成慧,副教授,博士生导师,中山大学“百人计划”人才引进,主要从事自主机器人、多机器人协同、机器视觉、网络化控制系统方面的研究。研究成果发表在IEEE/ASME Trans. on Mechatronics、IEEE Trans. on Cybernetics, IEEE Trans. on Circuits & Systems Part I、IEEE Trans. on Image Processing等期刊以及IEEE Conf. on Decision and Control, ACM Multimedia,Int. Conf. on Robotics and Automation,  IEEE/RSJ Int. Conf. on Intelligent Robots and Systems等重要国际会议论文中。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。













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





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




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


10)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







1)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, July 2017. DOI: 10.1109/TCSVT.2017.2723429.

2)Chongyu Chen, Hai Xuan Pham, Vladimir Pavlovic, Jianfei Cai, Guangming Shi, Yuefang Gao, and Hui Cheng*, “Using 3D Face Priors for Depth Recovery”, Journal of Visual Communication and Image Representation, vol. 48, Oct. 2017, pp. 16–29.  https://doi.org/10.1016/j.jvcir.2017.06.002.

3)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.

4)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.

5)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.

6)Y. G. Liu, H. L. Gao, B. G. Xu, 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.

7) 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.

8) 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.

9) 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.

10) 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.


1) H. Cheng, Z.Q. Zheng, J. H. He, C. Y. Chen, K. Z. Wang, and 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), accepted to appear, Oct. 1-5, 2018, Madrid, Spain.

2) 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 (RCAR), accepted to appear, August 2018, Kandima, Maldives. (Finalist of Best Paper Award at RCAR 2018)

3) Zhongchang Liu, Zeyu Jiang, Tianye Xu, Hui Cheng*, Zhipeng Xie, 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.

4) 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.

5) 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), accepted to appear, April 15-20, 2018, Calgary, Alberta, Canada.

6) 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.

7) 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.

8) 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.

9) 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.

10) 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)

11) 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.

12) 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.

13) 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.

14) 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.

15) 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.

16) 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)

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

18) 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. 32nd Chinese Control Conference, pp. 5895-5901, July 2013, Xian, China.

19) 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.

20) 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.


1) 成慧,李小锟,并联增稳全向移动平台,发明专利,授权,2019年9月,201510674643.9

2) 成慧,卢雯,朱启源,一种基于Kinect的移动机器人避障方法,发明专利,授权,2018年6月,201610123781.2

3) 成慧,关宇卫,林倞,一种旋翼无人机移动目标自主跟踪装置及其控制方法,发明专利,授权,2018年6月,201610117943.1

4) 成慧,蒋海洋,江泽宇,一种全向移动机器人的动态避障方法,发明专利,授权,2018年2月,201510762702.8

5) 成慧,李小锟,黄志杰,一种陪跑机器人及其跟踪控制策略与运动控制方法,发明专利,授权,2018年1月,201410466889

6) 成慧,陈有生,一种基于机载传感器的小型四旋翼飞行器控制系统及方法,发明专利,授权,2016年6月,201410044861.X

7) 张晓武,郑泽丰,黄淼鑫,黄俊琳,邢敏桦,李伟彬,成慧,一种具有游戏和按摩的人机交互功能的装置,发明专利,授权,2018年7月,201610048765.1

8) 成慧,王睿,一种面向多架植保无人机编队协同喷施药物的无人机数量优化方法,发明专利,公开,2018年8月,201810111989

9) 林立山,成慧,许天野,黄晓,一种利用单目视觉和机载传感器旋翼无人机自主抓取方法,发明专利,公开,2018年6月,201711395466.6

10) 成慧,郑卓祺,何晋豪,陈崇雨,一种用于三维重建的快速深度恢复方法,发明专利,公开,2018年5月,201711400434.0

11) 成慧 , 杜径舟 , 吴华栋,一种基于深度图像的人物轮廓快速检测与跟踪方法,发明专利,公开,2017年11月,201710496491.7

12) 成慧,唐舜尧,卢德辉,陈佩,一种基于多传感器融合的无人机自主定位方法,发明专利,公开,2017年7月,201710103252.0

13) 成慧,许天野,张晓武,郑泽丰,刘中常,江泽宇,集群无人机分布式快速通信系统及通信方法,发明专利,公开,2017年3月,201611073568.1

14) 成慧,江泽宇,张晓武,刘中常,郑泽丰,一种基于三维动态避障的分布式飞行器编队实现方法,发明专利,公开,2017年2月,201611072303.X

15) 成慧,朱启源,一种基于激光测距仪的全向移动机器人的自主导航装置及其方法,发明专利,公开,2017年2月,201610236869 .5

16) 成慧,唐薇,一种基于三维连续动态手势识别的无人机人机交互方法,发明专利,公开,2016年7月,201610129987.6

17) 成慧,吴依莹,林倞,一种融合车载多传感器的SLAM装置及其控制方法,发明专利,公开,2016年7月,201610130038.X

18) 成慧,关宇卫,林立山,一种旋翼无人机移动目标自主跟踪稳压电路,实用新型专利,授权,2018年3月,201720520415.0

19) 成慧,朱启源,郑卓祺,一种基于激光测距仪的全向移动机器人电源电路,实用新型专利,授权,2017年12月,201720520874.9

20) 成慧,卢雯,一种基于Kinect避障的全向移动机器人,实用新型专利,授权,2016年11月,201620165625.8

21) 张晓武,郑泽丰,黄淼鑫,黄俊琳,邢敏桦,李伟彬,成慧,一种具有游戏和按摩的人机交互功能的装置,实用新型专利,授权,2016年8月,201620069577.2

22) 成慧,吴依莹,林倞,一种融合车载多传感器的SLAM装置,实用新型专利,授权,2016年6月,2016201752912

23) 成慧,李小锟,并联增稳全向移动平台,实用新型专利,授权,2016年1月,201520806150.1

24) 成慧,李小锟,基于标签识别的自动装水饮水机及其控制电路,实用新型专利,授权,2016年2月,201520720299.8

25) 成慧,李小锟,黄志杰,一种陪跑机器人,实用新型专利,授权,2014年11月,201420523600

26) 成慧,陈有生,一种基于机载传感器的小型四旋翼飞行器控制系统及方法,实用新型专利,授权,2014年7月,201420058481

27) 成慧,陈有生,黄永成,一种移动倒立摆小车装置,实用新型专利,授权,2013年7月,201320058049