2014年9月 — 今：中国科学院计算技术研究所，副研究员

2008年4月 — 2014年8月：中国科学院计算技术研究所，高级工程师

2002年4月 — 2008年3月：中国科学院计算技术研究所，工程师

2005年9月 — 2008年7月：中国科学院计算技术研究所，博士生

1999年9月 — 2002年7月：北京邮电大学，信息与通信工程学院，硕士生

1985年9月 — 1989年7月：华中科技大学，电子与信息工程系，本科生

期刊文章:

[1] Hao Xiong, Haiyong Luo, Chaoliang Wang, Chunming Zhang, Fang Zhao, Xuming Yue, Yang Gao. CB-IOD: Balancing Energy Consumption and Model Accuracy for Indoor Outdoor Detection using Dynamic Model Selection. IEEE Transactions on Mobile Computing. 10.1109/TMC.2026.3688694. Page(s): 1 – 17. Date of Publication: 28 April 2026

[2] Bokun Ning, Haiyong Luo, Linfeng Bao, Fang Zhao, Fan Wu. FEMASF: An SVD-Based Algorithm for Accurately Estimating the Mounting Angle and Scale Factor. IEEE Transactions on Intelligent Transportation Systems. 2025, 26(4): 4504-4516

[3] Chenxing Wang, Fang Zhao, Haiyong Luo, Poly Z.H. Sun, Yuchen Fang. Cross-transportation-mode Knowledge Transfer for Trajectory Recovery with Meta Learning.  IEEE Transactions on Intelligent Transportation Systems. 2025, 26(6):8945-8960

[4] Haosong Liu, Long Wang, Haiyong Luo, Fang Zhao, Runze Chen, Yushi Chen, Mingyu Xiao, Jiaquan Yan, Dan Luo. SDD-SLAM: Semantic-Driven Dynamic SLAM with Gaussian Splatting. IEEE Robotics and Automation Letters. 2025,10(6):5721-5728.

[5] Chenxing Wang, Fang Zhao, Haiyong Luo, Yuchen Fang, Haichao Zhang, Haoyu Xiong. Towards Effective Transportation Mode-aware Trajectory Recovery: Heterogeneity, Personalization and Efficiency. IEEE Transactions on Mobile Computing. 2025,24(4):2832-2846

[6] Runze Chen, Haiyong Luo, Fang Zhao, Xuechun Meng, Zhiqing Xie, Yida Zhu. A Lightweight Deep Human Activity Recognition Algorithm Using Multi-Knowledge Distillation. IEEE Sensors Journal. 2024, 24(19):31495-31511

[7] Fan Wu, Haiyong Luo, Fang Zhao, Liangrui Wei, Bo Zhou. Optimizing GNSS/INS Integrated Navigation: A Deep Learning Approach for Error Compensation. IEEE Signal Processing Letters. 2024, 31:3104-3108

[8] Runze Chen, Haiyong Luo, Fang Zhao, Xuechun Meng, Zhiqing Xie, Yida Zhu. A Light-weight Deep Human Activity Recognition Algorithm Using Multi-Knowledge Distillation. IEEE Sensors Journal. 2024, 24(19):31495-31511

[9] Yuchen Fang, Haiyong Luo, Fang Zhao, Poly ZH Sun, Yanjun Qin, Liang Zeng, Bo Hui, Chenxing Wang. CDGNet: A Cross-Time Dynamic Graph-based Deep Learning Model for Vehicle-based Traffic Speed Forecasting. IEEE Transactions on Intelligent Vehicle. 2025,10(1):683-696

[10] Wenhua Shao, Haiyong Luo, Fang Zhao, Yunhan Hong, Yaqi Li, Chen Zhang, Bingzheng Sun, Antonino Crivello. MOC: Wi-Fi FTM with Motion Observation Chain for Pervasive Indoor Positioning. IEEE Transactions on Industrial Informatics. 2024, 20(10):11961-11976.

[11] Haichao Zhang, Fang Zhao, Chenxing Wang, Haiyong Luo, Haoyu Xiong, Yuchen Fang. Knowledge Distillation for Travel Time Estimation. IEEE Transactions on Intelligent Transportation Systems. 2024, 25(8):9631-9642.

[12] Hongfu Xu, Haiyong Luo, Zijian Wu, Fang Zhao. Res-EMSA: Adaptive Adjustment of Innovation Based on Efficient Multi-Head Self-Attention in GNSS/INS Tightly Integrated Navigation System. IEEE Geoscience and Remote Sensing Letters. 2024, 21:1-5.

[13] Yuchen Fang, Yanjun Qin, Haiyong Luo, Fang Zhao, Kai Zheng. STWave+: A Multi-Scale Efficient Spectral Graph Attention Network with Long-Term Trends for Disentangled Traffic Flow Forecasting. IEEE Transactions on Knowledge and Data Engineering. 2024, 36(6):2671-2685.

[14] Yida Zhu, Haiyong Luo, Runze Chen, Fang Zhao. DiamondNet: A Neural Network based Heterogeneous Sensor Attentive Fusion for Human Activity Recognition. IEEE Transactions on Neural Networks and Learning Systems. 2024, 35(11): 15321-15331.

[15] Yanjun Qin, Haiyong Luo, Fang Zhao, Yuchen Fang, Xiaoming Tao, Chenxing Wang. Spatio-temporal hierarchical MLP network for traffic forecasting. Information Sciences.2023, 632:543-554

[16] Zhiqing Xie, Haiyong Luo, Xiaotian Zhang, Hao Xiong, Fang Zhao, Zhaohui Li, Qi Ye, Bojie Rong, Jiuchong Gao. TransFloor: Transparent Floor Localization for Crowdsourcing Instant Delivery. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies. 2022, 6(4),189:1-30

[17] Yida Zhu, Haiyong Luo, Song Guo, Fang Zhao. DMSTL: A Deep Multi-Scale Transfer Learning Framework for Unsupervised Cross-Position Human Activity Recognition. IEEE Internet of Things Journal. DOI: 10.1109/JIOT.2022.3204542. 2023, 10(1):787-800

[18] Yida Zhu, Haiyong Luo, Runze Chen, Fang Zhao, Song Guo. MSCPT: Towards Cross-Place Transportation Mode Recognition Based on Multi-Sensor Neural Network Model. IEEE Transactions on Intelligent Transportation Systems. August 2022. 2022, 23(8):12588 - 12600.

[19] Linfeng Bao, Haiyong Luo, Xile Gao, Fang Zhao, Bokun Ning, Yida Zhu. MT-e&R: NMEA Protocol-assisted High-Accuracy Navigation Algorithm based on GNSS Error Estimation using Multi-Task Learning. IEEE Transactions on Intelligent Transportation Systems. 2022, 23(11): 20464-20475.

[20] Hongfu Xu,Haiyong Luo, Zijian Wu,Fan Wu,Linfeng Bao, Fang Zhao. Towards Predicting the Measurement Noise Covariance with a Transformer and Residual Denoising Autoencoder for GNSS/INS Tightly-Coupled Integrated Navigation. Remote Sensing. 2022, 14(7), 1691.

[21] Wang, Qu, Haiyong Luo, Jianquan Wang, Lei Sun, Zhangchao Ma, Chaoyi Zhang, Meixia Fu, Fang Zhao. Recent Advances in Pedestrian Navigation Activity Recognition: A Review. IEEE Sensors Journal. April 15, 2022. 2022, 22(8): 7499-7518

[22] Liying Wang, Haiyong Luo, Qu Wang, Wenhua Shao, Fang Zhao. A Hierarchical LSTM-based Indoor Geomagnetic Localization Algorithm. IEEE Sensors Journal. 2022. 22(2):1227-1237

[23] Chenxing Wang, Haiyong Luo, Fang Zhao, Yanjun Qin. Combining Residual and LSTM Recurrent Networks for Transportation Mode Detection Using Multimodal Sensors Integrated in Smartphones. IEEE Transactions on Intelligent Transportation Systems. 2021, 22(9):5473-5485

[24] Yimin Xiao, Haiyong Luo, Fang Zhao, Fan Wu, Xile Gao, Qu Wang, Lizhen Cui. Residual Attention Network-based Confidence Estimation Algorithm for Non-holonomic Constraint in GNSS/INS Integrated Navigation System.  IEEE Transactions on Vehicular Technology. 2021, 70(11): 11404-11418. 

[25] Wenhua Shao, Haiyong Luo, Fang Zhao, Hui Tian, Jingyu Huang, Antonino Crivello. Floor Identification in Large-Scale Environments with Wi-Fi Autonomous Block Models. IEEE Transactions on Industrial Informatics. 2022, 18(2):847-858.

[26] Yanjun Qin, Haiyong Luo, Fang Zhao, Chenxing Wang, Yuchen Fang. NDGCN: Network in Network, Dilate Convolution and Graph Convolutional Networks based Transportation Mode Recognition. IEEE Transactions on Vehicular Technology. IEEE Transactions on Vehicular Technology. 2021, 70(3): 2138-2152.

[27] Fan Wu, Haiyong Luo, Hongwei Jia, Fang Zhao, Yimin Xiao, Xile Gao. Predicting the Noise Covariance with a Multitask Learning Model for Kalman Filter-Based GNSS/INS Integrated Navigation. IEEE Transactions on Instrumentation & Measurement. 2021, 70(8500613):1-13.

[28] Qu Wang, Haiyong Luo, Hao Xiong, Aidong Men, Fang Zhao, Ming Xia, Changhai Ou. Pedestrian Dead Reckoning based on Walking Pattern Recognition and Online Magnetic Fingerprint Trajectory Calibration. IEEE Internet of Things Journal. 2021, 8 (3):2011-2026.

[29] Yida Zhu, Haiyong Luo, Fang Zhao, Runze Chen. Indoor/Outdoor Switching Detection Using Multi-Sensor DenseNet and LSTM. IEEE Internet of Things Journal. 2021, 8 (3): 1544-1556.

[30] Xile Gao, Haiyong Luo, Bokun Ning, Fang Zhao, Linfeng Bao, Yilin Gong, Yimin Xiao, Jinguang Jiang. RL-AKF: An Adaptive Kalman Filter Navigation Algorithm based on Reinforcement Learning. Remote Sensing. 2020, 12, 1704.

[31] Rongrong Wang, Haiyong Luo, Qu Wang, Zhaohui Li, Fang Zhao, Jingyu Huang. A Spatial-Temporal positioning algorithm Using Residual Network and LSTM. IEEE Transactions on Instrumentation and Measurement. 2020, 69(11):9251-9261.

[32] Yu Chen, Haiyong Luo, Fang Zhao, Qu Wang, Wenhua Shao. Adaptive Kalman Filtering-Based Pedestrian Navigation Algorithm for Smartphones. International Journal of Advanced Robotic Systems. 2020, 17(3):1-14.

[33] Jingyu Huang, Haiyong Luo, Wenhua Shao, Fang Zhao, Shuo Yan. Accurate and Robust Floor Positioning in Complex Indoor Environments. Sensors. 2020, 20, 2698

[34] Wenhua Shao, Haiyong Luo, Fang Zhao, Hui Tian, Shuo Yan, Crivello Antonino. Accurate Indoor Positioning Using Temporal-Spatial Constraints Based on Wi-Fi Fine Time Measurements. IEEE Internet of Things Journal. 2020, 7(11):11006-11019.

[35] Qu Wang, Haiyong Luo, Langlang Ye, Aidong Men, Fang Zhao, Yang Huang, Changhai Ou. Personalized Stride-Length Estimation based on Active Online Learning. IEEE Internet of Things Journal. 2020, 7(6):4885-4897.

[36] Haiyong Luo, Fang Zhao, Mengling Jiang, Hao Ma, Yuexia Zhang. Constructing an Indoor Floorplan Using Crowdsourcing based on Magnetic Fingerprinting. Sensors 2017, 17, 2678.

[37] Fang Zhao, Haiyong Luo, Xuqiang Zhao, Zhibo Pang, Hyuncheol Park. HYFI: Hybrid Floor Identification based on Distribution of Wireless Access Point and Barometric Pressure for Fingerprinting Positioning in Multi-story Facilities. IEEE Transactions on Industrial Informatics. 2017, 13(1):330-341

[38] 罗海勇、李锦涛、赵方、林权、朱珍民、袁武。一种基于加权多维尺度分析技术的鲁棒节点定位算法。自动化学报。2008 Vol.34 No.3 pp.288-297

[39] 白艳茹、罗海勇、曹程琳、王曲、熊昊。基于在线学习磁校准的行人航位推断算法[J]。北京邮电大学学报。2021, 44(03):53-60

[40] 赵方、罗海勇、马严、徐俊俊。基于公共信标集的高精度射频指纹定位算法。计算机研究与发展。2012 Vol.49 No.2 pp.243-252

[41] 赵方、罗海勇、林权、马严。基于核函数法及马尔可夫链的节点定位技术。通信学报。2010 Vol.31 No.11 pp.195-204

[42] 林以明、罗海勇、李锦涛、赵方。基于动态Radio Map的粒子滤波室内无线定位算法。计算机研究与发展。2011Vol.48 No.1 pp.139-146

[43] 李慧、罗海勇、徐俊俊、陈晓峰。一种基于奇异值分解的射频指纹排序定位算法。仪器仪表学报。2013 Vol.34 No.10 pp.2219-2225

[44] 张波、罗海勇、刘冀伟、赵方。视觉传感器网络中基于RANSAC的顽健定位算法。通信学报。2013 Vol.34 No.8 pp.62-69

[45] 刘书静、罗海勇、吴彬、刘晓明、赵方。基于最小二乘测距定位算法信标最优部署模型。计算机学报。2012 Vol.36 No.3 pp.546-556

会议文章：

[1] Jiaquan Yan, Fang Zhao, Huiyu Yuan, Yushi Chen, Long Wang, Dan Luo, Haiyong Luo. ST-DiffPlanner: A Safety-Enhanced Topology-Aware Diffusion Planner for Global Path Planning. ICRA2026

[2] Hao Xiong, Dan Luo, Fang Zhao, Yang Gao, Xuming Yue, Jiayi Gong, Haiyong Luo. STDIFFUSION: A Spatiotemporal Interpolation-Oriented Diffusion Model for Signal Series Latent Representation Generation. IEEE ICASSP 2026.

[3] Yushi Chen, Haosong Liu, Fang Zhao, Yunhan Hong, Jiaquan Yan, Haiyong Luo. DGS-SLAM: A Visual Dense SLAM based on Gaussian Splatting in Dynamic Environments. 2025 IEEE International Conference on Robotics and Automation (ICRA). May 19-23, 2025. USA.Attend Atlanta, USA

[4] Hao Xiong, jiayi gong, Haiyong Luo, Fang Zhao, Runze Chen, Yang Gao, MingYu Xiao. A Conditional KAN Diffusion Network for Human Activyity Recognition with Missing Sensor Signal Series. The 2025 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP2025). Hyderabad, India. April 6-11, 2025

[5] Mingyu Xiao, Runze Chen, Haiyong Luo, Fang Zhao, Fan Wu, Hao Xiong, Xuepeng Ma, Juan Ma. Map-Free Visual Relocalization Enhanced by Instance Knowledge and Depth Knowledge. The 2025 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP2025). Hyderabad, India. April 6-11, 2025

[6] Runze Chen, Mingyu Xiao, Haiyong Luo, Fang Zhao, Fan Wu, Hao Xiong, Liuqi, Songmeng. CSS: Overcoming Pose and Scene Challenges in Crowd-Sourced 3D Gaussian Splatting. The 2025 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP2025). Hyderabad, India. April 6-11, 2025

[7] Xiong Hao, Haiyong Luo, Jiayi Gong, Fang Zhao. KCIN: A Kolmogorov-Arnold Convolutional Network-Based Model for Transportation Mode Recognition with Incomplete Sensor Series. The 21st IEEE International Conference on Ubiquitous Intelligence and Computing (IEEE UIC 2024). Denarau Island, Fiji. Dec.02-07, 2024

[8] Runze Chen, Haiyong Luo, Fang Zhao, Jingze Yu, Yupeng Jia, Juan Wang, Xuepeng Ma. Structure-Centric Robust Monocular Depth Estimation via Knowledge Distillation. Asian Conference on Computer Vision (ACCV) 2024. Vietnam Hanoi Dec.08-12,2024. 123-140

[9] Hongfu Xu, Haiyong Luo, Zijian Wu, Fang Zhao, Changhai Lin. Adaptive Estimation of Multiple Fading Factors Based on RGAM Model') has been accepted for presentation at the IEEE World Congress on Computational Intelligence (IEEE WCCI 2024/IJCNN2024). Pacifico Yokohama, Yokohama, Japan, 30 June - 5 July 2024. 

[10] Geyue Zhu, Haiyong Luo, Runze Chen, Yushi Chen, Jiaquan Yan, Zhuqing Jiang. ONeK-SLAM: A Robust Object-level Dense SLAM Based on Joint Neural Radiance Fields and Keypoints. 2024 IEEE International Conference on Robotics and Automation (ICRA), May 13-17, 2024, Yokohama, Japan. 10245-10252.

[11] Yushi Chen, Fang Zhao, Yue Zhuge, junxiong liu, Jiaquan Yan, Haiyong Luo. SMORE-SLAM: Semantic Monocular SLAM with Scale Correction and Reverse Loop Utilization in Outdoor Environments. The 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2024). October 14-18, 2024. Abu Dhabi, UAE. 7869-7876

[12] Hongfu Xu, Haiyong Luo, Zijian Wu, Fang Zhao. Predicting the GNSS Pseudo-Measurement with a Hybrid Multi-Head Attention for Tightly-Coupled Navigation.  2023 IEEE International Performance, Computing, and Communications Conference (IPCCC), Anaheim, CA, USA, 2023, pp. 178-185, doi: 10.1109/IPCCC59175.2023.10253847

[13] Yuchen Fang, Yanjun Qin, Haiyong Luo, Fang Zhao, Bingbing Xu, Liang Zeng, Chenxing Wang. When Spatio-Temporal Meet Wavelets: Disentangled Traffic Forecasting via Efficient Spectral Graph Attention Networks. ICDE2023. California, USA. April 3- 7. 517-529. (CCF-A)

[14] Yanjun Qin, Yuchen Fang, Haiyong Luo, Fang Zhao, Chenxing Wang. Next Point-of-Interest Recommendation with Auto-Correlation Enhanced Multi-Modal Transformer Network. Proceedings of the 45th International ACM SIGIR Conference on Research and Development in Information Retrieval. (SIGIR 2022). Madrid, Spain, 2022, July 11-15, 2612-2616. [CCF A]

[15] Yupeng Jia, Haiyong Luo*, Fang Zhao, Guanlin Jiang, Yuhang Li, Jiaquan Yan, Jiang Zhuqing. Lvio-Fusion: A Self-adaptive Multi-sensor Fusion SLAM Framework Using Actor-critic Method. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). September 27 - October 1, 2021. Prague, Czech Republic. 263-270

专利：

[1] 一种面向狭窄场景的路径规划方法及相关设备。专利号：ZL2024117628149。授权日期：2026-02-03

[2] 动态场景的定位与地图构建方法及相关设备。专利号：ZL2024116010524。授权日期：2025-11-04

[3] 一种基于决策树的模型的人体行为识别方法。专利号：ZL2023100429302。授权日期：2025-07-29

[4] 面向室内动态环境的高精度视觉定位与高保真对象级地图构建方法、装置及程序产品。专利号：ZL2025100580594。授权日：2025-11-14

[5] 基于动态图聚类元学习的园区交通拥堵预测方法及系统。专利号：ZL2024103919187。授权日期：2024-06-18日

[6] 一种使用路径信息校准的射频定位方法和装置。专利号： ZL 2017 1 1236803.7。授权日期：2023年05月02日

[7] 一种组合导航误差校准方法及电子设备。专利号：ZL2020113503396。授权日期：2023年11月17日

[8] 组合导航系统优化方法、装置、电子设备及存储介质。专利号：ZL202010936370.1。授权日：2022年05月10日。

[9] 一种行人航迹推断方法、装置、设备及存储介质。专利申请号：201910882232.7。授权日：2022年05月10日。

[10] 一种组合导航方法和系统。专利号：ZL202010125661.2。授权日期：2021年11月23日

[11] 楼宇的楼层识别方法、电子设备及计算机可读存储介质。专利号：ZL202011598022.4。授权日期：2021年11月30日。

[12] 一种室内外场景检测方法。专利号：ZL201810808791.9。授权日期：2021年07月20日。

[13] 一种定位方法、装置及电子设备。专利号：ZL201911303321.8。授权日期：2021年04月06日。

[14] 基于楼层切换行为识别的混合楼层定位方法。专利号：ZL201811522275.6。授权日期：2021年3月9日

主导制定的国家标准：

[1] 《信息技术 实时定位 声源定位成像系统技术规范》（GB/T 45348-2025）。发布日期2025-02-28

[2] 《信息技术 实时定位技术指标及测试方法》（GB/T 31101-2023）。发布日期：2023-09-07

[3] 《信息技术 实时定位 视觉定位系统数据接口》（GB/T 41784-2022）。发布日期：2022-10-14

[4] 国家标准《信息技术 实时定位 多源融合定位数据接口》（GB/T 38630-2020）。发布日期2020-04-28

[5] 国家标准《信息技术 实时定位 磁定位数据接口》（GB/T 38627-2020）。发布日期2020-04-28

[6] 《信息技术 实时定位系统接口 第3部分:433MHz空中接口协议》（GB/T30996.3-2018）。发布日期：2018-06-07。实施日期：2019 -01-01。

[7] 国家标准《信息技术 实时定位系统接口 第2部分:2.45GHz 空中接口协议》（GB/T 30996.2-2017）。发布日期：2017-05-31

[8] 国家标准《信息技术 实时定位系统 第1部分：应用程序接口》（GB/T 30996.1-2014）。发布日期：2014-09-03

[9] 国家标准《信息技术 自动识别和数据采集技术 词汇 第5部分：定位系统》（GB/T 29261.5-2014），发布日期：2014-09-03

[10] 国家标准《信息技术 自动识别和数据采集技术 实时定位系统性能测试方法》（GB/T 31101-2014），发布日期：2014-09-03