Carnegie Mellon University
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Vision and Autonomous Systems Center (VASC)
The Robotics Institute
Carnegie Mellon University
5000 Forbes Avenue
Pittsburgh PA 15213-3890
Past Projects [Current Projects]
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 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 Computational Model for Repeated Pattern Perception using Crystallographic Groups
This project is developing a computational model for repeated pattern perception that is able to automatically classify a given pattern into one of the 7 frieze groups, one of the 17 wallpaper groups, or one of the 230 space groups.
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
A Statistical Quantification of Human Brain Asymmetry
Constructing image index features to retrieve medically similar cases from a multimedia medical database.
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.
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.
An improved Xavier
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.
Cooperative Stereo Vision
Development of stereo vision algorithms and supporting software.
Cyberinfrastructure for Human-Robot Interaction Research
We seek to provide the field of Human-Robot Interaction (HRI) with collaborative mechanisms and methods for evaluation and exploratory analysis.
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 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.
Evaluation of MSP Extraction Algorithms
The aim of this project is to evaluate different state-of-art algorithms for automatic extraction of the mid-sagital plane in brain images.
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 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
Facial Asymmetry as a Biometric
We are investigating the effect of facial asymmetry measurement statistics as a biometric under expression variations.
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
Grid based Approach for Navigation by Evidence Storage and Histogram Analysis
Grid based navigation
Hallucinating Faces
A super-resolution algorithm with a strong face-specifc prior.
Humanoid Vision
We are adding visual recognition and navigation to Honda's humanoid robots
Image-based Modeling and Rendering
Acquiring, manipulating, and rendering representations of real environments based on photographs.
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.
A variety of uses of light-fields in computer vision.
Lucas-Kanade 20 Years On
A Unifying Framework for Image Alginment
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
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.
Neural Network-Based Face Detection
A neural network-based face detection system
No Hands Across America!
Vehicle drives across the United States
Non-Invasive Optical Imaging in vivo for Early Detection and Advanced Diagnosis of Cancer
PIE Database
A database of 41,368 images of 68 people with Pose, Illumination, and Expression variation.
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.
Physics-Based Inspection
Position Estimation
We estimate the position of a robot based on the position of natural landmarks in images.
Predicting Risk of Alzheimer\'s Disease From Shape Features
The goal of this project is to use computer vision techniques to help predict risk of Alzheimer's Disease in elderly patients.
Prediction & Planning
This project analyses the safety and interaction of moving objects in complex road scenes.
Quality of Life Technology
QoLT is a unique partnership between Carnegie Mellon and the University of Pittsburgh that brings together a cross-disciplinary team of technologists, clinicians, industry partners, end users, and other stakeholders to create revolutionary technologies that will improve and sustain the quality of life for all people.

Note: The QoLT Project has been superseded by the QoLT Center.
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-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.
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
Reflective Agents with Distributed Adaptive Reasoning
The focus of the RADAR project is to build a cognitive assistant that embodies machine learning technology that is able to function without requiring expert tuning or specially trained users.
Reliability of Mobile Robot Teams
We are developing analytical methods for predicting mission failure probabilities for mobile robot teams given mission specifications and component reliability data.
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 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.
Spatio-Temporal View Interpolation
An image-based rendering algorithm for view interpolation across both space and time.
Super-Resolution Optical Flow
A super-resolution algorithm for complex non-rigid scenes.
Supervised TeleRobotics using Incremental Polyhedral-Earth geometry
Teleoperating vehicles over low bandwidth links.
TRESTLE: Autonomous Assembly by Teams of Coordinated Robots
The TRESTLE project is developing the architectural framework necessary to coordinate robots performing complex assembly projects.
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.
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.
Space Shuttle Tile Inspector
Textureless Layers
Techniques for the 3D reconstruction of scenes consisting of constant intensity piecewise planar regions (layers).
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
We are developing a robot who has personality and with whom it is easy to communicate.
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.
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