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Daniel Huber
Systems Scientist

Associated center: VASC

Email address: dhuber@cs.cmu.edu
Office: NSH 4105
Phone: (412) 268-2991
Fax: 412-268-6436

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

My area of expertise is three dimensional (3D) computer vision, specifically using high accuracy range sensors such as laser scanners for problems in the areas of modeling, recognition, and visualization. My goal is to make progress toward solving the problem of scene understanding using 3D computer vision. I am particularly interested in methods that combine image-based approaches from traditional computer vision with 3D computer vision algorithms. I am interested in methods to extract high-level semantics from 3D models, such as models of buildings. The ability to reverse engineer buildings has enormous potential benefit in a variety of fields, ranging from robotics to civil engineering to homeland security. I am also interested in methods for processing and visualizing 3D data in real time for high-speed teleoperation telepresence applications. Finally, I am studying the effects of sensor noise and data artifacts on the accuracy of 3D models for precision measurement applications.

3-D perception, computer vision, mobile robots, range data, range finders, and teleoperation

• 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.

• 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

• Natural terrain classification using three-dimensional ladar data for ground robot mobility
  J. Lalonde, N. Vandapel, D. Huber, and M. Hebert
  Journal of Field Robotics, Vol. 23, No. 10, November, 2006, pp. 839 - 861. [Abstract]

• Rapid object indexing using locality sensitive hashing and joint 3D-signature space estimation
  B. Matei, Y. Shan, H.S. Sawhney, Y. Tan, R. Kumar, D. Huber, and M. Hebert
  IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 28, No. 7, July, 2006, pp. 1111 - 1126. [Abstract]
  Download: pdf [1389 KB] copyrighted

• 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

• Automatic Three-dimensional Underground Mine Mapping
  D. Huber and N. Vandapel
  The International Journal of Robotics Research, Vol. 25, No. 1, January, 2006, pp. 7-17. [Abstract]

• 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