成慧，女，博士，中山大學數據科學與計算機學院教授、博士生導師，中山大學“百人計畫”引進人才，主要從事自主機器人、多機器人協同、機器人視覺、網路化控制系統方面的研究。主持和參與國家自然科學基金、國家基金委-深圳市機器人基礎研究中心項目、廣東省重大科技專項、廣東省自然科學基金研究團隊項目、廣東省自然科學基金、中央高校基本科研業務費重點項目、廣州市科技計畫科學研究專項、香港研資局科研基金項目等項目。中山大學空中機器人隊與中山大學Robomaster機器人隊指導老師。
基本介紹
- 中文名：成慧
- 職業：教師
- 學位/學歷：博士
- 職務：中山大學博士生導師
- 職稱：教授
研究領域,人物經歷,教育經歷,工作經歷,海外經歷,教授課程,科研項目,代表性論著,
研究領域
自主機器人、多機器人協同、機器人視覺、網路化控制系統。
人物經歷
教育經歷
2001年9月-2005年12月，香港大學，信息處理，博士
1999年9月-2001年7月，香港科技大學，機器人，碩士
1998年9月-1999年8月，燕山大學，電氣自動化，碩士學習
1994年9月-1998年7月，燕山大學，電氣自動化，學士
工作經歷
2019年1月至今，中山大學，數據科學與計算機學院，教授，博導
2011年7月至2019年1月，中山大學，數據科學與計算機學院，副教授，博導（2017年起）
2008年1月-2011年6月，中山大學，信息科學與技術學院，講師（中山大學“百人計畫”引進）
2006年8月-2007年12月，香港中文大學信息工程系，博士後
海外經歷
2011年7月-2011年9月，香港中文大學信息工程系，Research Associate，合作導師：Prof. Wing Shing Wong
2014年7月-2014年9月，香港中文大學信息工程系，Research Associate，合作導師：Prof. Wing Shing Wong
教授課程
研究生課程：檢測與估計原理、無人駕駛。
本科生課程：機器人導論、自動控制原理、數位訊號處理、電力電子技術、智慧型技術與系統綜合實踐。
科研項目
1）智慧型學習與視覺感知計算，廣東省自然科學基金研究團隊項目，2017/05-2022/05，在研，團隊核心成員
2）集群無人機分散式自主協同作業關鍵技術研究與套用，廣東省重大科技專項項目，2017/01-2019/12，在研，主持
3）集群無人系統的自主協同感知與控制關鍵技術研究，中山大學大科研項目培育專項，2017/05-2017/12，在研，主持
4） 面向服務機器人的情感認知、表達及管理關鍵技術，國家基金委-深圳市機器人基礎研究中心項目，2017/01-2020/12，在研，中山大學方負責人
5）地空異構多機器人系統的編隊控制研究與實現，廣東省自然科學基金，2016/01-2018/12，在研，主持
6）家庭陪護智慧型移動機器人關鍵技術研究與系統開發，中央高校基本科研業務費中山大學重大項目培育項目，2015/09-2017/12，在研，主持
7）基於光流的無人機載自主導航軟體模組開發，零度智控（北京）智慧型科技有限公司，2015/08-2016/12，結題，主持
8）基於單目視覺的旋翼無人機自主抓取的關鍵技術研究，廣州市科技計畫科學研究專項，2015/07-2017/06，結題，主持
9）Control of Adaptive Formations, RGC General Research Fund (GRF) of Hong Kong, 2015/01-2016/12，結題， Co-Principle Investigator
10）多自主駕駛車輛協同理論與技術研究，深圳市知識創新計畫基礎研究項目，2014/01-2016/04，結題，項目第二負責人
11）Time Critical Applications over a Shared Network, SHIAE Project of the Chinese University of Hong Kong, 2011/07-2013/06，已結題，Co-investigator
12）信道頻寬限制下網路控制系統的最佳化控制及性能分析，國家自然科學基金2009/01-2011/12，已結題，主持
代表性論著
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*, "End-to-end Decentralized Multi-robot Navigation in Unknown Complex Environments via Deep Reinforcement Learning", Proc. of IEEE Int. Conf. on Mechatronics and Automation (ICMA), Aug. 4-7, 2019, Tianjin, China.
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*, Xiaodan Liang, and Liang Lin, "Human Pose Estimation from Depth Images via Inference Embedded Multi-task Learning", Proc. of ACM International Conference on Multimedia (ACM MM), (full paper, Oral Presentation), pp. 1227-1236, Oct. 2016, Amsterdam, the Netherlands.
- 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, and Liang Lin, "LSTM-CF: Unifying Context Modeling and Fusion with LSTMs for RGB-D Scene Labeling", Proc. of European Conference on Computer Vision (ECCV), pp. 541-557, Oct. 2016, Amsterdam, the Netherlands.
- 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.
