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3D Computer Vision Group
This lab is no longer active.

Head: Martial Hebert
Contact: Martial Hebert (hebert@ri.cmu.edu)

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Location:
NSH A401
(412) 268 7931

Associated center: VASC

For more information, see this lab's homepage.

This lab has been superseded by the Vision and Mobile Robotics Lab

The domains we consider cover a range of scales, including small-scale object modeling and recognition, medium-scale modeling of building interiors, and large-scale environment mapping and localization. We exploit the fact that many aspects of these problems that are independent of scale, which allows us to use a common base of general algorithms. At the same time, we explore the issues specific to each domain.

From a sensing standpoint, we employ a variety of devices capable of measuring 3-D data. Current sensing systems include desktop laser rangefinders, field-deployable scanning and single-line laser rangefinders (mounted on autonomous vehicles), stereo camera systems, and a 3-D sonar system.

For representing free-form surfaces, we primarily use triangular meshes. Our group has developed new representations to aid in solving surface matching problems, including harmonic maps and spin-image signatures. These representations are examples of surface signatures, meaning they distinctively encode local properties of arbitrary points on a free-form surface.

Name - Title <Email Address>
• [Home] Owen Carmichael - Visiting Researcher
• Samuel Drulhe - Visiting Scholar
• [Home] Martial Hebert - Professor <hebert@ri.cmu.edu>
• [Home] Daniel Huber - Systems Scientist <dhuber@cs.cmu.edu>
• [Home] Andrew Johnson - PhD Student, RI
• Taku Osada - Visiting Scholar
• [Home] Dennis Strelow - PhD Student, CS
• Scott Thayer - Systems Scientist
• Dongmei Zhang - PhD Student, RI

• 3D Object Recognition - We are applying our techniques for surface representation and matching to object recognition problems; for example, we have used 3D object recognition as part of the Artisan system for interior mapping.
• 3D Terrain Mapping - We are developing methods for building large-scale, topographic maps of unstructured outdoor environments.
• Advanced Sensor Based Defect Management at Construction Sites - This research project builds on, combines and extends the advances in generating 3D environments using laser scanners.
• Automatic 3D Modeling from Range Images - A system for generating 3D models of real-world objects without manual or mechanical aids.
• Exploitation of 3-D Data - The E3D project will develop technology to detect, characterize and recognize vehicular targets in 3-D data.
• Humanoid Vision - We are adding visual recognition and navigation to Honda's humanoid robots
• MARS2020 - This project seeks to develop softwares needed to program autonomous mobile robots in partially known, changing, and unpredictable environments.
• Model Building - Surface registration is applied to a variety of problems, including object modelling and mapping of large areas.

• A Formalism for Utilization of Sensor Systems and Integrated Project Models for Active Construction Quality Control
  B. Akinci, F. Boukamp, C. Gordon, D. Huber, C. Lyons, and K. Park
  Automation in Construction, Vol. 15, No. 2, February, 2006, pp. 124--138. [Abstract]
  Download: pdf [2250 KB] copyrighted

• Assessment of visualization software for support of construction site inspection tasks using data collected from reality capture technologies
  C. Gordon, B. Akinci, F. Boukamp, and D. Huber
  Proceedings of the 2005 International Conference on Computing in Civil Engineering, American Society of Civil Engineers, July, 2005. [Abstract]
  Download: pdf [86 KB] copyrighted

• Automatic class selection and prototyping for 3-D object classification
  R.R. Donamukkala, D. Huber, A. Kapuria, and M. Hebert
  Proceedings of the 5th International Conference on 3-D Digital Imaging and Modeling (3DIM '05), IEEE Computer Society Press, June, 2005, pp. 64-71. [Abstract]
  Download: pdf [557 KB] copyrighted

• Linear Model Hashing and Batch RANSAC for Rapid and Accurate Object Recognition
  Y. Shan, B. Matei, H.S. Sawhney, R. Kumar, D. Huber, and M. Hebert
  Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2004), June, 2004. [Abstract]
  Download: pdf [262 KB] copyrighted

• Parts-based 3D object classification
  D. Huber, A. Kapuria, R.R. Donamukkala, and M. Hebert
  Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 04), June, 2004. [Abstract]
  Download: pdf [548 KB] copyrighted

• Recognizing Objects in Range Data Using Regional Point Descriptors
  A. Frome, D. Huber, R. Kolluri, T. Bulow, and J. Malik
  Proceedings of the European Conference on Computer Vision (ECCV), May, 2004. [Abstract]
  Download: pdf [1216 KB] copyrighted

• Toward Laser Pulse Waveform Analysis for Scene Interpretation
  N. Vandapel, O. Amidi, and J.R. Miller
  IEEE International Conference on Robotics and Automation, Vol. 1, May, 2004, pp. 950 - 955. [Abstract]
  Download: pdf [386 KB] copyrighted

• Combining Reality Capture Technologies for Construction Defect Detection: A Case Study
  C. Gordon, F. Boukamp, D. Huber, E. Latimer, K. Park, and B. Akinci
  EIA9: E-Activities and Intelligent Support in Design and the Built Environment, 9th EuropIA International Conference, October, 2003, pp. 99-108. [Abstract]
  Download: pdf [115 KB] copyrighted

• Robust Extraction of Multiple Structures from Non-uniformly Sampled Data
  R. Unnikrishnan and M. Hebert
  Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 2, October, 2003, pp. 1322-29. [Abstract]
  Download: pdf [423 KB] copyrighted

• Toward Generating Labeled Maps from Color and Range Data for Robot Navigation
  C. Pantofaru, R. Unnikrishnan, and M. Hebert
  Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 2, October, 2003, pp. 1314 - 1321. [Abstract]
  Download: pdf [427 KB] copyrighted