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Publications, Eric Krotkov

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• 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

• A line linker based on Frequent Statistics tools: Splitting lines with Chi-square tests and merging lines with the Akaike Information Criterion
  F. Cozman and E. Krotkov
  tech. report CMU-RI-TR-96-23, Robotics Institute, Carnegie Mellon University, December, 1996. [Abstract]
  Download: pdf [283 KB], ps.gz [180 KB], ps.z [196 KB] copyrighted

• Position Estimation from Outdoor Visual Landmarks for Teleoperation of Lunar Rovers
  F. Cozman and E. Krotkov
  Third IEEE Workshop on Applications of Computer Vision, December, 1996, pp. 156-161. [Abstract]
  Download: pdf [732 KB] copyrighted

• Fractal Modeling of Natural Terrain: Analysis and Surface Reconstruction with Range Data
  K. Arakawa and E. Krotkov
  Graphical Models and Image Processing, Vol. 58, No. 5, September, 1996, pp. 413-436. [Abstract]
  Download: pdf [1926 KB] copyrighted

• Analysis and synthesis of the sounds of impact based on shape-invariant properties of materials
  E. Krotkov, R. Klatzky, and N. Zumel
  Proceedings of the 13th International Conference on Pattern Recognition, Vol. 1, August, 1996, pp. 115 - 119. [Abstract]
  Download: pdf [487 KB] copyrighted

• Quasi-Bayesian Strategies for Efficient Plan Generation: Application to the Planning to Observe Problem
  F. Cozman and E. Krotkov
  Twelfth Conference Uncertainty in Artificial Intelligence, August, 1996, pp. 186-193.
  Download: pdf [192 KB], ps.gz [67 KB] copyrighted

• Safeguarded Teleoperation for Lunar Rovers
  E. Krotkov, R. Simmons, F. Cozman, and S. Koenig
  26th Int'l Conf. on Environmental Systems, July, 1996. [Abstract]
  Download: pdf [464 KB] copyrighted

• Dead reckoning for a lunar rover on uneven terrain
  Y. Fuke and E. Krotkov
  IEEE International Conference on Robotics and Automation, Vol. 1, April, 1996, pp. 411 - 416. [Abstract]
  Download: pdf [481 KB] copyrighted

• Perception, Planning, and Control for Autonomous Walking with the Ambler Planetary Rover
  E. Krotkov and R. Simmons
  Intl. Journal of Robotics Research, Vol. 15, No. 2, April, 1996, pp. 155-180.

• Safeguarded Teleoperation for Lunar Rovers: From Human Factors to Field Trials
  E. Krotkov, R. Simmons, F. Cozman, and S. Koenig
  IEEE Planetary Rover Technology and Systems Workshop, April, 1996. [Abstract]
  Download: pdf [173 KB], ps.gz [416 KB] copyrighted

• Robotics Laboratory Exercises
  E. Krotkov
  IEEE Transactions on Education, Vol. 39, No. 1, February, 1996, pp. 94-97. [Abstract]
  Download: pdf [776 KB] copyrighted

• Robotic Perception of Material: Experiments with Shape-Invariant Acoustic Measures of Material Type
  E. Krotkov, R. Klatzky, and N. Zumel
  Experimental Robotics IV, O. Khatib and K. Salisbury, ed., Springer-Verlag, 1996.
  Download: pdf [134 KB], ps.gz [86 KB] copyrighted

• Stereo Perception and Dead Reckoning for a Prototype Lunar Rover
  E. Krotkov, M. Hebert, and R. Simmons
  Autonomous Robots, Vol. 2, No. 4, December, 1995, pp. 313-331.
  Download: pdf [369 KB], ps.gz [889 KB] copyrighted

• Object Classification from Analysis of Impact Acoustics
  R. Durst and E. Krotkov
  IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, Vol. 1, August, 1995, pp. 90-95. [Abstract]
  Download: pdf [553 KB] copyrighted

• Robotic Perception of Material
  E. Krotkov
  Proceedings of the International Joint Conference Artifical Intelligence (IJCAI '95), August, 1995, pp. 88-94.
  Download: pdf [306 KB], ps.gz [999 KB] copyrighted

• Mapping and Positioning for a Prototype Lunar Rover
  E. Krotkov and M. Hebert
  IEEE International Conference on Robotics and Automation, Vol. 3, May, 1995, pp. 2913-2919. [Abstract]
  Download: pdf [733 KB] copyrighted

• Robot Localization Using A Computer Vision Sextant
  F. Cozman and E. Krotkov
  IEEE International Conference on Robotics and Automation, Vol. 1, May, 1995, pp. 106-111. [Abstract]
  Download: pdf [139 KB], ps.gz [158 KB] copyrighted

• Ambler: Performance of a Six-Legged Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  Acta Astonautica, Vol. 35, No. 1, 1995, pp. 75-81. [Abstract]
  Download: pdf [178 KB] copyrighted

• Dead Reckoning and Visual Landmarks for a Prototype Lunar Rover
  E. Krotkov, L. Chrisman, F. Cozman, and G. Heredia
  Proceedings of the IROS, 1995.

• Experience with Rover Navigation for Lunar-Like Terrains
  R. Simmons, E. Krotkov, L. Chrisman, F. Cozman, R. Goodwin, M. Hebert, L. Katragadda, S. Koenig, G. Krishnaswamy, Y. Shinoda, W.L. Whittaker, and P. Klarer
  Proceedings of the 1995 Conference on Intelligent Robots and Systems (IROS '95), IEEE, 1995, pp. 441 - 446. [Abstract]
  Download: pdf [244 KB], ps.gz [648 KB] copyrighted

• Impulsive Manipulation
  W. Huang, E. Krotkov, and M. Mason
  IEEE International Conference on Robotics and Automation (ICRA '95), 1995. [Abstract]
  Download: pdf [103 KB], ps.gz [78 KB] copyrighted

• Mixed-Mode Control of Navigation for a Lunar Rover
  R. Simmons, E. Krotkov, L. Chrisman, F. Cozman, R. Goodwin, M. Hebert, G. Heredia, S. Koenig, P. Muir, Y. Shinoda, and W.L. Whittaker
  Proceedings of the SSI/Princeton Space Manufacturing Conference, 1995.
  Download: pdf [290 KB], ps.gz [897 KB] copyrighted

• Mobile Robot Localization using a Computer Vision Sextant
  F. Cozman and E. Krotkov
  Proceedings of the IEEE International Conference on Robotics and Automation, 1995.
  Download: pdf [141 KB], ps.gz [158 KB] copyrighted

• Truncated Gaussians as Tolerance Sets
  F. Cozman and E. Krotkov
  Fifth Workshop on Artificial Intelligence and Statistics, 1995.
  Download: pdf [167 KB], ps.gz [62 KB] copyrighted

• Terrain Mapping for a Walking Planetary Rover
  E. Krotkov and R. Hoffman
  IEEE Trans. Robotics and Automation, Vol. 6, No. 10, December, 1994, pp. 728-739. [Abstract]
  Download: pdf [1376 KB] copyrighted

• Experience with Rover Navigation for Lunar-Like Terrains
  R. Simmons, E. Krotkov, M. Hebert, and L. Katragadda
  International Lunar Exploration Conference, November, 1994.
  Download: pdf [209 KB], ps.gz [545 KB], ps.z [565 KB] copyrighted

• Truncated Gaussians as Tolerance Sets
  F. Cozman and E. Krotkov
  tech. report CMU-RI-TR-94-35, Robotics Institute, Carnegie Mellon University, September, 1994. [Abstract]
  Download: pdf [446 KB], ps.gz [175 KB] copyrighted

• Stereo Driving and Position Estimation for Autonomous Planetary Rovers
  E. Krotkov, M. Hebert, M. Buffa, F. Cozman, and L. Robert
  IARP Workshop on Robotics in Space, July, 1994. [Abstract]
  Download: pdf [324 KB] copyrighted

• Lunar Rover Technology Demonstrations with Dante and Ratler
  E. Krotkov, J. Bares, L. Katragadda, R. Simmons, and W.L. Whittaker
  Proceedings of the International Symposium on Artificial Intelligence, Robotics, and Automation for Space, 1994.

• Results in Terrain Mapping for a Walking Planetary Rover
  E. Krotkov and R. Hoffman
  Proceedings of the 1993 International Conference on Advanced Robotics, November, 1993. [Abstract]
  Download: pdf [418 KB] copyrighted

• Autonomous Walking in Natural Terrain: A Retrospective on the Performance of the Ambler
  E. Krotkov and R. Simmons
  3rd International Symposium of Experimental Robotics III, October, 1993.
  Download: pdf [607 KB] copyrighted

• Local Perception for Mobile Robot Navigation in Natural Terrain: Two Approaches
  M. Hebert and E. Krotkov
  Workshop on Computer Vision for Space Applications, September, 1993.
  Download: pdf [893 KB] copyrighted

• Estimating Fractal Dimenions of Natural Terrain from Irregularly Spaced Data
  K. Arakawa and E. Krotkov
  Proceedings of International Conference on Intelligent Robots and Systems (IROS 93), Vol. 2, July, 1993, pp. 1364 - 1370. [Abstract]
  Download: pdf [656 KB] copyrighted

• Fractal Surface Reconstruction for Modeling Natural Terrain
  K. Arakawa and E. Krotkov
  IEEE Conference on Computer Vision and Pattern Recognition, June, 1993, pp. 314-320. [Abstract]
  Download: pdf [14 KB] copyrighted

• Object Classification from Acoustic Analysis of Impact
  R.S. Durst and E. Krotkov
  tech. report CMU-RI-TR-93-16, Robotics Institute, Carnegie Mellon University, June, 1993. [Abstract]
  Download: pdf [1287 KB] copyrighted

• Terrain Mapping for Outdoor Robots: Robust Perception for Walking in the Grass
  R.R. Hoffman and E. Krotkov
  IEEE International Conference on Robotics and Automation, Vol. 1, May, 1993, pp. 529 - 533. [Abstract]
  Download: pdf [430 KB] copyrighted

• Active Vision for Reliable Ranging: Cooperating Focus, Stereo, and Vergence
  E. Krotkov and R. Bajcsy
  International Journal of Computer Vision, Vol. 11, No. 2, 1993, pp. 187-203. [Abstract]
  Download: pdf [681 KB] copyrighted

• Autonomous Walking Results with the Ambler Hexapod Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  International Conference of Intelligent Autonomous Systems, 1993, pp. 46 - 53. [Abstract]
  Download: pdf [301 KB] copyrighted

• Modeling Natural Terrain Based on Fractal Geometry
  K. Arakawa and E. Krotkov
  Vol. J76-D-II, No. 12, 1993, pp. 2564 - 2577.
  Download: pdf [996 KB] copyrighted

• Fractal Surface Reconstruction with Uncertainty Estimation: Modeling Natural Terrain
  K. Arakawa and E. Krotkov
  tech. report CMU-CS-92-194, Computer Science Department, Carnegie Mellon University, October, 1992. [Abstract]
  Download: pdf [1148 KB] copyrighted

• Dead Reckoning Navigation For Walking Robots
  G.P. Roston and E. Krotkov
  Proceedings of the 1992 IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS '92), Vol. 1, July, 1992, pp. 607 - 612.
  Download: pdf [612 KB] copyrighted

• Terrain Mapping For Long-duration Autonomous Walking
  R. Hoffman and E. Krotkov
  Proceedings of the 1992 IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS '92), Vol. 1, July, 1992, pp. 563 - 568.
  Download: pdf [677 KB] copyrighted

• Performance of a six-legged planetary rover: power, positioning, and autonomous walking
  E. Krotkov and R. Simmons
  IEEE International Conference on Robotics and Automation, Vol. 1, May, 1992, pp. 169 - 174. [Abstract]
  Download: pdf [603 KB] copyrighted

• 3-D Measurements from Imaging Laser Radars: How Good Are They?
  M. Hebert and E. Krotkov
  International Journal of Image and Vision Computing, Vol. 10, No. 3, April, 1992, pp. 170-178. [Abstract]
  Download: pdf [1033 KB] copyrighted

• 1991 Year End Report Autonomous Planetary Rover
  E. Krotkov, R. Simmons, and W.L. Whittaker
  tech. report CMU-RI-TR-92-02, Robotics Institute, Carnegie Mellon University, February, 1992. [Abstract]
  Download: pdf [2782 KB] copyrighted

• 3-D measurements from imaging laser radars: how good are they?
  M. Hebert and E. Krotkov
  Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, Vol. 1, November, 1991, pp. 359 - 364. [Abstract]
  Download: pdf [690 KB] copyrighted

• Dead Reckoning Navigation for Walking Robots
  G.P. Roston and E. Krotkov
  tech. report CMU-RI-TR-91-27, Robotics Institute, Carnegie Mellon University, November, 1991. [Abstract]
  Download: pdf [1091 KB] copyrighted

• Perception of rugged terrain for a walking robot: true confessions and new directions
  R. Hoffman and E. Krotkov
  Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, Vol. 3, November, 1991, pp. 1505 - 1510. [Abstract]
  Download: pdf [505 KB] copyrighted

• Active perception of material and shape by a walking robot
  E. Krotkov
  Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), Vol. 1, June, 1991, pp. 37 - 42. [Abstract]
  Download: pdf [455 KB] copyrighted

• Ambler: a six-legged planetary rover
  E. Krotkov, J. Bares, T. Kanade, T. Mitchell, R. Simmons, and W.L. Whittaker
  Fifth International Conference on Advanced Robotics, 1991, Robots in Unstructured Environments (ICAR '91), Vol. 1, June, 1991, pp. 717 - 722. [Abstract]
  Download: pdf [553 KB] copyrighted

• An integrated walking system for the Ambler planetary rover
  R. Simmons and E. Krotkov
  IEEE International Conference on Robotics and Automation, Vol. 3, April, 1991, pp. 2086 - 2091. [Abstract]
  Download: pdf [730 KB] copyrighted

• Laser rangefinder calibration for a walking robot
  E. Krotkov
  IEEE International Conference on Robotics and Automation, Vol. 3, April, 1991, pp. 2568 - 2573. [Abstract]
  Download: pdf [614 KB] copyrighted

• Experimental Characterization of the Perceptron Laser Rangefinder
  I. Kweon, R. Hoffman, and E. Krotkov
  tech. report CMU-RI-TR-91-01, Robotics Institute, Carnegie Mellon University, January, 1991. [Abstract]
  Download: pdf [1486 KB] copyrighted

• Laser Rangefinder Calibration for a Walking Robot
  E. Krotkov
  tech. report CMU-RI-TR-90-30, Robotics Institute, Carnegie Mellon University, December, 1990. [Abstract]
  Download: pdf [1060 KB] copyrighted

• Stereo Ranging with Verging Cameras
  E. Krotkov, K. Henriksen, and R. Kories
  IEEE Trans. on Pattern Analysis and Machine Intelligence, Vol. 12, No. 12, December, 1990, pp. 1200-1205. [Abstract]
  Download: pdf [656 KB] copyrighted

• Active perception for legged locomotion: every step is an experiment
  E. Krotkov
  Proceedings of the 5th IEE International Symposium on Intelligent Control, Vol. 1, September, 1990, pp. 227 - 232. [Abstract]
  Download: pdf [410 KB] copyrighted

• Integrated System for Single Leg Walking
  R. Simmons, E. Krotkov, and G. Roston
  tech. report CMU-RI-TR-90-15, Robotics Institute, Carnegie Mellon University, July, 1990. [Abstract]
  Download: pdf [2170 KB] copyrighted

• Single Leg Walking with Integrated Perception, Planning, and Control
  E. Krotkov, R. Simmons, and C. Thorpe
  Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Vol. 1, July, 1990, pp. 97 - 102. [Abstract]
  Download: pdf [547 KB] copyrighted

• A Perception System for a Planetary Explorer
  M. Hebert, E. Krotkov, and T. Kanade
  Proc. of the 28th IEEE Conference on Decision and Control, Vol. 2, December, 1989, pp. 1151-1156. [Abstract]
  Download: pdf [606 KB] copyrighted

• Methods for Identifying Footfall Positions for a Legged Robot
  C. Caillas, M. Hebert, E. Krotkov, I. Kweon, and T. Kanade
  Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '89. The Autonomous Mobile Robots and Its Applications, (IROS '89), September, 1989, pp. 244 - 250.
  Download: pdf [986 KB] copyrighted

• Ambler: An Autonomous Rover for Planetary Exploration
  J. Bares, M. Hebert, T. Kanade, E. Krotkov, T. Mitchell, R. Simmons, and W.L. Whittaker
  IEEE Computer, Vol. 22, No. 6, June, 1989, pp. 18-26. [Abstract]
  Download: pdf [1004 KB] copyrighted

• Mobile robot localization using a single image
  E. Krotkov
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89), Vol. 2, May, 1989, pp. 978 - 983. [Abstract]
  Download: pdf [503 KB] copyrighted

• Terrain Mapping for a Roving Planetary Explorer
  M. Hebert, C. Caillas, E. Krotkov, I. Kweon, and T. Kanade
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89), Vol. 2, May, 1989, pp. 997-1002. [Abstract]
  Download: pdf [511 KB] copyrighted

• First Results in Terrain Mapping for a Roving Planetary Explorer
  E. Krotkov, C. Caillas, M. Hebert, I. Kweon, and T. Kanade
  Proc. NASA Conference on Space Telerobotics, January, 1989. [Abstract]
  Download: pdf [465 KB] copyrighted

• Terrain Roughness Measurement from Elevation Maps
  R. Hoffman and E. Krotkov
  SPIE Vol 1195 Mobile Robols IV, 1989. [Abstract]
  Download: pdf [634 KB] copyrighted

• Adaptive control of cooperating sensors: focus and stereo ranging with an agile camera system
  E. Krotkov and R. Kories
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '88), Vol. 1, April, 1988, pp. 548 - 553. [Abstract]
  Download: pdf [604 KB] copyrighted

• Cooperative focus and stereo ranging
  E. Krotkov and R. Kories
  Proceedings of the Fourth Conference on Artificial Intelligence for Applications, March, 1988, pp. 76 - 81. [Abstract]
  Download: pdf [644 KB] copyrighted

• An Agile Stereo Camera System for Flexible Image Acquisition
  E. Krotkov, J. Summers, and F. Fuma
  IEEE Journal of Robotics and Automation, Vol. 4, No. 1, February, 1988, pp. 108-113. [Abstract]
  Download: pdf [580 KB] copyrighted

• Focusing
  E. Krotkov
  Intl. Journal of Computer Vision, Vol. 1, No. 3, October, 1987, pp. 223-237.

• Visual Hyperacuity
  E. Krotkov
  Computer Vision, Graphics, and Image Processing, Vol. 33, No. 1, January, 1986, pp. 99-115.