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Matthew Deans
PhD Student

No longer a member of RI.

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I am primarily interested in localization and map building for mobile robots. My research has concentrated on bringing together concepts from computer vision, probability, and state estimation theory in order to develop methods for the construction of feature based maps using an omnidirectional camera and onboard robot odometry. More broadly my interests are in applying intelligent robotic perception to remote science in exreme environments on Earth, in space, and under the oceans.

computer vision, field robotics, image processing, mobile robots, and sensor fusion

FRC Seminar Committee

• Autonomous Rover Technologies - Pursuing breakthroughs and insights into fundamental aspects of robot perception, navigation, position estimation, and integrated exploratory science from a robot.
• Global Connection Project - The Global Connection Project develops software tools and technologies to increase the power of images to connect, inform, and inspire people to become engaged and responsible global citizens.
• Position Estimation - We estimate the position of a robot based on the position of natural landmarks in images.
• Robotic Antarctic Meteorite Search - Developing robots to search for meteorites in Antarctica, as an analog of a planetary exploration robot.

• Preliminary Results of Hydrogen Prospecting with a Planetary Rover
  R. Elphic, H. Utz, M.G. Bualat, M. Deans, T.W. Fong, L. Kobayashi, S. Lee, and V. To
  39th Lunar and Planetary Science Conference, No. 2400, March, 2008. [Abstract]
  Download: pdf [189 KB] copyrighted

• Robotic Site Survey at Haughton Crater
  T.W. Fong, M. Allan, X. Bouyssounouse, M.G. Bualat, M. Deans, L. Edwards, L. Flückiger, L. Keely, S.Y. Lee, D. Lees, V. To, and H. Utz
  9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space, February, 2008. [Abstract]
  Download: pdf [1570 KB] copyrighted

• Analog Lunar Robotic Site Survey at Haughton Crater
  T.W. Fong, M. Deans, M. Bualat, L. Flueckiger, M. Allan, H. Utz, S. Lee, V. To, and P. Lee
  Workshop on Enabling Exploration: The Lunar Outpost and Beyond, LEAG, No. 3058, October, 2007. [Abstract]
  Download: pdf [1023 KB] copyrighted

• Enabling Exploration: Robotic Site Surveys and Prospecting for Hydrogen
  R. Elphic, L. Kobayashi, M. Allan, M. Bualat, M. Deans, T.W. Fong, S. Lee, V. To, and H. Utz
  Workshop on Enabling Exploration: The Lunar Outpost and Beyond, LEAG, No. 3046, October, 2007. [Abstract]
  Download: pdf [218 KB] copyrighted

• Simulated Lunar Robotic Survey at Terrestrial Analog Sites
  T.W. Fong, M. Deans, P. Lee, and M. Bualat
  38th Lunar and Planetary Science Conference, No. 1487, March, 2007. [Abstract]
  Download: pdf [265 KB] copyrighted

• Bearings-Only Localization and Mapping
  M. Deans
  doctoral dissertation, tech. report CMU-RI-TR-05-41, Robotics Institute, Carnegie Mellon University, September, 2005. [Abstract]
  Download: pdf [8551 KB] copyrighted

• Experimental Comparison of Techniques for Localization and Mapping using a Bearings Only Sensor
  M. Deans and M. Hebert
  Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000. [Abstract]
  Download: pdf [597 KB], ps.gz [221 KB] copyrighted

• Invariant filtering for simultaneous localization and mapping
  M. Deans and M. Hebert
  IEEE International Conference on Robotics and Automation, April, 2000, pp. 1042-7. [Abstract]
  Download: pdf [117 KB], ps.gz [46 KB] copyrighted

• Search for Meteorites at Martin Hills and Pirrit Hills, Antarctica
  P. Lee, W.A. Cassidy, D. Apostolopoulos, D. Bassi, L. Bravo, H. Cifuentes, M. Deans, A. Foessel, S. Moorehead, M. Parris, C. Puebla, L. Pedersen, M. Sibenac, F. Valdés, N. Vandapel, and W.L. Whittaker
  Lunar and Planetary Science Conference XXX, 1999.
  Download: pdf [202 KB] copyrighted

• A Concept for Robotic Lunar South Pole Exploration
  M. Deans, S. Moorehead, B. Shamah, K. Shillcutt, and W.L. Whittaker
  Proceedings of the Sixth International Conference and Exposition on Engineering, Construction, and Operations in Space (Space '98), April, 1998, pp. 333-339.
  Download: pdf [204 KB], ps.gz [253 KB] copyrighted