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Scott Thayer
Systems Scientist

No longer a member of RI.

Jump to: Labs & Groups | Projects | Publications

• 3D Computer Vision Group - We are developing techniques for representing, comparing, and matching general, free-form surfaces.
• Software Systems Group - We are developing modular, reliable, and maintainable software for defense and security applications.
• Vision and Mobile Robotics Lab - Our group studies fundamental problems of Computer Vision and ground mobile robotics.

• 3D Mine Mapping - We are developing robotic systems for automated 3D mine mapping.
• 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.
• 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.
• 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.
• Dismount Control Project - We are deveopling Dismount, a system used to track position of an individual and programming a robot to follow it.
• Expeditionary Target Identification and Exchange System - we are developing ETIES, a modular software system that provides for target identification, handoff, and engagement.
• Ferret - We have developed a mine mapping robot.
• Human Odometer - We are developing the Human Odometer - a system designed for situational awareness for firefighter tracking.
• PerceptOR (NREC) - We have developed a novel semi-autonomous unmanned ground vehicle (UGV) that includes a dedicated unmanned air vehicle - a "Flying Eye" - that flies ahead of the UGV to detect hazards before the onboard UGV sensors would.
• Pioneer - Robots for Chornobyl Stabilization

• Topological Exploration of Subterranean Environments
  D. Silver, D. Ferguson, A.C. Morris, and S. Thayer
  Journal of Field Robotics, Vol. 23, No. 6, July, 2006, pp. 395-415.

• Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
  A. Kelly, A. Stentz, O. Amidi, M.W. Bode, D. Bradley, A. Diaz-Calderon, M. Happold, H. Herman, R. Mandelbaum, T. Pilarski, P. Rander, S. Thayer, N.M. Vallidis, and R. Warner
  The International Journal of Robotics Research, Vol. 25, No. 5-6, May, 2006, pp. 449-483. [Abstract]
  Download: pdf [847 KB] copyrighted

• Recent Developments in Subterranean Robotics
  A.C. Morris, D. Ferguson, Z. Omohundro, D. Bradley, D. Silver, C. Baker, S. Thayer, W. Whittaker, and W.L. Whittaker
  Journal of Field Robotics, Vol. 23, No. 1, January, 2006, pp. 35-57. [Abstract]
  Download: pdf [2405 KB] copyrighted

• An Analysis of the Human Odometer
  U. Wong, C. Lyons, and S. Thayer
  tech. report CMU-RI-TR-05-47, Robotics Institute, Carnegie Mellon University, September, 2005. [Abstract]
  Download: pdf [558 KB] copyrighted

• Real-time image-based topological localization in large outdoor environments
  D. Bradley, R. Patel, N. Vandapel, and S. Thayer
  2005 IEEE International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 3670 - 3677. [Abstract]
  Download: pdf [304 KB] copyrighted

• Towards Topological Exploration of Abandoned Mines
  A.C. Morris, D. Silver, D. Ferguson, and S. Thayer
  Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005, pp. 2117 - 2123. [Abstract]
  Download: pdf [510 KB] copyrighted

• A regional point descriptor for global localization in subterranean environments
  D. Bradley, D. Silver, and S. Thayer
  IEEE conference on Robotics Automation and Mechatronics (RAM 2005), Vol. 1, December, 2004, pp. 440 - 445. [Abstract]
  Download: pdf [167 KB] copyrighted

• Autonomous exploration and mapping of abandoned mines
  S. Thrun, S. Thayer, W. Whittaker, C. Baker, W. Burgard, D. Ferguson, D. Haehnel, M. Montemerlo, A.C. Morris, Z. Omohundro, C. Reverte, and W.L. Whittaker
  IEEE Robotics and Automation Magazine, Vol. 11, No. 4, December, 2004, pp. 79-91. [Abstract]
  Download: pdf [2982 KB] copyrighted

• Scan Matching for Flooded Subterranean Voids
  D. Silver, D. Bradley, and S. Thayer
  IEEE conference on Robotics Automation and Mechatronics (RAM), Vol. 1, December, 2004, pp. 422 - 427. [Abstract]
  Download: pdf [341 KB] copyrighted

• Feature Extraction for Topological Mine Maps
  D. Silver, D. Ferguson, A.C. Morris, and S. Thayer
  Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vol. 1, September, 2004, pp. 773 - 779. [Abstract]
  Download: pdf [363 KB] copyrighted