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Eric Krotkov
Courtesy Adjunct Faculty (Adjunct)

No longer a member of RI.

Email address: krotkov@cytometrics.com

For more information, see my personal homepage.

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At Cytometrics, our research concentrates on medical image analysis. Key issues include segmentation, optical flow, and estimation.

3-D perception, computer vision, medical imaging, mobile robots, and sensors

• Ambler - We are developing the Ambler, a six-legged walking robot that addresses the challenges of exploring rugged terrains, acquiring samples, and avoiding dangerous situations.
• Fractal Terrain Modeling - he goal of our research in fractal terrain modeling is to build dense terrain maps that accurately represent natural surfaces
• Lunar Rover Initiative - first interactive space exploration event
• Robotic All Terrain Lunar Exploration Rover - Ratler is a battery-powered, four-wheeled, skid-steered vehicle used as a testbed to develop the remote driving techniques needed for a lunar mission.
• Terrain Mapping - We have developed an algorithm to build elevation maps from range images, accounting for the desired resolution and the current sensor orientation.

• Fast Software Image Stabilization with Color Registration
  C. Guestrin, F. Cozman, and E. Krotkov
  Proceedings of IROS 98, Vol. 1, October, 1998, pp. 19 - 24. [Abstract]
  Download: pdf [785 KB], ps.gz [2923 KB] copyrighted

• Solid-State Six Degree of Freedom, Motion Sensor for Field Robotic Applications
  A.M. Madni, D. Bapna, P. Levin, and E. Krotkov
  Proceedings of the 1998 Conference on Intelligent Robots and Systems (IROS '98), Vol. 3, October, 1998, pp. 1389 - 1398. [Abstract]
  Download: pdf [908 KB] copyrighted

• Image Stabilization for Feature Tracking and Generation of Stable Video Overlays
  C. Guestrin, F. Cozman, and E. Krotkov
  tech. report CMU-RI-TR-97-42, Robotics Institute, Carnegie Mellon University, November, 1997. [Abstract]
  Download: pdf [984 KB] copyrighted

• Evolution of a Prototype Lunar Rover: Addition to Laser-Based Hazard Detection, and Results from Field Trials in Lunar Analogue Terrain
  E. Krotkov, M. Hebert, L. Henriksen, P. Levin, M. Maimone, R. Simmons, and J. Teza
  Autonomous Robots, Vol. 7, No. 2, July, 1997, pp. 119 - 130. [Abstract]

• Position Estimation and Autonomous Travel by Mobile Robots in Natural Terrain
  E. Krotkov
  Kent Forum Book, July, 1997.
  Download: pdf [991 KB] copyrighted

• Depth from Scattering
  F. Cozman and E. Krotkov
  IEEE Conference on Computer Vision and Pattern Recognition, June, 1997. [Abstract]
  Download: pdf [269 KB], ps.gz [270 KB] copyrighted

• Field Trials of a Prototype Lunar Rover under Multi-Sensor Safeguarded Teleoperation Control
  E. Krotkov, M. Hebert, L. Henriksen, P. Levin, M. Maimone, R. Simmons, and J. Teza
  American Nuclear Society Seventh Topical Meeting on Robotics & Remote Systems, May, 1997, pp. 575 - 582. [Abstract]
  Download: pdf [292 KB] copyrighted

• Automatic Mountain Detection and Pose Estimation for Teleoperation of Lunar Rovers
  F. Cozman and E. Krotkov
  International Conference on Robotics and Automation, Vol. 3, April, 1997, pp. 2452-2457. [Abstract]
  Download: pdf [1037 KB] copyrighted

• Natural Terrain Hazard Detection with a Laser Rangefinder
  L. Henriksen and E. Krotkov
  IEEE International Conference on Robotics and Automation, Vol. 2, April, 1997, pp. 968-973. [Abstract]
  Download: pdf [810 KB] copyrighted

• Optimal Stereo Mast Configuration for Mobile Robots
  W. Huang and E. Krotkov
  International Conference on Robotics and Automation, Vol. 3, April, 1997, pp. 1946 - 1951. [Abstract]
  Download: pdf [65 KB], ps.gz [73 KB] copyrighted