 433-439.

[1]钱堃*, 马旭东, 戴先中, 房芳. 同时机器人定位与人体跟踪的多源感知协作粒子滤波方法. 机器人, 2008, 30(6): 491-497.

Conference Paper

[19]Xingshuo Jing, Yongqiang Zhao, Jiaqi Jiang, Boyi Duan, Kun Qian*, Shan Luo, Unsupervised Adversarial Domain Adaptation for Sim-to-Real Transfer of Tactile Manipulation Skills, 2023 IEEE International Conference on Robotics and Automation (ICRA), ViTac 2023 Workshop.

[18]Xin Xu, Kun Qian*, Bo Zhou, Shenghao Chen, Yitong Li, Two-Stream 2D/3D Residual Networks for Learning Robot Manipulations from Human Demonstration Videos, 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 3353-3358.

[17]Kai Li, Kun Qian*, et al. Regional Semantic Learning and Mapping Based on Convolutional Neural Network and Conditional Random Field, 2020 IEEE International Conference on Real-time Computing and Robotics (RCAR), 2020, pp.14-19. Paper

[16]Boxing Gui, Kun Qian*, et al. Knowledge Induced Deep Q-Network for Robot Push and Grasp Manipulation Skills Learning, CAC, 2020. Paper

[15]Xiaobo Zhang, Kun Qian*, et al. Fire Detection based on Convolutional Neural Networks with Channel Attention, CAC, 2020.Paper

[14]Zhewen Ma, Kun Qian*, Wei Zhao, Xudong Ma, Hai Yu, Multi-session mapping for indoor substation environment using a head-mounted RGB-D sensor, 3rd IEEE International Conference on Energy Internet, ICEI 2019, pp.1-6, 2019.

[13]Wei Zhao, Kun Qian*, Zhewen Ma, Xudong Ma, Stereo Visual SLAM Using Bag of Point and Line Word Pairs, Proceedings of 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, pp.651-661, 2019.

[12]Kun Qian*, Xiaobo Zhang, Hai Yu, Xudong Ma, Industrial Maintenance and Assembly Guidance Using a Markerless AR System with Monocular Camera, 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, p 1911-1916.

[11]Kun Qian*, Jun Xu, Ge Gao, Fang Fang, Xudong Ma, Learning Under-Specified Object Manipulations from Human Demonstrations. 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, p 1936-1941.Paper

[10]Jiale Ma, Kun Qian*, Xudong Ma, Wei Zhao, Reliable Loop Closure Detection Using 2-channel Convolutional Neural Networks for Visual SLAM. the 37th Chinese Control Conference, 2018.

[9]Jun Xu, Kun Qian*, Huan Liu, Xudong Ma, Hand pose estimation for robot programming by demonstration in object manipulation tasks, Chinese Control Conference, CCC, v 2018-July, p 5328-5333, October 5, 2018.Paper

[8]Ge Gao, Kun Qian*, Xudong Ma, Jing Xia, Hai Yu. Object Recognition and Augmentation for Wearable-Assistive System Using Egocentric RGB-D Sensor, 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017, p 775-780.

[7]Kun Qian*, Dan Niu, Xudong Ma, Fang Fang. Learning spatial constraints using Gaussian process for shared control of semi-autonomous mobile robots. Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics, v 2, p 201-208, 2017.

[6]Kun Qian*, Ge Gao, Fang, Fang, Liangjun Zhang, RGB-D based daily activity recognition for service robots using clustering with Gaussian Mixtures and FastDTW, 2016 International Conference on Advanced Robotics and Mechatronics, p 651-656, October 21, 2016.

[5]Kun Qian*, Zhijie Chen, Xudong Ma, Bo Zhou, Mobile Robot Navigation in Unknown Corridors using Line and Dense Features of Point Clouds, in Proc. of 41st Annual Conference of the IEEE Industrial Electronics Society (IEEE IECON 2015), Yokohama, Japan, 1831-1836.

[4]Kun Qian*, Xudong Ma, Fang Fang, Hong Yan. 3D Environmental Mapping of Mobile Robot Using a Low-cost Depth Camera, the 2013 IEEE International Conference on Mechatronics and Automation, Takamatsu, Kagawa, Japan, August 4-7, 2013, pp.507-512

[3]Kun Qian*, Xudong Ma, Xianzhong Dai, Fang Fang. Semantic Service Composition Mechanism for Component-based Robotic System. In Pro. of the 37th Annual Conference of the IEEE Industrial Electronics Society (IECON 2011), Melbourne, Australia, Nov.7-10, 2011, pp:3311-3316.

[2]Kun Qian*, Xudong Ma, Xianzhong Dai and Chunhua Hu. A Multi-camera Approach to Tracking and Localization of People with Coexisting Robots. The 7th World Congress on Intelligent Control and Automation(WCICA’ 08), Chongqing, China, June 2008, 5162-5167.

[1]Kun Qian*, Xudong Ma, Xianzhong Dai. Simultaneous Robot Localization and Person Tracking Using Rao-Blackwellised Particle Filters With Multi-modal Sensors. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’08), Nice, France, Sept. 2008, pp.3452-3457.

Students

Tianhao Zhang, Zhuoyang Zhang, Boyi Duan, Tongkai Xu, Da Xu, Lujing Zhou, Yongqiang Zhao, Lishuang Zhang, Weiyi Kong, Yixin Fang, Zihuan Shu, Simin Zhan, Yongjie Liu, Yi Zhang, Jishen Bai, Keqin Shi, Shenghao Chen, Xingshuo Jing, Xin Xu, Yun Zhang

Alumni

Yanhui Duan, Rui Liu, Xiaobo Zhang, Kai Li, Boxing Gui, Yitong Li, Yuyao Yang, Yilin Liao, Zhewen Ma, Wei Zhao, Jiale Ma, Huan Liu, Jing Xia, Jun Xu, Ge Gao, Yuan Chen, Zhijie Chen, Zifei Sun, Xiaohua Jiang, Min Zhao, Hang Wu, Zhangjun Lu, Zhangjie Fu, Hong Yang, Huan Wang

近三年毕业生去向： 微软、网易、腾讯、University of Bristol、慕尼黑工业大学、字节跳动、百度、华为、华泰

Student’s Award

Contact

School of Automation, Southeast University
No.2 Sipailou, Nanjing, China, 210096
Email: kqian@seu.edu.cn

visitors