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Past projects, Martial Hebert

2D Recognition - Illumination-Invariant Affine Templates for Object Recognition	3D Object Recognition - We are applying our techniques for surface representation and matching to object recognition problems; for example, we have used 3D object recognition as part of the Artisan system for interior mapping.
3D Terrain Mapping - We are developing methods for building large-scale, topographic maps of unstructured outdoor environments.	3D Vision for Autonomous Navigation - We are developing object representations built from range images that can be used in landmark recognition and object matching
A Reactive System for Off-Road Autonomous Driving - We have developed an integrated obstacle avoidance system for on-road driving for avoiding discrete obstacles, or for off-road driving for avoiding untraversable regions of terrain.	A Spherical Representation for Recognition of 3-D Curved Objects - We are investigating a new approach for representing 3-D curved objects for recognition and modeling
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.	Automatic 3D Modeling from Range Images - A system for generating 3D models of real-world objects without manual or mechanical aids.
Autonomous Navigation System - The NREC is leading the development of perception and path planning within the Autonomous Navigation System program for the Future Combat System.	Cognitive Colonies - We are developing the basic principles that will best govern a group of robots trying to do useful work in difficult and hazardous environments.
Exploitation of 3-D Data - The E3D project will develop technology to detect, characterize and recognize vehicular targets in 3-D data.	High Speed Laser Scanner
Humanoid Vision - We are adding visual recognition and navigation to Honda's humanoid robots	Lunar Rover Initiative - first interactive space exploration event
MARS2020 - This project seeks to develop softwares needed to program autonomous mobile robots in partially known, changing, and unpredictable environments.	Medical Imaging - Analysis of sequences of microscope images for the recovery of significant events and mutations in cell development
Model Building - Surface registration is applied to a variety of problems, including object modelling and mapping of large areas.	Perception for Rock Sampling - We are developing a set of perception modules for extracting the potential samples from visual data, building models of their shapes, and using the models to pick up and store the sample.
Position Estimation - We estimate the position of a robot based on the position of natural landmarks in images.	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.
Sonar Mapping for Underwater Vehicles - Elevation map refinement from bathymetric side-scan sonar images	Tactical Mobile Robotics - As part of the DARPA Tactial Mobile Robotics program, we are developing techniques for semi-autonomous navigation of a small robot in urban environments.
Terrain Classification - Using a multispectral camera, we classify terrain into categories such as grass, dirt, trees, and rock.	Unmanned Ground Vehicles - Developing autonomous navigation capabilities for mobile robots driving in complex, unstructured outdoor terrain.
Video Verification of Identity - We address the problem of tracking object in video sequences and of recognizing the tracked objects in subsequent sequences.