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Martial Hebert
Professor

Associated centers: VASC and CFR

Email address: hebert@ri.cmu.edu

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

For more information, see my personal homepage.

Jump to: Research interests | Keywords | Labs & groups | Projects | Publications

3-D Recognition and Model Construction

My group is investigating a number of algorithms and applications in the area of 3-D data manipulation and interpretation. This includes developing techniques for the automatic construction of three-dimensional models from large sets of views with applications to object model generation, interior mapping, and terrain map registration; and the recognition of 3-D objects in complex scenes from large databases of models.

Object Recognition in Images

We are also developing algorithms for recognizing objects in images. The approaches include nearest neighbor techniques for recognition of objects in general position in images, edge-based decision tree techniques specialized for recognizing wiry objects, and classification techniques for the identification of large classes of objects and for image segmentation in the context of natural scenes. All the approaches are based on learning classifiers from training exemplars; we are also exploring techniques for weakly-labeled training in order to reduce training overhead.

Mobile Robots

• Registration of terrain maps with sensor data for localization and navigation
• Processing of high-resolution 3-D terrain maps for traversability evaluation applied to route planning
• Fusion of algorithms and sensors for terrain characterization
• LADAR processing
• Scene analysis from LADAR and color data for landmark detection with applications to autonomous navigation in urban environments

This section last updated - January 1999.

computer vision and mobile robots

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

• 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.
• CTA Robotics - This project adresses the problems of scene interpretation and path planning for mobile robot navigation in natural environment.
• Event Detection in Videos - Our event detection method can detect a wide range of actions in video by correlating spatio-temporal shapes to over-segmented videos without background subtraction.
• Geometrically Coherent Image Interpretation - Understanding a 3D scene from a single image
• Quality of Life Technology Center - QoLT is a unique partnership between Carnegie Mellon and the University of Pittsburgh that brings together a cross-disciplinary team of technologists, clinicians, industry partners, end users, and other stakeholders to create revolutionary technologies that will improve and sustain the quality of life for all people.
• Tartan Racing - Carnegie Mellon University is teaming with General Motors to compete in the 2007 DARPA Urban Challenge.
• Urban Challenge

• Closing the Loop on Scene Interpretation
  D. Hoiem, A.A. Efros, and M. Hebert
  Proc. Computer Vision and Pattern Recognition (CVPR), June, 2008.
  Download: pdf [5469 KB] copyrighted

• Smoothing-based Optimization
  M. Leordeanu and M. Hebert
  Proceedings of CVPR, June, 2008. [Abstract]
  Download: pdf [4882 KB] copyrighted

• Towards Unsupervised Whole-Object Segmentation: Combining Automated Matting with Boundary Detection
  A. Stein, T. Stepleton, and M. Hebert
  IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June, 2008. [Abstract]
  Download: pdf [2537 KB] copyrighted

• Unsupervised Modeling of Object Categories Using Link Analysis Techniques
  G. Kim, C. Faloutsos, and M. Hebert
  IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June, 2008. [Abstract]
  Download: pdf [1593 KB] copyrighted

• LADAR-based Pedestrian Detection and Tracking
  L.E. Navarro-Serment, C. Mertz, N. Vandapel, and M. Hebert
  Proc. 1st. Workshop on Human Detection from Mobile Robot Platforms, IEEE ICRA 2008, IEEE, May, 2008. [Abstract]
  Download: pdf [1666 KB] copyrighted

• Segmentation of Salient Regions in Outdoor Scenes Using Imagery and 3-D Data
  G. Kim, D. Huber, and M. Hebert
  IEEE Workshop on Applications of Computer VIsion (WACV08), IEEE Computer Society, January, 2008. [Abstract]
  Download: pdf [3158 KB] copyrighted

• Event Detection in Crowded Videos
  Y. Ke, R. Sukthankar, and M. Hebert
  IEEE International Conference on Computer Vision, October, 2007. [Abstract]
  Download: pdf [1712 KB] copyrighted

• Learning to Find Object Boundaries Using Motion Cues
  A. Stein, D. Hoiem, and M. Hebert
  IEEE International Conference on Computer Vision (ICCV), October, 2007. [Abstract]
  Download: pdf [661 KB] copyrighted

• Recovering Occlusion Boundaries from a Single Image
  D. Hoiem, A. Stein, A.A. Efros, and M. Hebert
  International Conference on Computer Vision (ICCV), October, 2007. [Abstract]
  Download: pdf [2337 KB] copyrighted

• Recovering Surface Layout from an Image
  D. Hoiem, A.A. Efros, and M. Hebert
  International Journal of Computer Vision, Vol. 75, No. 1, October, 2007. [Abstract]
  Download: pdf [1887 KB] copyrighted