孔慧教授
博导



目前就职： 计算机科学与技术学院
导师类型/类别： 博导
个人主页： http://cs.njust.edu.cn/23/e9/c1730a9193/page.htm






10 访问




联系电话：
电子邮箱： konghui@njust.edu.cn
邮编： 210094
工作单位：
通讯地址： 南京理工大学计算机学院3060 移动机器人实验室



个人信息
指导学科
社会、学会及学术
出版专著和教材
科研创新
教学活动
发表论文
指导学生情况
其他信息
获奖、荣誉称号


教育经历
1.2015/1-至今，南京理工大学，计算机学院，教授
2.2021, Visiting Fellow, 澳门大学，with Prof. Cheng-Zhong Xu
3.2020, 澳门大学杰出访问****, with Prof. Cheng-Zhong Xu
4.2011/10-2014/10，麻省理工学院，计算机科学家, with Prof. Sanjay Sarma
5.2010/5-2011/9，俄亥俄州立大学，计算机科学家，with Prof.Metin Gurcan
6.2008/1-2010/1，巴黎高等师范学院，博士后, with Prof. Jean Ponce
7. 2002-2007新加坡南洋理工大学博士学位, Advisor: Prof. Eam Khwang Teoh

工作经历


指导学科
机器人视觉, 多视几何, 激光雷达感知, 机器人导航技术(主动感知/SLAM/规划), 多传感器融合, 无人机导航技术。




社会、学会及学术兼职
Associate Editor：IJCV (International Journal of Computer Vision), 2020 -
Program Committee member: ECCV 2012,2014,2016;CVPR 2016,2018,2019,2020,2021; ICCV 2017 2019 2021; ICRA 2016 2017 2018 2019 2020 2021; IROS 2017 2018 2019
Reviewer for: over 20 IEEE Transactions, and internaional journals.



出版专著和教材


科研创新

科研项目
1. 主持企业横向机器人项目一项，项目名称：自主移动机器人大规模室内场景主动感知技术研发，起止时间：2020年
2. 主持企业横向项目一项，项目名称：水下气泡图像处理软件开发技术，起止时间：2020年
3. 主持企业横向机器人项目一项，项目名称：基于16线激光雷达和双目相机的自然场景自主移动机器人导航技术研发，起止时间：2019
4. 主持企业横向项目一项，项目名称：基于机器视觉的工业产品外观质量检测，起止时间：2018-2019
5. 主持共用技术基金项目一项，项目名称：基于多谱信息的复杂环境分类技术， 起止时间：2017 - 2020
6. 主持自然科学基金面上项目一项，项目名称：面向无人车的全景彩色立体红外相机构建及其在越野环境感知和自主定位中的应用研究。起止时间：2016-2020。
7. 主持江苏省自然科学基金面上项目一项，项目名称：基于无人车和微型无人机的野外道路检测和追踪。起止时间：2015-2018
8. 主持企业横向委托项目一项，项目名称：基于低成本机器视觉的工业产品外观质量检测。起止时间：2016年。
9. 主持江苏省资助项目一项，项目名称：基于RGB-D相机的机器人室内自主定位与导航研究。起止时间：2016-2019。



教学活动


发表论文
杂志论文
Yaqing Ding, Jian Yang, Jean Ponce, andHui Kong, Homography-Based Minimal-Case Relative Pose Estimation with Known Gravity Direction, IEEE Transactions on Pattern Analysis and Machine Intelligence, 2020
Shuo Gu, Yigong Zhang, Jinhui Tang, Jian Yang, Jose M. Alvarez, andHui Kong, Integrating Dense LiDAR-Camera Road Detection Maps by a Multi-Modal CRF Model, IEEE Transactions on Vehicular Technology, 2019
Yingna Su, Yicheng Gao, Yigong Zhang, Jose M. Alvarez, Jian Yang, andHui Kong: Single camera + 2D Lidar: an illumination-invariant nonparametric model for urban road detection, IEEE Transactions on Intelligent Vehicles, 2019
Shuo Gu, Yigong Zhang, Xia Yuan, Jian Yang, Tao Wu, andHui Kong, Histograms of the normalized inverse depth and line scanning for urban road detection based on 3D Lidar, IEEE Transactions on Intelligent Transportation Systems, 2019
Mingmei Cheng, Yigong Zhang, Yingna Su, Jose M. Alvarez andHui Kong: Curb Detection for Road and Sidewalk Detection, IEEE Transactions on Vehicular Technology, 2018
Shuo Gu, Tao Lu, Yigong Zhang, Jose M. Alvarez, Jian Yang andHui Kong: 3D LiDAR + Monocular Camera: an Inverse-Depth Induced Fusion Framework for Urban Road Detection, IEEE Transactions on Intelligent Vehicles, 2018
Yigong Zhang, Yingna Su, Jian Yang, Jean Ponce, andHui Kong: When Dijkstra meets vanishing point: a stereo vision approach for road detection, IEEE Transactions on Image Processing, 2018
Yingna Su, Yigong Zhang, Jose M. Alvarez, Jian Yang, andHui Kong: Single camera + 2D Lidar: an illumination-invariant nonparametric model for urban road detection,IEEE Transactions on Intelligent Vehicles,2018
Shuo Gu, Tao Lu, Yigong Zhang, Jose M. Alvarez, Jian Yang andHui Kong: 3D LiDAR + Monocular Camera: an Inverse-Depth Induced Fusion Framework for Urban Road Detection,IEEE Transactions on Intelligent Vehicles,2018
Yigong Zhang, Yingna Su, Jian Yang, Jean Ponce, andHui Kong: When Dijkstra meets vanishing point: a stereo vision approach for road detection, IEEE Transactions on Image Processing, 2018
Yingna Su, Yigong Zhang, Tao Lu, Jian Yang, andHui Kong: Vanishing point constrained lane detection with a stereo camera, IEEE Transactions on Intelligent Transportation Systems, 2017
Hui Kong, Jian Yang, and Zhihua Chen, Accurate and Efficient Inspection of Speckle and Scratch Defects on Surfaces of Planar Products, IEEE Transactions on Industrial Informatics, 2016
Hailing Zhou,Hui Kong, Lei Wei, Douglas C. Creighton, Saeid Nahavandi: On detecting road region from a single UAV image. IEEE Transactions on Intelligent Transportation Systems (2016)
Ling Zhang,Hui Kong, Shaoxiong Liu, Tianfu Wang, Siping Chen, and Milan Sonka, Graph-Based Segmentation of Abnormal Nuclei in Cervical Cytology, Accepted to Comp. Med. Imag. and Graph, 2016
Hailing Zhou,Hui Kong, Lei Wei, Douglas C. Creighton, Saeid Nahavandi: Efficient Road Detection and Tracking for Unmanned Aerial Vehicle. IEEE Transactions on Intelligent Transportation Systems 16(1): 297-309 (2015)
Ling Zhang,Hui Kong, Chien T. Chin, S. Liu, Zhi Chen, Tianfu Wang, Siping Chen: Segmentation of cytoplasm and nuclei of abnormal cells in cervical cytology using global and local graph cuts. Comp. Med. Imag. and Graph. 38(5): 369-380 (2014)
Hui Kong, Hatice C. Akakin, Sanjay E. Sarma: A Generalized Laplacian of Gaussian Filter for Blob Detection and Its Applications. IEEE Transactions on Cybernetics 43(6): 1719-1733 (2013)
Hui Kong, Sanjay E. Sarma, Feng Tang: Generalizing Laplacian of Gaussian Filters for Vanishing-Point Detection. IEEE Transactions on Intelligent Transportation Systems 14(1): 408-418 (2013)
Hui Kong, Metin Gurcan, and Kamel Belkacem-Boussaid, Partitioning Histopathological Images: An Integrated Framework for Supervised Color-Texture Segmentation and Cell Splitting, IEEE Transactions on Medical Imaging (TMI), Apr 2011.
Hui Kong, Jean-Yves Audibert and Jean Ponce, Detecting Abandoned Object with a Moving Camera, IEEE Transactions on Image Processing (TIP), 2010.
Hui Kong, Jean-Yves Audibert and Jean Ponce, General Road Detection from a Single Image, IEEE Transactions on Image Processing (TIP), 2010.
Hui Kong, Lei Wang, Eam Khwang Teoh, Xuchun Li, Jian-Gang Wang, and Ronda Venkateswarlu. Generalized 2D Principal Component Analysis for Face Image Representation and Recognition. Neural Networks, August 2005. (special issue dedicated for best papers of IJCNN'05)
会议论文
Ying Wang, Zezhou Sun, Cheng-Zhong Xu, Sanjay Sarma, Jian Yang, andHui Kong, LiDAR-Iris for Loop Closure Detection,IEEE International Conference on Intelligent Robotics and Systems (IROS)2020 (oral presentation)
Zezhou Sun, Banghe Wu, Cheng-Zhong Xu, Sanjay Sarma, Jian Yang, andHui Kong,Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration,IEEE International Conference on Intelligent Robotics and Systems (IROS)2020 (oral presentation)
Mingmei Cheng, Le Hui, Jin Xie, Jian Yang andHui Kong, Cascaded Non-local Neural Network for Point Cloud Semantic Segmentation,IEEE International Conference on Intelligent Robotics and Systems (IROS)2020 (oral presentation)
Yaqing Ding, Jian Yang, andHui Kong, An efficient solution to the relative pose estimation with a common direction,IEEE International Conference on Robotics and Automation (ICRA)2020
Yingna Su, Yaqing Ding, Jian Yang, andHui Kong, A two-step approach to Lidar-Camera calibration,IEEE International Conference on Pattern Recognition (ICPR),2020
Yaqing Ding, Jian Yang, Jean Ponce, andHui Kong,Minimal solutions to relative pose estimation from two views sharing a common direction with unknown focal length,IEEE International Conference on Computer Vision and Pattern Recognition (CVPR)2020
Peng Li, Changyong Shu, Yuan Xie, Yanyun Qu, andHui Kong, Hierarchical Knowledge Squeezed Adversarial Network Compression,AAAI Conference on Artificial Intelligence (AAAI), 2020
Hang Yang andHui Kong,3DPMNet: Plane Segmentation and Matching for Point Cloud Registration,IEEE International Conference on Unmanned Systems, 2020
Yaqing Ding, Jian Yang, Jean Ponce, andHui Kong, An efficient solution to the homography-based relative pose problem with a common reference direction,IEEE International Conference on Computer Vision (ICCV)2019 (oral presentation)
Minghao Liu, Zhixing Hou, Zezhou Sun, Ning Yin, Hang Yang, Ying Wang, Zhiqiang Chu andHui Kong, Campus Guide: A Lidar-based Mobile Robot,European Conference on Mobile Robotics (ECMR)2019 (oral presentation)
Shuo Gu, Yigong Zhang, Jose Alvarez, Jian Yang,Hui Kong, Two-View Fusion based Convolutional Neural Network for Urban Road Detection,IEEE International Conference on Intelligent Robotics and Systems (IROS)2019 (oral presentation)
Yigong Zhang, Yicheng Gao, Shuo Gu, Yubin Guo, Minghao Liu, Zezhou Sun, Zhixing Hou, Hang Yang, Ying Wang, Jian Yang, Jean Ponce, andHui Kong, DIY your own hybrid thermal/EO camera for autonomous vehicle,IEEE International Conference on Robotics and Automation (ICRA)2019 (spotlight presentation)
Shuo Gu, Yigong Zhang, Jinhui Tang, Jian Yang, andHui Kong, Road Detection through CRF based LiDAR-Camera Fusion,IEEE International Conference on Robotics and Automation (ICRA)2019 (spotlight presentation)
Zhixing Hou, Yaqing Ding, Hang Yang, Ying Wang, andHui Kong, Visual Odometry for Indoor Mobile Robot by Recognizing Local Manhattan Structures,Asian Conference on Computer Vision (ACCV)2018
Yigong Zhang, Shuo Gu, Jian Yang, Jose M. Alvarez,Hui Kong, Fusion of LiDAR and Camera by Scanning in LiDAR Imagery and Image-Guided Diffusion for Urban Road Detection,IEEE International Conference on Intelligent Vehicles (IV)2018
Yigong Zhang, Jian Yang, Jean Ponce, andHui Kong: Dijkstra model for stereo-vision based road detection: a non-parametric method,IEEE International Conference on Robotics and Automation (ICRA)2018 (spotlight presentation)
Shuo Gu, Yigong Zhang, Jian Yang, andHui Kong, Lidar-based Urban Road Detection by Histograms of Normalized Inverse Depths and Line Scanning,European Conference on Mobile Robotics (ECMR)2017, (oral presentation)
Yingna Su, Yigong Zhang, Jose M. Alvarez, andHui Kong, An Illumination-invariant Nonparametric Model for Urban Road Detection Using Monocular Camera and Single-line Lidar,IEEE ROBIO2017, (oral presentation)
Sainan Guo, Yicheng Gao, Yingna Su, andHui Kong, Illumination-invariant Feature by SVD and its Applications ,ACPR 2017
Yigong Zhang, Tao Lu, Jian Yang, andHui Kong, Split and Merge for Accurate Plane Segmentation in RGB-D Images,ACPR 2017(spotlight presentation)
Tao Lu, Yigong Zhang, andHui Kong, Detection of Road Vanishing Point by Stereo Camera,ACPR 2017
Liang Chen, Jian Yang, andHui Kong, Lidar-histogram for fast road and obstacle detection, IEEE ICRA,(spotlight presentation) 2017
Yigong Zhang, Zhixing Hou, Jian Yang andHui Kong, Maximum-Clique based visual odometry, IEEE, ICPR, 2016.
Ling Zhang,Hui Kong, Chien Ting Chin, Shaoxiong Liu, Tianfu Wang, Siping Chen: Automated segmentation of abnormal cervical cells using global and local graph cuts. ISBI 2014: 485-488
Hailing Zhou,Hui Kong, J. M. Alvarez, Douglas C. Creighton, Saeid Nahavandi: Fast road detection and tracking in aerial videos. Intelligent Vehicles Symposium 2014: 712-718
Basak Oztan,Hui Kong, Metin Gurcan，and Bulent Yener, Follicular lymphoma grading using cell-graphs and multiscale feature analysis, SPIE Medical Imaging, （oral presentation）2012.
Hatice Cinar Akakin,Hui Kong, Metin Gurcan，Automated detection of cells from immunohistochemically-stained tissues: application to Ki-67 nuclei staining, SPIE Medical Imaging, (oral presentation) 2012.
Hui Kong, Metin Gurcan, and Kamel Belkacem-Boussaid, Splitting touching-cell clumps in pathological images, accepted to International Symposium on Biomedical Imaging, ISBI'11, 2011.
Hui Kong, Metin Gurcan, and Kamel Belkacem-Boussaid, Segmentation of nuclei in follicular lymphoma histopathology images, accepted to SPIE Medical Imaging, 2011.
Hui Kong, Jean-Yves Audibert and Jean Ponce, Vanishing Point Detection for Road Detection, Proceedings of IEEE International Conference on Computer Vision and Pattern Recognition (CVPR'09), Miami, FL, June, 2009.
Hui Kong, Pengfei Xu, and Eam Khwang Teoh: Binocular Uncalibrated Photometric Stereo, Proceedings of IEEE International Symposium on Visual Computing (ISVC'06), Nevada, USA, 2006.
Hui Kongand Jian-Gang Wang, Coupling AdaBoost and Random Subspace for Diversified Fisher Linear Discriminant. Proccedings of IEEE International Conference on Nural Information Processing (ICONIP'06), Hong Kong, 2006. (oral presentation)
Hui Kong, Xuchun Li, Jian-Gang Wang, and Chandra Kambhamettu. Discriminant Analysis of Low-dimensional Space for Face Recognition with Small Number of Training Samples. BMVC 2005.
Hui Kong, Eam Khwang Teoh, Jian-Gang Wang, and Chandra Kambhamettu. Generalized 2D Fisher Discriminant Analysis, BMVC 2005.
Hui Kong, Xuchun Li, Lei Wang, Eam Khwang Teoh, Jian-gang Wang, and Ronda Venkateswarlu. Generalized 2D Principal Component Analysis. IEEE IJCNN 2005 (oral presentation, best paper shortlist)
Hui Kong, Lei Wang, Eam-Khwang Teoh, Jian-gang Wang, and Ronda Venkateswarlu. A Framework of 2D Fisher Discriminant Analysis: Application to Face Recognition with Small Number of Training Samples. IEEE CVPR 2005
Hui Kong, Eam-Khwang Teoh, Jian-gang Wang, and Ronda Venkateswarlu. Two Dimensional Fisher Discriminant Analysis: Forget about Small Sample Size Problem. IEEE ICASSP 2005
Hui Kong, Eam-Khwang Teoh, Jian-gang Wang, and Ronda Venkateswarlu. Coplanar Light Sweep-Surface Supported Uncalibrated Photometric Stereo. IEEE ICPR 2004.
Hui Kong, Eam-Khwang Teoh, Jian-gang Wang, and Ronda Venkateswarlu. Eigen-coefficients Estimation of Occluded Face Using selection and clustering. ACCV 2004.
Jian-gang Wang,Hui Kong, and Ronda Venkateswarlu. Improving Face Recognition Performance by Combining Color and Depth Fisherfaces. ACCV 2004.



指导学生情况
目前指导
博士生(8名)：
侯智星,PhD thesis, Active SLAM and Navigation in outdoor scenes
任德鑫,PhD thesis, Online learning for outdoor navigation of mobile robotics.
程明媚,PhD thesis, Small obstacle detection with 3D range sensor
苏颖娜,PhD thesis, Road finder for UGV with 3D range sensor
丁亚庆,PhD thesis, Minimal solutions for IMU-constrained mono-camera ego-motion estimation
孙泽舟,PhD thesis, Active exploration for mobile robots
张翼弓， PhD thesis, Multiple-Sensor Fusion for Road Environment Sensing
王玉坤,PhD thesis, TBD
高天，PhD thesis, TBD
硕士生(8名):
研二：殷宁，王智慧，丁盼云，顾昊
研一：吴邦赫，卢嘉诚，李钊屹，姚苏凌
本科毕业生(3名):
蔡鑫浩，王峥益，陈宣竹

已毕业学生
已毕业博士生
顾硕 (博士, 2015-2019), 南京理工大学，计算机学院，讲师
已毕业硕士生
汪赢，(硕士, 2018-2021),算法工程师，大疆，深圳
林宪辉，(硕士, 2018-2021),研发工程师，阿里巴巴，杭州
苗志彬，(硕士, 2018-2021),研发工程师，字节跳动，北京
刘明浩，(硕士, 2018-2021),研发工程师，猿辅导，北京
杨航，(硕士, 2018-2020),南京理工大学博士生（硕转博），南京
潘琳琳,(硕士, 2017-2019),研发工程师，美团, 北京
穆学兰,(硕士, 2017-2019),研发工程师，OPPO，南京
侯智星,(硕士, 2016-2018),南京理工大学博士生，南京
郭宇斌,(硕士, 2017-2018),南京理工大学博士生（硕转博），南京
陈志远,(硕士, 2016-2018),算法工程师, 地平线机器人，上海
郭赛楠,(硕士,2016-2018),算法工程师, 快手, 北京
吴佳田,(硕士,2016), 硕士研究生, CMU-RI，(美国卡耐基梅隆大学-机器人研究所,) USA.
已毕业本科生
陈思佳 (FYP student, 2020),攻读硕士研究生，南京大学
解双宇 (FYP student, 2019), 攻读硕士研究生, Texas A&M University（美国德州农机大学）, USA.
蒋诗露 (FYP student,2018), 攻读硕士研究生，北京航空航天大学
李朝阳 (FYP student,2018), 攻读硕士研究生，南京大学



其他信息


获奖、荣誉称号






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