RI | Research | Projects, Grouped by Subject | Past projects

Text only version of this site

Past Projects, Grouped by Subject

View: By Subject | Alphabetically | By Center Affiliation

Jump to: Artificial Intelligence | Graphics & Visualization | Human-Computer Interaction | Manipulation | Manufacturing & Inspection | Medical Applications | Mobile Robotics | Other Areas | Space Robotics | Systems & Control | Vision, Perception & Sensors | No Subject

Vision, Perception & Sensors

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 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 Video Reconstruction of Skeletal Anatomy - This project aims to reconstruct from video sequences the 3D shape of skeleton of mouse fetuses (for pharmaceutical research) stored inside vials with glycerol.	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.	Abacus: Automated Tree Measurement - We are developing low cost methods of nursery tree inventory automation.
ALVINN-On-A-Chip - The ALVINN-on-a-chip project is developing an intelligent VLSI imaging sensor for road following	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.
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 Segmentation of Proteomic Images - Segmentation and quantification of protein differences between two proteomic images.	AUtomotive Run-Off-Road Avoidance system - To help avoid highway accidents, we have developed a vision-based lateral position estimation system called AURORA.
Autonomous NonDestructive Inspector - Eddy current inspection of aircraft, precursor to CIMP	Autonomous Rover Technologies - Pursuing breakthroughs and insights into fundamental aspects of robot perception, navigation, position estimation, and integrated exploratory science from a robot.
Barrier-Based Stereoscopic Image Display System - variations on time-multiplexed parallax panoramagrams	Biotracking - We are developing algorithms for automatically tracking and modeling the behavior of multiagent systems.
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.
Cooperative Stereo Vision - Development of stereo vision algorithms and supporting software.	Copilot - Attention Technologies at NREC has developed the Copilot, the first device to accurately detect and track human drowsiness and provide a warning to the driver.
Crown Inspection Mobile Platform - Remote enhanced stereo visual inspection of aircraft	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
EnviroBlimp - This project is investigating the use of a solar powered, autonomous airship for extended duration environmental sampling missions.	Face Databases - Miscellaneous face databases collected at CMU.
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	Gesture Based Programming - Programming by human demonstration
Greenhouse Automation - Learning to Classify Plants Using Computer Vision	Ground Pressure Measurement System - measures ground pressure as experienced by a land mine
Headlamp Light Distribution Mapping - headlamp light distribution project for General Motors	High Speed Laser Scanner
High Speed Stereo Range Mapping - A practical, high-speed stereo vision system.	Humanoid Vision - We are adding visual recognition and navigation to Honda's humanoid robots
Image Feature Access Algorithms - algorithm for handling two dimensional graphical objects in document image conversion systems	Image-based Modeling and Rendering - Acquiring, manipulating, and rendering representations of real environments based on photographs.
Integrated Vision and Sensing for Human Sensory Augmentation - The project integrates vision algorithms with sensing technologies for low-power, low-latency, compact adaptive vision systems to provide augmentation of human sensory systems and enabling sensory driven information delivery	Intelligent Frame Buffer - A ring of networked computers, each of which has the ability to write to the same screen in real time.
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.
Life-Size Safer Haptic Environment - We are constructed large-scale haptic devices for life-size 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	Magnetic Levitation Haptic Interfaces - Interacting with 3-dimensional physically-based virtual environments using a six-degree-of-freedom magnetic levitation haptic device.
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.	Modeling from Reality - Techniques for constructing solid models from observations of real objects
Multidisciplinary University Research Initiative	Neural Network-Based Face Detection - A neural network-based face detection system
Operator Alertness System - We are developing an Operator Alertness System (OASYS), the first device to accurately detect and track human drowsiness and provide a warning to the driver.	Palm Pilot Robot Kit - The Palm Pilot Robot Kit is a design for an easy-to-build, fully autonomous robot controlled by a Palm handheld computer.
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.
PIE Database - A database of 41,368 images of 68 people with Pose, Illumination, and Expression variation.	Portable Wearable Movement Tracking System - We are developing a completely portable and wearable sensor system that accurately tracks and records human limb movements.
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.
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.
Sensory Transfer Systems for the Sensory Impaired - We are developing a sensory transfer system to assist and enhance the manipulation abilities of the sensory impaired.	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.
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.	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.	Tele-Graffiti - A system that allows two or more users to communicate remotely via hand-drawn sketches.
Terrain Classification - Using a multispectral camera, we classify terrain into categories such as grass, dirt, trees, and rock.	Terrain Mapping - We have developed an algorithm to build elevation maps from range images, accounting for the desired resolution and the current sensor orientation.
Three Camera Video & Synthesis - create high-definition stereoscopic images from one high-resolution color camera and two low-resolution monochrome cameras	Traces - Traces is a project for networked CAVEs (immersive VR spaces)
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.
Vehicle Sound Pattern Recognition - Vehicular and "tap test" sound recognition	Video Surveillance and Monitoring - cooperative multi-sensor military surveillance system
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	Vision-Guided Precision Assembly - Precision automated assembly using coarse-fine positioning.
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.	Visual-Haptic Interface to Virtual Environment - What You can See is What You Feel (WYSIWYF) virtual environment
Wide Area Prospecting Using Supervised Autonomous Robots - We are developing teams of telesupervised autonomous prospecting robots for the planned NASA Lunar and Martian colonies.	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