M.Q.-H. Meng

The Chinese University of Hong Kong, Hong Kong, Hong Kong

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Publications (325)78.4 Total impact

  • [Show abstract] [Hide abstract]
    ABSTRACT: Data association is a fundamental problem in multisensor fusion, tracking, and localization. The joint compatibility test is commonly regarded as the true solution to the problem. However, traditional joint compatibility tests are computationally expensive, are sensitive to linearization errors, and require the knowledge of the full covariance matrix of state variables. The paper proposes a posterior-based joint compatibility test scheme to conquer the three problems mentioned above. The posterior-based test naturally separates the test of state variables from the test of observations. Therefore, through the introduction of the robot movement and proper approximation, the joint test process is sequentialized to the sum of individual tests; therefore, the test has O(n) complexity (compared with O(n2) for traditional tests), where n denotes the total number of related observations. At the same time, the sequentialized test neither requires the knowledge to the full covariance matrix of state variables nor is sensitive to linearization errors caused by poor pose estimates. The paper also shows how to apply the proposed method to various simultaneous localization and mapping (SLAM) algorithms. Theoretical analysis and experiments on both simulated data and popular datasets show the proposed method outperforms some classical algorithms, including sequential compatibility nearest neighbor (SCNN), random sample consensus (RANSAC), and joint compatibility branch and bound (JCBB), on precision, efficiency, and robustness.
    IEEE Transactions on Industrial Informatics 01/2014; 10(1):331-339. · 8.79 Impact Factor
  • Source
    Lujia Wang, Ming Liu, Max Q.-H. Meng
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    ABSTRACT: Networked multi-robot systems benefit from a large amount of heterogeneous online data on the server, and enable poor-equipped robots to fulfill complex tasks. However, as a major bottleneck of practical network, the limited bandwidth is lack of consideration. In the matter of fact, resource competition is pervasive for practical networked robotic applications. We propose a multi-robot negotiation mechanism in this paper. It includes a game theory based auction for allocating resources that are shared among robot clients, such as the network bandwidth. We validate the proposed strategy by a joint-surveillance scenario. Experimental results demonstrate that the proposed framework achieves excellent Quality of Service (QoS) performance under the condition of resource competition, where a shared network with limited bandwidth is optimized.
    Proceeding of the IEEE International Conference on Information and Automation, Yinchuan, China; 08/2013
  • Kun Li, M Meng
    Information and Automation (ICIA), 2013 IEEE International Conference on; 08/2013
  • Tianyu Yang, Baopu Li, Chao Hu, M.Q.-H. Meng
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    ABSTRACT: This paper introduces a novel tracking framework for robots that can adapt various appearance changes of object and also owns the ability of reacquisition after drift. Two classifiers, LaRank and Online Random Ferns, are adopted to realize this tracking algorithm. The former one maintains the adaptive tracking using a Condensation-based method with an online support vector machine (SVM) as observation model, which also provides the reliable image patch samples to detector for updating. The other one is in charge of the task of detection in order to redetect the object when the target drifts. We also present a refinement strategy to improve the tracker's performance by discarding the support vector corresponding to possible wrong updates by a matching template after re-initialization. The experiments on benchmark dataset compare our tracking method with several other state-of-the-art algorithms, demonstrating a promising performance of the proposed framework.
    Robotics and Automation (ICRA), 2013 IEEE International Conference on; 01/2013
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    ABSTRACT: For the demands of surgical navigation, this paper proposes some simple 3-D point reconstruction methods. These methods regard the perpendicular feet on back-projection lines as the measurements of a 3-D point, since these feet are close to the 3-D point. And then the methods utilize the distance between 3-D point and camera and error propagation rules to adjust the weights of the feet. Finally, the weighted average of these feet is taken as the final estimation for the 3-D point. They are easy to implement, and can be used in both biocular systems and multiocular systems. Especially, as these methods have closed-form solutions, their errors can be predicted by using error propagation rules. Experiments show that they are faster and more accurate than iterative methods and their error covariance matrix can be exactly predicted.
    IEEE/ASME Transactions on Mechatronics 01/2013; 18(1):366-375. · 3.14 Impact Factor
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    ABSTRACT: Natural orifice translumenal endoscopic surgery (NOTES) is the latest surgery paradigm in which the abdominal cavity is accessed via the body's natural orifice, e.g., vagina, mouth, etc. Compared with traditional laparoscopic surgery, NOTES completely eliminates the skin incision and therefore benefits the patients in several aspects such as less post-operative pain, shorter recovery period, fewer complications, etc. Due to the unique characteristics of NOTES, instruments for traditional laparoscopic surgery are not suitable for NOTES and hence novel hardware design is necessary for facilitating system development. This paper gives an overview of the state of the arts in the development of surgical instruments for NOTES, particularly with a focus on the promising robotic endoscopes.
    Journal of Mechanics in Medicine and Biology 01/2013; 13(02):1350044. · 0.76 Impact Factor
  • Yixuan Yuan, M.Q.-H. Meng
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    ABSTRACT: Wireless capsule endoscopy (WCE) is an advanced, patient-friendly imaging technique that enables close examination of the entire small intestine. Since it usually takes hours to review all the video data even by professional clinician, the automatic computer-aided technique is highly demanded. This paper presents a hierarchical methodology for detecting key frames in WCE images. In the first stage, we choose key frames whose changes of information entropies take the local maximum by automatic threshold to cut the images into several sub clots. Then AP clustering method is applied in each clot to extract the second stage key frames. Our method maintains the temporal information and maximizes the content distance. Experimental results demonstrate that the proposed techniques achieve inspiring performance with fidelity 0.9206 and compression ratio 0.9125 on average.
    Mechatronics and Automation (ICMA), 2013 IEEE International Conference on; 01/2013
  • Ran Zhou, Baopu Li, Hongmei Zhu, M.Q.-H. Meng
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    ABSTRACT: Wireless capsule endoscopy (WCE) is a recently developed revolutionary medical technology which records the video of human's digestive tract noninvasively. However, reviewing a WCE video is a tired and time-consuming task for clinicians. Thus, WCE video automatic segmentation methods are emerging to reduce the review time for clinicians. In our previous work, a two-level WCE video segmentation approach has been proposed, which provides a novel approach to localize the boundaries more exactly and efficiently. However, it has an unsatisfactory performance in the small intestine/large intestine boundary detection. In this paper, we propose new features and an improved classifier to improve the previous two-level segmentation algorithm. In the rough level, color feature is utilized to draw a dissimilarity curve and an approximate boundary has been obtained. At the same time, training data for fine level can be directly labeled and collected between the two approximate boundaries of organs to overcome the difficulty of training data acquisition. In the fine level, a novel color uniform local binary pattern (CULBP) algorithm is proposed, which includes two kinds of patterns, color norm patterns and color angle patterns. The CULBP feature is more robust to variation of illumination and more discriminative for classification. Moreover, in order to elevate the performance of SVM classifier we proposed the Ada-SVM classifier which using RBFSVMs as component of Adaboost classifier. At last, an analysis of classification results of the Ada-SVM classifier is carried out to segment the WCE video into several meaningful parts, stomach, small intestine and large intestine. The experiments demonstrate a promising performance of the proposed method. The average precision and recall are as high as 91.37% and 88.50% in stomach/small intestine classification, 90.35% and 97.28% in small intestine/ large intestine classification.
    Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on; 01/2013
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    ABSTRACT: In this paper, a novel method is proposed to recover and extract the original signal parameters from the saturated multifrequency sinusoid wave signals. It makes use of the zero-crossing characteristics of the multifrequency sinusoid signals, to collect valid samples in unsaturated parts of the signals. On these valid samples, the amplitudes and phases of the specific original ac sensing signals can be linearly computed by applying the least square method. The simulation results show that the proposed method has satisfactory accuracy even with very large saturation ( ~ 10 times of the saturation limit) and large dc offset, which frees us from the restriction to avoid the signal saturation problem in the signal acquisition. The method is realized by the software algorithm, and no longer requires the common used hardware-the phase sensitive detection circuit. Hence when it is applied to the magnetic coupling system, we will obtain much simpler system composition, higher accuracy, and high execution speed.
    IEEE Sensors Journal 01/2013; 13(11):4569-4575. · 1.48 Impact Factor
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    S Song, W Qiao, B Li, C Hu, H Ren, M Meng
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    ABSTRACT: We propose an efficient and effective magnetic tracking method in this paper. The tracking method is based on tri-axial transmitting coils and uniaxial sensing of the generated electromagnetic field. Three mutually orthogonal transmitting coils are excited simultaneously with alternating current (AC) signals of different frequency. At a specific position, the sum of amplitude square of the three different frequency sensing signals will reach maximum when the uniaxial coil points to the tri-axial transmitting coils. The maximum value is reciprocally proportional to the cube of the distance between the transmitter and receiver. By processing the output signals from the uniaxial sensing coil when it is rotating, the direction and distance between the sensing coil and transmitting coils can be decided with an efficient method with low calculation overheads. Experiments were conducted to validate the proposed method.
    IEEE Transactions on Magnetics 01/2013; PP(99):1-1. · 1.42 Impact Factor
  • Kun Li, M Q -H Meng, Xijun Chen
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    ABSTRACT: In robot perception system, distinguishing objects from complex environment is a difficult problem if without prior information. In this article, we study three cases that a robot may encounter in real-world application, no movable object, one object, or multiple objects, and then provide an object segmentation strategy through manipulation for each condition. The result shows that this method can provide sufficient prior information for accurate objects segmentation from robot's observation. Through this unsupervised algorithm, a robot can learn objects around reliably.
    Intelligent Control and Automation (WCICA), 2012 10th World Congress on; 07/2012
  • Source
    Lujia Wang, Max Q.-H Meng
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    ABSTRACT: Cloud robotics is currently driving interest in both academia and industry, since it would allow robots to off-load computation intensive tasks, combine with multiple robots and even download new skills. Bandwidth allocation is the fundamental and dominant task for resource sharing among users in cloud robotics. However, many technical challenges are still outstanding, since incast congestion happens in high-bandwidth and low-latency networks, when multiple synchronized users send data to a same receiver in parallel [1]. In this paper, we introduce a resource allocation framework for cloud robotics, and propose a game-theoretic problem formulation and linear pricing scheme of bandwidth allocation, we also implement a congestion control algorithm by using optimal parameters derived from the game-theoretic algorithm. Simulation results demonstrate that the proposed mechanism achieves better performance of bandwidth allocation in cloud robotics scenarios.
    Intelligent Control and Automation (WCICA), 2012 10th World Congress on; 06/2012
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    ABSTRACT: ECG and pulse signal are important human physiological signals, where the information of human cardiovascular system can be deduced. The analysis of ECG and pulse signal is great significant for prevention and detection of cardiovascular diseases. Traditional pulse signal acquisition systems only can acquire the unilateral pulse signal. However, the pulse signals in two arms could be different due to the different geometries of two arms' blood vessels, the difference of vascular elasticity and the characteristics of surrounding tissues, and so on. In this paper, multi-channel signals acquisition system based on C8051f410 microcontroller is proposed. The single channel ECG signal and dual channel pulse signals can be synchronously acquired, displayed and analyzed. This system can be used for future study on the diseases related to the different structures and functions of bilateral vascular systems.
    Information and Automation (ICIA), 2012 International Conference on; 01/2012
  • Yanan Fu, Tingfang Yan, D.W. Zhang, M.Q.-H. Meng
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    ABSTRACT: A novel approach for image enhancement is presented in this paper. The enhancement result is achieved by combination the means of contrast enhancement, image smoothing and image sharpening techniques into one partial differential equation (PDE) framework. In the image evolution process, three kinds of operation execute at the same time, using the regularization parameters to adjust the proportion of each operation in the evolution process, ultimately achieve the desired results. The simulations for both gray and color images are given in the experiments. Experimental results demonstrate that the method substantially improves the subjective quality of the enhanced images.
    Information and Automation (ICIA), 2012 International Conference on; 01/2012
  • Baopu Li, M.Q.-H. Meng, Chao Hu
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    ABSTRACT: Digestive tract cancer is a big threat to human and capsule endoscopy (CE) is a relatively new technology to detect the diseases in the small bowel. Since polyp is an important symptom of digestive cancer it is important to detect them by computerized methods. In this work, we comparatively investigate computer aided detection for polyps by machine learning based methods that are built upon color textural features. Four textural features, wavelet based features, color wavelet covariance, rotation invariant uniform local binary pattern and complete local binary pattern, are utilized to characterize the textural features in CE images, and performance of them are extensively studied in three different color spaces, that is, RGB, HSI and Lab color spaces.
    Intelligent Control and Automation (WCICA), 2012 10th World Congress on; 01/2012
  • Tingting Liu, M.Q.-H. Meng
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    ABSTRACT: In this paper, we study on the cooperation between Nao and WAM, and give a system to do some home-service tasks. Nao works as an intermediary to interact with the user and recognize the intention of the user. Then it sends the corresponding commands to WAM. WAM works as an actuator to receive the commands and carry out the corresponding tasks. This system can be used to provide service for the elderly persons or persons with physical disabilities. To communicate with Nao, three mediums, such as speech, color and touch are used as commands. Experiments are carried out to analyze the reliability of them.
    Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on; 01/2012
  • Baopu Li, Max Q.-H. Meng
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    ABSTRACT: Wireless capsule endoscopy (WCE) has been widely applied to diagnose diseases in human digestive tract due to its advantage that it can directly view the entire small intestine for the first time. However, many WCE images are rather dark, which challenge to analysis and diagnosis exerted by a clinician. To overcome this shortcoming so as to assist physicians, especially computer aided detection, we propose an adaptive contrast diffusion to enhance WCE images. Based on local analysis of WCE images, we put forward a new idea of contrast diffusion. Then, we employ contrast diffusion to enhance WCE images with an adaptive choice of the conductance parameter, which plays an important role in diffusion. Extensive experiments demonstrate that this new method exhibits promising performance of enhancement for WCE images, leading into a better visualization as well as an improved classification performance of WCE images using computerized methods.
    J. Visual Communication and Image Representation. 01/2012; 23:222-228.
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    ABSTRACT: Tracking control is a fundamentally important issue for robot and motor systems, where smooth velocity commands are desirable for safe and effective operation. In this paper, a novel biologically inspired tracking control approach to real-time navigation of a nonholonomic mobile robot is proposed by integrating a backstepping technique and a neurodynamics model. The tracking control algorithm is derived from the error dynamics analysis of the mobile robot and the stability analysis of the closed-loop control system. The stability of the robot control system and the convergence of tracking errors to zeros are guaranteed by a Lyapunov stability theory. Unlike some existing tracking control methods for mobile robots whose control velocities suffer from velocity jumps, the proposed neurodynamics-based approach is capable of generating smooth continuous robot control signals with zero initial velocities. In addition, it can deal with situations with a very large tracking error. The effectiveness and efficiency of the proposed neurodynamics-based tracking control of mobile robots are demonstrated by experimental and comparison studies.
    IEEE Transactions on Industrial Electronics 01/2012; 59(8):3211-3220. · 5.17 Impact Factor
  • Q. He, N. Wei, B. Li, C. Hu, M.Q.-H. Meng
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    ABSTRACT: This study presents a quadri-ocular tracking system, which is based on PC and infrared reflective markers, for a spine surgical robot. The authors mainly focus on four tasks of the system. First of all, a two-step strategy for point correspondence of the multi-ocular system is introduced. The strategy enhances the traditional epipolar constrain for a bi-ocular system, and it decomposes the point correspondence of the multi-ocular system into several bi-ocular systems and corresponding steps to improve the speed of the system. Second, this paper proposes a fast algorithm of three-dimensional point reconstruction based on the perpendicular feet of back-projection lines. A marker constraint is also dug up to solve the combination problem of target recognition. Finally, this study uses a generalised inverse and singular value decomposition-based method to locate the pose of the target. The experiments show that the speed and accuracy of the system are satisfactory.
    IET Computer Vision 01/2012; 6(5):435-441. · 0.64 Impact Factor
  • R. Zhang, Y. Zhang, C. Hu, M.Q.-H. Meng, Q. He
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    ABSTRACT: This study concerns the problem of asynchronous H∞ filtering in relation to a class of two-dimensional (2D) Markov jump systems. The asynchronous phenomenon is considered to occur in a random way, and the mismatch behaviour is determined by a stochastic variable with Bernoulli random binary distribution. A stochastic parameter-dependent approach is proposed for the design of H∞ filter such that, for any admissible random mismatch, the filtering error system is mean-square asymptotically stable and has a prescribed H∞ performance level. Moreover, a key relationship of the H∞ performance between the results presented and the classical mode-dependent, mode-independent filtering is demonstrated. A numerical example is provided to illustrate the effectiveness and advantage of the developed theoretical results.
    IET Control Theory and Applications 01/2012; 6(7):979-984. · 1.72 Impact Factor

Publication Stats

1k Citations
78.40 Total Impact Points


  • 2003–2012
    • The Chinese University of Hong Kong
      • Department of Electronic Engineering
      Hong Kong, Hong Kong
  • 2010
    • Harbin Engineering University
      Charbin, Heilongjiang Sheng, China
    • University of Science and Technology of China
      Luchow, Anhui Sheng, China
  • 2009–2010
    • Northeastern University (Shenyang, China)
      Feng-t’ien, Liaoning, China
    • Hohai University
      Nan-ching, Jiangsu Sheng, China
    • Johns Hopkins University
      • Department of Biomedical Engineering
      Baltimore, MD, United States
  • 2007–2010
    • Chinese Academy of Sciences
      Peping, Beijing, China
    • Hefei University of Technology
      Luchow, Anhui Sheng, China
    • Xi'an Jiaotong University
      Ch’ang-an, Shaanxi, China
    • Shenzhen Institute of information technology
      Shen-ch’üan-shih, Zhejiang Sheng, China
  • 2007–2009
    • Dalian University of Technology
      Lü-ta-shih, Liaoning, China
  • 2008
    • Ningbo University
      Ning-po, Zhejiang Sheng, China
  • 2004–2008
    • Northeast Institute of Geography and Agroecology
      • Institute of Intelligent Machines
      Beijing, Beijing Shi, China
    • The University of Calgary
      • Department of Electrical and Computer Engineering
      Calgary, Alberta, Canada
    • Huazhong University of Science and Technology
      Wu-han-shih, Hubei, China
  • 2002–2008
    • Carleton University
      • Department of Systems and Computer Engineering
      Ottawa, Ontario, Canada
  • 1999–2008
    • University of Guelph
      • School of Engineering
      Guelph, Ontario, Canada
  • 2006
    • Chongqing University of Posts and Telecommunications
      Ch’ung-ch’ing-shih, Chongqing Shi, China
  • 1995–2003
    • University of Alberta
      • Department of Electrical and Computer Engineering
      Edmonton, Alberta, Canada
  • 2001–2002
    • Dalhousie University
      • Department of Electrical & Computer Engineering
      Halifax, Nova Scotia, Canada