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Martin C. Martin
PhD Student

No longer a member of RI.
Associated center: FRC

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I am currently finishing my doctorate at Carnegie Mellon University's Robotics Institute. I received my B.Sc. in Cognitive Science and Artificial Intelligence from the University of Toronto in 1993. I have also been applying my twenty years of programming experience to my interest in robotic art and interactive entertainment.

I believe perception and interaction in real world environments are key stepping stones to true artificial intelligence. Real world environments cultivate strong adaptive abilities and often require complex behaviours, including the kinds we call intelligence. To this end, I build physically embodied computer vision systems and embed them in autonomous mobile robots.

I'm interested in frameworks and techniques that can scale to the generality, subtlety, robustness and complexity of the human brain and beyond. This means I face traditionally difficult issues head on. Human visual perception relies heavily on the integration of different depth cues, on task specific and semantic knowledge, the fusion of perceptions over time, and the like. I want to explore frameworks that embody these for small but relevant problems, and show promise of scaling to large-scale systems.

artificial intelligence, computer vision, genetic algorithms, mobile robots, and obstacle avoidance

My interest in Robotic Art lead to being a founding member of The Centre for Metahuman Exploration (www.metahuman.org), and my interest in interactive entertainment to head the 3D virtual nightclub Esc Online (www.esconline.org).

• Mobile Robot Lab - Engaging in long-term basic research in perception, control and planning for robots that navigate through complex indoor and outdoor spaces.

• 3D Grid Maps for Mobile Robot Perception - We are developing a 3D grid approach to robot mapping that loves clutter.

• Evolving visual sonar: Depth from monocular images
  M.C. Martin
  Pattern Recognition Letters: Evolutionary Computer Vision and Image Understanding, Vol. 27, No. 11, August, 2006, pp. 1174 - 1180. [Abstract]
  Download: pdf [187 KB] copyrighted

• The Simulated Evolution of Robot Perception
  M.C. Martin
  doctoral dissertation, tech. report CMU-RI-TR-01-32, Robotics Institute, Carnegie Mellon University, December, 2001. [Abstract]
  Download: pdf [5474 KB], ps.gz [9920 KB] copyrighted

• Visual Obstacle Avoidance Using Genetic Programming: First Results
  M.C. Martin
  Proceedings of the Genetic and Evolutionary Computation Conference, July, 2001. [Abstract]
  Download: pdf [228 KB] copyrighted

• Distributed Sensor Fusion for Object Position Estimation by Multi-Robot Systems
  A. Stroupe, M.C. Martin, and T. Balch
  IEEE International Conference on Robotics and Automation, May, 2001, IEEE, May, 2001. [Abstract]
  Download: pdf [742 KB] copyrighted

• Merging Gaussian Distributions for Object Localization in Multi-Robot Systems
  A. Stroupe, M.C. Martin, and T. Balch
  Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, Springer-Verlag, December, 2000. [Abstract]
  Download: pdf [473 KB] copyrighted

• Merging Probabilistic Observations for Mobile Distributed Sensing
  A. Stroupe, M.C. Martin, and T. Balch
  tech. report CMU-RI-TR-00-30, Robotics Institute, Carnegie Mellon University, December, 2000. [Abstract]
  Download: pdf [988 KB] copyrighted

• Breaking Out of the Black Box: A New Approach to Robot Perception
  M.C. Martin
  Mobile Robots XIII, November, 1998, pp. 126 - 137. [Abstract]
  Download: pdf [902 KB] copyrighted

• Breaking Out of the Black Box: A New Approach to Robot Perception
  M.C. Martin
  doctoral dissertation, Robotics Institute, Carnegie Mellon University, January, 1998. [Abstract]
  Download: pdf [518 KB], ps.gz [2195 KB] copyrighted

• Earth-Moon Communication from a Moving Lunar Rover
  D. Bapna, M.C. Martin, and W.L. Whittaker
  Proceedings of the 42nd International Instrumentation Symposium, May, 1996, pp. 613-622.
  Download: pdf [30 KB], ps.gz [31 KB] copyrighted

• Robot Evidence Grids
  M.C. Martin and H. Moravec
  tech. report CMU-RI-TR-96-06, Robotics Institute, Carnegie Mellon University, March, 1996. [Abstract]
  Download: pdf [778 KB], ps.gz [1039 KB] copyrighted