成慧

中山大学数据科学与计算机学院教授

成慧，女，博士，中山大学数据科学与计算机学院教授、博士生导师，中山大学“百人计划”引进人才，主要从事自主机器人、多机器人协同、机器人视觉、网络化控制系统方面的研究。主持和参与国家自然科学基金、国家基金委-深圳市机器人基础研究中心项目、广东省重大科技专项、广东省自然科学基金研究团队项目、广东省自然科学基金、中央高校基本科研业务费重点项目、广州市科技计划科学研究专项、香港研资局科研基金项目等项目。中山大学空中机器人队与中山大学Robomaster机器人队指导老师。

研究领域

自主机器人、多机器人协同、机器人视觉、网络化控制系统。

人物经历

教育经历

2001年9月-2005年12月，香港大学，信息处理，博士

1999年9月-2001年7月，香港科技大学，机器人，硕士

1998年9月-1999年8月，燕山大学，电气自动化，硕士学习

1994年9月-1998年7月，燕山大学，电气自动化，学士

工作经历

2019年1月至今，中山大学，数据科学与计算机学院，教授，博导

2011年7月至2019年1月，中山大学，数据科学与计算机学院，副教授，博导（2017年起）

2008年1月-2011年6月，中山大学，信息科学与技术学院，讲师（中山大学“百人计划”引进）

2006年8月-2007年12月，香港中文大学信息工程系，博士后

海外经历

2011年7月-2011年9月，香港中文大学信息工程系，Research Associate，合作导师：Prof. Wing Shing Wong

2014年7月-2014年9月，香港中文大学信息工程系，Research Associate，合作导师：Prof. Wing Shing Wong

教授课程

研究生课程：检测与估计原理、无人驾驶。

本科生课程：机器人导论、自动控制原理、数字信号处理、电力电子技术、智能技术与系统综合实践。

科研项目

（1）智能学习与视觉感知计算，广东省自然科学基金研究团队项目，2017/05-2022/05，在研，团队核心成员

（2）集群无人机分布式自主协同作业关键技术研究与应用，广东省重大科技专项项目，2017/01-2019/12，在研，主持

（3）集群无人系统的自主协同感知与控制关键技术研究，中山大学大科研项目培育专项，2017/05-2017/12，在研，主持

（4）面向服务机器人的情感认知、表达及管理关键技术，国家基金委-深圳市机器人基础研究中心项目，2017/01-2020/12，在研，中山大学方负责人

（5）地空异构多机器人系统的编队控制研究与实现，广东省自然科学基金，2016/01-2018/12，在研，主持

（6）家庭陪护智能移动机器人关键技术研究与系统开发，中央高校基本科研业务费中山大学重大项目培育项目，2015/09-2017/12，在研，主持

（7）基于光流的无人机载自主导航软件模块开发，零度智控（北京）智能科技有限公司，2015/08-2016/12，结题，主持

（8）基于单目视觉的旋翼无人机自主抓取的关键技术研究，广州市科技计划科学研究专项，2015/07-2017/06，结题，主持

（9）Control of Adaptive Formations, RGC General Research Fund (GRF) of Hong Kong, 2015/01-2016/12，结题， Co-Principle Investigator

（10）多自主驾驶车辆协同理论与技术研究，深圳市知识创新计划基础研究项目，2014/01-2016/04，结题，项目第二负责人

（11）Time Critical Applications over a Shared Network, SHIAE Project of the Chinese University of Hong Kong, 2011/07-2013/06，已结题，Co-investigator

（12）信道带宽限制下网络控制系统的优化控制及性能分析，国家自然科学基金2009/01-2011/12，已结题，主持

代表性论著

2019年

Chuangrong Chen, Xiaozhi Chen, Hui Cheng*, “On the Over-Smoothing Problem of CNN Based Disparity Estimation,” Proc. of Int. Conf. on Computer Vision (ICCV), Oct. 27-Nov.2, 2019, Seoul, Korea.

Z. K. Dong, S. C. Liu, T. Zhou, H. Cheng, L. Zeng, X. Y. Yu, H. D. Liu,” PPRNet: Point-wise Pose Regression Network for Instance Segmentation and 6D Pose Estimation in Bin-picking Scenarios,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Nov. 4-8, 2019, Macau, China.

Lishan Lin, Yuji Yang, Hui Cheng* and Xuechen Chen, “Autonomous Vision-Based Aerial Grasping for Rotorcraft Unmanned Aerial Vehicles,” Sensors, vol. 19, no. 15, August 2019.

Juntong Lin, Xuyun Yang, Peiwei Zheng, Hui Cheng*

Junhao Cai, Zhanpeng Zhang, Hui Cheng*, “Grasping Novel Objects by Semi-supervised Domain Adaptation”, Proc. of IEEE Int. Conf. on Real-time Computing and Robotics (RCRA), August 2019, Irkutsk, Russia.

Zhipng Xie, Youlian Long, Hui Cheng*, “Distributed Adaptive Formation Configuration of Aerial Robot Swarms in Cluttered Environments”, International Conference on Intelligent Robotics and Applications (ICIRA), Aug 8-11, 2019, Shenyang, China.

Junhao Cai, Hui Cheng*, Zhangpeng Zhang, Jingcheng Su, “MetaGrasp: Data Efficient Grasping by Affordance Interpreter Network”, Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), May 20-24, 2019, Montreal, Canada.

Junxun Zhong, Hui Cheng*, Liu He, Fang Ouyang, “Decentralized Full Coverage of Unknown Areas by Multiple Robots with Limited Visibility Sensing”, IEEE Robotics and Automation Letters (Presentation at ICRA), vol. 4, no. 2, pp. 338-345, April 2019.

Zhongchang Liu, Zhihui Li, Ge Guo, Hui Cheng, “Cooperative Platoon Control of Heterogeneous Vehicles under a Novel Event-triggered Communication Strategy”, IEEE Access, vol. 7, pp. 41172 – 41182, 2019.

Fan Ouyang, Hui Cheng, Yubin Lan, Yali Zhang, Xuanchun Yin, Jie Hu, Xiaodong Peng, Guobin Wang, Shengde Chen, “Automatic delivery and recovery system of Wireless Sensor Networks (WSN) nodes based on UAV for agricultural applications”, Computers and Electronics in Agriculture, vol. 162, pp. 31-43, 2019.

Guangbin Wu, Weishan Chen, Hui Cheng, Wangmeng Zuo, David Zhang, Jane You and Haifeng Zhou, “Multi-object Grasping Detection with Hierarchical Feature Fusion”, IEEE Access, vol.7, pp. 43884 - 43894, 2019.

Chongyu Chen, Zhuoqi Zheng, Jinhao He, Hui Cheng*, “Multi-Scale Guided Mask Refinement for Coarse-to-Fine RGB-D Perception”, IEEE Signal Processing Letters, pp. vol. 26, no. 2, pp. 217-221, Feb. 2019.

2018年

Dongyu Zhang, Wenxi Wu, Hui Cheng*, Ruimao Zhang, Zhenjiang Dong, Zhaoquan Cai, “Image-to-Video Person Re-Identification with Temporally Memorized Similarity Learning”, IEEE Transactions on Circuits and Systems for Video Technology, vol. 28, no. 10, pp. 2622–2632, Oct. 2018.

Y. X. Li, J. H. Sun, X. Q. Li, Z. P. Zhang, H. Cheng, X. G. Wang, “Weakly Supervised 6D Pose Estimation for Robotic Grasping”, Proc. of ACM SIGGRAPH Int. Conf. on Virtual-Reality Continuum and its Applications in Industry (VRCAI), Dec. 2-3, 2018, Hachioji, Japan.

H. Cheng, Z.Q. Zheng, J.H. He, C.Y. Chen, K.Z. Wang, L. Lin, “Embedding Temporally Consistent Depth Recovery for Real-time Dense Mapping in Visual-inertial Odometry”, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 693-698, Oct. 1-5, 2018, Madrid, Spain.

Ziliang Lai, Rui Yang, Hui Cheng*, Wenjun Deng, Kan Wu, and Jianjin Xiao, “Dance of the Dragonfly: A Vision-based Agile Aerial Touch Solution for IARC Mission 7”, Proc. of IEEE Int. Conf. on Real-time Computing and Robotics (RCRA), August 2018, Kandima, Maldives. (Finalist of Best Paper Award)

Zhongchang Liu, Zeyu Jiang, Tianye Xu, Hui Cheng*, Zhipeng Xie, and Liang Lin, “Avoidance of High-speed Obstacles Based on Velocity Obstacles”, Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 7624-7630, May 21-25, 2018, Brisbane, Australia.

Hui Cheng, Junhao Cai, Quande Liu, Zhanpeng Zhang, Kai Yang, Chen Change Loy, Liang Lin, “Fusing Object Context to Detect Functional Area for Cognitive Robots”, Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 6132-6139, May 21-25, 2018, Brisbane, Australia.

Hui Cheng, YongHeng Hu, Chongyu Chen, Liang Lin, “'Robust Object-aware Sample Consensus with Application to LiDAR Odometry,” Prof. of IEEE Int. Conf. on Acoustics, Speech and Signal Processing (ICASSP), April 15-20, 2018, Calgary, Alberta, Canada.

2017年之前

- Z.C. Liu, W. S. Wong, and H. Cheng, “Cluster synchronization for coupled systems with nonidentical linear dynamics”, International Journal of Robust and Nonlinear Control, vol. 27, pp. 1462-1479, June 2017.

- H. Cheng, Q.Y. Zhu, Z.C. Liu, T.Y. Xu, and L. Lin, “Decentralized navigation of multiple agents based on ORCA and Model Predictive Control”, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 3446-3451, Sep. 24-28, 2017, Vancouver, BC, Canada.

- H. Cheng, L.S. Lin, Z.Q. Zheng, Y.W. Guan, and Z.C. Liu, “An Autonomous Vision-Based Target Tracking System for Rotorcraft Unmanned Aerial Vehicles”, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1732-1738, Sep. 24-28, 2017, Vancouver, BC, Canada.

- Mude Lin, Liang Lin, Xiaodan Liang, Keze Wang, Hui Cheng, “Recurrent 3D Pose Sequence Machines”, Proc. of Computer Vision and Pattern Recognition (CVPR) (Oral Presentation), pp. 5543-5552, July 21-26, 2017, Honolulu, Hawaii, USA.

- Hui Cheng, Yongheng Hu, Haoguang Huang, Chuangrong Chen, and Chongyu Chen, “Reconstructing Dynamic Objects via LiDAR Odometry Oriented to Depth Fusion”, Proc. of Int. Conf. Intelligent Robotics and Applications, pp. 634-646, August 15-18, 2017, Wuhan, China.

- Liang Lin, Lili Huang, Tianshui Chen, Yukang Gan, Hui Cheng, “Knowledge-Guided Recurrent Neural Network Learning for Task-Oriented Action Prediction”，Proc. of IEEE Int. Conf. on Multimedia and Expo (ICME), pp. 625-630, July 10-14, 2017, Hong Kong. (World’s FIRST 10K Best Paper Award)

- Keze Wang, Shengfu Zhai, Cheng Hui*

- Chenglong Li, Hui Cheng, Shiyi Hu, Xiaobai Liu, Jin Tang, and Liang Lin, “Learning Collaborative Sparse Representation for Grayscale-Thermal Tracking”, IEEE Trans. on Image Processing, vol. 25, no. 12, pp. 5743-5756, Dec. 2016.

- L. Lin, Y. Y. Lu, C. L. Li, H. Cheng, and W. M. Zuo, “Detection-free Multi-object Tracking by Reconfigurable Inference with Bundle Representations”, IEEE Transactions on Cybernetics, vol. 46, no. 11, pp. 2447 – 2458, Nov. 2016.

- Zhen Li, Yukang Gan, Xiaodan Liang, Yizhou Yu, Hui Cheng

- Jiang Zeyu, Cheng Hui*, Zheng Zefeng, Zhang Xiaowu, Nie Xinyao, Li Weibin, Zou Yuxiang, and Wong Wing Shing, “Autonomous Formation Flight of UAVs: Control Algorithms and Field Experiments”, in Proc. 35th Chinese Control Conference, pp.7585-7591, Chengdu, China, July 2016.

- Z.C. Liu, W. S. Wong, and H. Cheng, “Cluster synchronization of coupled linear systems under directed nonnegative graphs,” in Proceedings of 35th Chinese Control Conference, pp. 8259-8263, Chengdu, China, July 2016.

- Wei Zhou, Hui Cheng*, Qiyuan Zhu, and Zeyu Jiang, “Formation Control of Multiple Robots Based on Linearization Scheme”, in Proc. Chinese Control and Decision Conference, pp. 296-301, Yinchuan, China, May 2016.

- H. Cheng, Y. S. Chen, and W. S. Wong, “Trajectory Tracking and Formation Flight of Autonomous UAVs in GPS-Denied Environments Using Onboard Sensing,” in Proc. IEEE Chinese Guidance, Navigation and Control Conference, August 2014, pp. 2639-2645, Yantai, China. (Best Paper Finalist of the IEEE CGNCC 2014)

- H. Cheng and W. S. Wong, “Application of Protocol Sequences in Wireless Networked Control Systems,” in Proc. 33 Chinese Control Conference, July 2014, pp. 5666-5671, Nanjing, China.

- H. Cheng, Y. S. Chen, X. K. Li and W. S. Wong, “Autonomous Hovering, Tracking and Landing of a UAV on a Moving UGV using Onboard Monocular Vision,” in Proc. 32 Chinese Control Conference, pp. 5895-5901, July 2013, Xian, China.

- H. Cheng, Y. Chen, W. S. Wong, Q. Yang and L. F. Shen, “Protocol Sequence Based Wireless Media Access Control in Networked Control Systems,” in Proc. 12th Int. Conf. on Automation, Control, Robotics and Vision, pp. 707-712, Dec., 2012, Guangzhou, China.

- H. Cheng, Y. S. Chen, W. S. Wong, Q. Yang, L. F. Shen and J. Baillieul, “Stabilizing and Tracking Control of Multiple Pendulum-Cart Systems over a Shared Wireless Network,” in Proc. 31st Chinese Control Conf., pp. 5849-5854, July 2012, Hefei, China.

- Y. G. Liu, H. L. Gao, B. G. Xu, G. Y. Liu and H. Cheng, “Autonomous Coordinated Control of A Platoon of Vehicles with Multiple Disturbances”, Control Theory & Applications, IET, pp. 2325 – 2335, vol. 8, Dec. 2014.

- W. S. Wong and H. Cheng*, “Control and Dynamics of Linear Systems under Finite Quantized Feedback,” International Journal of Systems, Control and Communications, pp. 436-455, vol. 3. no.4, Nov. 2011.

- H. Cheng, S. C. Chan and Z. G. Zhang, “Robust Channel Estimation and Multiuser Detection for MC-CDMA Systems under Narrowband Interference,” The Journal of Signal Processing Systems, Springer, vol. 52, pp. 165-180, Aug. 2008.

- H. Cheng and S. C. Chan, “Blind Linear MMSE Receivers for MC-CDMA Systems,” IEEE Transactions on Circuits and Systems Part I, vol. 54, no. 2, pp. 367-376, Feb. 2007.

- H. Cheng, Y.K. Yiu and Z.X. Li, “Dynamics and Control of Redundantly Actuated Parallel Manipulators,” IEEE/ASME Transactions on Mechatronics, vol. 8, no. 4, pp. 483-491, Dec. 2003.

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