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Past Projects, Grouped by Subject

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• 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 Reality^TM - 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