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Frank Dellaert
PhD Student, CS

No longer a member of RI.

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After graduation, joined the faculty at the College of Computing, Georgia Institute of Technology. Please visit his new homepage.

My research focuses on developing computationally efficient algorithms to construct models of physical phenomena from massive amounts of noisy, ambiguous data. My approach is to pair theoretically sound, probabilistic, model-based reasoning with randomized approximation methods to attain efficiency.
I have exploited this theme in two major research projects prior to my thesis research: Texture-Based Tracking and Monte Carlo Localization (joint work with Dieter Fox). In my thesis research I exploit these same principles, but apply them to a problem of vastly greater complexity. In particular, I provide an efficient solution to the problem of building a 3D world model from 2D images, without correspondence.

artificial intelligence, computer vision, image processing, machine learning, mobile robots, sensor fusion, statistics, stereo vision, video systems, and visual tracking

• Biomedical Image Analysis - We are an interdisciplinary team interested in develping algorithms for biomedical image analysis under an image feature-based machine learning framework.
• Calibrated Imaging Lab - High precision vision and imaging lab
• Mobile Robot Lab - Engaging in long-term basic research in perception, control and planning for robots that navigate through complex indoor and outdoor spaces.
• NavLab - Autonomous Vehicles and Driver Assistance
• Robot Learning Lab - Pursuing research on robot learning, mobile robotics, multi-robotics, human robot interaction, and basic machine learning.

• A Statistical Quantification of Human Brain Asymmetry - Constructing image index features to retrieve medically similar cases from a multimedia medical database.
• Amelia - An improved Xavier
• Mercator - Cooperative Multi-Robot Mapping and Planning
• Minerva - Minerva is an autonomous robot that daily moves through crowds at the Smithsonian's National Museum of American History.
• Super-Resolved Texture Tracking - Video-stream object motion estimation and tracking.

• Detecting and Matching Repeated Patterns for Automatic Geo-tagging in Urban Environments
  G. Schindler, P. Krishnamurthy, R. Lublinerman, Y. Liu, and F. Dellaert
  Proceedings of CVPR 2008, June, 2008. [Abstract]
  Download: pdf [2568 KB] copyrighted

• How multirobot systems research will accelerate our understanding of social animal behavior
  T. Balch, F. Dellaert, A. Feldman, A. Guillory, C. Isbell, Z. Khan, S. Pratt, A. Stein, and H. Wilde
  Proceedings of the IEEE, Vol. 94, No. 7, July, 2006, pp. 1445-1463. [Abstract]
  Download: pdf [4633 KB] copyrighted

• Semantic based Biomedical Image Indexing and Retrieval
  Y. Liu, N. Lazar, W.E. Rothfus, F. Dellaert, A. Moore, J. Schneider, and T. Kanade
  Trends and Advances in Content-Based Image and Video Retrieval, Shapiro, Kriegel, and Veltkamp, ed., February, 2004. [Abstract]
  Download: pdf [1371 KB] copyrighted

• Linear 2D Localization and Mapping for Single and Multiple Robots
  F. Dellaert and A. Stroupe
  Proceedings of the IEEE International Conference on Robotics and Automation, 2002, IEEE, May, 2002. [Abstract]
  Download: pdf [229 KB] copyrighted

• Static Environment Recognition Using Omni-camera from a Moving Vehicle
  T. Yata, C. Thorpe, and F. Dellaert
  tech. report CMU-RI-TR-02-12, Robotics Institute, Carnegie Mellon University, 2002. [Abstract]
  Download: pdf [493 KB] copyrighted

• Classification-Driven Pathological Neuroimage Retrieval Using Statistical Asymmetry Measures
  Y. Liu, F. Dellaert, W.E. Rothfus, A. Moore, J. Schneider, and T. Kanade
  Proceedings of the 2001 Medical Imaging Computing and Computer Assisted Intervention Conference (MICCAI '01), Utrecht, The Netherlands, October, 2001.
  Download: pdf [452 KB], ps.gz [652 KB] copyrighted

• Monte Carlo EM for Data-Association and its Applications in Computer Vision
  F. Dellaert
  doctoral dissertation, tech. report CMU-CS-01-153, Computer Science Department, Carnegie Mellon University, September, 2001. [Abstract]
  Download: pdf [5326 KB], ps.gz [10028 KB] copyrighted

• Aligning Images Incrementally Backwards
  S. Baker, F. Dellaert, and I. Matthews
  tech. report CMU-RI-TR-01-03, Robotics Institute, Carnegie Mellon University, February, 2001.
  Download: pdf [244 KB] copyrighted

• Feature Correspondence: A Markov Chain Monte Carlo Approach
  F. Dellaert, S. Seitz, C. Thorpe, and S. Thrun
  Advances in Neural Information Processing Systems 13 (NIPS 2000), 2001. [Abstract]
  Download: pdf [191 KB], ps.gz [109 KB] copyrighted

• Robust Monte Carlo Localization for Mobile Robots
  S. Thrun, D. Fox, W. Burgard, and F. Dellaert
  Artificial Intelligence Journal, 2001. [Abstract]
  Download: pdf [3705 KB], ps.gz [1198 KB] copyrighted