苗津毓 (Jinyu Miao)
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在读工学博士生 |
关于我
2019年7月于北京航空航天大学（北航）自动化科学与电气工程学院获得自动化专业学士学位；2022年6月于北航获得控制科学与工程专业工学硕士学位。目前在清华大学攻读博士学位。
我的研究兴趣主要包括: 自动驾驶任务中的视觉感知、高精度定位和建图 等。
教育经历
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工学硕士, 北京航空航天大学, 北京 [2019.9 ~ 2022.6]
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学士, 北京航空航天大学, 北京 [2015.9 ~ 2019.7]
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学术论文
Efficient End-to-end Visual Localization for Autonomous Driving with Decoupled BEV Neural Matching
Jinyu Miao1, Tuopu Wen1, Ziang Luo, et al.
主题: 视觉定位, 端到端, 神经模板匹配
arxiv, 2025
Residual Learning towards High-fidelity Vehicle Dynamics Modeling with Transformer
Jinyu Miao, Rujun Yan, Bowei Zhang, et al.
主题: 动力学状态估计, 神经网络+规则模型
arxiv, 2025
PriorMotion: Generative Class-Agnostic Motion Prediction with Raster-Vector Motion Field Priors
Kangan Qian, Jinyu Miao, Xinyu Jiao, et al.
主题: BEV感知, 生成式模型, 运动预测
arxiv, 2025
LEGO-Motion: Learning-Enhanced Grids with Occupancy Instance Modeling for Class-Agnostic Motion Prediction
Kangan Qian, Jinyu Miao, Ziang Luo, et al.
主题: BEV感知, 运动预测
arxiv, 2025
Autonomous Driving in Unstructured Environments: How Far Have We Come?
主题: 综述, 非结构化场景，自动驾驶
arxiv, 2024
A Data-Driven Framework for Tire Force Estimation of Distributed Electric-Drive Vehicles
主题: 动力学状态估计, 神经网络+规则模型
Advanced Vehicle Control Symposium (AVEC), 2024 [EI index]
Review and Challenge: High Definition Map Technology for Intelligent Connected Vehicle
主题: 综述, 高精度地图
Fundamental Research, 2024 [IF=5.7]
VC-Gaussian: Vision-Centric Gaussian Splatting for Dynamic Autonomous Driving Scenes
主题: 3D 高斯, 纯视觉方案
IEEE International Conference on Intelligent Transportation Systems (ITSC), 2024 [EI index]
Scale Drift-free Visual-inertial Odometry for Ground Vehicles in Highway Scenarios
Tuopu Wen, Kun Jiang, Jinyu Miao, et al.
主题: 视觉惯导里程计, 自动驾驶汽车
IEEE International Conference on Intelligent Transportation Systems (ITSC), 2023 [EI index]
Multi-Session High-Definition Map-Monitoring System for Map Update
主题: 众源数据融合, 地图更新
ISPRS International Journal of Geo-Information, 2024 [IF=3.4]
A Survey on Monocular Re-Localization: From the Perspective of Scene Map Representation
Jinyu Miao, Kun Jiang*, Tuopu Wen*, et al.
主题: 综述, 单目重定位, 场景地图表达
IEEE Transactions on Intelligent Vehicles, 2024 [IF=8.2]
Poses as Queries: Image-to-LiDAR Map Localization with Transformers
Jinyu Miao, Kun Jiang*, Yunlong Wang, et al.
主题: 跨模态, 端到端定位, Transformer
IEEE Robotics and Automation Letters, 2023. [IF=5.2]
SGFNet: Segmentation Guided Fusion Network for 3D Object Detection
主题: 多传感器融合, 3D目标检测
IEEE Robotics and Automation Letters, 2023. [IF=5.2]
Real-time Local Feature with Global Visual Information Enhancement
Jinyu Miao, Haosong Yue*, Zhong Liu, et al.
主题: 局部特征提取, 实时性, 全局注意力机制
IEEE Conference on Industrial Electronics and Applications (ICIEA), 2022. [EI检索, Best Paper Finalist]
Roadside HD Map Object Reconstruction Using Monocular Camera
Tuopu Wen, Kun Jiang, Jinyu Miao, et al.
主题: 高精度地图生成, 目标三维重建
IEEE Robotics and Automation Letters, 2022. [IF=5.2]
Automatic Vocabulary and Graph Verification for Accurate Loop Closure Detection
Haosong Yue, Jinyu Miao*, Weihai Chen, et al. (学生一作兼通讯作者)
主题: 回环检测, 词袋模型, 拓扑图模型
Journal of Field Robotics, 2022. [IF=8.3]
基于语义位置验证的鲁棒闭环检测算法
赵一夫, 苗津毓, 郭方洪*, 等
主题: 回环检测, 语义图, 回环后验
控制与决策, 2022. [EI检索]
ALIKE: Accurate and Lightweight Keypoint Detection and Descriptor Extraction
Xiaoming Zhao, Xingming Wu, Jinyu Miao, et al.
主题: 基于深度学习的局部特征提取算法
IEEE Transactions on Multimedia, 2022. [IF=7.3]
Discriminative and Semantic Feature Selection for Place Recognition towards Dynamic Environments
Yuxin Tian1, Jinyu Miao1, Xingming Wu*, et al. (共同一作)
主题: 基于深度学习的局部特征选择算法, 注意力机制, 语义信息
Pattern Recognition Letters, 2022. [IF=5.1]
RaP-Net: A Region-wise and Point-wise Weighting Network to Extract Robust Features for Indoor Localization
Dongjiang Li1, Jinyu Miao1, Xuesong Shi*, et al. (共同一作)
主题: 基于深度学习的局部特征提取算法, 注意力机制, 数据集
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. [机器人领域顶会]
Simulation for Senior Undergraduate Education of Robot Engineering based on Webots
Haosong Yue, Jinyu Miao, Jinqing Zhang, et al. (学生一作)
Computer Applications in Engineering Education, 2020. [IF=2.9]
Bone Age Assessment based on SuperPoint Features
Jinyu Miao, Haosong Yue*, Xingming Wu, et al.
主题: 基于深度学习的X光片骨龄检测
Chinese Automation Congress (CAC), 2020.
Robust Loop Closure Detection based on Bag of SuperPoints and Graph Verification
Haosong Yue, Jinyu Miao, Yue Yu*, et al. (学生一作)
主题: 回环检测, 基于深度学习的局部特征提取算法, 回环后验
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. [机器人领域顶会]
社会服务
会议审稿人: IROS, ICRA, ITSC, CCDC, ICIEA
期刊审稿人: T-ITS, SP-L, RA-M, T-IV, DETEC, RA-L, T-CSVT
助教: 清华大学《智能交通系统》, 清华大学《自动驾驶(1)》, 北航《电路测试实验》, 北航《电气实验》