Selected Publications
[1] Lei He, Guanghui Wang, and Zhanyi Hu. Learning Depth from Single Images with Deep Neural Network Embedding Focal Length. IEEE Transactions on Image Processing, 27(9), 4676–4689, 2018.
[2] Lei He, Jiwen Lu, Guanghui Wang, Shiyu Song, and Jie Zhou. SOSD-Net: Deep Objectness Shape for Monocular Depth Estimation and Semantic Segmentation. Neurocomputing, 440, 251–263, 2021.
[3] Lei He, Shengjie Jiang, Xiaoqing Liang, Ning Wang, and Shiyu Song. Diff-Net: Image Feature Difference-Based High-Definition Map Change Detection. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2022.
[4] Lei He, Qiulei Dong, and Zhanyi Hu. The Inherent Ambiguity in Scene Depth Learning from Single Images. Scientia Sinica Informationis, 46, 811–818, 2016.
[5] Lei He, Miao Yu, and Guanghui Wang. Spindle-Net: CNNs for Monocular Depth Inference with Dilation Kernel Method. In Proceedings of the 24th International Conference on Pattern Recognition (ICPR), 2018.
[6] Lei He, Qiaoyi Wang, Honglin Sun, Qing Xu, Bolin Gao, Shengbo Eben Li, Jianqiang Wang, and Keqiang Li. Vision-Driven 2D Supervised Fine-Tuning Framework for Bird’s-Eye-View Perception. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
[7] Siyi Lu, Lei He*, Shengbo Eben Li, Yugong Luo, Jianqiang Wang, and Keqiang Li. Hierarchical End-to-End Autonomous Driving: Integrating BEV Perception with Deep Reinforcement Learning. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2025, pp. 8856–8863.
[8] Jian Sun, Yuqi Dai, Chi-Man Vong, Qing Xu, Shengbo Eben Li, Jianqiang Wang, Lei He*, and Keqiang Li. OE-BevSeg: An Object-Informed and Environment-Aware Multimodal Framework for Bird’s-Eye-View Vehicle Semantic Segmentation. IEEE Transactions on Intelligent Transportation Systems, 26(8), 12210–12223, 2025.
[9] Ludan Zhang, Xiaokang Ding, Yuqi Dai, Lei He*, and Keqiang Li. Unveiling the Black Box: Independent Functional Module Evaluation for Bird’s-Eye-View Perception Models. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2025, pp. 7305–7311.
[10] Zhige Chen, Zhigang Zhang*, Qizheng Su, Kai Yang, Yandong Wu, Lei He*, and Xiaolin Tang. Object Detection for Autonomous Vehicles under Adverse Weather Conditions. Expert Systems with Applications, 2025, Article 128994.
[11] Junkai Jiang, Zhenhua Hu, Zihan Xie, Changlong Hao, Hongyu Liu, Wenliang Xu, Yuning Wang, Lei He*, Shaobing Xu*, and Jianqiang Wang*. A Risk-Aware Planning Framework for Unmanned Ground Vehicles in Off-Road Environments. IEEE Transactions on Vehicular Technology, 74(3), 3870–3884, 2024.
[12] Chengrui Wei, Meng Yang, Lei He, and Nanning Zheng. FS-Depth: Focal- and Scale-Aware Depth Estimation from a Single Image in Unseen Indoor Scenes. IEEE Transactions on Circuits and Systems for Video Technology, 34(11), 10604–10617, 2024.
[13] Bolin Gao, Jiaxi Liu, Hengduo Zou, Jiaxing Chen, Lei He, and Keqiang Li. Autonomous Driving Systems: Framework and Key Technologies—A Review. IEEE Transactions on Intelligent Transportation Systems, 25(12), 19295–19318, 2024.
[14] Yao Lyu, Xiangteng Zhang, Shengbo Eben Li, Jingliang Duan, Letian Tao, Qing Xu, Lei He, and Keqiang Li. Conformal Symplectic Optimization for Stable Reinforcement Learning. IEEE Transactions on Neural Networks and Learning Systems, 36(6), 11049–11063, 2024.
[15] Zhiyuan Liu, Leheng Li, Yuning Wang, Haotian Lin, Zhizhe Liu, Lei He, and Jianqiang Wang. Controllable Traffic Simulation through LLM-Guided Hierarchical Chain-of-Thought Reasoning. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.
[16] Wanjiang Weng, Hongsong Wang, Junbo Wang, Lei He, and Guosen Xie. USDRL: Unified Skeleton-Based Dense Representation Learning with Multi-Grained Feature Decorrelation. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2025.
Selected Invention Patents
[1] Method and Device for Training a Semantic Segmentation Model and Generating Lane Lines for High-Definition Maps.
China Patent: CN113705515A, Nov. 26, 2021. (Inventor ranking: 1/3)
[2] Method, Apparatus, Device, and Autonomous Vehicle for High-Definition Map Element Change Detection.
China Patent: CN113722342A, Nov. 30, 2021. (1/1)
[3] Method, Apparatus, Device, and Storage Medium for High-Definition Map Generation.
China Patent: CN113724388B, Sep. 5, 2023. (1/1)
[4] Image Processing Method, Apparatus, Device, and Storage Medium for High-Definition Maps.
China Patent: CN113706705A, Nov. 26, 2021. (1/1)
[5] Model Training and Lane Line Prediction Method, Device, and Autonomous Vehicle.
China Patent: CN113705513A, Nov. 26, 2021. (1/1)
[6] Method, Apparatus, Device, and Storage Medium for High-Definition Map Rendering.
China Patent: CN113674287A, Nov. 19, 2021. (1/1)
[7] Image Recognition Model Training Method, Device, Cloud Control Platform, and Autonomous Vehicle.
China Patent: CN113705716A, Nov. 26, 2021. (1/1)
[8] Road Image Data Processing Method, Apparatus, Electronic Device, and Cloud Computing Platform.
China Patent: CN113742440B, Sep. 26, 2023. (1/1)
[9] Method and Device for Keypoint Detection Model Training and Lane Line Generation for High-Definition Maps.
China Patent: CN113739811B, Jun. 11, 2024. (1/1)
[10] Model Training and Lane Line Prediction Method, Device, and Autonomous Vehicle.
China Patent: CN114037965A, Feb. 11, 2022. (1/1)
[11] Method, Apparatus, Device, and Storage Medium for High-Definition Map Detection.
China Patent: CN113688935A, Nov. 23, 2021. (1/1)
[12] Route Planning Method Based on High-Definition Maps, Device, and Autonomous Vehicle.
China Patent: CN113706704A, Nov. 26, 2021. (1/1)
[13] Method for Generating Paired Sample Images, Apparatus, and Method for Updating High-Definition Maps.
China Patent: CN113514053A, Oct. 19, 2021. (1/2)
[14] Method for Training Detection Models, Determining Image Update Information, and Updating High-Definition Maps.
China Patent: CN113505834A, Oct. 15, 2021. (1/2)
[15] Road Surface Element Recognition Method, Apparatus, Electronic Device, and Storage Medium.
China Patent: CN111783651A, Oct. 16, 2020. (1/3)
[16] Method, Apparatus, Electronic Device, and Storage Medium for Map Data Updating.
China Patent: CN111797187B, Sep. 26, 2023. (1/3)
[17] Method, Apparatus, Device, and Readable Storage Medium for High-Definition Map Generation.
China Patent: CN111784836B, Jun. 4, 2024. (1/3)
[18] Method and Apparatus for High-Definition Map Generation.
China Patent: CN111784837A, Oct. 16, 2020. (1/4)
[19] Method, Apparatus, Device, and Storage Medium for Information Generation.
China Patent: CN111597987A, Aug. 28, 2020. (1/4)
[20] Method, Apparatus, Device, and Storage Medium for Information Generation.
China Patent: CN111597986A, Aug. 28, 2020. (1/4)
