• Journal Papers (Peer Reviewed)


1. Xu,D., Ding,Z., He,X., Zhao,H, Moze,M., Aioun,F., Guillemard,F., Learning From Naturalistic Driving Data for Human-Like Autonomous Highway Driving, IEEE Trans. on Intelligent Transportation Systems (T-ITS), 2020.
2. Mei,J., Zhao,H., Incorporating Human Domain Knowledge in 3D LiDAR-based Semantic Segmentation, IEEE Trans. on Intelligent Vehicle (T-IV), 5(2), 178-187, 2020.
3. Mei,J., Gao,B., Xu,D., Yao,W., Zhao,X., Zhao,H., Semantic Segmentation of 3D LiDAR Data in Dynamic Scene Using Semi-Supervised Learning, IEEE Trans on Intelligent Transportation Systems, 21(6), 2496-2509, 2020.
4. Fang,Y., Wang,C., Yao,W., Zhao,X., Zhao,H., Zha,H., On-Road Vehicle Tracking Using Part-Based Particle Filter, IEEE Trans on Intelligent Transportation Systems, ), 20(12), 4538-4552, 2019.
5. Xu,D., Zhao,H., Guillemard,F., Geronimi,S., Aioun,F., Aware of Scene Vehicles - Probabilistic Modeling of Car-Following Behaviors in Real-World Traffic, IEEE Transactions on Intelligent Transportation Systems (T-ITS), 20(6) , 2136–2148, 2019.
6. Mei,J., Yu,Y., Zhao,H., Zha,H., Scene-Adaptive Off-Road Detection Using a Monocular Camera, IEEE Trans on Intelligent Transportation Systems, 19(1), 242-253, 2017.
7. Yu,Y., Zhao,H., Cui,J., Zha,H., Monocular Visual Localization using Road Structural Features, AAS-CN2016-0413.
8. Zhao,H., Wang,C., Lin,Y., Guillemard,F., Geronimi,S., Aioun,F., On-road Vehicle Trajectory Collection and Scene-based Lane Change Analysis: Part I, IEEE Trans on Intelligent Transportation Systems, 18(1), 192-205, 2017.
9. Yao,W., Zeng,Q., Lin,Y., Xu,D., Zhao,H., Wang,C., Lin,Y., Guillemard,F., Geronimi,S., Aioun,F., On-road Vehicle Trajectory Collection and Scene-based Lane Change Analysis: Part II, IEEE Trans on Intelligent Transportation Systems, 18(1), 206-220, 2017.
10. Wang,C., Fang,Y., Zhao,H., Guo,C., Mita,S., Zha,H., Probabilistic Inference for Occluded and Multiview On-road Vehicle Detection, IEEE Trans. on Intelligent Transportation Systems, 17(1), 215-229, 2016.
11. Song,X., Zhao,H., Cui,J., Shao,X., Shibasaki,R., Zha,H., An Online System for Multiple Interacting Targets Tracking: Fusion of Laser and Vision, Tracking and Learning, accepted by ACM Transactions on Intelligent Systems and Technology, 4(1), 2013.
12. Cui,J., Liu,Y., Xu,Y., Zhao,H., Zha,H., Tracking Generic Human Motion via Fusion of Low- and High-Dimensional Approaches, IEEE Trans. on System, Man and Cybernetics – Part A: System and Humans, 43(4), 996-1002, 2013.
13. Zhao,H., Sha,J., Zhao,Y., Cui,J., Zha,H., Shibasaki,R., Detection and Tracking of Moving Objects at Intersections using a Network of Laser Scanners, IEEE Trans. Intelligent Transportation System, vol. 13, no.2, 655-670, 2012.
14. Song,X., Shao,X., Zhang,Q., Shibasaki,R., Zhao,H., Zha,H., A Novel Dynamic Model for Multiple Pedestrians Tracking in Extremely Crowded Scenarios, Information Fusion, 14(3), 301-310, 2013.
15. Song,X., Shao,X., Zhang,Q., Shibasaki,R., Zhao,H., Cui,J., Zha,H., A Fully Online and Unsupervised System for Large and High Density Area Surveillance: Tracking, Semantic Scene Learning and Abnormality Detection, ACM Trans. on Intelligent Systems and Technology (T-IST), 4(2), 35, 2013.
16. Zhang,Q., Song,X., Shao,X., Shibasaki,R., Zhao,H., Unsupervised Skeleton Extraction and Motion Capture from 3D Point Cloud Sequences, 115, 92-105, 2013.
17. Zhao,H. Chiba,M., Shibasaki,R., Shao,X., Cui, J., Zha,H., A laser scanner based approach towards driving safety and traffic data collection, IEEE Trans. Intelligent Transportation System, vol.10, no.3, 534-546, 2009.
18. Zhao,H., Cui,J., Zha,H., Katabira,K., Shao,X., Shibasaki,R., Sensing an intersection using a network of laser scanners and video cameras, IEEE Intelligent Transportation Systems Magazine, vol.1, no.2, 31-37, 2009.
19. Cui,J., Zha,H., Zhao,H., Shibasaki,R., “Multi-Modal Tracking of People Using Laser Scanners and Video Camera”, Image and Vision Computing (IVC), Vol.26, No.2, 240-252, 2008.
20. Cui,J., Zha,H., Zhao,H., Shibasaki,R., Laser-based Detection and Tracking of Multiple People in Crowds, Computer Vision and Image Understanding (CVIU), Volume 106, Issues 2-3, 300-312. 2007.
21. Li,W., Zhang,R., Liu,Z., Zhao,H., Shibasaki,R., An approach of laser-based vehicle monitor, Applied Mathematics and Computation, 185, 953-962, 2007.
22. Nakamura,K., Shao,X., Zhao,H., Shibasaki,R., Recognizing non-stationary walking based on gait analysis using laser scanners, IEEJ Trans. on Electronics, Information and Systems, 127(4), 537-545, 2007.
23. Nakamura,K., Zhao,H., Shibasaki,R., Sakamoto,K., Ohga, T., Suzukawa, N., Tracking pedestrians using multiple single-row laser range scanners and its reliability evaluation, Systems and computers in Japan, vol.37, no.7, pp.1-11, Jul. 2006.
24. Zhao,H., Shibasaki,R., Updating digital geographic database using vehicle-borne laser scanners and line cameras, Photogrammetric Engineering & Remote Sensing, 71-4, 415-424, 2005.
25. Zhao,H., Shibasaki,R., A Novel System for Tracking Pedestrians using Multiple Single-row Laser Range Scanners, IEEE Trans. SMC Part A: Systems and Humans, 35-2, 283-291, 2005.
26. Zhao,H., Shibasaki,R., A vehicle-borne urban 3D acquisition system using single-row laser range scanners. IEEE Trans. SMC Part B: Cybernetics, 33-4, 658-666, 2003.
27. Zhao,H., Shibasaki,R., Special issue on computer vision system: reconstructing textured CAD model of urban environment using vehicle-borne laser range scanners and line cameras, Machine Vision and Applications, 14-1, 35-41, 2003.
28. Creixell,W., Sezaki, K., Zhao, H., Shibasaki, R., Mobility Model for Ad Hoc Networks based on Experimental Data, IEICE technical report on Information networks, Vol.102, No.693, 1-4, 2003.
29. Zhao,H., Shibasaki,R., A robust method for registering ground-based laser range images of urban outdoor object, Photogrammetric Engineering & Remote Sensing, 67-10, 1143-1153, 2001.
30. Zhao,H., Shibasaki,R., Reconstruction of textured urban 3D model by ground-based laser range and CCD images, IEICE Trans. Inf.&Syst., E83-D-7, 1429-1440, 2000.


• International Conference Papers (Peer Reviewed)


1. Pan,Y., Gao,B., Mei,J., Geng,S., Li,C., Zhao,H., SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances, IEEE Intelligent Vehicles Symposium (IV), 2020.
2. Zhu,Z., Li,N., Sun,R., Zhao,H., Xu,D., Off-road Autonomous Vehicles Traversability Analysis and Trajectory Planning Based on Deep Inverse Reinforcement Learning, IEEE Intelligent Vehicles Symposium (IV), 2020.
3. Hu,S., Xu,D., Zhao,H., Cross Scene Prediction via Modeling Dynamic Correlation using Latent Space Shared Auto-Encoders, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2020.
4. Sun,R., Xu,D., Zhao,H., Moze,M., Aioun,F., Guillemard,F., Backpropagation through Simulation: A Training Method for Neural Network-based Car-following, IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), 2019.
5. Ding,Z., Xu,D., Zhao,H., Moze,M., Aioun,F., Guillemard,F., Driver Identification through Multi-state Car Following Modeling, IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), 2019.
6. Sun,R., Hu,S., Zhao,H., Moze,M., Aioun,F., Guillemard,F., Human-like Highway Trajectory Modeling based on Inverse Reinforcement Learning, IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), 2019.
7. Mei, J.,Chen, J.,Yao, W.,Zhao, X.,Zhao, H., Supervised Learning for Semantic Segmentation of 3D LiDAR Data , IEEE Intelligent Vehicles Symposium (IV), 1309-1316, 2019.
8. Fang, Y., Zhao, H., Zha, H., Yao, W.,Zhao, X.,Camera and LiDAR Fusion for On-Road Vehicle Tracking with Reinforcement Learning , IEEE Intelligent Vehicles Symposium (IV), 1513-1520, 2019.
9. Gao, B.,Xu, A.,Pan, Y.,Zhao, X.,Yao, W.,Zhao, H.,Off-Road Drivable Area Extraction Using 3D LiDAR Data, IEEE Intelligent Vehicles Symposium (IV), 1323-1329, 2019.
10. Ju, X.,Xu, D.,Zhao, X.,Yao, W.,Zhao, H.,Learning Scene Adaptive Covariance Error Model of LiDAR Scan Matching for Fusion Based Localization, IEEE Intelligent Vehicles Symposium (IV), 1579-1586, 2019. (Runner-up for Best Student Paper Award)
11. Xu, D.,Ding, Z.,Zhao, H.,Moze, M.,Aioun, F.,Guillemard, F.,Naturalistic Lane Change Analysis for Human-Like Trajectory Generation, IEEE Intelligent Vehicles Symposium (IV), 1393 - 1399, 2018.
12. He, X.,Xu, D.,Zhao, H.,Moze, M.,Aioun, F.,Guillemard, F.,A Human-like Trajectory Planning Method by Learning from Naturalistic Driving Data, IEEE Intelligent Vehicles Symposium (IV), 339 - 346, 2018.
13. Fang, Y., Wang, C., Zhao, H., Zha, H., On-road Vehicle Tracking Using Part-based Particle Filter, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 3755 - 3761, 2017.
14. Xu, D., He, X., Zhao, H., Cui, J., Zha, H., Guillemard, F., Geronimi, S., Aioun, F., Ego-Centric Traffic Behavior Understanding through Multi-Level Vehicle Trajectory Analysis, IEEE Int. Conf. on Robotics and Automation (ICRA), 211 - 218, 2017.
15. Xu, D., Zhao, H., Guillemard,F., Geronimi,S., Aioun,F., Scene-aware driver state understanding in car-following behaviors, IEEE Intelligent Vehicles Symposium (IV), 1490 - 1496, 2017.
16. Yu, Y., Zhao, H., Cui, J., Zha, H., Off-road visual localization using monocular camera and nodding LiDAR, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016), 2016.
17. Wang, C., Zhao, H., Guo, C., Mita, S., Zha, H., Visual-Based On-road Vehicle Detection: A Transnational Experiment and Comparison, IEEE Intelligent Vehicle Symposium (IV), 455 – 462, 2015.
18. Yao, W., Lin, Y., Wang, C., Zhao, H., Zha, H., Automatic Lane Change Data Extraction from Car Data Sequence, International IEEE Conference on Intelligent Transportation Systems (ITSC), 2014.
19. Xu, D., Zeng, Q., Zhao, H., Guo, C., Kidono, K., Kojima, Y., Online Stereovision Calibration Using On-road Markings, International IEEE Conference on Intelligent Transportation Systems (ITSC), 2014.
20. Wang C., Zhao, H., Guo, C., Mita, S., Zha, H., On-road Vehicle Detection through Part Model Learning and Probabilistic Inference, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2014.
21. Yu, Y., Zhao, H., Cui, J., Zha, H., Davoine, F., Monocular Visual Localization using Road Structural Features, IEEE Intelligent Vehicles Symposium (IV), 2014.6.
22. He, M., Zhao, H., Cui, J., Zha, H., Calibration Method for Multiple 2D LIDARs System, IEEE Int. Conf. on Robotics and Automation (ICRA), 2014.5.
23. Yao, W., Zhao, H., Bonnifait, P., Zha, H., Lane Change Trajectory Prediction by using Recorded Human Driving Data, IEEE Intelligent Vehicles Symposium (IV), 430-436, 2013.
24. He, M., Zhao, H., Davoine, F., Cui, J., Zha, H., Pairwise LIDAR Calibration Using Multi-Type 3D Geometric Features in Natural Scene, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2013.
25. Wang, C., Zhao, H., Davoine, F., Zha, H., Automatic visual training sample generation through multi-modal sensor data fusion, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 4169-4176, 2012.
26. Zhao,H., Wang,C., Yao,W., Davoine,F., Cui,J., Zha,H., Omni-directional detection and tracking of on-road vehicles using multiple horizontal laser scanners, IEEE Intelligent Vehicles Symposium (IV), 57-62, 2012.
27. Yao,W., Zhao,H., Davoine,F., Zha,H., Learning Lane Change Trajectories From On-road Driving Data, IEEE Intelligent Vehicles Symposium (IV), 885-890, 2012.
28. Zhao,Y., He, M., Zhao,H., Davoine,F., Zha,H., Computing Object-based Saliency in Urban Scenes using Laser Sensing, IEEE Int. Conf. on Robotics and Automation (ICRA), 4436-4443, 2012.
29. Xu,W., Wei,J., Dolan,J.M., Zhao,H., Zha,H., A Real-Time Motion Planner with Trajectory Optimization for Autonomous Vehicles, IEEE Int. Conf. on Robotics and Automation (ICRA), 2061-2067, 2012.
30. Song,X., Shao,X., Zhang,Q., Shibasaki,R., Zhao,H., Zha,H., Fusion of Laser and Vision for Multiple Target Tracking via On-line Learning, IEEE Int. Conf. on Robotics and Automation (ICRA), 2170-2176, 2012.
31. Sha,J., Zhao,Y., Xu,W., Zhao,H., Cui,J., Zha,H., Trajectory analysis of moving objects at intersection based on laser-data, 14th International IEEE Conference on Intelligent Transportation Systems (ITSC), 289 – 294, 2011.
32. Zhao,Y., Zhao,H., Sha,J., Zha,H., Moving object trajectory processing based on multi-laser sensing, 14th International IEEE Conference on Intelligent Transportation Systems (ITSC), 550 – 557, 2011.
33. Xu,W., Yao,W., Zhao,H., Zha,H., A Vehicle Model for Micro-Traffic Simulation in Dynamic Urban Scenarios, IEEE Int. Conf. on Robotics and Automation (ICRA), 2267-2274, 2011.
34. Song,X., Shao,X., Shibasaki,R., Zhao,H., Cui,J., Zha,H., A novel laser-based system: Fully online detection of abnormal activity via an unsupervised method, IEEE Int. Conf. on Robotics and Automation (ICRA), 1317-1322, 2011.
35. Zhao,H., Liu,Y., Zhu,X., Zhao,Y., Zha,H., Scene Understanding in a Large Dynamic Environment through a Laser-Based Sensing, IEEE Int. Conf. on Robotics and Automation (ICRA), 127-133 , 2010.
36. Zhu,X., Zhao,H., Liu,Y., Zhao,Y., Zha,H., Segmentation and Classification of Range Image from an Intelligent Vehicle in Urban Environment, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1457-1462, 2010.
37. Song,X., Shao,X., Zhao,H., Cui,J., Shibasaki,R., Zha,H., An Online Approach: Learning-Semantic-Scene-by-Tracking and Tracking-by-Learning-Semantic-Scene, Computer Vision and Pattern Recognition (CVPR), 739-746, 2010.
38. Song,X., Zhao,H., Cui,J., Shao,X., Shibasaki,R., Zha,H., Fusion of Laser and Vision for Multiple Target Tracking via On-line Learning, IEEE Int. Conf. on Robotics and Automation (ICRA), 406-411, 2010.
39. Shao,X., Katabira,K., Shibasaki,R., Zhao,H., Multiple people extraction using 3D range sensor, IEEE Int. Conf. on Systems, Man and Cybernetics (SMC), 1550-1554, 2010.
40. Zhao,H., Xiong, L., Jiao, Z., Cui, J., Zha, H., Sensor alignment towards an omni-directional measurement using an intelligent vehicle, IEEE Intelligent Vehicle Symposium (IV), 292-298, 2009.
41. Zhao,H., Zhang,Q., Chiba,M., Shibasaki,R., Cui,J., Zha,H., Moving Object Classification using Horizontal Laser Scan Data， IEEE Int. Conf. on Robotics and Automation (ICRA), 2424-2430, 2009.
42. Shao,X., Zhao,H., Katabira,K., Shibasaki,R., Nakagawa,Y., Tracking a Variable Number of Pedestrians in Crowded Scenes by using Laser Range Scanners, IEEE Int. Conf. Systems, Man and Cybernetics (SMC), 1545-1551, 2008.
43. Zhao,H., Cui,J., Zha,H., Katabira,K., Shao,X., Shibasaki,R., Monitoring an intersection using a network of laser scanners, IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), 428-433, 2008.
44. Kyoichiro,K., Zhao,H., Nakagawa,Y., Shibasaki,R., Real-Time Monitoring of People Flows and Indoor Temperature Distribution for Advanced Air-Conditioning Control, IEEE Int. Conf. on Intelligent Transportation Systems (ITSC), 664-668, 2008.
45. Song,X., Cui,J., Zha,H., Zhao,H., Vision-based Multiple Interacting Targets Tracking via On-line Supervised Learning, European Conf. on Computer Vision (ECCV), 642-655, 2008.
46. Song,X., Cui,J., Zha,H., Zhao,H., Probabilistic Detection-based Particle Filter for Multi-target Tracking, British Machine Vision Conference (BMVC), 223-232, 2008.
47. Song,X., Cui,J., Zhao,H., Zha,H., Bayesian Fusion of Laser and Vision for Multiple People Detection and Tracking, Int. Conf. on Instrumentation, Control and Information Technology (SICE), 3014-3019, 2008.
48. Song,X., Cui,J., Wang,X., Zhao,H., Zha,H., Tracking Interacting Targets with Laser Scanner via On-line Supervised Learning, IEEE Int. Conf. on Robotics and Automation (ICRA), 2271-2276, 2008.
49. Zhao, H., Chiba, M., Shibasaki, R., Katabira, K., Cui, J., Zha, H., Driving Safety and Traffic Data Collection - A Laser Scanner Based Approach, IEEE Intelligent Vehicles Symposium (IV), 329-336，2008.
50. Zhao, H., Chiba, M., Shibasaki, R., Shao, X., Cui, J., Zha, H.，SLAM in a Dynamic Large Outdoor Environment using a Laser Scanner, IEEE Int. Conf. on Robotics and Automation (ICRA), 1455-1462, 2008.
51. Shao,X., Zhao,H., Nakamura,K., Katabira,K., Shibasaki,R., Nakagawa,Y., Detection and Tracking of Multiple Pedestrians by Using Laser Range Scanners, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2007.
52. Zhao, H., Chen, Y., Shibasaki, R., An efficient extrinsic calibration of a multiple laser scanners and cameras' sensor system on a mobile platform, IEEE Intelligent Vehicles Symposium, 422-427, 2007.
53. Chen, Y., Zhao, H., Shibasaki, R., A mobile system combining laser scanner and cameras for urban spatial objects extraction, Int. Conf. on Machine Learning and Cybernetics, 2007.
54. Zhao, H., Chen, Y., Shao, X.W., Katabira, K., Shibasaki, R.， Monitoring a populated environment using single-row laser range scanners from a mobile platform, IEEE Int. Conf. on Robotics and Automation (ICRA), 4739-4745, 2007.


• Book Chapters


1. Zhao, H., Wang, C., Yao, W., Cui, J., Zha, H., Vehicle Trajectory Collection using On-board Multi-Lidars for Driving Behavior Analysis,Knowledge Engineering and Management, Advances in Intelligent Systems and Computing , Springer, vol.214, pp.659-671, 2014.
2. Nakamura,K., Zhao,H., Shao,X., Shibasaki,R., Human Sensing in Crowd Using Laser Scanners, Laser Scanner Technology, InTech, 2012.
3. Zhao,H., Xiong,L., Liu,Y., Zhu,X., Zhao,Y., Zha,H., Intelligent Vehicles Vision Technology: Sensor Alignment Towards an Omni-directional Measurement Using an Intelligent Vehicle, Robert A. Meyers (ed.), Encyclopedia of Sustainability Science and Technology, Springer, 2012
4. Cui,J., Song,X., Zhao,H., Zha,H., Shibasaki,R., Real-time Detection and Tracking of Multiple People in Laser Scan Frames, Augmented Vision Perception in Infrared, Springer, 2009.
5. Zhao, H., K. Nakamura, R. Shibasaki, Chapter 4. A laser scanner system for acquiring walking trajectory data and its possible applications to behavioral science, GIS-based Studies in the Humanties and Social Sciences, Taylor & Francis, 2005.


• Domestic Journal and Conference Papers
1. Xu,W., Yao,W., Zhao,H., Zha,H., Micro-Traffic Simulation in Dynamic Urban Scenarios based on Vehicle Motion Planning [C], 2011 Chinese Annual Conference on Intelligent Transportation System.
2. Zhao,H., Davoine,F., Cherfaoui,V., Fremont,V. Bonnifait,P., Dynamic mapping: System and algorithm [C], Workshop of the NSFC Major Research Plan Program on Visual and Auditory Cognitive Calculation, 2010.
3. Sha,J., Zhao,H., Cui,J., Zha,H., Estimating Vehicle Driving Parameters using Laser scanners [C], Workshop of the NSFC Major Research Plan Program on Visual and Auditory Cognitive Calculation, 2010.
4. Sha,J., Zhao,H., Cui,J., Zha,H., Traffic Data Collection at an Intersection using a Network of Laser Scanners [C], Journal of Highway and Transportation Research, vol.26, no.S1, 30-34, 2009.
5. Zhao,H., Sha,J., Cui,J., Zha,H., System and Development toward Detailed Traffic Data Collection [C], Int. Sym. On Sustainable Development of Urban Transportation in China, 2008.