部分发表论文

[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 (2018): 4676-4689.

[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 (2021): 251-263.

[3] Lei He, Shengjie Jiang, Xiaoqing Liang, Ning Wang, Shiyu Song. Diff-Net: Image Feature Difference based High-Definition Map Change Detection. 2022 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2022.

[4] Lei He, Qiulei Dong, and Zhanyi Hu. "The Inherent Ambiguity in Scene Depth Learning from Single Images." SCIENTIA SINICA Informationis 46 (2016): 811-818.

[5] Lei He, Miao Yu, and Guanghui Wang. "Spindle-Net: CNNs for monocular depth inference with dilation kernel method." 2018 24th International Conference on Pattern Recognition (ICPR). IEEE, 2018.

[6] Lei He, Qiaoyi Wang, Honglin Sun, Qing Xu, Bolin Gao, Shengbo Eben Li, Jianqiang Wang, Keqiang Li*. Vision-Driven 2D Supervised Fine-Tuning Framework for Bird's Eye View Perception. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

[7] Siyi Lu, Lei He* , Shengbo Eben Li, Yugong Luo, Jianqiang Wang, Keqiang Li. Hierarchical end-to-end autonomous driving: Integrating bev perception with deep reinforcement learning. 2025 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2025: 8856-8863.

[8] Jian Sun, Yuqi Dai, Chi-Man Vong, Qing Xu, Shengbo Eben Li, Jianqiang Wang, Lei He*, Keqiang Li. OE-BevSeg: An object informed and environment aware multimodal framework for bird’s-eye-view vehicle semantic segmentation[J]. IEEE Transactions on Intelligent Transportation Systems (TITS), 2025, 26(8), 12210-12223.

[9] Ludan Zhang, Xiaokang Ding, Yuqi Dai, Lei He*, Keqiang Li. Unveiling the Black Box: Independent Functional Module Evaluation for Bird's-Eye-View Perception Model[C]. International Conference on Robotics and Automation (ICRA), 2025, 7305-7311

[10] Zhige Chen, Zhigang Zhang*, Qizheng Su, Kai Yang, Yandong Wu, Lei He*, Xiaolin Tang. Object Detection for Autonomous Vehicles under Adverse Weather Conditions. Expert Systems with Applications (ESA), 2025, 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 of UGVs in Off-Road Environment[J]. IEEE Transactions on Vehicular Technology (TVT), 2024, 74(3), 3870-3884.

[12]Chengrui Wei, Meng Yang, Lei He, and Nanning Zheng. FS-Depth: Focal-and-Scale Depth Estimation from A Single Image in Unseen Indoor Scene. IEEE Transactions on Circuits and Systems for Video Technology 34, no. 11 (2024): 10604-10617.

[13] Bolin Gao, Jiaxi Liu, Hengduo Zou, Jiaxing Chen, Lei He, Keqiang Li. Framework and Key Technologies: A Review. IEEE Transactions on Intelligent Transportation Systems (TITS), 2024, 25(12): 19295-19318.

[14] Yao Lyu, Xiangteng Zhang, Shengbo Eben Li, Jingliang Duan, Letian Tao, Qing Xu, Lei He, Keqiang Li. Conformal Symplectic Optimization for Stable Reinforcement Learning. IEEE Transactions on Neural Networks and Learning Systems (TNNLS). 2024, 36(6): 11049-11063.

[15]Zhiyuan Liu, Leheng Li, Yuning Wang, Haotian Lin, Zhizhe Liu, Lei He, Jianqiang Wang. Controllable Traffic Simulation through LLM-Guided Hierarchical Chain-of-Thought Reasoning. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025.

[16] Wanjiang Weng, Hongsong Wang, Junbo Wang, Lei He, Guosen Xie. USDRL: Unified Skeleton-Based Dense Representation Learning with Multi-Grained Feature Decorrelation. AAAI Conference on Artificial Intelligence (AAAI), 2025.

部分发明专利