The Robotics Institute

My interests are in the broad area of scene understanding, particularly the problems of object detection and terrain classification from 3-D and image data.

My current research concerns spatially consistent classification of off-road terrain to better inform planning algorithms for navigation, as well as more fundamental questions about scale theory in non-uniformly sampled data. In the past, I've worked on a diverse set of problems ranging from mosaic-based localization, mapping and model-building, to multiple-object detection from image and range data, to ancillary technologies like performance metrics for vision algorithms and development of new flexible calibration techniques.