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专著
译著
参与编撰的专著章节
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Selected Journal Papers
2026
Lei-Lei Li, Jianwu Fang
, Junbin Xiao, Hongkai Yu, Chen Lv, Jianru Xue, Zhengguo Li, Tat-Seng Chua, ADVersa: Abductive Driving Accident Video Understanding. IEEE Trans. Pattern Anal. Mach. Intell. 48(6): 6980-6998 (2026).
2025
Lin Li
, Runjia Tan, Jianwu Fang, Jianru Xue, Chen Lv, LLM-augmented hierarchical reinforcement learning for human-like decision-making of autonomous driving. Expert Syst. Appl. 294: 128736 (2025).Gengxin Li
, Jianru Xue, Bohua Zhang, Kang Zhao, Zhongxing Tao, Learning and generating vehicle motion primitives from human-driving data. Robotica 43(1): 144-162 (2025).Jie Bai, Jianwu Fang
, Yisheng Lv, Chen Lv, Jianru Xue, Zhengguo Li, Gating Syn-to-Real Knowledge for Pedestrian Crossing Prediction in Safe Driving. IEEE Trans. Intell. Transp. Syst. 26(6): 7509-7522 (2025).Yuning Wang
, Pu Zhang, Lei Bai, Fei Li, Jianru Xue, Enhancing Mapless Trajectory Prediction Through Knowledge Distillation. IEEE Trans. Intell. Transp. Syst. 26(10): 16665-16675 (2025).Yuning Wang
, Pu Zhang, Yuan He, Ke Wang, Jianru Xue, Continual Multi-Agent Trajectory Prediction via Dual Knowledge Consolidation and Pseudo Data Generation. IEEE Trans. Intell. Transp. Syst. 26(11): 19481-19492 (2025).Jianwu Fang
, Lei-Lei Li, Zhedong Zheng, Hongkai Yu, Jianru Xue, Zhengguo Li, Tat-Seng Chua, EQ-TAA: Equivariant Traffic Accident Anticipation via Diffusion-Based Accident Video Synthesis. IEEE Trans. Multim. 27: 8628-8643 (2025).
2024
Lei-Lei Li, Jianwu Fang, Jianru Xue，Cognitive Traffic Accident Anticipation. IEEE Intell. Transp. Syst. Mag. 16(5): 17-32 (2024).
Ruidong Han, Xiaofeng Wang, Ningning Bai, Yihang Wang, Jianpeng Hou, Jianru Xue，HDF-Net: Capturing Homogeny Difference Features to Localize the Tampered Image. IEEE Trans. Pattern Anal. Mach. Intell. 46(12): 10005-10020 (2024).
Wenzhao Qiu, Shanmin Pang, Hao Zhang, Jianwu Fang, Jianru Xue，TICMapNet: A Tightly Coupled Temporal Fusion Pipeline for Vectorized HD Map Learning. IEEE Robotics Autom. Lett. 9(12): 11289-11296 (2024)
Jianwu Fang, Jiahuan Qiao, Jianru Xue, Zhengguo Li，Vision-Based Traffic Accident Detection and Anticipation: A Survey. IEEE Trans. Circuits Syst. Video Technol. 34(4): 1983-1999 (2024)
Jianwu Fang, Fan Wang, Jianru Xue, Tat-Seng Chua，Behavioral Intention Prediction in Driving Scenes: A Survey. IEEE Trans. Intell. Transp. Syst. 25(8): 8334-8355 (2024)
Shanmin Pang, Yueyang Zeng, Jiawei Zhao, Jianru Xue，A Mutually Textual and Visual Refinement Network for Image-Text Matching. IEEE Trans. Multim. 26: 7555-7566 (2024)
2023
PuZhang, LeiBai, YuningWang, JianwuFang, Jianru Xue, NanningZheng, WanliOuyang, Towards Trajectory Forecasting From Detection. IEEETrans. PatternAnal. Mach. Intell.45(10): 12550-12561 (2023).
RuidongHan, XiaofengWang, NingningBai, QinWang, ZinianLiu, Jianru Xue, FCD-Net: Learning to Detect Multiple Types of Homologous Deepfake Face Images. IEEETrans. Inf. ForensicsSecur. 18: 2653-2666 (2023).
JunpingZhang, JianPu, Jianru Xue, MingYang, XinXu, XiaoWang, Fei-YueWang, HiVeGPT: Human-Machine-Augmented Intelligent Vehicles With Generative Pre-Trained Transformer. IEEETrans. Intell. Veh. 8(3): 2027-2033 (2023).
Bohua Zhang, Jianru Xue,Weakly-supervised anomaly detection with a Sub-Max strategy. Neurocomputing 560: 126770 (2023).
Wenyu Hao, Shanmin Pang, Xiuxiu Bai, Jianru Xue, Tensor-Based Incomplete Multi-View Clustering With Low-Rank Data Reconstruction and Consistency Guidance. IEEE Trans. Circuits Syst. Video Technol. 33(12): 7156-7169 (2023).
Jianwu Fang, Chen Zhu, Pu Zhang, Hongkai Yu, Jianru Xue,Heterogeneous Trajectory Forecasting via Risk and Scene Graph Learning. IEEE Trans. Intell. Transp. Syst. 24(11): 12078-12091 (2023).
2022
Pu Zhang, Jianru Xue, Pengfei Zhang, NanningZheng, Wanli Ouyang, Social-Aware Pedestrian Trajectory Prediction via States Refinement LSTM. IEEE Trans. Pattern Anal. Mach. Intell. 44(5): 2742-2759 (2022)
Jianru Xue, Bin Hu, LingxiLi, JunpingZhang, Human - machine augmented intelligence: research and applications. Frontiers Inf. Technol. Electron. Eng. 23(8): 1139-1141 (2022)
Xingyu Chen, Jianru Xue, Shanmin Pang, Sparse Semantic Map-Based Monocular Localization in Traffic Scenes Using Learned 2D-3D Point-Line Correspondences. IEEE Robotics Autom. Lett. 7(4): 11894-11901 (2022).
ZhongxingTao, Jianru Xue, Di Wang, Gengxin Li, Jianwu Fang, An Adaptive Invariant EKF for Map-Aided Localization Using 3D Point Cloud. IEEETrans. Intell. Transp. Syst. 23(12): 24057-24070 (2022)
Jianwu Fang, Dingxin Yan, JiahuanQiao, Jianru Xue, HongkaiYu, DADA: Driver Attention Prediction in Driving Accident Scenarios. IEEETrans. Intell. Transp. Syst. 23(6): 4959-4971 (2022)
JianwuFang, JiahuanQiao, JieBai, HongkaiYu, Jianru Xue, Traffic Accident Detection via Self-Supervised Consistency Learning in Driving Scenarios. IEEE Trans. Intell. Transp. Syst. 23(7): 9601-9614 (2022)
Xiaofeng Wang, YanWang, JinjinLei, BinLi, QinWang, Jianru Xue, Coarse-to-fine-grained method for image splicing region detection. Pattern Recognit. 122: 108347 (2022)
Wenyu Hao, ShanminPang, BoYang, Jianru Xue, Tensor-based multi-view clustering with consistency exploration and diversity regularization. Knowl. BasedSyst. 252: 109342 (2022).
2021
LuXu, ChenHu, Ji'anTao, Jianru Xue, KuizhiMei，Improve Regression Network on Depth Hand Pose Estimation With Auxiliary Variable. IEEE Trans. Circuits Syst. Video Technol. 31(3): 890-904 (2021)
SenLi, JianwuFang, HongkeXu, Jianru Xue, Video Frame Prediction by Deep Multi-Branch Mask Network. IEEE Trans. Circuits Syst. Video Technol. 31(4): 1283-1295 (2021)
Xiaofeng Wang, Qian Zhang, ChuntaoJiang, Jianru Xue, Perceptual hash-based coarse-to-fine grained image tampering forensics method. J. Vis. Commun. Image Represent. 78: 103124 (2021)
Xiaofeng Wang, BinLi, Yan Wang, Jinjin Lei, Jianru Xue, An efficient batch images encryption method based on DNA encoding and PWLCM. Multim. Tools Appl. 80(1): 943-971 (2021)
2020
Pengfei Zhang, Jianru Xue, Cuiling Lan, Wenjun Zeng, Zhanning Gao, Nanning Zheng, EleAtt-RNN: Adding Attentiveness to Neurons in Recurrent Neural Networks. IEEE Trans. Image Process. 29: 1061-1073 (2020)
Rixing Zhu, Jianwu Fang, Shuying Li, QiWang, Hongke Xu, Jianru Xue, Hongkai Yu,Vehicle re-identification in tunnel scenes via synergistically cascade forests. Neurocomputing 381: 227-239 (2020)
Jiaojiao Hu, Xiaofeng Wang, Ying Zhang, Depeng Zhang, MengZhang, Jianru Xue,Time Series Prediction Method Based on Variant LSTM Recurrent Neural Network. NeuralProcess. Lett. 52(2): 1485-1500 (2020)
Xiaofeng Wang, Xiaorui Zhou, Qian Zhang, Bingchao Xu, Jianru Xue, Image alignment based perceptual image hash for content authentication. SignalProcess. ImageCommun. 80 (2020)
2019
Pengfei Zhang,Guilin Lan, Junliang Xing, Wenjun Zeng, Jianru Xue, Nanning Zheng, View Adaptive Neural Networks for High Performance Skeleton-based Human Action Recognition, IEEE Transactions on Pattern Analysis and Machine Intelligence, 2019, 41(8):1963-1978.
Shanmin Pang, JIanru Xue, Jihua Zhu, Li Zhu, Qi Tian. Unifying Sum and Weighted Aggregations for Efficient Yet Effective Image Representation Computation. IEEE Transactions on Image Processing, 2019, 28(2): 841-852.
Shanmin Pang, Jin Ma, Jianru Xue, Jihua Zhu, Li Zhu, Qi Tian, Vicente Ordonez, Deep Feature Aggreation and Image Re-ranking with Heat Diffusion for Image Retrieval, IEEE Tranactiosn on Multimedia, 2019,21(6):1513-1523.
Shanmin Pang, Jin Ma, Jihua Zhu, Jianru Xue, Qi Tian, Improving Object Retrieval Quality by Integration of Similarity Propagation and Query Expansion, IEEE Transactions on Multimedia, 2019, 21(3):760-770.
2018
Jianwu Fang, Jianru Xue, Tunnel brightness compensation with spatial-temporal visual-content preservation, IEEE Transactions on Industrial Electronics 65(11): 9005-9015 (2018).
Chao Ma, Jianru Xue, Yuehu Liu, Jing Yang, Yongqiang Li, Nanning Zheng, Data-driven state-increment statistical model and its application in autonomous driving, IEEE Transactions on Intelligent Transportation Systems, 19(12): 3872-3882 (2018).
Shanmin Pang, Jihua Zhu, Jiaxing Wang, Vicente Ordonez, Jianru Xue, Building discriminative CNN image representations for object retrieval using the replicator equation, Pattern Recognition, 83:150-160,(2018).
Jianru Xue, Jianwu Fang, Pu Zhang, A Survey of Scene Understanding by Event Reasoning in Autonomous Driving, International Journal of Automation and Computing, 15(3):249-266 (2018).
Xinyu Duan, Siliang Tang, Sheng-yu Zhang, Yin Zhang, Zhou Zhao, Jian-ru Xue, Yueting Zhuang, Fei Wu, Temporality-enhanced knowledge memory network for facroid question answering, Frontiers of IT & EE 19(1): 104-115 (2018).
Shanmin Pang, Jianru Xue, Zhanning Gao, Lihong Zheng, Li Zhu,Large-scale vocabularies with local graph diffusion and mode seeking,Sig. Proc.: Image Comm.63: 1-8 (2018).
Fei Wang, Wei Wang, Zhiliang Qiu, Jianwu Fang, Jianru Xue, Jingru Zhang,Color constancy via multibranch deep probability network, Journal of Electronic Imaging 27(04):043010(2018).
2017
Jianru Xue, Di Wang, Shaoyi Du, Dixiao Cui, Yong Huang, Nanning Zheng., A vision-centered multi-sensor fusing approach to self-localization and obstacle perception for robotic cars. Frontiers of IT & EE 18(1): 122-138 (2017) (Invited paper).
Nanning Zheng, Zi-yi Liu, Pengju Ren, Yongqiang Ma, Shi-tao Chen, Si-yu Yu, Jianru Xue, Badong Chen, Fei-Yue Wang, Hybrid-augmented intelligence: collaboration and cognition. Frontiers of IT & EE 18(2): 153-179 (2017) (Invited paper).
Le Wang, Gang Hua, Rahul Sukthankar, Jianru Xue, Zhenxing Niu, Nanning Zheng, Video Object and Co-Segmentation with Extremly Weak Supervision, IEEE Transactions on Pattern Analysis and Machine Intelligence, 39(10): 2074-2087.
Li Zhou, Yongfeng Ju, Jianwu Fang, JIanru Xue, Saliency detection via background invariance in scale spaces, Journal of Electronic Imaging 26(4):43021 (2017).
Shaoyi Du, Juan Liu, Yuehu Liu, Xuetao Zhang, Jianru Xue, Precise glasses detection algorithm for face with in-plane rotation, Multimedia Systems, 23(3):293-302 (2017).
Xiangwei Li, Xuguang Lan, Meng Yang, Jianru Xue, Nanning Zheng, A new compressive sensing video coding framework based on Gaussian Mixture model, Sig. Proc.: Image Comm. 55: 66-79 (2017).
2016
Zhanning Gao, Jianru Xue, Wengang Zhou, Qi Tian, Democratic Diffusion Aggregation for Image Retrieval, IEEE Transactions on Multimedia, 18(8):1661-1674.
Dixiao Cui, Jianru Xue, Nanning Zheng, Real-Time Global Localization of Robotic Cars in Lane Level via Lane Marking Detection and Shape Registration. IEEE Transactions on Intelligent Transportation Systems 17(4): 1039-1050, 2016.
Xiaofeng Liu, Aimin Jiang, Ning Xu, Jianru Xue, Increment Entropy as a Measure of Complexity for Time Series. Entropy 18(1) , 2016.
Chunjia Zhang, Shaoyi Du, Juan Liu, Jianru Xue, Robust 3D Point Set Registration Using Iterative Closest Point Algorithm with Bounded Rotation Angle. Signal Processing 120: 777-788 , 2016.
Chunjia Zhang, Shaoyi Du, Juan Liu, Yongxin Li, Jianru Xue, Yuehu Liu, Robust iterative closest point algorithm with bounded rotation angle for 2D registration, Neurocomputing, 195:172-180, 2016.
Shaoyi Du, Chunjia Zhang, Zongze Wu, Juan Liu, Jianru Xue, Robust Isotropic Sffigcaling ICP Algorithm with Bidirectional Distance and Bounded Roatation Angle, Neurocomputing, 2016.
Shaoyi Du, Juan Liu, Bo Bi, Jihua Zhu, Jianru Xue, New iterative closest point algorithm for isotropic scaling registration of point sets with noise. J. Visual Communication and Image Representation 38: 207-216,(2016).
2015
Liang Ma, Jianru Xue, Kuniaki Kawabata, Jihua Zhu, Chao Ma, Nanning Zheng, Efficient Sampling-based Motion Planning for On-road Autonomous Driving, IEEE Transactions on Intelligent Transportation Systems , 16(4):1961-1976, 2015.
Xiaofeng Wang, Kemu Pang, Xiaorui Zhou, Yang Zhou, Lu Li, Jianru Xue, A Visual Model based Perceptual Image Hash for Content Authentication, IEEE Transactions on Information Forensics and Security,10(7):1336-1349, 2015.
Lihua Tian, Nanning Zheng, Jianru Xue, Ce Li, Authentication and Copyright Protection Watermarking Scheme for H.264 based on Visual Saliency and Secret Sharing, Multmedia Tools and Applications, 74(9):2991-3011, 2015.
Kuniaki Kawabata,Liang Ma,Jianru Xue, Sho Yokota,Yasue Mitsukura, Nanning Zheng, A Path Generation for Automated Vehicle based on Bezier Curve and Via-points, Robotics and Autonomous Systems. 74:243-252, 2015.
Shanmin Pang, Jianru Xue, Zhanning Gao, Qi Tian, Image Re-ranking with An Alternating Optimization, Neurocomputing, 165:423-432, 2015.
Shaoyi Du, Juan Liu, Chunjia Zhang, Meifeng Xu, Jianru Xue, Accurate Non-rigid Registration based on Heuristic Tree for Registering Point Sets with Large Deformation, Neurocomputing, 168:681-689, 2015.
Kuniaki Kawabata, Jianru Xue, Liang Ma, Nanning Zheng, An Online Reference Governor for Mobile Robot to Reduce the Occurrence of Control Input Saturation, Advanced Robotics, 29(10):671-681,2015.
Lu Li, Jianru Xue, Xiaofeng Wang,Lihua Tian, A Robust Approach to Detect Digitial Forgeries by Exploring Correlation Patterns, Pattern Analysis and Applications, 18(2):351-365, 2015.
2014
Le Wang, Gang Hua, Jianru Xue, Zhanning Gao, Nanning Zheng, Joint Segmentation and Recognition of Categorized Objects from Noisy Web Image Collection, IEEE Transactions on Image Processing, 23(9):4070-4086, 2014.
Shanmin Pang, Jianru Xue, Qi Tian, Nanning Zheng, Exploiting Local Linear Geometric Structure for Identifying Correct Matches, Computer Vision and Image Understanding, 128:51-64,2014.
Xiaofeng Wang, Yong Liu, Bingchao Xu, Lu Li, Jianru Xue, A Statistical Feature based Approach to Distinguish PRCG from Natural Images, Computer Vision and Image Understanding, 128:84-93, 2014.
Zhiqiang Tian, Jianru Xue, Xuguang Lan, Ce Li, and Nanning Zheng, Object Segmentation and Key-Pose based Summarization for Motion Video, Multimedia Tools and Applications,72(2):1773-1802,2014.
Tian Zhiqiang, Zheng, Nanning Xue Jianru, Lan Xuguang, Li Ce, Zhou Gang, Video Object Segmentation with Shape Cue based on Spatiotemporal Superpixel Neighbourhood, IET Computer Vision, 8(1):16-25, 2014.
Kawabata, Kuniaki, Takemura Fumiaki, Suzuki, Tsuyoshi, Sawai Kei, Kuraya Eisuke, Takahashi Satoru, Yamashiro Hideyuki, Isomura Naoko, Xue Jianru, Underwater Image Gathering by Utilizing Stationary and Movable Sensor Nodes: Towards Observation of Symbiosis System in the Coral Reef of Okinawa, International Journal of Distributed Sensors Network, 2014.
2013
Jianru Xue, Le Wang, Nanning Zheng, and Gang Hua, Automatic Salient Object Extraction with Contextual Cue and Its Applications to Recognition and Alpha Matting, Pattern Recognition,46(11):2874-2289,2013.
Lihua Tian, Nanning Zheng, Jianru Xue , Ce Li, Authentication and copyright protection watermarking scheme for H.264 based on visual saliency and secret sharing, Multimedia Tools and Applications (in press),Nov，2013.
Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda, Jianru Xue, Active Interaction Utlizing Micro Mobile Robot and Online Data Gathering for Experiments in Criket Pheromone Behavior, Robotics and Autonomous Systems, 61(12):1529-1538, 2013.
Wei Liu, Nanning Zheng, Jianru Xue, Xuetao Zhang, Zejian Yuan, Visual Appearane-based Unmanned Vehicle Sequential Localization, International Journal of Advanced Robotics Systems, 10(12):1-8, 2013.
Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda, Jianru Xue, A System for Automated Interaction with the Criket Utilizing a Micro Mobile Robot, Journal of Robotics and Mechatronics, 25(2):333-339, 2013.
2012
Hu, W., Xue, J.,Zheng, N., PSF Estimation via Gradient Domain Correlation, IEEE Trans. on Image Processing, Vol.21, pp: 386-392, Jan, 2012.
Ce Li, Jianru Xue, Zhiqiang Tian, Lu Li, and Nanning Zheng., Saliency detection based on biological plausibility of hypercomplex Fourier spectrum contrast, Optic Letters, 37(17):3609-3611, 2012.
Xiaofeng Wang, Nanning Zheng, Jianru Xue, Zhenli Liu, A Novel Image Signature Method for Content Authentication. Computer Journal, 55(6): 686-701, 2012.
Xiaofeng Wang, Jianru Xue, Zhenqiang Zheng, Zhenli Liu, Ning Li., Image Forensic Signature for Content Authenticity Analysis, Journal of Visual Communication and Image Representation,Volume 23, Issue 5, pp: 782–797, July 2012.
2011
Jianru Xue, Ce Li, and Nanning Zheng., Proto-object based Rate Control for JPEG2000: An Approach to Content-based Scalability, IEEE Trans. Image Processing, Vol.20, No.4, pp: 1177-1184, 2011.
Lihua Tian, Nanning Zheng, Jianru Xue, Ce Li, Xiaofeng Wang., An IntegratedVisual Saliency-based Watermarking Approach for synchronous ImageAuthentication and Copyright Protection,Journal of Signal Processing: Image Communication, Vol.26, pp: 427-437,Oct,2011.
2010
Shaoyi Du, Nanning Zheng, Lei Xiong, Shihui Ying, and Jianru Xue., Scaling Iterative Closest Point Algorithm for Registration of m-D Point Sets, Journal of Visual Communication and Image Representation, Vol. 21, no. 5-6, pp. 442-452, 2010.
2009
Wei Hu, Jianru Xue, Xuguang Lan, Nanning Zheng, Local patch based regularized least squares model for compression artifacts removal, IEEE Transactions on Consumer Electronics, Vol 55, no.4, pp: 2057-2065, 2009.
2008
Jianru Xue, Nanning Zheng, Jason Geng, Xiaopin Zhong, Tracking Multiple Visual Targets via Particle-based Belief Propagation, IEEE Transactions on System, Man, and Cybernetics Part B, Vol 38, No.1, pp:196-209, Feb, 2008.
Xuguang Lan, Nanning Zheng, Jianru Xue, et al., Adaptive VOD Architecture for Heterogeneous Networks based on Scalable Wavelet Video Coding, IEEE Trans on Consumer Electronics, 53(4):1401-1409. 2008.
Jianru Xue, Nanning Zheng, Xiaopin Zhong, Visual Perceptual Stimulus—A Bayesian-based Integration of Multi-Visual-Cue Approach and Its Application, China Science Bulletin, Vol 53, no.2,pp:172-182, 2008.
Dai Fang, Nanning Zheng, Jianru Xue, Image Smoothing and Sharpening based on Nonlinear Diffusion Equation, Signal Processing, Volume 88, Issue 11, pp: 2850-2855, Nov, 2008
2006
Xue Jianru, Zheng Nanning, Zhong Xiaopin., Sequential Stratified Sampling Belief Propagation for Multiple Targets Tracking, Science in China, Issue. F, vol.49, no.1, pp.48-62. 2006.
部分中文期刊
薛建儒，房建武，庞善民，郑南宁，多机协同智能发展战略研究，《中国工程科学》，Vol. 26，Issue (1) : 101-116，2024.
张琳, 薛建儒, 马超, 李庚欣, 李勇强，高速公路无人驾驶的分层抽样多动态窗口轨迹规划算法，《自动化学报》, 50(7): 1315−1332，2024.
薛建儒， 李庚欣，无人车的场景理解与自主运动，《无人系统技术》，1（2）：24-33。
钟小品，薛建儒，郑南宁，平林江，基于融合策略自适应的多线索跟踪方法，《电子与信息学报》， 29(5):1017-1022, 2007.
薛建儒，郑南宁，多目标跟踪的序贯分层抽样信任传播算法，《中国科学》.E辑，35(10): 1049－1063,2005.
兰旭光, 郑南宁, 薛建儒, 刘跃虎, 梅魁志. 小波滤波器低功耗并行的VLSI结构设计.《计算机研究与发展》.42(11):1889-1895,2005.
权炜, 郑南宁, 薛建儒，啤酒瓶凸形字符的提取及识别方法研究，《小型微型计算机系统》，25(2): 271-274, 2004.
薛建儒，郑南宁，郑朝晖，权炜，基于自适应高斯混合体模型的相控阵雷达TWS跟踪技术，《电子学报》，31(3):433-436, 2003.
薛建儒，郑南宁，权炜，自适应分割的雷达回波数据混合编码算法，《电子与信息学报》，25(8):1059-1065, 2003.
薛建儒，郑南宁，张元林, 雷达回波无损编码，《西安交通大学学报》，vol.36, no.10, pp.1070-1074, 2002 .
华刚，郑南宁，薛建儒，基于改进遗传算法的边缘检测阈值自动选取及其应用，《小型微型计算机系统》，vol.23, no.3.pp.318-321, 2002.
2026
Xuyang Li, Jianwu Fang, Lin Li, Boyuan Chen, Guangliang Li, Jianru Xue, Guided Distillation and Risk Adaptive Evolution for Multi-Robot Navigation. AAAI 2026: 704-711.
Lizhen Xu, Zehao Wu, Wenzhao Qiu, Shanmin Pang, Xiuxiu Bai, Kuizhi Mei, Jianru Xue, Redundant Queries in DETR-Based 3D Detection Methods: Unnecessary and Prunable. AAAI 2026: 11323-11331.
Yuning Wang, Pu Zhang, Yuan He, Ke Wang, Jianru Xue, MetaDAT: Generalizable Trajectory Prediction via Meta Pre-training and Data-Adaptive Test-Time Updating. ICRA 2026: CoRR abs/2603.09419.
Jinbin Bai, Yixuan Li, Yuchen Zhu, Yi Xin, Qingyu Shi, Aosong Feng, Xiaohong Liu, Molei Tao, Jianru Xue, Xiangtai Li, Ming-Hsuan Yang, Prism: Efficient Test-Time Scaling via Hierarchical Search and Self-Verification for Discrete Diffusion Language Models. ICML 2026: CoRR abs/2602.01842.
Zhifeng Yu, Xuyang Li, Jianwu Fang, Guangliang Li, Jianru Xue, Robust Robot Navigation through Failure-Aversion Learning.ICRA 2026.
Xuyang Li, Leilei Li, Jianwu Fang, Boyuan Chen, Jianru Xue, Event-Driven Sleep-Wake Scheduling for Heterogeneous Robots under LTL Constraints. RSS 2026.
2025
Wenzhao Qiu, Shanmin Pang, Hao Zhang, Jianwu Fang, Jianru Xue，HeightMapNet: Explicit Height Modeling for End-to-End HD Map Learning. WACV 2025: 6022-6031.
Lei-Lei Li, Jianwu Fang, Junbin Xiao, Shanmin Pang, Hongkai Yu, Chen Lv, Jianru Xue, Tat-Seng Chua, Causal-Entity Reflected Egocentric Traffic Accident Video Synthesis. ICCV 2025: 11208-11218.
Yibo Yuan, Jianwu Fang, Yang Zhou, Zhao Yang, Chen Lv, Jianru Xue, Causal-Planner: Causal Interaction Disentangling with Episodic Memory Gating for Autonomous Planning. IROS 2025: 335-341.
Jiachen Liu, Jianwu Fang, Jianru Xue, HITP: Hierarchical Intention Representation for Multi-Agent Trajectory Prediction. ITSC 2025: 290-296.
Lin Li, Yuxin Cai, Jianwu Fang, Jianru Xue, Chen Lv, COVLM-RL: Critical Object-Oriented Reasoning for Autonomous Driving Using VLM-Guided Reinforcement Learning. ITSC 2025: 1044-1051.
2024
Jianwu Fang, Lei-lei Li, Junfei Zhou, Junbin Xiao, Hongkai Yu, Chen Lv, Jianru Xue, Tat-Seng Chua，Abductive Ego-View Accident Video Understanding for Safe Driving Perception. CVPR 2024: 22030-22040
Yibo Yuan, Jianru Xue, Tao Hu, Bo Zheng, Yang Zhou, Wenjie Song, Tao Cao，3D Rock and Pothole Detection in Desert for the Wild Navigation. ICIRA (9) 2024: 441-455
Peining Shen, Jianwu Fang, Hongkai Yu, Jianru Xue，Vehicle Behavior Prediction by Episodic-Memory Implanted NDT. ICRA 2024: 14177-14183
Kang Zhao, Jianru Xue, Xiangning Meng, Gengxin Li, Mengsen Wu，Learning Residual Model of Model Predictive Control via Random Forests for Autonomous Driving. ITSC 2024: 755-761
Mingyi Zhang, Jianru Xue, Chen Lv, Jianwu Fang，Intention-Oriented Fast Joint Prediction and Planning for Safe Driving. ITSC 2024: 3696-3702
Xiaoyu Mo, Haochen Liu, Zhiyu Huang, Jianwu Fang, Jianru Xue, Chen Lv，Scalable Traffic Simulation for Autonomous Driving via Multi-Agent Goal Assignment and Autoregressive Goal-Directed Planning. IV 2024: 424-429
Jiangtong Zhu, Yibo Yuan, Zhuo Yin, Yang Zhou, Shizhen Li, Jianwu Fang, Jianru Xue，GAFB-Mapper: Ground aware Forward-Backward View Transformation for Monocular BEV Semantic Mapping. IV 2024: 941-946
Jiangtong Zhu, Zhao Yang, Yinan Shi, Jianwu Fang, Jianru Xue，IC-Mapper: Instance-Centric Spatio-Temporal Modeling for Online Vectorized Map Construction. ACM Multimedia 2024: 9961-9969
2023
Yuning Wang, Pu Zhang, Lei Bai, Jianru Xue, FEND: A Future Enhanced Distribution-Aware Contrastive Learning Framework for Long-Tail Trajectory Prediction. CVPR 2023: 1400-1409
Jiangtong Zhu, Jianru Xue, Pu Zhang, CalibDepth: Unifying Depth Map Representation for Iterative LiDAR-Camera Online Calibration. ICRA 2023: 726-733
Tianci Zhao, Xue Bai, Jianwu Fang, Jianru Xue，Gated Driver Attention Predictor. ITSC 2023: 270-276
2022
Jie Bai, Xin Fang, Jianwu Fang, Jianru Xue, Changwei Yuan, Deep Virtual-to-Real Distillation for Pedestrian Crossing Prediction. ITSC 2022: 1586-1592
Xiangning Meng, Jianru Xue, Kang Zhao, Gengxin Li, Mengsen Wu, Stochastic Navigation Command Matching for Imitation Learning of a Driving Policy. PRCV (3) 2022: 192-203
2021
Pan Wang, Jianru Xue, Jian Dou, Di Wang, Haibo Zhao, PCRLaneNet: Lane Marking Detection via Point Coordinate Regression. IV 2021: 1332-1338
2020
PengfeiZhang, CuilingLan, WenjunZeng, JunliangXing, JianruXue, NanningZheng, Semantics-Guided Neural Networks for Efficient Skeleton-Based Human Action Recognition, CVPR 2020.
Yuxin Pan, Jianru Xue, Wanli Ouyang, Pengfei Zhang, Jianwu Fang, Xingyu Chen, and Pu Zhang, Navigation Command Matching for Vision-based Autonomous Driving, ICRA 2020.
Zhen Ye, Jianru Xue, Jian Dou, Yuxin Pan, Jianwu Fang, Di Wang, and Nanning Zheng, Improving 3D Object Detection Via Joint Attribute-Oriented 3D Loss, IV 2020.
Gengxin Li, Jianru Xue, Lynn Zhang, Di Wang, Yongqiang Li, Zhongxing Tao, and Nanning Zheng, An Efficient Sampling-Based Hybrid A* Algorithm for Intelligent Vehicles, IV 2020.
Xingyu Chen, Jianru Xue, Jianwu Fang, Yuxin Pan, and Nanning Zheng, Using Detection, Tracking and Prediction in Visual SLAM to Achieve Real-Time Semantic Mapping of Dynamic Scenarios, IV 2020.
Ruijian Jia, Xinsheng Wang, Shanmin Pang, Jihua Zhu, Jianru Xue, Look, Listen and Infer. ACMMultimedia 2020: 3911-3919.
2019
Pu Zhang, Wanli Ouyang, Pengfei Zhang, Jianru Xue, Nanning Zheng, SR:LSTM State refinement for Pedestrian trajectory prediction, CVPR 2019.
Jian Dou, Jianru Xue, Jianwu Fang, SEG-VoxelNet for 3D Vehicel Detection from RGB and LiDAR Data, IEEE International Conference on Robotics and Automation, ICRA 2019.
Jianru Xue, Jianwu Fang, Tao Li, Bohua Zhang, Pu Zhang, Zhen Ye, Jian Dou, BLVD: Build A Large-scale 5D Semantics Benchmark for Autonomous Driving, IEEE International Conference on Robotics and Automation, ICRA 2019
Di Wang, Jianru Xue, Wei Zhan, Yinghan Jin, Nanning Zheng, Masayoshi Tomizuka, Prcise Cottentropy-based 3D Object Modelling with Geometric Traffic Prior, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2019.
2018
Pengfei Zhang, Jianru Xue, Cuiling Lan, Wenjun Zeng,Zhanning Gao, Nanning Zheng, Adding Attentioness to the Neurons in Recurrent Neural Networks, European Conference on Computer Vision, ECCV 2018, Munich Germany.
Di Wang, Jianru Xue, Zhongxin Tao, Yang Zhong, Dixiao Cui, Shaoyi Du, Accurate Mix-Norm-based Scan Matching via Residual Error Modelling, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2018.
Zhongxin Tao, Jianru Xue, Di Wang, Shuyang Zhang, Dixiao Cui, Shaoyi Du, Accurate Localization in Underground Garage via Cylinder Feature based Map Matching, IEEE Intelligent Vehicles Symposium (IV'18), 2018.
Guanglin Xu, Shaoyi Du, Dixiao Cui, Sirui Zhang, Badong Chen, Xuetao Zhang, Jianru Xue, Yue Gao, Precise Point Set Registration Using Point-to-Plane Distance and Correntropy for LiDAR Based Localization. IEEE intelligent vehicles symposium (IV'18), 2018: 734-739.
2017
Zhanning Gao, Gang Hua, Dongqing Zhang, Nebojsa Jojic, Le Wang, Jianru Xue, and Nanning Zheng, ER3: A Unified Framework for Event Retrieval, Recognition and Recounting, IEEE Conf. on Computer Vision and Pattern Recognition (CVPR'2017), Honolulu, Hawaii, July, 2017.
Pengfei Zhang, Cuiling Lan, Junliang Xing, Wenjun Zeng, Jianru Xue, Nanning Zheng, View Adaptive Recurrent Neural Networks for High Performance Human Action Recognition from Skeleton Data, IEEE International Conference on Computer Vision, ICCV 2017, Venice, Italy.
Di Wang, Jianru Xue, Dixiao Wang, Yang Zhong, A Robust Submap-Based Road Shape Estimation via Iterative Gaussian Process Regression, Intelligent Vehicles Symposium (IV'17), Redondo Beach, CA, USA.
Li Zhou, Jianwu Fang, Yongfeng Ju, Jianru Xue, Multi-saliency detection via instance specific element homology, DICTA 2017.
Jian Dou, Jianwu Fang, Tao Li, Jianru Xue, Boosting CNN-based pedestrian detection via 3D Lidar fusion in autonomous driving, ICIG(2):3-13, 2017.
Li Tao, ianwu Fang, Yang Zhong, Di Wang, Jianru Xue, Online high accurate calibration of RGB+3D LiDAR for Autonomous Driving, ICIG(3):254-263, 2017.
Jianwu Fang, Zheng Li, Jianru Xue, Spatial-sequential spectral context awareness tracking,ICIP: 2582-2586, 2017.
2016
Xiangwei Li, Xuguang Lan, Meng Yang, Jianru Xue, Nanning Zheng, Efficient compressive sensing video compression method based on Gaussian mixture models. VCIP 2016: 1-4.
Guanglin Xu, Shaoyi Du, Jianru Xue, Precise 2D point set registration using iterative closest algorithm and correntropy. IJCNN 2016: 4627-4631.
Di Wang, Shaoyi Du, Jun Zhou, Jianru Xue, Accurate Modified Normal Based ICP for 3D Mapping. ICIMCS 2016: 223-227.
2015
Zhanning Gao, Jianru Xue, Wengang Zhou, Shanmin Pang, Qi Tian, Fast democratic aggregation and query fusion for image search, IEEE/ACM ICMR 2015.
Panrang Qu, Jianru Xue, Liang Ma, Chao Ma, A Constrained VFH Algorithm for Motion Planning, IEEE Intelligent Vehicle Symposium (IV2015), 2015.
Chao Ma, Jing Yang, Jianru Xue, Liang Ma, State-Statisitcal Model Based Trajectory-Band Planning in Urban Environments, IEEE Intelligent Vehicles Symposium (IV2015).
Yuanliu Liu, Zejian Yuan, Badong Chen, Jianru Xue, Nanning Zheng, Illumination Robust Color Naming via Label Propagation, IEEE International Conference on Computer Vision, ICCV 2015.
2014
Le Wang, Gang Hua, Rahul Sukthankar, Jianru Xue, Nanning Zheng, Video Object Discovery and Co-Segmentation with Extremly Weak Superivsion, European Conference on Computer Vision, ECCV 2014, 2014.
Dixiao Cui, Jianru Xue, Shaoyi Du, Nanning Zheng, Real-Time Global Localization of Intelligent Road Vehicles in Lane-Level via Lane Marking Detection and Shape Registration. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS2014,Sep14-18,2014.
Shanmin Pang, Jianru Xue, Zhannign Gao, Qi Tian, Image Re-ranking with An Alternative Optimization, ACM Multimedia, ACMM2014, 2014.
Liang Ma, Jianru Xue, Kuniaki Kawabata, Jihua Zhu, Nanning Zheng, A Fast RRT Algorithm for Motion Planning of Autonomous Vehicle, IEEE Intelligent Transportation System Conference 2014, 2014.
Kuniaki Kawabata, Jianru Xue, Liang Ma, Nanning Zheng, On-line Reference Governor Mobile Robot with Velocity Feedback Controller, AIM2014, 2014.
Kuniaki Kawabata, Jianru Xue, Liang Ma, Nanning Zheng, A Reference Governor for Reduing Path Tracking Error of Mobile Platform, AMC2014, March 14-16, 2014, Yokohama, Japan.
Kuniaki Kawabata, Jianru Xue, Liang Ma, Nanning Zheng, A Sequetial Path Extension Method for Mobile Robot, TENCON-2014., 2014.
Yue Zhang, Jianru Xue, Geng Zhang, Nanning Zheng, A Multi-Feature Fusion Based Traffic Light Recognition Algorithm for Intelligent Vehicles, CCC2014, Nanjing, China, 2014.
Juan Liu, Shaoyi Du, Chunjia Zhang, Jihua Zhu, Ke Li, Jianru Xue, Probability Iterative Closest Point Algorithm for Position Estimation, IEEE Intelligent Transportation System Conference 2014, 2014.
Xi Yang, Jianyi Liu, Jianru Xue, Facial Age Estimation from Web Photos using Multiple Instance Learning, ICME2014, Chendu, China, 2014 (Oral) .
2013
Shanmin Pang, Jianru Xue, Locality Preserving Verification for Image Search, ACM Multimedia 2013.
Lu Li, Jianru Xue, Moment Feature Based Forensic Detection of Resampled Digital Images, ACM Multimedia 2013.
Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda and Jianru Xue, Controlled Interaction with the Cricket based on Online Pose Estimation of Mobile Robot, ROBIO 2013.
K. Kawabata, F. Takemura, T. Suzuki, K. Sawai, S. Takahashi, H. Yamashiro, N. Isomura, J. Xue, Online Image Gathering by Stationary and Movable Sensor Node for Underwater Visual Surveys, IEEE TENCON2013.
Kuniaki Kawabata, Liang Ma, Jianru Xue and Nanning Zheng, A Path Generation Method for Automated Vehicles based on Bezier Curve, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013.
2012
Le Wang, Jianru Xue, Nanning Zheng, Gang Hua., Concurrent Segmentation of Categorized Objects from an Image Collection, in 21st International Conference on Pattern Recognition(ICPR'2012, oral paper), 2012.
Shanming Pang, Jianru Xue, Le Wang, Nanning Zheng., Large-Scale Bundle Adjustment by Parameter Vector Partition, The 11th Asian Conference on Computer Vision, 2012,(ACCV2012,oral paper)
( Oral, ACCV2012 Best Application Paper Award).
Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda , Jianru Xue, Real-time Visual Tracking for Cricket - Micro Robot Interaction Experiment. 2012 International Symposium on Nonlinear Theory and its Applications NOLTA2012, Palma, Majorca, Spain, October 22-26, 2012.
Kuniaki Kawabata, Hitoshi Aonuma, Koh Hosoda , Jianru Xue, Development of a Cricket Interaction System utilizing Mobile Robot for Behavioral Data Collection, International Conference on Robotics and Biometrics, 2012.
Chunjia Zhang, Jianru Xue, Shaoyi Du, Xiaolin Qi, Ye Song, Real-Time Road Detection Using Lidar Data, The 7th International Conference on Intelligent Systems and Knowledge Engineering (ISKE2012).
Chunjia Zhang, Shaoyi Du, Jianru Xue, Xiaolin Qi, Improved ICP algorithm with Bounded Rotation Angle for 2D Point Set Registration, The 5th International Congress on Image and Signal Processing (CISP 2012).
2011
Le Wang, Jianru Xue, Nanning Zheng and Gang Hua., Automatic Salient Object Extraction with Contextual Cue, In Proc. 13th International Conference on Computer Vision (ICCV 2011), 2011. (Demo, PDF)
Ce Li, Jianru Xue, Nanning Zheng, Zhiqiang Tian., Nonparametric Bottom-Up Saliency Detection Using Hypercomplex Spectral Contrast, In: ACM Multimedia 2011(ACM MM'11), 2011.
Zhiqiang Tian, Jianru Xue, Xuguang Lan, Ce Li, Nanning Zheng., Key Object-based Static Video Summarization, In: ACM Multimedia 2011(ACM MM'11), 2011.
Lu Li, Jianru Xue, Xiaofeng Wang and Lihua Tian., A Robust Approach to Detect Tampering by Exploring Correlation Patterns," In : 14th International Conference on Computer Analysis of Images and Patterns (CAIP2011), 2011.
Ce Li, Jianru Xue, Nanning Zheng, Shaoyi Du, Jihua Zhu, Zhiqiang,Tian., A Fast and Robust Isotropic Scaling Iterative Closest Point Algorithm, In: IEEE The International Conference on Image Processing (ICIP 2011), 2011.
Zhiqiang Tian, Jianru Xue, Nanning Zheng, Xuguang Lan and Ce Li., 3D Spatio-temporal Graph Cuts for Video Objects Segmentation. In: IEEE The International Conference on Image Processing (ICIP 2011), 2011.
Zhiqiang Tian, Jianru Xue, Ce Li, Xuguang Lan, and Nanning Zheng, Auto-generated Strokes for Motion Segmentation, IEEE International Symposium on Circuits and Systems (ISCAS 2011),2011.
2010
Zhiqiang Tian, Jianru Xue, Wei Hu, Nanning Zheng, High Performance Cluster-based Transcoder, 2010 International Conference on Computer Application and System Modeling (ICCASM 2010), 2010.
Xuguang Lan, Nanning Zheng, Wen Ma, Miao Hui, and Jianru Xue, Arbitrary ROI-based Wavelet Video Coding, Proc. IEEE Data Compression Conference (DCC 2010), 2010.
Ce Li, Jianru Xue, Nanning Zheng, A Fast Multi-Resolution Iterative Closest Point Algorithm,2010 Chinese Conference on Pattern Recognition (CCPR 2010), 2010.
Ce Li, Jianru Xue, Xuguang Lan, Miao Hui, Le Wang, Nanning Zheng, Multi-regions in the Scalable Video Coding Method, in Proc, 2010 3rd International Congress on Image and Signal Processing (CISP,2010), Vol1,pp.167-171,2010
2009
Jianru Xue, Zheng Ma, Nanning Zheng, Hierarchical Model for Joint Detection and Tracking of Multi-target, 10th Asian Conference on Computer Vision (ACCV2009), 2009.
Xuguang Lan, Jianru Xue, A Peer-to-Peer Architecture with DRM, IEEE CCNC2009-DAS-P2P workshop, Las Vagas, USA, pp.1-5, Jan. 2009.
2008
Xuguang Lan, Nanning Zheng, Jianru Xue, Songlin Zhao, Weike Chen., Scalable Multiple Description Coding Based On Bitplane And Lagrangian Rate Allocation, IEEE Consumer Communications & Networking Conference (CCNC 2008), Jan. 10 - 12, 2008, Las Vegas, Nevada, USA.
Wei Hu, Nanning Zheng, Jianru Xue, Xuguang Lan., Linear Regression Models For Dct Domain Approximate Filtering And Deblurring, ICME 2008, pp.1-4, June 2008, Hannover, Germany.
Xuguang Lan, Nanning Zheng, Jianru Xue, et al., Manageable Peer-to-Peer Architecture for Video-on-demand, IEEE International Symposium on Parallel and Distributed Processing, 2008.
Xuguang Lan, Nanning Zheng, Jianru Xue, et al., A Peer-to-Peer Architecture based on Scalable Video Coding, Data Compression Conference 2008, DCC 2008.
Dai Fang, Jianru Xue, Nanning Zheng., Combine EMD and ICA to Learn Image Bases, 2008 Congress on Image and Signal Processing.
2007
Jianru Xue, Shugang Guo, Xuguang Lan, Nanning Zheng, Joint Content and Temporal Correlation Adaptive Motion Compensated Temporal Filtering, Proceedings of the 26th Picture Coding Symposium (PCS2007).
Xuguang Lan, Nanning Zheng, Jianru Xue, et al, A Peer-to-Peer Architecture for Efficient Live Scalable Media Streaming on Internet, ACM Multimedia, 2007.
2006
Jianru Xue, Nanning Zheng. Robust Tracking with and Beyond Visible Spectrum: A Four-Layer Data Fusion Framework. International Workshop on Intelligence Computing in Pattern Analysis/Synthesis (IWICPAS2006), Springer LNCS 4153 proceeding, pp. 1-16, 2006
Jianru Xue, Nanning Zheng, An integrated Monte Carlo data association framework for multi-object tracking, International conference on Pattern Recognition, 2006.
Jianru Xue，Nanning Zheng, Xiaopin Zhong,Tracking Targets via Particle based Belief Propagation, 7th Asian Conference on Computer Vision 2006, Springer LNCS3851, Part I: 348-358, 2006.
Xiaopin Zhong, Jianru Xue and Nanning Zheng. Graphical Model based Cue Integration Strategy for Head Tracking. In Proceedings of 17th British Machine Vision Conference, 2006.
Xiaopin Zhong, Nanning Zheng, and Jianru Xue, Pseudo Measurement based Multiple Model Approach for Robust Player Tracking, 7th Asian Conference on Computer Vision 2006, Springer LNCS 3852, Part II:781-790, 2006.
Fang Dai, Nanning Zheng, Jianru Xue,Integrating EMD and Gradient for Generating Primal Sketch of Natural Images,International Conference on Pattern Recognition 2006.
2005
Jianru Xue，Nanning Zheng, Xiaopin Zhong,Sequential Stratified Sampling Belief Propagation for Multiple Targets Tracking, International Conference on Intelligent Computing, 2005, Springer LNCS 3644, Part I, pp. 330–339, 2005.
2003
Yasuji Seko, Kazumasa Murai, Xue Jianru, et.al. A new method to measure 3D position of a light source by tracking the ring images made by a hemispherical lens, IEEE Pacific Rim Conference on Communications, Computers and Signal Processing, Vol.2 pp409-412, Aug. 2003.
2002
Jianru Xue, Nanning Zheng，Xinli Gen，TWS Tracking Techniques Based on Adaptive Gaussian Mixture，World Congress on Intelligent Control and Automation,2002.
Cheng Bing, Zheng Nanning,Zhang Yuanlin, Xue Jianru, Image Representation with Level Difference Set and Its Application, IEEE International Conference on Machine Learning and Cybernetics, Beijing, China, Nov, 2002.
2001
Jianru Xue, Nanning Zheng, Zejian Yuan, Image Segmentation using Gauss-Markov Measure Field Model, International Conference on Youth Computer Scientists 2001, Huang Zhou. pp973－975,2001.
Jianru Xue, Nanning Zheng, et al, HPMV2: A New Reconfigurable Machine Vision System Based on Selective Attention Mechanism, IEEE International Conference on Mechatronics and Machine Vision in Practice, pp519-524, 2001.
Quan wei, Zheng Nanning, Xue Jianru and Cheng Bing. Research on Vehicle License Plate Character Extraction from Complex Background, Proceedings of the Sixth International Conference for Younger Computer Scientists, Hangzhou, China, October, 2001.
2000
Xue JR, Zheng NN, Wang XL, Zhang YP, An approach to Constructing Reconfigurable Computer Vision System, SPIE Reconfigurable Technology: FPGAS for Computing and Applications, Vol. 4212, 11-21, 2000.