• 基于视觉的空间计算与具身智能

• 2013月至今 上海交通大学，先后担任助理研究员/硕士生导师、副教授/博士生导师、研究员/博士生导师

• 2010-2013 新加坡国立大学 博士后研究员

• 2010年获复旦大学 计算机应用技术博士学位

• 2003年获华中科技大学 光信息科学与技术学士学位

课题组致力于面向资源受限的机器人、XR设备等轻量级智能系统的研究，聚焦视觉传感驱动的空间计算与具身智能，重点突破视觉自主定位、3D视觉感知、轻量化自主协同无人集群等关键技术，代表性成果以第一、通信作者发表于

• Nature Machine Intelligence

• IEEE Trans. on Patten Analysis and Machine Intelligence

• IEEE Trans. on Robotics

• IEEE RAL

• ICCV, CVPR, ICRA, IROS等人工智能与机器人权威学术期刊与会议。

成果归类列表如下：

- 视觉自主定位

• 面向多机器人群的协同视觉SLAM系统 (CoSLAM) [1]

• 构化环境下的视觉SLAM（StructSLAM）[9] 与视觉惯性里程计 (StructVIO) [7]

• 基于文本标识的语义SLAM (TextSLAM) [2] [12]

• 面向移动机器人低成本视觉-GNSS-惯性-轮速机融合SLAM (Ground-Fusion) [13] 与数据集 (M2DGR) [14]

• 轻量化跨视角关键点匹配特征增强器 (FeatureBooster) [17]

- 3D视觉感知与规划

• 双目+稀疏点云的稠密深度估计 (Stereo-Lidar Fusion) [10] [11]

• 面向恶劣视觉环境的长波红外双目相机稠密深度估计 (ThermoStereoRT) [15]

• 基于结构先验的单目深度估计 (StructDepth) [18]

• 多实例目标点云配准 (Multi-instance point registration) [19]

• 全向感知低重叠度多摄像头在线标定 [16]

• 基于单目视觉的主动3D重建 (Active 3D image modeling) [21]

• 基于神经网络的局部规划器 [22] 与全局规划器 [23] [24]

- 轻量化自主协同无人集群

• 轻量级端到端视觉自主协同高速避障飞行 [3]

• 基于光流的FPV单目视觉高速避障 [4]

• 无需建图与轨迹生成的MPC即时避障 [5]

• 旋翼无人机自主导航仿真器[26] 、面向可微分物理学习的无人机仿真器 (Visfly) [6]

• 针对不可微奖励的高效可微分物理训练方法 (ABPT) [25]

• 双目视觉+超声避障系统 [27]

• 基于旋翼无人机动力学速度状态估计 [28] [29]

   

- 代码与数据集：

https://github.com/SJTU-ViSYS

https://github.com/SJTU-ViSYS-team (新)

- 代表性论文 （第一/通信）：

[1] Zou, Danping, and Ping Tan. "Coslam: Collaborative visual slam in dynamic environments." IEEE transactions on Pattern Analysis and Machine Intelligence 35, no. 2 (2012): 354-366.

[2] Li, Boying, Danping Zou, Yuan Huang, Xinghan Niu, Ling Pei, and Wenxian Yu. "TextSLAM: Visual SLAM with semantic planar text features." IEEE Transactions on Pattern Analysis and Machine Intelligence 46, no. 1 (2023): 593-610.

[3] Zhang, Yuang, Yu Hu, Yunlong Song, Danping Zou, and Weiyao Lin. "Learning vision-based agile flight via differentiable physics." Nature Machine Intelligence (2025): 1-13.

[4] Hu, Yu, Yuang Zhang, Yunlong Song, Yang Deng, Feng Yu, Linzuo Zhang, Weiyao Lin, Danping Zou, and Wenxian Yu. "Seeing through pixel motion: learning obstacle avoidance from optical flow with one camera." IEEE Robotics and Automation Letters (2025).

[5] Zhang, Linzuo, Yu Hu, Yang Deng, Feng Yu, and Danping Zou. "Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments." IROS(2025).

[6] Li, Fanxing, Fangyu Sun, Tianbao Zhang, and Danping Zou. "Visfly: An efficient and versatile simulator for training vision-based flight." ICRA (2024).

[7] Zou, Danping, Yuanxin Wu, Ling Pei, Haibin Ling, and Wenxian Yu. "StructVIO: visual-inertial odometry with structural regularity of man-made environments." IEEE Transactions on Robotics 35, no. 4 (2019): 999-1013.

[8] Zou, Danping, Ping Tan, and Wenxian Yu. "Collaborative visual SLAM for multiple agents: A brief survey." Virtual Reality & Intelligent Hardware 1, no. 5 (2019): 461-482.

[9] Zhou, Huizhong, Danping Zou, Ling Pei, Rendong Ying, Peilin Liu, and Wenxian Yu. "StructSLAM: Visual SLAM with building structure lines." IEEE Transactions on Vehicular Technology 64, no. 4 (2015): 1364-1375.

[10] Li, Ang, Dexin Zuo, Anning Hu, Wenxian Yu, and Danping Zou. "Sparse-to-Dense Hint Guided Stereo-LiDAR Fusion." IEEE Transactions on Circuits and Systems for Video Technology (2025).

[11] Li, Ang, Anning Hu, Wei Xi, Wenxian Yu, and Danping Zou. "Stereo-lidar depth estimation with deformable propagation and learned disparity-depth conversion." In 2024 IEEE International Conference on Robotics and Automation (ICRA), pp. 2729-2736. IEEE, 2024.

[12] Li, Boying, Danping Zou, Daniele Sartori, Ling Pei, and Wenxian Yu. "Textslam: Visual slam with planar text features." In 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 2102-2108. IEEE, 2020.

[13] Yin, Jie, Ang Li, Wei Xi, Wenxian Yu, and Danping Zou. "Ground-fusion: A low-cost ground slam system robust to corner cases." In 2024 IEEE International Conference on Robotics and Automation (ICRA), pp. 8603-8609. IEEE, 2024.

[14] Yin, Jie, Ang Li, Tao Li, Wenxian Yu, and Danping Zou. "M2DGR: A Multi-sensor and Multi-scenario SLAM Dataset for Ground Robots." IEEE Robotics and Automation Letters 7, no. 2 (2021): 2266-2273.

[15] Hu, Anning, Ang Li, Xirui Jin, and Danping Zou. "ThermoStereoRT: Thermal Stereo Matching in Real Time via Knowledge Distillation and Attention-based Refinement." ICRA 2025

[16] Li, Ang, Danping Zou, and Wenxian Yu. "Robust initialization of multi-camera slam with limited view overlaps and inaccurate extrinsic calibration." In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3361-3367. IEEE, 2021.

[17] Wang, Xinjiang, Zeyu Liu, Yu Hu, Wei Xi, Wenxian Yu, and Danping Zou. "Featurebooster: Boosting feature descriptors with a lightweight neural network." In Proceedings of the IEEE/CVF conference on computer vision and pattern recognition, pp. 7630-7639. 2023.

[18] Li, Boying, Yuan Huang, Zeyu Liu, Danping Zou, and Wenxian Yu. "StructDepth: Leveraging the structural regularities for self-supervised indoor depth estimation." In Proceedings of the IEEE/CVF International Conference on Computer Vision, pp. 12663-12673. 2021.

[19] Tang, Weixuan, and Danping Zou. "Multi-instance Point Cloud Registration by Efficient Correspondence Clustering." In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2022.

[20] Wang, Rongzhi, Danping Zou, Changqing Xu, Ling Pei, Peilin Liu, and Wenxian Yu. "An aerodynamic model-aided state estimator for multi-rotor UAVs." In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2164-2170. IEEE, 2017.

[21] Huang, Rui, Danping Zou, Richard Vaughan, and Ping Tan. "Active image-based modeling with a toy drone." In 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6124-6131. IEEE, 2018.

[22] Wu, Feiyang, and Danping Zou. "Learning Visual Navigation System in Simulation for Autonomous Ground Vehicles in Real World." In Proceedings of the 2023 4th International Conference on Artificial Intelligence in Electronics Engineering, pp. 16-23. 2023.

[23] Sartori, Daniele, Danping Zou, Ling Pei, and Wenxian Yu. "Near-optimal 3D trajectory design in presence of obstacles: A convolutional neural network approach." Robotics and Autonomous Systems 167 (2023): 104483.

[24] Sartori, Daniele, Danping Zou, Ling Pei, and Wenxian Yu. "CNN-based path planning on a map." In 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1331-1338. IEEE, 2021.

[25] Li, Fanxing, Fangyu Sun, Tianbao Zhang, and Danping Zou. "ABPT: Amended Backpropagation through Time with Partially Differentiable Rewards." arXiv preprint arXiv:2501.14513 (2025).

[26] Yang, Xinglong, Danping Zou, Ling Pei, Daniele Sartori, and Wenxian Yu. "An efficient simulation platform for testing and validating autonomous navigation algorithms for multi-rotor uavs based on unreal engine." In China Satellite Navigation Conference, pp. 527-539. Singapore: Springer Singapore, 2019.

[27] Zhou, Qiang, Danping Zou, and Peilin Liu. "Hybrid obstacle avoidance system with vision and ultrasonic sensors for multi-rotor MAVs." Industrial Robot: An International Journal 45, no. 2 (2018): 227-236.

[28] Wang, Rongzhi, Danping Zou, Changqing Xu, Ling Pei, Peilin Liu, and Wenxian Yu. "An aerodynamic model-aided state estimator for multi-rotor UAVs." In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2164-2170. IEEE, 2017.

[29] Sartori, Daniele, Danping Zou, Ling Pei, and Wenxian Yu. "A Revisited approach to lateral acceleration modeling for quadrotor UAVs state estimation." In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5711-5718. IEEE, 2018.

• 先后主持自然科学基金青年项目、面上等国家级科研项目7项，上海市科研项目2项，参与国家级项目2项。

• 上海交通大学SEIEE·云智人工智能应用创新研究中心项目负责人。

• 2014年在徐氏校友基金支持下发起上海交通大学小型无人机技术挑战赛，2017年推广为全国赛事：“智在飞翔”无人飞行器智能感知技术竞赛。竞赛的目的是将人工智能技术赋能无人机，实现复杂环境下的自主穿越。赛事信息见网站http://drone.sjtu.edu.cn ,“智在飞翔”微信公众号。