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Past Projects, Grouped by Center Affiliation

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Vision and Autonomous Systems Center (VASC)

2D Recognition - Illumination-Invariant Affine Templates for Object Recognition	2D->3D Face Model Construction - We develop a linear algorithm that uniquely recovers the 3D non-rigid shapes and poses of a human face from a 2D monocular video.
3D Head Motion Recovery in Real Time - A cylindrical model-based algorithm recovers the full motion (3D rotations and 3D translations) of the head in real time.	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 Optical Reconstruction of Cell Shape - Reconstruction of 3D cell shapes using optical microscope	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	AAM Fitting Algorithms - Many varieties of algorithms for fitting Cootes and Taylor's "Active Appearance Models" are developed.
AAMs with Occlusion - We are developing algorithms to construct AAMs from occluded training images and to efficiently fit AAMs to faces containing occlusion.	ALVINN-On-A-Chip - The ALVINN-on-a-chip project is developing an intelligent VLSI imaging sensor for road following
AUtomotive Run-Off-Road Avoidance system - To help avoid highway accidents, we have developed a vision-based lateral position estimation system called AURORA.	Active Sensor Control for Neural Net Lane Tracking - Panacea enables existing, fixed-camera lane-trackers such as ALVINN, to use steerable cameras without retraining.
Anthropocentric Robotics - The goal of this project is to improve human-robot interaction by using anthropological resesarch methods to study how people think about robots.	Assembly Plan from Observation
Automatic 3D Modeling from Range Images - A system for generating 3D models of real-world objects without manual or mechanical aids.	Automatic Construction of Active Appearance Models - An algorithm for the automatic (unsupervised) construction of an Active Appearance Model.
Automatic Segmentation of Proteomic Images - Segmentation and quantification of protein differences between two proteomic images.	Autonomous Cargo Trailer Transport System - automated system for handling USPS mail trailers
Autonomous Land Vehicle In a Neural Network - Neural network navigation	Bird Classification - Segmentation and classification of birds from images.
Bookstore Project - We are developing a robot wheelchair capable of navigating Carnegie Mellon's campus, traveling from my office to the Campus Bookstore to fetch a book autonomously.	Camera Assisted Meeting Event Observer - We are developing the Camera Assisted Meeting Event Observer (CAMEO) - a sensory system designed to provide an electronic agent with physical awareness of the real world.
Car Tracking - Algorithms for tracking cars and generating "bird's eye views" of the surrounding road scene.	Chimera - Multiprocessor Real-Time Operating System
Cohn-Kanade AU-Coded Facial Expression Database - An AU-coded database of over 2000 video sequences of over 200 subjects displaying various facial expressions.	Collaborative Agents - Cooperative robotics
Component Analysis for Data Analysis - Component analysis (CA) is a set of techniques to decompose a signal (e.g. audio, video) into interesting components useful for classification, clustering, modeling or visualization. This project extends traditional CA techniques and unifies them, providing a cleaner theoretical framework for its analysis.	Cooperative Stereo Vision - Development of stereo vision algorithms and supporting software.
CyberATV - We have developed two Unmanned Ground Vehicles (UGVs) (by retrofitting two Polaris all-terrain vehicles (ATVs)	CyberRAVE - We are developing a framework to run and simulate multiple mobile robot systems.
Depth From Focus and Defocus - Focus interpretation is a valuable alternative to stereo vision because it doesn't require solving correspondence for depth recovery.	DigitEyes - DigitEyes is a noninvasive, real-time tracking system for complex articulated figures like the human hand and body.
Distributed Architecture for Mobile Navigation - The Distributed Architecture for Mobile Navigation (DAMN) is a behavior-based architecture similar in spirit to the Subsumption Architecture.	Distributed Robotics Systems - CyberScout - Tactical surveillance collaborative robotics.
Distributed Surveillance & Sensing - Hierarchical, distributed, and active perception system	Exploitation of 3-D Data - The E3D project will develop technology to detect, characterize and recognize vehicular targets in 3-D data.
Face Databases - Miscellaneous face databases collected at CMU.	Face Detection Databases - A collection of databases for training and testing face detectors.
Face Model Building and Fitting - Techniques for building and fitting 2D and 3D models of human faces and heads.	Face and Facial Feature Tracking - Rigid Tracking of Faces and Non-Rigid Tracking of Facial Features
Factorization Method - We have developed a factorization method to robustly decompose an image stream into object shape and camera motion.	Fast VLSI Range-Image Sensor - We have built a high-performance VLSI sensor which uses a "cell-parallel" light-stripe algorithm to increase range-image frame rates by two orders of magnitude
Fractal Terrain Modeling - he goal of our research in fractal terrain modeling is to build dense terrain maps that accurately represent natural surfaces	Gaze Estimation - Algorithms for estimating where someone is looking
Gesture Based Programming - Programming by human demonstration	Grid based Approach for Navigation by Evidence Storage and Histogram Analysis - Grid based navigation
Gyrover - A Single-Wheel, Gyroscopically stabilized Robot	High Bandwidth Visual Feedback for Robust Manipulation - Sensor-based robotic system that can robustly perform manipulation tasks in dynamically varying and imprecisely calibrated environments.
Humanoid Vision - We are adding visual recognition and navigation to Honda's humanoid robots	I-Cubes - "ICES Cubes" are a class of modular self-reconfigurable bipartite robotic systems
Image-based Modeling and Rendering - Acquiring, manipulating, and rendering representations of real environments based on photographs.	Interactive Robot Programming - We are developing human-machine interfaces to allow non-experts to interact in a human manner with robots.
Knowledge-Guided Deformable Registration - Matching corresponding anatomical structures across individuals, detecting possible pathologies.	Learning Kernel Expansions for Image Classification - Learning non-linear representations of a signal in order to improve classification performance.
Light-fields - A variety of uses of light-fields in computer vision.	Lucas-Kanade 20 Years On - A Unifying Framework for Image Alginment
MARS2020 - This project seeks to develop softwares needed to program autonomous mobile robots in partially known, changing, and unpredictable environments.	Machine learning approaches to invert the Radiative Transfer Equation - Supervised learning approaches to invert the non-linear Radiative Transfer Equation in remote sensing problems.
Magic Eye - Computer vision based augmented reality systems	Massively Parallel Road Following - Autonomous roadway navigation using video images
Medical Imaging - Analysis of sequences of microscope images for the recovery of significant events and mutations in cell development	Millibots - Heterogeneous group of small autonomous robots with modular payloads and sensing platforms
Model Building - Surface registration is applied to a variety of problems, including object modelling and mapping of large areas.	Modeling from Reality - Techniques for constructing solid models from observations of real objects
Neural Network Gaze Tracking - We have developed an artificial neural network based gaze tracking system which can be customized to individual users.	No Hands Across America! - Vehicle drives across the United States
Non-Invasive Optical Imaging in vivo for Early Detection and Advanced Diagnosis of Cancer	Onika - Iconically programmed interface to Chimera
PIE Database - A database of 41,368 images of 68 people with Pose, Illumination, and Expression variation.	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.
Photometric Limits on Computer Vision - An investigation into the fundamental limits imposed on computer vision algorithms by imperfect or incomplete photometric information.	Physics-Based Inspection
Position Estimation - We estimate the position of a robot based on the position of natural landmarks in images.	Prediction & Planning - This project analyses the safety and interaction of moving objects in complex road scenes.
Ranger - We are developing a software control system for cross country autonomous vehicles called RANGER, for Real-time Autonomous Navigator with a Geometric Engine.	Rapidly Adapting Lateral Position Handler - adaptive steering
Real and Virtual Environment for Multiple Robots - General-purpose framework to run and simulate multiple mobile robot systems	Real-time Autonomous Car Chaser Operating Optimally at Night - RACCOON is a taillight-tracker that can drive an intelligent vehicle at night, when the road is not visible, by following other cars.
Reconfigurable Modular Manipulator System - Sensor-Based Manipulators	Reconfigurable Software Design for Robotic and Automation Applications - We are developing a novel software framework, based on the notion of dynamically reconfigurable real-time software
Reflectance Analysis for Computer Graphics Model Generation - New approach to obtain photometric information as well as geometric information of an object model automatically by observing a real object	Robot Improv - We are developing realistic dramatic behavior for mobile robotics.
Robotic Neurosurgery Probe Guide - Assists surgeons in choosing an incision site.	Robotics Lexicon Project - The goal of this project is the computer-aided collection, recording and dissemination of robotics terminology.
Sage - Sage is a completely autonomous mobile multimedia exhibit built on top of the XR4000 robot base by Nomadic Technologies, Inc.	Scene Flow - Methods of computing dense, non-rigid motion of 3D scenes.
Self-Mobile Space Manipulator - A simple, independently mobile, modular, low mass, low cost robot for space station EVA.	Setting Low-Level Vision Parameters - Techniques for feeding back information from high-level vision modules to low-level modules to improve the performance of the overall system.
Side Collision Warning System for Transit Buses - To develop a warning system which helps a driver of a transit bus to avoid side collisions with pedestrians, other vehicles, or stationary objects.	Simulated Highways for Intelligent Vehicle Algorithms - SHIVA is a microsimulation of a highway environment, designed specifically for testing intelligent vehicle tactical algorithms.
Simultaneous Localization and Mapping with Detection, Tracking, and Classification of Moving Objects - We are developing the algorithms to solve Simultaneous Localization and Mapping (SLAM) and Detection, Tracking and Classification of Moving Objects (DTCMO) problems for both indoor and outdoor applications.	Situational Awareness Planner Implementing Effective Navigation in Traffic - SAPIENT is a distributed approach to tactical decision making for intelligent vehicles.
Sonar Mapping for Underwater Vehicles - Elevation map refinement from bathymetric side-scan sonar images	Spatial Frequency - Our space / frequency representation has proven useful for solving the combined problem of segmentation and shape from texture.
Spatial Layout - Locate a set of objects in a housing unit	Spatio-Temporal View Interpolation - An image-based rendering algorithm for view interpolation across both space and time.
Supervised TeleRobotics using Incremental Polyhedral-Earth geometry - Teleoperating vehicles over low bandwidth links.	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.
Tele-Graffiti - A system that allows two or more users to communicate remotely via hand-drawn sketches.	Template Update - We are developing an algorithm to update template tracking that avoids the "drifting" problem of the naive update algorithm.
Tessellator - Space Shuttle Tile Inspector	Textureless Layers - Techniques for the 3D reconstruction of scenes consisting of constant intensity piecewise planar regions (layers).
Transformer Winding Automation - Increase the production speed and quality of transformer winding through sensing and automation	Transit Bus Collision Warning Systems - Research and integration of side and front collision warning systems for transit buses.
Unmanned Ground Vehicles - Developing autonomous navigation capabilities for mobile robots driving in complex, unstructured outdoor terrain.	Video Surveillance and Monitoring - cooperative multi-sensor military surveillance system
Video Verification of Identity - We address the problem of tracking object in video sequences and of recognizing the tracked objects in subsequent sequences.	Video-rate Stereo Machine - Multiple images obtained by multiple cameras to produce different baselines in lengths and in directions
Virtualized RealityTM - Construct views of real events from nearly any viewpoint	Vision Algorithm Compiler
Visual Position Estimator - The VIPER project aims at building a teleoperation interface which can analyze images sent by a mobile robot in space missions and estimate the position of the robot.	Z-Keying - A new image keying method which merges synthetic and real image in real time.
Zoom Lens Calibration - We have developed new algorithms and techniques to build models for cameras with automated zoom lenses