RI | People | Cristian Dima

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Cristian Dima NREC Commercialization Specialist Associated centers: VASC and NREC Email address: csd@cmu.edu Office: NREC 225 Phone: (412) 681-4314 Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213

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Research interest keywords

artificial intelligence, computer vision, field robotics, image processing, information fusion, machine learning, mobile robots, object recognition, obstacle avoidance, pattern recognition, sensor fusion, statistics, and stereo vision

Current Labs & Groups

Vision and Mobile Robotics Lab - Our group studies fundamental problems of Computer Vision and ground mobile robotics.

Current Projects

Autonomous Agricultural Spraying - We are developing ground-based vehicles for pesticide application.	Crusher - NREC designed and developed the Crusher vehicle to support the UPI program's rigorous field experimentation schedule.
CTA Robotics - This project adresses the problems of scene interpretation and path planning for mobile robot navigation in natural environment.	UGCV PerceptOR Integrated - The UPI (UGCV PerceptOR Integrated) program integrates and enhances the results from UGCV and PerceptOR to increase the speed and autonomy of unmanned ground vehicles operating in complex terrain. By combining the inherent mobility of Spinner with advanced perception techniques including the use of learning and prior terrain data, the UPI program stresses system design across vehicle, sensors and software so that the strengths of one component compensate for the weaknesses of another.
Vehicle Safeguarding - The NREC designed, developed and tested a fully autonomous system capable of following pre-taught paths while detecting and avoiding obstacles.

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Active Learning for Outdoor Perception
  C. Dima
  doctoral dissertation, tech. report CMU-RI-TR-06-28, Robotics Institute, Carnegie Mellon University, May, 2006. [Abstract]
  Download: pdf [16834 KB] copyrighted

• Active Learning For Outdoor Obstacle Detection
  C. Dima and M. Hebert
  Proc. Science and Systems I, August, 2005.

• Classifier Fusion for Outdoor Obstacle Detection
  C. Dima, N. Vandapel, and M. Hebert
  International Conference on Robotics and Automation, IEEE, Vol. 1, April, 2004, pp. 665 - 671. [Abstract]
  Download: pdf [560 KB] copyrighted

• Enabling Learning From Large Datasets: Applying Active Learning to Mobile Robotics
  C. Dima, M. Hebert, and A. Stentz
  International Conference on Robotics and Automation, IEEE, Vol. 1, April, 2004, pp. 108 - 114. [Abstract]
  Download: pdf [1159 KB] copyrighted

• Sensor and Classifier Fusion for Outdoor Obstacle Detection: an Application of Data Fusion To Autonomous Off-Road Navigation
  C. Dima, N. Vandapel, and M. Hebert
  The 32nd Applied Imagery Recognition Workshop (AIPR2003), IEEE Computer Society, October, 2003, pp. 255 - 262. [Abstract]
  Download: pdf [234 KB] copyrighted

• A System for Semi-Autonomous Tractor Operations
  A. Stentz, C. Dima, C. Wellington, H. Herman, and D. Stager
  Autonomous Robots, Vol. 13, No. 1, July, 2002, pp. 87-103. [Abstract]

• Using Multiple Disparity Hypotheses for Improved Indoor Stereo
  C. Dima and S. Lacroix
  International Conference on Robotics and Automation, IEEE, Vol. 4, May, 2002, pp. 3347 - 3353. [Abstract]
  Download: pdf [700 KB] copyrighted