- Journal Papers (Peer Reviewed)
- Xu,D., Ding,Z., He,X., Zhao,H, Moze,M., Aioun,F., Guillemard,F., Learning From Naturalistic Driving Data for Human-Like Autonomous Highway Driving, IEEE Trans. on Intelligent Transportation Systems (T-ITS), 2020.
- Mei,J., Zhao,H., Incorporating Human Domain Knowledge in 3D LiDAR-based Semantic Segmentation, IEEE Trans. on Intelligent Vehicle (T-IV), 5(2), 178-187, 2020.
- Mei,J., Gao,B., Xu,D., Yao,W., Zhao,X., Zhao,H., Semantic Segmentation of 3D LiDAR Data in Dynamic Scene Using Semi-Supervised Learning, IEEE Trans on Intelligent Transportation Systems, 21(6), 2496-2509, 2020.
- Fang,Y., Wang,C., Yao,W., Zhao,X., Zhao,H., Zha,H., On-Road Vehicle Tracking Using Part-Based Particle Filter, IEEE Trans on Intelligent Transportation Systems, ), 20(12), 4538-4552, 2019.
- Xu,D., Zhao,H., Guillemard,F., Geronimi,S., Aioun,F., Aware of Scene Vehicles - Probabilistic Modeling of Car-Following Behaviors in Real-World Traffic, IEEE Transactions on Intelligent Transportation Systems (T-ITS), 20(6) , 2136–2148, 2019.
- Mei,J., Yu,Y., Zhao,H., Zha,H., Scene-Adaptive Off-Road Detection Using a Monocular Camera, IEEE Trans on Intelligent Transportation Systems, 19(1), 242-253, 2017.
- Yu,Y., Zhao,H., Cui,J., Zha,H., Monocular Visual Localization using Road Structural Features, AAS-CN2016-0413.
- Zhao,H., Wang,C., Lin,Y., Guillemard,F., Geronimi,S., Aioun,F., On-road Vehicle Trajectory Collection and Scene-based Lane Change Analysis: Part I, IEEE Trans on Intelligent Transportation Systems, 18(1), 192-205, 2017.
- Yao,W., Zeng,Q., Lin,Y., Xu,D., Zhao,H., Wang,C., Lin,Y., Guillemard,F., Geronimi,S., Aioun,F., On-road Vehicle Trajectory Collection and Scene-based Lane Change Analysis: Part II, IEEE Trans on Intelligent Transportation Systems, 18(1), 206-220, 2017.
- Wang,C., Fang,Y., Zhao,H., Guo,C., Mita,S., Zha,H., Probabilistic Inference for Occluded and Multiview On-road Vehicle Detection, IEEE Trans. on Intelligent Transportation Systems, 17(1), 215-229, 2016.
- Song,X., Zhao,H., Cui,J., Shao,X., Shibasaki,R., Zha,H., An Online System for Multiple Interacting Targets Tracking: Fusion of Laser and Vision, Tracking and Learning, accepted by ACM Transactions on Intelligent Systems and Technology, 4(1), 2013.
- Cui,J., Liu,Y., Xu,Y., Zhao,H., Zha,H., Tracking Generic Human Motion via Fusion of Low- and High-Dimensional Approaches, IEEE Trans. on System, Man and Cybernetics – Part A: System and Humans, 43(4), 996-1002, 2013.
- Zhao,H., Sha,J., Zhao,Y., Cui,J., Zha,H., Shibasaki,R., Detection and Tracking of Moving Objects at Intersections using a Network of Laser Scanners, IEEE Trans. Intelligent Transportation System, vol. 13, no.2, 655-670, 2012.
- Song,X., Shao,X., Zhang,Q., Shibasaki,R., Zhao,H., Zha,H., A Novel Dynamic Model for Multiple Pedestrians Tracking in Extremely Crowded Scenarios, Information Fusion, 14(3), 301-310, 2013.
- Song,X., Shao,X., Zhang,Q., Shibasaki,R., Zhao,H., Cui,J., Zha,H., A Fully Online and Unsupervised System for Large and High Density Area Surveillance: Tracking, Semantic Scene Learning and Abnormality Detection, ACM Trans. on Intelligent Systems and Technology (T-IST), 4(2), 35, 2013.
- Zhang,Q., Song,X., Shao,X., Shibasaki,R., Zhao,H., Unsupervised Skeleton Extraction and Motion Capture from 3D Point Cloud Sequences, 115, 92-105, 2013.
- Zhao,H. Chiba,M., Shibasaki,R., Shao,X., Cui, J., Zha,H., A laser scanner based approach towards driving safety and traffic data collection, IEEE Trans. Intelligent Transportation System, vol.10, no.3, 534-546, 2009.
- Zhao,H., Cui,J., Zha,H., Katabira,K., Shao,X., Shibasaki,R., Sensing an intersection using a network of laser scanners and video cameras, IEEE Intelligent Transportation Systems Magazine, vol.1, no.2, 31-37, 2009.
- Cui,J., Zha,H., Zhao,H., Shibasaki,R., “Multi-Modal Tracking of People Using Laser Scanners and Video Camera”, Image and Vision Computing (IVC), Vol.26, No.2, 240-252, 2008.
- Cui,J., Zha,H., Zhao,H., Shibasaki,R., Laser-based Detection and Tracking of Multiple People in Crowds, Computer Vision and Image Understanding (CVIU), Volume 106, Issues 2-3, 300-312. 2007.
- Li,W., Zhang,R., Liu,Z., Zhao,H., Shibasaki,R., An approach of laser-based vehicle monitor, Applied Mathematics and Computation, 185, 953-962, 2007.
- Nakamura,K., Shao,X., Zhao,H., Shibasaki,R., Recognizing non-stationary walking based on gait analysis using laser scanners, IEEJ Trans. on Electronics, Information and Systems, 127(4), 537-545, 2007.
- Nakamura,K., Zhao,H., Shibasaki,R., Sakamoto,K., Ohga, T., Suzukawa, N., Tracking pedestrians using multiple single-row laser range scanners and its reliability evaluation, Systems and computers in Japan, vol.37, no.7, pp.1-11, Jul. 2006.
- Zhao,H., Shibasaki,R., Updating digital geographic database using vehicle-borne laser scanners and line cameras, Photogrammetric Engineering & Remote Sensing, 71-4, 415-424, 2005.
- Zhao,H., Shibasaki,R., A Novel System for Tracking Pedestrians using Multiple Single-row Laser Range Scanners, IEEE Trans. SMC Part A: Systems and Humans, 35-2, 283-291, 2005.
- Zhao,H., Shibasaki,R., A vehicle-borne urban 3D acquisition system using single-row laser range scanners. IEEE Trans. SMC Part B: Cybernetics, 33-4, 658-666, 2003.
- Zhao,H., Shibasaki,R., Special issue on computer vision system: reconstructing textured CAD model of urban environment using vehicle-borne laser range scanners and line cameras, Machine Vision and Applications, 14-1, 35-41, 2003.
- Creixell,W., Sezaki, K., Zhao, H., Shibasaki, R., Mobility Model for Ad Hoc Networks based on Experimental Data, IEICE technical report on Information networks, Vol.102, No.693, 1-4, 2003.
- Zhao,H., Shibasaki,R., A robust method for registering ground-based laser range images of urban outdoor object, Photogrammetric Engineering & Remote Sensing, 67-10, 1143-1153, 2001.
- Zhao,H., Shibasaki,R., Reconstruction of textured urban 3D model by ground-based laser range and CCD images, IEICE Trans. Inf.&Syst., E83-D-7, 1429-1440, 2000.
- International Conference Papers (Peer Reviewed)
- Pan,Y., Gao,B., Mei,J., Geng,S., Li,C., Zhao,H., SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances, IEEE Intelligent Vehicles Symposium (IV), 2020.
- Zhu,Z., Li,N., Sun,R., Zhao,H., Xu,D., Off-road Autonomous Vehicles Traversability Analysis and Trajectory Planning Based on Deep Inverse Reinforcement Learning, IEEE Intelligent Vehicles Symposium (IV), 2020.
- Hu,S., Xu,D., Zhao,H., Cross Scene Prediction via Modeling Dynamic Correlation using Latent Space Shared Auto-Encoders, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020.
- Sun,R., Xu,D., Zhao,H., Moze,M., Aioun,F., Guillemard,F., Backpropagation through Simulation: A Training Method for Neural Network-based Car-following, IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), 2019.
- Ding,Z., Xu,D., Zhao,H., Moze,M., Aioun,F., Guillemard,F., Driver Identification through Multi-state Car Following Modeling, IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), 2019.
- Sun,R., Hu,S., Zhao,H., Moze,M., Aioun,F., Guillemard,F., Human-like Highway Trajectory Modeling based on Inverse Reinforcement Learning, IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), 2019.
- Mei, J.,Chen, J.,Yao, W.,Zhao, X.,Zhao, H., Supervised Learning for Semantic Segmentation of 3D LiDAR Data , IEEE Intelligent Vehicles Symposium (IV), 1309-1316, 2019.
- Fang, Y., Zhao, H., Zha, H., Yao, W.,Zhao, X.,Camera and LiDAR Fusion for On-Road Vehicle Tracking with Reinforcement Learning , IEEE Intelligent Vehicles Symposium (IV), 1513-1520, 2019.
- Gao, B.,Xu, A.,Pan, Y.,Zhao, X.,Yao, W.,Zhao, H.,Off-Road Drivable Area Extraction Using 3D LiDAR Data, IEEE Intelligent Vehicles Symposium (IV), 1323-1329, 2019.
- Ju, X.,Xu, D.,Zhao, X.,Yao, W.,Zhao, H.,Learning Scene Adaptive Covariance Error Model of LiDAR Scan Matching for Fusion Based Localization, IEEE Intelligent Vehicles Symposium (IV), 1579-1586, 2019. (Runner-up for Best Student Paper Award)
- Xu, D.,Ding, Z.,Zhao, H.,Moze, M.,Aioun, F.,Guillemard, F.,Naturalistic Lane Change Analysis for Human-Like Trajectory Generation, IEEE Intelligent Vehicles Symposium (IV), 1393 - 1399, 2018.
- He, X.,Xu, D.,Zhao, H.,Moze, M.,Aioun, F.,Guillemard, F.,A Human-like Trajectory Planning Method by Learning from Naturalistic Driving Data, IEEE Intelligent Vehicles Symposium (IV), 339 - 346, 2018.
- Fang, Y., Wang, C., Zhao, H., Zha, H., On-road Vehicle Tracking Using Part-based Particle Filter, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3755 - 3761, 2017.
- Xu, D., He, X., Zhao, H., Cui, J., Zha, H., Guillemard, F., Geronimi, S., Aioun, F., Ego-Centric Traffic Behavior Understanding through Multi-Level Vehicle Trajectory Analysis, IEEE Int. Conf. on Robotics and Automation (ICRA), 211 - 218, 2017.
- Xu, D., Zhao, H., Guillemard,F., Geronimi,S., Aioun,F., Scene-aware driver state understanding in car-following behaviors, IEEE Intelligent Vehicles Symposium (IV), 1490 - 1496, 2017.
- Yu, Y., Zhao, H., Cui, J., Zha, H., Off-road visual localization using monocular camera and nodding LiDAR, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), 2016.
- Wang, C., Zhao, H., Guo, C., Mita, S., Zha, H., Visual-Based On-road Vehicle Detection: A Transnational Experiment and Comparison, IEEE Intelligent Vehicle Symposium (IV), 455 – 462, 2015.
- Yao, W., Lin, Y., Wang, C., Zhao, H., Zha, H., Automatic Lane Change Data Extraction from Car Data Sequence, International IEEE Conference on Intelligent Transportation Systems (ITSC), 2014.
- Xu, D., Zeng, Q., Zhao, H., Guo, C., Kidono, K., Kojima, Y., Online Stereovision Calibration Using On-road Markings, International IEEE Conference on Intelligent Transportation Systems (ITSC), 2014.
- Wang C., Zhao, H., Guo, C., Mita, S., Zha, H., On-road Vehicle Detection through Part Model Learning and Probabilistic Inference, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2014.
- Yu, Y., Zhao, H., Cui, J., Zha, H., Davoine, F., Monocular Visual Localization using Road Structural Features, IEEE Intelligent Vehicles Symposium (IV), 2014.6.
- He, M., Zhao, H., Cui, J., Zha, H., Calibration Method for Multiple 2D LIDARs System, IEEE Int. Conf. on Robotics and Automation (ICRA), 2014.5.
- Yao, W., Zhao, H., Bonnifait, P., Zha, H., Lane Change Trajectory Prediction by using Recorded Human Driving Data, IEEE Intelligent Vehicles Symposium (IV), 430-436, 2013.
- He, M., Zhao, H., Davoine, F., Cui, J., Zha, H., Pairwise LIDAR Calibration Using Multi-Type 3D Geometric Features in Natural Scene, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2013.
- Wang, C., Zhao, H., Davoine, F., Zha, H., Automatic visual training sample generation through multi-modal sensor data fusion, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 4169-4176, 2012.
- Zhao,H., Wang,C., Yao,W., Davoine,F., Cui,J., Zha,H., Omni-directional detection and tracking of on-road vehicles using multiple horizontal laser scanners, IEEE Intelligent Vehicles Symposium (IV), 57-62, 2012.
- Yao,W., Zhao,H., Davoine,F., Zha,H., Learning Lane Change Trajectories From On-road Driving Data, IEEE Intelligent Vehicles Symposium (IV), 885-890, 2012.
- Zhao,Y., He, M., Zhao,H., Davoine,F., Zha,H., Computing Object-based Saliency in Urban Scenes using Laser Sensing, IEEE Int. Conf. on Robotics and Automation (ICRA), 4436-4443, 2012.
- Xu,W., Wei,J., Dolan,J.M., Zhao,H., Zha,H., A Real-Time Motion Planner with Trajectory Optimization for Autonomous Vehicles, IEEE Int. Conf. on Robotics and Automation (ICRA), 2061-2067, 2012.
- Song,X., Shao,X., Zhang,Q., Shibasaki,R., Zhao,H., Zha,H., Fusion of Laser and Vision for Multiple Target Tracking via On-line Learning, IEEE Int. Conf. on Robotics and Automation (ICRA), 2170-2176, 2012.
- Sha,J., Zhao,Y., Xu,W., Zhao,H., Cui,J., Zha,H., Trajectory analysis of moving objects at intersection based on laser-data, 14th International IEEE Conference on Intelligent Transportation Systems (ITSC), 289 – 294, 2011.
- Zhao,Y., Zhao,H., Sha,J., Zha,H., Moving object trajectory processing based on multi-laser sensing, 14th International IEEE Conference on Intelligent Transportation Systems (ITSC), 550 – 557, 2011.
- Xu,W., Yao,W., Zhao,H., Zha,H., A Vehicle Model for Micro-Traffic Simulation in Dynamic Urban Scenarios, IEEE Int. Conf. on Robotics and Automation (ICRA), 2267-2274, 2011.
- Song,X., Shao,X., Shibasaki,R., Zhao,H., Cui,J., Zha,H., A novel laser-based system: Fully online detection of abnormal activity via an unsupervised method, IEEE Int. Conf. on Robotics and Automation (ICRA), 1317-1322, 2011.
- Zhao,H., Liu,Y., Zhu,X., Zhao,Y., Zha,H., Scene Understanding in a Large Dynamic Environment through a Laser-Based Sensing, IEEE Int. Conf. on Robotics and Automation (ICRA), 127-133 , 2010.
- Zhu,X., Zhao,H., Liu,Y., Zhao,Y., Zha,H., Segmentation and Classification of Range Image from an Intelligent Vehicle in Urban Environment, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1457-1462, 2010.
- Song,X., Shao,X., Zhao,H., Cui,J., Shibasaki,R., Zha,H., An Online Approach: Learning-Semantic-Scene-by-Tracking and Tracking-by-Learning-Semantic-Scene, Computer Vision and Pattern Recognition (CVPR), 739-746, 2010.
- Song,X., Zhao,H., Cui,J., Shao,X., Shibasaki,R., Zha,H., Fusion of Laser and Vision for Multiple Target Tracking via On-line Learning, IEEE Int. Conf. on Robotics and Automation (ICRA), 406-411, 2010.
- Shao,X., Katabira,K., Shibasaki,R., Zhao,H., Multiple people extraction using 3D range sensor, IEEE Int. Conf. on Systems, Man and Cybernetics (SMC), 1550-1554, 2010.
- Zhao,H., Xiong, L., Jiao, Z., Cui, J., Zha, H., Sensor alignment towards an omni-directional measurement using an intelligent vehicle, IEEE Intelligent Vehicle Symposium (IV), 292-298, 2009.
- Zhao,H., Zhang,Q., Chiba,M., Shibasaki,R., Cui,J., Zha,H., Moving Object Classification using Horizontal Laser Scan Data, IEEE Int. Conf. on Robotics and Automation (ICRA), 2424-2430, 2009.
- Shao,X., Zhao,H., Katabira,K., Shibasaki,R., Nakagawa,Y., Tracking a Variable Number of Pedestrians in Crowded Scenes by using Laser Range Scanners, IEEE Int. Conf. Systems, Man and Cybernetics (SMC), 1545-1551, 2008.
- Zhao,H., Cui,J., Zha,H., Katabira,K., Shao,X., Shibasaki,R., Monitoring an intersection using a network of laser scanners, IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), 428-433, 2008.
- Kyoichiro,K., Zhao,H., Nakagawa,Y., Shibasaki,R., Real-Time Monitoring of People Flows and Indoor Temperature Distribution for Advanced Air-Conditioning Control, IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), 664-668, 2008.
- Song,X., Cui,J., Zha,H., Zhao,H., Vision-based Multiple Interacting Targets Tracking via On-line Supervised Learning, European Conf. on Computer Vision (ECCV), 642-655, 2008.
- Song,X., Cui,J., Zha,H., Zhao,H., Probabilistic Detection-based Particle Filter for Multi-target Tracking, British Machine Vision Conference (BMVC), 223-232, 2008.
- Song,X., Cui,J., Zhao,H., Zha,H., Bayesian Fusion of Laser and Vision for Multiple People Detection and Tracking, Int. Conf. on Instrumentation, Control and Information Technology (SICE), 3014-3019, 2008.
- Song,X., Cui,J., Wang,X., Zhao,H., Zha,H., Tracking Interacting Targets with Laser Scanner via On-line Supervised Learning, IEEE Int. Conf. on Robotics and Automation (ICRA), 2271-2276, 2008.
- Zhao, H., Chiba, M., Shibasaki, R., Katabira, K., Cui, J., Zha, H., Driving Safety and Traffic Data Collection - A Laser Scanner Based Approach, IEEE Intelligent Vehicles Symposium (IV), 329-336,2008.
- Zhao, H., Chiba, M., Shibasaki, R., Shao, X., Cui, J., Zha, H.,SLAM in a Dynamic Large Outdoor Environment using a Laser Scanner, IEEE Int. Conf. on Robotics and Automation (ICRA), 1455-1462, 2008.
- Shao,X., Zhao,H., Nakamura,K., Katabira,K., Shibasaki,R., Nakagawa,Y., Detection and Tracking of Multiple Pedestrians by Using Laser Range Scanners, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2007.
- Zhao, H., Chen, Y., Shibasaki, R., An efficient extrinsic calibration of a multiple laser scanners and cameras' sensor system on a mobile platform, IEEE Intelligent Vehicles Symposium, 422-427, 2007.
- Chen, Y., Zhao, H., Shibasaki, R., A mobile system combining laser scanner and cameras for urban spatial objects extraction, Int. Conf. on Machine Learning and Cybernetics, 2007.
- Zhao, H., Chen, Y., Shao, X.W., Katabira, K., Shibasaki, R., Monitoring a populated environment using single-row laser range scanners from a mobile platform, IEEE Int. Conf. on Robotics and Automation (ICRA), 4739-4745, 2007.
- Book Chapters
- Zhao, H., Wang, C., Yao, W., Cui, J., Zha, H., Vehicle Trajectory Collection using On-board Multi-Lidars for Driving Behavior Analysis,Knowledge
Engineering and Management, Advances in Intelligent Systems and
Computing
, Springer, vol.214, pp.659-671, 2014.
- Nakamura,K., Zhao,H., Shao,X., Shibasaki,R., Human Sensing in Crowd Using Laser Scanners, Laser Scanner Technology, InTech, 2012.
- Zhao,H., Xiong,L., Liu,Y., Zhu,X., Zhao,Y., Zha,H., Intelligent Vehicles Vision Technology: Sensor Alignment Towards an Omni-directional Measurement Using an Intelligent Vehicle, Robert A. Meyers (ed.), Encyclopedia of Sustainability Science and Technology, Springer, 2012
- Cui,J., Song,X., Zhao,H., Zha,H., Shibasaki,R., Real-time Detection and Tracking of Multiple People in Laser Scan Frames, Augmented Vision Perception in Infrared, Springer, 2009.
- Zhao, H., K. Nakamura, R. Shibasaki, Chapter 4. A laser scanner system for acquiring walking trajectory data and its possible applications to behavioral science, GIS-based Studies in the Humanties and Social Sciences, Taylor & Francis, 2005.
- Domestic Journal and Conference Papers
- Xu,W., Yao,W., Zhao,H., Zha,H., Micro-Traffic Simulation in Dynamic Urban Scenarios based on Vehicle Motion Planning [C], 2011 Chinese Annual Conference on Intelligent Transportation System.
- Zhao,H., Davoine,F., Cherfaoui,V., Fremont,V. Bonnifait,P., Dynamic mapping: System and algorithm [C], Workshop of the NSFC Major Research Plan Program on Visual and Auditory Cognitive Calculation, 2010.
- Sha,J., Zhao,H., Cui,J., Zha,H., Estimating Vehicle Driving Parameters using Laser scanners [C], Workshop of the NSFC Major Research Plan Program on Visual and Auditory Cognitive Calculation, 2010.
- Sha,J., Zhao,H., Cui,J., Zha,H., Traffic Data Collection at an Intersection using a Network of Laser Scanners [C], Journal of Highway and Transportation Research, vol.26, no.S1, 30-34, 2009.
- Zhao,H., Sha,J., Cui,J., Zha,H., System and Development toward Detailed Traffic Data Collection [C], Int. Sym. On Sustainable Development of Urban Transportation in China, 2008.