Home/Martial Hebert

Martial Hebert

Director, Robotics Institute
Email: mhebert@andrew.cmu.edu
Office: NSH 4113
Phone: (412) 268-5704
Personal Homepage: http://www.cs.cmu.edu/~hebert/
  • Efficient techniques for object/category recognition
  • Use of contextual information, in particular 3-D geometry from images, for scene analysis
  • Symbolic knowledge for scene interpretation and reconstruction
  • Motion analysis for feature extraction and event detection in video clips
  • Efficient tools for the analysis of dynamic 3-D point clouds (“3-D signal processing”)
  • Perception for autonomous systems
  • Detection, tracking, and prediction in dynamic environments
Growing a Brain: Fine-Tuning by Increasing Model Capacity
Yuxiong Wang, Deva Ramanan and Martial Hebert

Conference Paper, IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), July, 2017
Learning robust failure response for autonomous vision based flight
Dhruv Mauria Saxena, Vince Kurtz and Martial Hebert

Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 5824-5829, June, 2017
Gradient Boosting on Stochastic Data Streams
Hanzhang Hu, Wen Sun, Arun Venkatraman, Martial Hebert and J. Andrew (Drew) Bagnell

Conference Paper, International Conference on Artificial Intelligence and Statistics (AISTATS 2017), April, 2017
Learning from Small Sample Sets by Combining Unsupervised Meta-Training with CNNs
Yuxiong Wang and Martial Hebert

Conference Paper, 30th Conference on Neural Information Processing Systems (NIPS), December, 2016
Shuffle and Learn: Unsupervised Learning using Temporal Order Verification
Ishan Misra, C. Lawrence Zitnick and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), October, 2016
Improved Learing of Dynamics for Control
Arun Venkatraman, Roberto Capobianco, Lerrel Pinto, Martial Hebert, Daniele Nardi and J. Andrew (Drew) Bagnell

Conference Paper, International Symposium on Experimental Robotics, October, 2016
A Discriminative Framework for Anomaly Detection in Large Videos
Allison Del Giorno, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), No. 2016, October, 2016
Learning to Learn: Model Regression Networks for Easy Small Sample Learning
Yuxiong Wang and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), October, 2016
A Discriminative Framework for Anomaly Detection in Large Videos
Allison Del Giorno, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), October, 2016
Improved Learing of Dynamics for Control
Arun Venkatraman, Roberto Capobianco, Lerrel Pinto, Martial Hebert, Daniele Nardi and J. Andrew (Drew) Bagnell

Conference Paper, International Symposium on Experimental Robotics, October, 2016
Integrated intelligence for human-robot teams
Jean Hyaejin Oh, Menglong Zhu, Sangdon Park, Thomas M. Howard, Matthew R. Walter, Daniel Barber, Oscar Romero, Arne Suppe, Luis Ernesto Navarro-Serment, Felix Duvallet, Abdeslam Boularias, Jerry Vinokurov, Terence Keegan, Robert Dean, Craig Lennon, Barry Bodt, Marshall Childers, Jianbo Shi, Kostas Daniilidis, Nick Roy, Christian Lebiere, Martial Hebert and Anthony (Tony) Stentz

Conference Paper, The 2016 International Symposium on Experimental Robotics (ISER 2016), October, 2016
Learning to Learn: Model Regression Networks for Easy Small Sample Learning
Yuxiong Wang and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), October, 2016
Shuffle and Learn: Unsupervised Learning using Temporal Order Verification
Ishan Misra, C. Lawrence Zitnick and Martial Hebert

Conference Paper, European Conference on Computer Vision (ECCV), October, 2016
Inference Machines for Nonparametric Filter Learning
Arun Venkatraman, Wen Sun, Martial Hebert, Byron Boots and J. Andrew (Drew) Bagnell

Conference Paper, 25th International Joint Conference on Artificial Intelligence (IJCAI-16), July, 2016
Introspective Perception: Learning to Predict Failures in Vision Systems
Shreyansh Daftry, Sam Zeng, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), July, 2016
Inference Machines for Nonparametric Filter Learning
Arun Venkatraman, Wen Sun, Martial Hebert, Byron Boots and J. Andrew (Drew) Bagnell

25th International Joint Conference on Artificial Intelligence (IJCAI-16), July, 2016
Introspective Perception: Learning to Predict Failures in Vision Systems
Shreyansh Daftry, Sam Zeng, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), July, 2016
Cross-stitch Networks for Multi-task Learning
Ishan Misra, Abhinav Shrivastava, Abhinav Gupta and Martial Hebert

Conference Paper, IEEE Conference on Computer Vision and Pattern Recognition, June, 2016
Cross-stitch Networks for Multi-task Learning
Ishan Misra, Abhinav Shrivastava, Abhinav Gupta and Martial Hebert

Conference Paper, IEEE Conference on Computer Vision and Pattern Recognition, June, 2016
Robust Monocular Flight in Cluttered Outdoor Environments
Shreyansh Daftry, Sam Zeng, Arbaaz Khan, Debadeepta Dey, Narek Melik-Barkhudarov, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, ArXiv, April, 2016
Blending of brain-machine interface and vision-guided autonomous robotics improves neuroprosthetic arm performance during grasping
John E. Downey, Jeffrey M. Weiss, Katharina Muelling, Arun Venkatraman, Jean-Sebastien Valois, Martial Hebert, J. Andrew (Drew) Bagnell, Andrew B. Schwartz and Jennifer L. Collinger

Journal Article, Journal of Neuro Engineering and Rehabilitation, Vol. 13, No. 1, March, 2016
Online Instrumental Variable Regression with Applications to Online Linear System Identification
Arun Venkatraman, Wen Sun, Martial Hebert, J. Andrew (Drew) Bagnell and Byron Boots

Conference Paper, Thirtieth AAAI Conference on Artificial Intelligence (AAAI-16), February, 2016
Learning by Transferring from Unsupervised Universal Sources
Yuxiong Wang and Martial Hebert

Conference Paper, Thirtieth AAAI Conference on Artificial Intelligence (AAAI-16), February, 2016
Inferring door locations from a teammate’s trajectory in stealth human-robot team operations
Jean Hyaejin Oh, Luis Ernesto Navarro-Serment, Arne Suppe, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2015
Autonomy Infused Teleoperation with Application to BCI Manipulation
Katharina Muelling, Arun Venkatraman, Jean-Sebastien Valois, John Downey, Jeffrey Weiss, Shervin Javdani, Martial Hebert, Andrew B. Schwartz, Jennifer L. Collinger and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, Proceedings of Robotics: Science and Systems, July, 2015
Vision and Learning for Deliberative Monocular Cluttered Flight
Debadeepta Dey, Kumar Shaurya Shankar, Sam Zeng, Rupesh Mehta, M. Talha Agcayazi, Christopher Eriksen, Shreyansh Daftry, Martial Hebert and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, Field and Service Robotics (FSR), June, 2015
Watch and Learn: Semi-Supervised Learning of Object Detectors from Videos
Ishan Misra, Abhinav Shrivastava and Martial Hebert

Conference Paper, Carnegie Mellon University, Computer Vision and Pattern Recognition (CVPR), June, 2015
Model Recommendation: Generating Object Detectors From Few Samples
Yuxiong Wang and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), June, 2015
Semi-Dense Visual Odometry for Monocular Navigation in Cluttered Environment
Shreyansh Daftry, Debadeepta Dey, Harsimrat Sandhawalia, Sam Zeng, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA) workshop on Recent Advances in Sensing and Actuation for Bioinspired Agile Flight, May, 2015
Visual Chunking: A List Prediction Framework for Region-Based Object Detection
Nicholas Rhinehart, Jiaji Zhou, Martial Hebert and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), May, 2015
Improving Multi-step Prediction of Learned Time Series Models
Arun Venkatraman, Martial Hebert and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI-15), January, 2015
Toward Mobile Robots Reasoning Like Humans
Jean Hyaejin Oh, Arne Suppe, Felix Duvallet, Abdeslam Boularias, Jerry Vinokurov, Luis Ernesto Navarro-Serment, Oscar Romero, Robert Dean, Christian Lebiere, Martial Hebert and Anthony (Tony) Stentz

Conference Paper, Carnegie Mellon University, Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI), January, 2015
Self-explanatory Sparse Representation for Image Classification
Bao-Di Liu, Yuxiong Wang, Bin Shen, Yu-Jin Zhang and Martial Hebert

Conference Paper, Carnegie Mellon University, European Conference on Computer Vision (ECCV), September, 2014
Unfolding an Indoor Origami World
David Fouhey, Abhinav Gupta and Martial Hebert

Conference Paper, Carnegie Mellon University, European Conference on Computer Vision (ECCV), July, 2014
Pose Machines: Articulated Pose Estimation via Inference Machines
Varun Ramakrishna, Daniel Munoz, Martial Hebert, J. Andrew (Drew) Bagnell and Yaser Ajmal Sheikh

Conference Paper, Carnegie Mellon University, European Conference on Computer Vision, July, 2014
Visual Sensing for Developing Autonomous Behavior in Snake Robots
Hugo Ponte, Max Queenan, and Christoph Mertz, Matthew J. Travers, Florian Enner, Martial Hebert and Howie Choset

Conference Paper, Carnegie Mellon University, 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), June, 2014
Data-driven Exemplar Model Selection
Ishan Misra, Abhinav Shrivastava and Martial Hebert

Conference Paper, Carnegie Mellon University, Winter Conference on Applications of Computer Vision (WACV), March, 2014
Fast and Scalable Approximate Spectral Matching for Higher-Order Graph Matching
Soonyong Park, Sung-kee Park and Martial Hebert

Journal Article, Carnegie Mellon University, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 36, No. 3, pp. 479-492, March, 2014
Physical Querying with Multi-Modal Sensing
Iljoo Baek, Taylor Stine, Denver Dash, Fanyi Xiao, Yaser Ajmal Sheikh, Yair Movshovitz-Attias, Mei Chen, Martial Hebert and Takeo Kanade

Conference Paper, Carnegie Mellon University, Winter Conference on Applications of Computer Vision, March, 2014
Predicting Failures of Vision Systems
Peng Zhang, Jiuling Wang, Ali Farhadi, Martial Hebert and Devi Parikh

Conference Paper, Carnegie Mellon University, Computer Vision and Pattern Recognition (CVPR) 2014, March, 2014
Trinocular Geometry Revisited
Jean Ponce and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. Computer Vision and Pattern Recognition (CVPR), March, 2014
Patch to the Future: Unsupervised Visual Prediction
Jacob Walker, Abhinav Gupta and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. Computer Vision and Pattern Recognition, March, 2014
On Image Contours of Projective Shapes
Jean Ponce and Martial Hebert

Conference Paper, European Conference on Computer Vision, January, 2014
HerbDisc: Towards Lifelong Robotic Object Discovery
Alvaro Collet Romea, Bo Xiong, Corina Gurau, Martial Hebert and Siddhartha Srinivasa

Conference Paper, International Journal of Robotics Research (IJRR), January, 2014
Motion Words for Videos
Ekaterina H. Taralova, Fernando De la Torre Frade and Martial Hebert

Conference Paper, European Conference on Computer Vision, January, 2014
Data-Driven 3D Primitives for Single Image Understanding
David Fouhey, Abhinav Gupta and Martial Hebert

Conference Paper, Carnegie Mellon University, International Conference on Computer Vision, December, 2013
Style-aware Mid-level Representation for Discovering Visual Connections in Space and Time
Yong Jae Lee, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, International Conference on Computer Vision (ICCV). 2013., December, 2013
3DNN: Viewpoint Invariant 3D Geometry Matching for Scene Understanding
Scott Satkin and Martial Hebert

Conference Paper, Carnegie Mellon University, International Conference on Computer Vision (ICCV). 2013., December, 2013
Coherent Occlusion Reasoning for Instance Recognition
Edward Hsiao and Martial Hebert

Conference Paper, Carnegie Mellon University, 2nd IAPR Asian 2013, December, 2013
Gradient Networks: Explicit Shape Matching Without Extracting Edges
Edward Hsiao and Martial Hebert

Conference Paper, Carnegie Mellon University, AAAI Conference on Artificial Intelligence (AAAI), July, 2013
Efficient Temporal Consistency for Streaming Video Scene Analysis
Ondrej Miksik, Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), May, 2013
Efficient 3-D Scene Analysis from Streaming Data
Hanzhang Hu, Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), May, 2013
Multi-Armed Recommendation Bandits for Selecting State Machine Policies for Robotic Systems
Pyry K. Matikainen, Padraig Michael Furlong, Rahul Sukthankar and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. ICRA, May, 2013
Exploiting Domain Knowledge for Object Discovery
Alvaro Collet Romea, Bo Xiong, Corina Gurau, Martial Hebert and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), May, 2013
Enhancing robot perception using human teammates
Jean Hyaejin Oh, Arne Suppe, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the 12th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2013), May, 2013
An Architecture for Online Semantic Labeling on UGVs
Arne Suppe, Luis Ernesto Navarro-Serment, Daniel Munoz, Drew Bagnell, Arne Suppe, Luis Ernesto Navarro-Serment, Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. SPIE 8741, Unmanned Systems Technology XV, April, 2013
Learning Monocular Reactive UAV Control in Cluttered Natural Environments
Stephane Ross, Narek Melik-Barkhudarov, Kumar Shaurya Shankar, Andreas Wendel, Debadeepta Dey, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, March, 2013
Shape-Based Instance Detection Under Arbitrary Viewpoint
Edward Hsiao and Martial Hebert

Book Section/Chapter, Shape Perception in Human and Computer Vision: An Interdisciplinary Perspective, January, 2013
Moving object detection with laser scanners
Christoph Mertz, Luis Ernesto Navarro-Serment, David Duggins, Jay Gowdy, Robert MacLachlan, Paul Rybski, Aaron Steinfeld, Arne Suppe, Christopher Urmson, Nicolas Vandapel, Martial Hebert and Chuck Thorpe

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 30, No. 1, pp. 17 - 43, January, 2013
Learning Monocular Reactive UAV Control in Cluttered Natural Environments
Stephane Ross, Narek Melik-Barkhudarov, Kumar Shaurya Shankar, Andreas Wendel, Debadeepta Dey, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, No. 1211.169, November, 2012
Co-inference for Multi-modal Scene Analysis
Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, European Conference on Computer Vision (ECCV), October, 2012
Activity Forecasting
Kris M. Kitani, Brian D. Ziebart, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, European Conference on Computer Vision, October, 2012
Object Recognition Robust to Imperfect Depth Data
David Fouhey, Alvaro Collet Romea, Martial Hebert and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, 2nd Workshop on Consumer Depth Cameras for Computer Vision in conjunction with ECCV 2012, October, 2012
Connecting Missing Links: Object Discovery from Sparse Observations using 5 Million Product Images
Hongwen Kang, Martial Hebert, Alexei A. Efros and Takeo Kanade

Conference Paper, Carnegie Mellon University, Proceedings of the 12th European Conference on Computer Vision, October, 2012
How important are “Deformable Parts” in the Deformable Parts Model?
Santosh Kumar Divvala, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, Workshop on Parts and Attributes, in conjunction with ECCV2012, October, 2012
Detecting Interesting Events using Unsupervised Density Ratio Estimation
Yuichi Ito, Kris M. Kitani, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, 3rd IEEE International Workshop on Analysis and Retrieval of Tracked Events and Motion in Imagery Streams at ECCV2012, October, 2012
An Integrated System for Autonomous Robotics Manipulation
J. Andrew (Drew) Bagnell, Felipe Cavalcanti, Lei Cui, Thomas Galluzzo, Martial Hebert, Moslem Kazemi, Matthew Klingensmith, Jacqueline Libby, Tommy Liu, Nancy Pollard, Mikhail Pivtoraiko, Jean-Sebastien Valois and Ranqi Zhu

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2955-2962, October, 2012
Data-Driven Scene Understanding from 3D Models
Scott Satkin, Jason Lin and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the 23rd British Machine Vision Conference (BMVC), September, 2012
Object Instance Sharing by Enhanced Bounding Box Correspondence
Santosh Kumar Divvala, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, British Machine Vision Conference (BMVC), September, 2012
Detection of Parking Spots Using 2D Range Data
Jifu Zhou, Luis Ernesto Navarro-Serment and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the 15th IEEE Intelligent Transportation Systems Conference 2012, September, 2012
Contextual Sequence Optimization with Application to Control Library Optimization
Debadeepta Dey, Tommy Liu, Martial Hebert and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, Robotics Science and Systems, August, 2012
Classi er Ensemble Recommendation
Pyry K. Matikainen, Rahul Sukthankar and Martial Hebert

Conference Paper, Carnegie Mellon University, Workshop on Web-scale Vision and Social Media, ECCV 2012, August, 2012
Predicting and Classifying Pedestrian Behavior Using an Integrated Cognitive Architecture
Unmesh Kurup, Christian Lebiere, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the 21st annual conference on behavior representation in modeling simulation (BRIMS), July, 2012
Using Expectations to Drive Cognitive Behavior
Unmesh Kurup, Christian Lebiere, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Carnegie Mellon University, roceedings of the 26th AAAI Conference on Artificial Intelligence, July, 2012
Model Recommendation for Action Recognition
Pyry K. Matikainen, Rahul Sukthankar and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the Conference on Computer Vision and Pattern Recognition (CVPR), June, 2012
Occlusion Reasoning for Object Detection under Arbitrary Viewpoint
Edward Hsiao and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June, 2012
Unsupervised Learning for Graph Matching
Marius Leordeanu, Rahul Sukthankar and Martial Hebert

Journal Article, Carnegie Mellon University, International Journal of Computer Vision, Vol. 96, No. 1, April, 2012
Predicting Contextual Sequences via Submodular Function Maximization
Debadeepta Dey, Tommy Liu, Martial Hebert and J. Andrew (Drew) Bagnell

Tech. Report, CMU-RI-TR-12-05, Robotics Institute, Carnegie Mellon University, February, 2012
Unsupervised Patch-based Context from Millions of Images
Santosh Kumar Divvala, Alexei A. Efros, Martial Hebert and Svetlana Lazebnik

Tech. Report, CMU-RI-TR-11-38, Robotics Institute, Carnegie Mellon University, December, 2011
Discovering Object Instances from Scenes of Daily Living
Hongwen Kang, Martial Hebert and Takeo Kanade

Conference Paper, Carnegie Mellon University, IEEE 13th International Conference on Computer Vision, November, 2011
Feature Seeding for Action Recognition
Pyry K. Matikainen, Rahul Sukthankar and Martial Hebert

Conference Paper, Carnegie Mellon University, International Conference on Computer Vision 2011, November, 2011
Source Constrained Clustering
Ekaterina Taralova, Fernando De la Torre Frade and Martial Hebert

Conference Paper, Carnegie Mellon University, 13th International Conference on Computer Vision 2011, November, 2011
Learning Message-Passing Inference Machines for Structured Prediction
Stephane Ross, Daniel Munoz, Martial Hebert and J. Andrew (Drew) Bagnell

Conference Paper, Carnegie Mellon University, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June, 2011
3-D Scene Analysis via Sequenced Predictions over Points and Regions
Xuehan Xiong, Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA), May, 2011
Structure Discovery in Multi-modal Data : a Region-based Approach
Alvaro Collet Romea, Siddhartha Srinivasa and Martial Hebert

Conference Paper, Carnegie Mellon University, 2011 IEEE International Conference on Robotics and Automation, May, 2011
From 3D Scene Geometry to Human Workspace
Abhinav Gupta, Scott Satkin, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Conference on Computer Vision and Pattern Recognition, pp. 1961-1968, May, 2011
Prop-Free Pointing Detection in Dynamic Cluttered Environments
Pyry K. Matikainen, Padmanabhan Pillai, Lily Mummert, Rahul Sukthankar and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of International Conference on Automatic Face and Gesture Recognition, 2011, March, 2011
Image Matching with Distinctive Visual Vocabulary
Hongwen Kang, Martial Hebert and Takeo Kanade

Conference Paper, Carnegie Mellon University, IEEE Workshop on Applications of Computer Vision (WACV) 2011, January, 2011
Estimating Spatial Layout of Rooms using Volumetric Reasoning about Objects and Surfaces
David Changsoo Lee, Abhinav Gupta, Martial Hebert and Takeo Kanade

Carnegie Mellon University, Advances in Neural Information Processing Systems 24 (NIPS), December, 2010
Estimating Spatial Layout of Rooms using Volumetric Reasoning about Objects and Surfaces
David Changsoo Lee, Abhinav Gupta, Martial Hebert and Takeo Kanade

Journal Article, Carnegie Mellon University, Advances in Neural Information Processing Systems (NIPS), Vol. 24, November, 2010
Scale Selection for Geometric Fitting in Noisy Point Clouds
Ranjith Unnikrishnan, Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Journal Article, Carnegie Mellon University, International Journal on Computational Geometry and Applications, Vol. 20, No. 5, October, 2010
Pedestrian Detection and Tracking Using Three-dimensional LADAR Data
Luis Ernesto Navarro-Serment, Christoph Mertz and Martial Hebert

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Special Issue on the Seventh International Conference on Field and Service Robots, Vol. 29, No. 12, pp. 1516 - 1528, October, 2010
People Helping Robots Helping People: Crowdsourcing for Grasping Novel Objects
Alexander Sorokin, Dmitry Berenson, Siddhartha Srinivasa and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10), October, 2010
Stacked Hierarchical Labeling
Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, European Conference on Computer Vision (ECCV), September, 2010
Blocks World Revisited: Image Understanding using Qualitative Geometry and Mechanics
Abhinav Gupta, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, European Conference on Computer Vision (ECCV), September, 2010
Modeling the Temporal Extent of Actions
Scott Satkin and Martial Hebert

Conference Paper, Carnegie Mellon University, European Conference on Computer Vision, September, 2010
Representing Pairwise Spatial and Temporal Relations for Action Recognition
Pyry K. Matikainen, Martial Hebert and Rahul Sukthankar

Conference Paper, Carnegie Mellon University, European Conference on Computer Vision 2010 (ECCV 2010), September, 2010
Volumetric Features for Video Event Detection
Yan Ke, Rahul Sukthankar and Martial Hebert

Journal Article, Carnegie Mellon University, International Journal of Computer Vision, Vol. 88, No. 3, July, 2010
Space-carving Kernels for Accurate Rough Terrain Estimation
Raia Hadsell, J. Andrew (Drew) Bagnell, Daniel Huber and Martial Hebert

Journal Article, Carnegie Mellon University, International Journal of Robotics Research, Vol. 29, No. 8, pp. 981-996, July, 2010
Making specific features less discriminative to improve point-based 3D object recognition
Edward Hsiao, Alvaro Collet Romea and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June, 2010
On Two Methods for Semi-Supervised Structured Prediction
Daniel Munoz, J. Andrew (Drew) Bagnell and Martial Hebert

Tech. Report, CMU-RI-TR-10-02, Robotics Institute, Carnegie Mellon University, January, 2010
An Integer Projected Fixed Point Method for Graph Matching and MAP Inference
Marius Leordeanu, Martial Hebert and Rahul Sukthankar

Conference Paper, Carnegie Mellon University, Proceedings Neural Information Processing Systems, December, 2009
Planning-based Prediction for Pedestrians
Brian D. Ziebart, Nathan Ratliff, Garratt Gallagher, Christoph Mertz, Kevin Peterson, J. Andrew (Drew) Bagnell, Martial Hebert, Anind Dey and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, Proc. IROS 2009, October, 2009
Image Composition for Object Pop-out
Hongwen Kang, Alexei A. Efros, Martial Hebert and Takeo Kanade

Conference Paper, Carnegie Mellon University, 2nd International IEEE Workshop on 3D Representation for Recognition (3dRR-09), September, 2009
Trajectons: Action Recognition Through the Motion Analysis of Tracked Features
Pyry K. Matikainen, Martial Hebert and Rahul Sukthankar

Conference Paper, Carnegie Mellon University, Workshop on Video-Oriented Object and Event Classification, ICCV 2009, September, 2009
Pedestrian Detection and Tracking Using Three-Dimensional LADAR Data
Luis Ernesto Navarro-Serment, Christoph Mertz and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. of The 7th Int. Conf. on Field and Service Robotics, July, 2009
Accurate Rough Terrain Estimation with Space-Carving Kernels
Raia Hadsell, J. Andrew (Drew) Bagnell, Daniel Huber and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. Robotics Science and Systems, June, 2009
Contextual Classification with Functional Max-Margin Markov Networks
Daniel Munoz, J. Andrew (Drew) Bagnell, Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), June, 2009
An Empirical Study of Context in Object Detection
Santosh Kumar Divvala, Derek Hoiem, James H. Hays, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), June, 2009
Unsupervised Learning for Graph Matching
Marius Leordeanu and Martial Hebert

Conference Paper, Carnegie Mellon University, Computer Vision and Pattern Recognition (CVPR '09), June, 2009
Estimating Object Region from Local Contour Configuration
Tetsuaki Suzuki and Martial Hebert

Conference Paper, Carnegie Mellon University, 1st International Workshop on Visual Scene Understanding, June, 2009
Geometric Reasoning for Single Image Structure Recovery
David Changsoo Lee, Martial Hebert and Takeo Kanade

Conference Paper, Carnegie Mellon University, IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), June, 2009
Image Matching in Large Scale Indoor Environment
Hongwen Kang, Alexei A. Efros, Martial Hebert and Takeo Kanade

Conference Paper, Carnegie Mellon University, IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR) Workshop on Egocentric Vision, June, 2009
Temporal Segmentation and Activity Classification from First-person Sensing
Ekaterina H. Spriggs, Fernando De la Torre Frade and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Workshop on Egocentric Vision, CVPR 2009, June, 2009
Onboard Contextual Classification of 3-D Point Clouds with Learned High-order Markov Random Fields
Daniel Munoz, Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, May, 2009
Inverse Optimal Heuristic Control for Imitation Learning
Nathan Ratliff, Brian D. Ziebart, Kevin Peterson, J. Andrew (Drew) Bagnell, Martial Hebert, Anind Dey and Siddhartha Srinivasa

Conference Paper, Carnegie Mellon University, Twelfth International Conference on Artificial Intelligence and Statistics (AIStats), April, 2009
Occlusion Boundaries from Motion: Low-Level Detection and Mid-Level Reasoning
Andrew Stein and Martial Hebert

Journal Article, Carnegie Mellon University, International Journal on Computer Vision, Vol. 82, No. 2, pp. 325-357, April, 2009
A Space-Carving Approach to Surface Estimation
Santosh Kumar Divvala, J. Andrew (Drew) Bagnell and Martial Hebert

Conference Paper, Carnegie Mellon University, April, 2009
Pairwise Grouping Using Color
Marius Leordeanu and Martial Hebert

Tech. Report, CMU-RI-TR-08-46, Robotics Institute, Carnegie Mellon University, December, 2008
Unsupervised Modeling and Recognition of Object Categories with Combination of Visual Contents and Geometric Similarity Links
Gunhee Kim, Christos Faloutsos and Martial Hebert

Conference Paper, Carnegie Mellon University, ACM International Conference on Multimedia Information Retrieval (ACM MIR), October, 2008
A Unified Approach for Detection, Classification and Segmentation
Derek Hoiem, Santosh Kumar Divvala, James H. Hays, Alexei A. Efros and Martial Hebert

Carnegie Mellon University, European Conference on Computer Vision (ECCV) 2008, PASCAL VOC 2008 Workshop, October, 2008
A Unified Approach for Detection, Classification and Segmentation
Derek Hoiem, Santosh Kumar Divvala, James H. Hays, Alexei A. Efros and Martial Hebert

Carnegie Mellon University, European Conference on Computer Vision (ECCV) 2008, PASCAL VOC 2008 Workshop, October, 2008
A Unified Approach for Detection, Classification and Segmentation
Derek Hoiem, Santosh Kumar Divvala, James H. Hays, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, European Conference on Computer Vision (ECCV) 2008, PASCAL VOC 2008 Workshop, October, 2008
Object Recognition by Integrating Multiple Image Segmentations
Caroline Pantofaru, Cordelia Schmid and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. European Conference on Computer Vision (ECCV), October, 2008
Putting Objects in Perspective
Derek Hoiem, Alexei A. Efros and Martial Hebert

Journal Article, Carnegie Mellon University, International Journal of Computer Vision, Vol. 80, No. 1, October, 2008
Statistics of 3D object locations in images
Rafael Baur, Alexei A. Efros and Martial Hebert

Tech. Report, CMU-RI-TR-08-43, Robotics Institute, Carnegie Mellon University, October, 2008
Fast Motion Consistency Through Matrix Quantization
Pyry K. Matikainen, Martial Hebert, Rahul Sukthankar and Yan Ke

Conference Paper, Carnegie Mellon University, Proceedings of the British Machine Vision Conference, pp. 1055-1064, September, 2008
Discriminative Sparse Image Models for Class-Specific Edge Detection and Image Interpretation
Julien Mairal, Marius Leordeanu, Francis Bach, Martial Hebert and Jean Ponce

Conference Paper, Carnegie Mellon University, Proc. European Conference on Computer Vision (ECCV), September, 2008
Towards Unsupervised Whole-Object Segmentation: Combining Automated Matting with Boundary Detection
Andrew Stein, Thomas Stepleton and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June, 2008
Unsupervised Modeling of Object Categories Using Link Analysis Techniques
Gunhee Kim, Christos Faloutsos and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June, 2008
Closing the Loop on Scene Interpretation
Derek Hoiem, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. Computer Vision and Pattern Recognition (CVPR), June, 2008
Smoothing-based Optimization
Marius Leordeanu and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of CVPR, June, 2008
Directional Associative Markov Network for 3-D Point Cloud Classification
Daniel Munoz, Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT), June, 2008
Can Similar Scenes help Surface Layout Estimation?
Santosh Kumar Divvala, Alexei A. Efros and Martial Hebert

Miscellaneous, Carnegie Mellon University, IEEE Workshop on Internet Vision, at CVPR'08, June, 2008
Multi-Scale Interest Regions from Unorganized Point Clouds
Ranjith Unnikrishnan and Martial Hebert

Conference Paper, Carnegie Mellon University, Workshop on Search in 3D (S3D), IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June, 2008
Autonomous driving in urban environments: Boss and the Urban Challenge
Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Christopher M. Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Raj Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Joshua C. Struble, Anthony (Tony) Stentz, Michael Taylor, William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang and Jason Ziglar

Journal Article, Carnegie Mellon University, Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I, Vol. 25, No. 8, pp. 425-466, June, 2008
LADAR-based Pedestrian Detection and Tracking
Luis Ernesto Navarro-Serment, Christoph Mertz, Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. 1st. Workshop on Human Detection from Mobile Robot Platforms, IEEE ICRA 2008, May, 2008
Segmentation of Salient Regions in Outdoor Scenes Using Imagery and 3-D Data
Gunhee Kim, Daniel Huber and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Workshop on Applications of Computer VIsion (WACV08), January, 2008
Recovering Surface Layout from an Image
Derek Hoiem, Alexei A. Efros and Martial Hebert

Journal Article, Carnegie Mellon University, International Journal of Computer Vision, Vol. 75, No. 1, October, 2007
Recovering Occlusion Boundaries from a Single Image
Derek Hoiem, Andrew Stein, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, International Conference on Computer Vision (ICCV), October, 2007
Learning to Find Object Boundaries Using Motion Cues
Andrew Stein, Derek Hoiem and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Computer Vision (ICCV), October, 2007
Event Detection in Crowded Videos
Yan Ke, Rahul Sukthankar and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Computer Vision, October, 2007
Potential Negative Obstacle Detection by Occlusion Labeling
Nicholas Heckman, Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2007
Extending the Path-Planning Horizon
Bart Nabbe and Martial Hebert

Conference Paper, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 26, No. 10, pp. 997 - 1024, October, 2007
Denoising Manifold and Non-Manifold Point Clouds
Ranjith Unnikrishnan and Martial Hebert

Conference Paper, Carnegie Mellon University, 18th British Machine Vision Conference (BMVC), September, 2007
A framework for learning to recognize and segment object classes using weakly supervised training data
Caroline Pantofaru and Martial Hebert

Conference Paper, Carnegie Mellon University, British Machine Vision Conference, September, 2007
Combining Local Appearance and Motion Cues for Occlusion Boundary Detection
Andrew Stein and Martial Hebert

Conference Paper, Carnegie Mellon University, British Machine Vision Conference (BMVC), September, 2007
Data Structures for Efficient Dynamic Processing in 3-D
Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 26, No. 8, pp. 777-796, August, 2007
Beyond Local Appearance: Category Recognition from Pairwise Interactions of Simple Features
Marius Leordeanu, Martial Hebert and Rahul Sukthankar

Conference Paper, Carnegie Mellon University, Proceedings of CVPR, June, 2007
Spatio-temporal Shape and Flow Correlation for Action Recognition
Yan Ke, Rahul Sukthankar and Martial Hebert

Conference Paper, Carnegie Mellon University, Visual Surveillance Workshop, June, 2007
Simultaneous Localization, Mapping and Moving Object Tracking
Chieh-Chih Wang, Chuck Thorpe, Martial Hebert, Sebastian Thrun and H. Durrant-Whyte

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 26, No. 6, June, 2007
Toward Objective Evaluation of Image Segmentation Algorithms
Ranjith Unnikrishnan, Caroline Pantofaru and Martial Hebert

Journal Article, Carnegie Mellon University, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 29, No. 6, pp. 929-944, June, 2007
Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge
Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Alonzo Kelly, David Kohanbash, Maxim Likhachev, Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz, William (Red) L. Whittaker and Jason Ziglar

Tech. Report, Robotics Institute, Carnegie Mellon University, DARPA Grand Challenge Tech Report, April, 2007
Predictive Mover Detection and Tracking in Cluttered Environments
Luis Ernesto Navarro-Serment, Christoph Mertz and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. of the 25th. Army Science Conference, November, 2006
Natural terrain classification using three-dimensional ladar data for ground robot mobility
Jean-Francois Lalonde, Nicolas Vandapel, Daniel Huber and Martial Hebert

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 23, No. 10, pp. 839 - 861, November, 2006
Opportunistic use of vision to push back the path-planning horizon
Bart Nabbe, Derek Hoiem, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), pp. 2388 - 2393, October, 2006
Local Detection of Occlusion Boundaries in Video
Andrew Stein and Martial Hebert

Conference Paper, Carnegie Mellon University, British Machine Vision Conference, September, 2006
Extracting Scale and Illuminant Invariant Regions Through Color
Ranjith Unnikrishnan and Martial Hebert

Conference Paper, Carnegie Mellon University, 17th British Machine Vision Conference, September, 2006
Learning and Predicting Moving Object Trajectory: a piecewise trajectory segment approach
Pak Yan Choi and Martial Hebert

Tech. Report, CMU-RI-TR-06-42, Robotics Institute, Carnegie Mellon University, August, 2006
Automatic Three-Dimensional Point Cloud Processing for Forest Inventory
Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Tech. Report, CMU-RI-TR-06-21, Robotics Institute, Carnegie Mellon University, July, 2006
Rapid object indexing using locality sensitive hashing and joint 3D-signature space estimation
B. Matei, Ying Shan, H.S. Sawhney, Yi Tan, R. Kumar, Daniel Huber and Martial Hebert

Journal Article, Carnegie Mellon University, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 28, No. 7, pp. 1111 - 1126, July, 2006
Using Spatio-Temporal Patches for Simultaneous Estimation of Edge Strength, Orientation, and Motion
Andrew Stein and Martial Hebert

Conference Paper, Carnegie Mellon University, Beyond Patches Workshop at IEEE Conference on Computer Vision and Pattern Recognition, June, 2006
Combining Regions and Patches for Object Class Localization
Caroline Pantofaru, Gyuri Dorko, Cordelia Schmid and Martial Hebert

Conference Paper, Carnegie Mellon University, The Beyond Patches Workshop in conjunction with the IEEE conference on Computer Vision and Pattern Recognition, pp. 23 - 30, June, 2006
Scale Selection for the Analysis of Point-Sampled Curves
Ranjith Unnikrishnan, Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, Third International Symposium on 3D Processing, Visualization and Transmission (3DPVT 2006), June, 2006
Scale Selection for the Analysis of Point Sampled Curves: Extended Report
Ranjith Unnikrishnan, Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Tech. Report, CMU-RI-TR-06-25, Robotics Institute, Carnegie Mellon University, June, 2006
Putting Objects in Perspective
Derek Hoiem, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. IEEE Computer Vision and Pattern Recognition (CVPR), Vol. 2, pp. 2137 - 2144, June, 2006
Efficient MAP approximation for dense energy functions
Marius Leordeanu and Martial Hebert

Conference Paper, Carnegie Mellon University, International Conference on Machine Learning 2006, May, 2006
Discriminative Random Fields
Sanjiv Kumar and Martial Hebert

Journal Article, International Journal of Computer Vision, Vol. 68, No. 2, pp. 179-202, January, 2006
Unmanned Ground Vehicle Navigation Using Aerial Ladar Data
Nicolas Vandapel, Raghavendra Rao Donamukkala and Martial Hebert

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 25, No. 1, pp. 31-51, January, 2006
A Spectral Technique for Correspondence Problems using Pairwise Constraints
Marius Leordeanu and Martial Hebert

Conference Paper, Carnegie Mellon University, International Conference of Computer Vision (ICCV), Vol. 2, pp. 1482 - 1489, October, 2005
Geometric Context from a Single Image
Derek Hoiem, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, International Conference of Computer Vision (ICCV), Vol. 1, pp. 654 - 661, October, 2005
Efficient Visual Event Detection using Volumetric Features
Yan Ke, Rahul Sukthankar and Martial Hebert

Conference Paper, Carnegie Mellon University, International Conference on Computer Vision, Vol. 1, pp. 166 - 173, October, 2005
A Hierarchical Field Framework for Unified Context-Based Classification
Sanjiv Kumar and Martial Hebert

Conference Paper, Carnegie Mellon University, Tenth IEEE International Conference on Computer Vision (ICCV '05), Vol. 2, pp. 1284 - 1291, October, 2005
A Comparison of Image Segmentation Algorithms
Caroline Pantofaru and Martial Hebert

Tech. Report, CMU-RI-TR-05-40, Robotics Institute, Carnegie Mellon University, September, 2005
Automatic Photo Pop-up
Derek Hoiem, Alexei A. Efros and Martial Hebert

Conference Paper, Carnegie Mellon University, ACM SIGGRAPH, August, 2005
Active Learning For Outdoor Obstacle Detection
Cristian Dima and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. Science and Systems I, August, 2005
Fast Extrinsic Calibration of a Laser Rangefinder to a Camera
Ranjith Unnikrishnan and Martial Hebert

Tech. Report, CMU-RI-TR-05-09, Robotics Institute, Carnegie Mellon University, July, 2005
Background Estimation under Rapid Gain Change in Thermal Imagery
Hulya Yalcin, Robert Collins and Martial Hebert

Conference Paper, Carnegie Mellon University, Second IEEE Workshop on Object Tracking and Classification in and Beyond the Visible Spectrum (OTCBVS'05), June, 2005
A Flow-Based Approach to Vehicle Detection and Background Mosaicking in Airborne Video
Hulya Yalcin, Robert Collins, Martial Hebert and Michael J. Black

Conference Paper, Carnegie Mellon University, Video Proceedings in conjunction with CVPR'05, June, 2005
Scale Selection for Classification of Point-sampled 3-D Surfaces
Jean-Francois Lalonde, Ranjith Unnikrishnan, Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM 2005), pp. 285 - 292, June, 2005
Data Structure for Efficient Processing in 3-D
Jean-Francois Lalonde, Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, Robotics: Science and Systems 1, June, 2005
A Measure for Objective Evaluation of Image Segmentation Algorithms
Ranjith Unnikrishnan, Caroline Pantofaru and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the 2005 IEEE Conference on Computer Vision and Pattern Recognition (CVPR '05), Workshop on Empirical Evaluation Methods in Computer Vision, Vol. 3, pp. 34 - 41, June, 2005
Automatic class selection and prototyping for 3-D object classification
Raghavendra Rao Donamukkala, Daniel Huber, Anuj Kapuria and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the 5th International Conference on 3-D Digital Imaging and Modeling (3DIM '05), pp. 64-71, June, 2005
Analysis and Removal of Artifacts in 3-D LADAR Data
John Tuley, Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, pp. 2203 - 2210, April, 2005
A flow-based approach to vehicle detection and background mosaicking in airborne video.
Hulya Yalcin, Robert Collins, Michael Black and Martial Hebert

Tech. Report, CMU-RI-TR-05-11, Robotics Institute, Carnegie Mellon University, March, 2005
Exploiting Inference for Approximate Parameter Learning in Discriminative Fields: An Empirical Study
Sanjiv Kumar, Jonas August and Martial Hebert

Conference Paper, Energy Minimization Methods in Computer Vision and Pattern Recognition (EMMCVPR), January, 2005
Incorporating Background Invariance into Feature-Based Object Recognition
Andrew Stein and Martial Hebert

Conference Paper, Carnegie Mellon University, Seventh IEEE Workshop on Applications of Computer VIsion (WACV), January, 2005
Scale Selection for Classification of Point-sampled 3-D Surfaces
Jean-Francois Lalonde, Ranjith Unnikrishnan, Nicolas Vandapel and Martial Hebert

Tech. Report, CMU-RI-TR-05-01, Robotics Institute, Carnegie Mellon University, January, 2005
Measures of Similarity
Ranjith Unnikrishnan and Martial Hebert

Conference Paper, Carnegie Mellon University, Seventh IEEE Workshop on Applications of Computer Vision, pp. 394-400, January, 2005
Semi-Supervised Self-Training of Object Detection Models
Charles Rosenberg, Martial Hebert and Henry Schneiderman

Conference Paper, Carnegie Mellon University, Seventh IEEE Workshop on Applications of Computer Vision, January, 2005
Finding Organized Structures in 3-D LADAR Data
Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, Army Science Conference, November, 2004
Path Planning with Hallucinated Worlds
Bart Nabbe, Sanjiv Kumar and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings: IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 4, pp. 3123 - 3130, October, 2004
Finding Organized Structures in 3-D Ladar Data
Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 786 - 791, September, 2004
Analysis and removal of artifacts in 3-D LADAR data
John Tuley, Nicolas Vandapel and Martial Hebert

Tech. Report, CMU-RI-TR-04-44, Robotics Institute, Carnegie Mellon University, August, 2004
Parts-based 3D object classification
Daniel Huber, Anuj Kapuria, Raghavendra Rao Donamukkala and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 04), June, 2004
Linear Model Hashing and Batch RANSAC for Rapid and Accurate Object Recognition
Y. Shan, B. Matei, H. S. Sawhney, R. Kumar, Daniel Huber and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2004), June, 2004
Natural Terrain Classification using 3-D Ladar Data
Nicolas Vandapel, Daniel Huber, Anuj Kapuria and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, Vol. 5, pp. 5117 - 5122, April, 2004
Classifier Fusion for Outdoor Obstacle Detection
Cristian Dima, Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation, Vol. 1, pp. 665 - 671, April, 2004
Enabling Learning From Large Datasets: Applying Active Learning to Mobile Robotics
Cristian Dima, Martial Hebert and Anthony (Tony) Stentz

Conference Paper, Carnegie Mellon University, International Conference on Robotics and Automation, Vol. 1, pp. 108 - 114, April, 2004
Discriminative Fields for Modeling Spatial Dependencies in Natural Images
Sanjiv Kumar and Martial Hebert

Conference Paper, Carnegie Mellon University, in proc. advances in Neural Information Processing Systems (NIPS), December, 2003
Quality Assessment of Traversability Maps from Aerial LIDAR Data for an Unmanned Ground Vehicle
Nicolas Vandapel, Raghavendra Rao Donamukkala and Martial Hebert

Conference Paper, Carnegie Mellon University, International Conference on Intelligent Robots and Systems (IROS), Vol. 1, pp. 305 - 310, October, 2003
Toward Generating Labeled Maps from Color and Range Data for Robot Navigation
Caroline Pantofaru, Ranjith Unnikrishnan and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 2, pp. 1314 - 1321, October, 2003
Where and When to Look
Bart Nabbe and Martial Hebert

Conference Paper, Carnegie Mellon University, IROS 2003, Vol. 1, pp. 920 - 927, October, 2003
Sensor and Classifier Fusion for Outdoor Obstacle Detection: an Application of Data Fusion To Autonomous Off-Road Navigation
Cristian Dima, Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, The 32nd Applied Imagery Recognition Workshop (AIPR2003), pp. 255 - 262, October, 2003
Robust Extraction of Multiple Structures from Non-uniformly Sampled Data
Ranjith Unnikrishnan and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), Vol. 2, pp. 1322-29, October, 2003
Fully automatic registration of multiple 3D data sets
Daniel Huber and Martial Hebert

Journal Article, Carnegie Mellon University, Image and Vision Computing, Vol. 21, No. 7, pp. 637-650, July, 2003
Shape-based Recognition Of Wiry Objects
Owen Carmichael and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Conference On Computer Vision And Pattern Recognition, June, 2003
3D Modeling Using a Statistical Sensor Model and Stochastic Search
Daniel Huber and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 858-865, June, 2003
terrain classification techniques from ladar data for autonomous navigation
Martial Hebert and Nicolas Vandapel

Conference Paper, Carnegie Mellon University, Collaborative Technology Alliances conference, May, 2003
Experimental Results in Using Aerial LADAR Data for Mobile Robot Navigation
Nicolas Vandapel, Raghavendra Rao Donamukkala and Martial Hebert

Conference Paper, International Conference on Field and Service Robotics, January, 2003
Man-Made Structure Detection in Natural Images using a Causal Multiscale Random Field
Sanjiv Kumar and Martial Hebert

Conference Paper, in proc. IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), Vol. 1, pp. 119-126, January, 2003
Discriminative Random Fields: A Discriminative Framework for Contextual Interaction in Classification
Sanjiv Kumar and Martial Hebert

Conference Paper, Proceedings of the 2003 IEEE International Conference on Computer Vision (ICCV '03), Vol. 2, pp. 1150-1157, January, 2003
An Observation-Constrained Generative Approach for Probabilistic Classification of Image Regions
Sanjiv Kumar, Alex C. Loui and Martial Hebert

Journal Article, Image and Vision Computing, Vol. 21, pp. 87-97, January, 2003
Minimum Risk Distance Measure for Object Recognition
Shyjan Mahamud and Martial Hebert

Conference Paper, IEEE International Conference on Computer Vision (ICCV), January, 2003
The Optimal Distance Measure for Object Detection
Shyjan Mahamud and Martial Hebert

Conference Paper, IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), January, 2003
Evaluation and Comparison of Terrain Classification Techniques from LADAR Data for Autonomous Navigation
Martial Hebert, Nicolas Vandapel, Stefan Keller and Raghavendra Rao Donamukkala

Conference Paper, Carnegie Mellon University, 23rd Army Science Conference, December, 2002
Object Recognition by a Cascade of Edge Probes
Owen Carmichael and Martial Hebert

Conference Paper, Carnegie Mellon University, British Machine Vision Conference 2002, Vol. 1, pp. 103-112, September, 2002
Training Object Detection Models with Weakly Labeled Data
Charles Rosenberg and Martial Hebert

Conference Paper, Carnegie Mellon University, Brittish Machine Vision Conference, September, 2002
3D Rover Localization in Airborne Ladar Data
Nicolas Vandapel and Martial Hebert

Conference Paper, Carnegie Mellon University, International Symposium on Experimental Robotics, July, 2002
Robust tracking and structure from motion through sampling based uncertainty representation
Peng Chang and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of ICRA '02, May, 2002
Toward Practical Cooperative Stereo for Robotic Colonies
Bart Nabbe and Martial Hebert

Conference Paper, Carnegie Mellon University, 2002 IEEE International Conference on Robotics and Automation, Vol. 4, No. 2002, pp. 3328-3335, May, 2002
Probabilistic Classification of Image Regions using an Observation-Constrained Generative Approach
Sanjiv Kumar, Alex C. Loui and Martial Hebert

Conference Paper, ECCV Workshop on Generative Models based Vision (GMBV), pp. 91 - 99, January, 2002
Combining Simple Discriminators for Object Discrimination
Shyjan Mahamud, Martial Hebert and John Lafferty

Conference Paper, European Conf. on Computer Vision (ECCV), January, 2002
Fully Automatic Registration of Multiple 3D Data Sets
Daniel Huber and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE Computer Society Workshop on Computer Vision Beyond the Visible Spectrum(CVBVS 2001), December, 2001
Object Recognition using Boosted Discriminants
Shyjan Mahamud, Martial Hebert and Jianbo Shi

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '01), Vol. 1, pp. 551 - 558, December, 2001
Color constancy using KL-divergence
Chuck Rosenberg, Martial Hebert and Sebastian Thrun

Conference Paper, Carnegie Mellon University, Proceedings of the Eighth IEEE International Conference on Computer Vision (ICCV '01), Vol. 1, pp. 239 - 246, July, 2001
Progress in 3-D Mapping and Localization
Martial Hebert, Matthew Deans, Daniel Huber, Bart Nabbe and Nicolas Vandapel

Conference Paper, Carnegie Mellon University, International Symposium on Intelligent Robotic Systems, July, 2001
Provably-Convergent Iterative Methods for Projective Structure from Motion
Shyjan Mahamud, Martial Hebert, Y. Omori and J. Ponce

Conference Paper, IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), January, 2001
Experimental Comparison of Techniques for Localization and Mapping using a Bearings Only Sensor
Matthew Deans and Martial Hebert

Conference Paper, Carnegie Mellon University, Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000
Distributed Robotic Mapping of Extreme Environments
Scott Thayer, Bruce Digney, M Bernardine Dias, Anthony (Tony) Stentz, Bart Nabbe and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of SPIE: Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, Vol. 4195, November, 2000
Iterative projective reconstruction from multiple views
Shyjan Mahamud and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '00), Vol. 2, pp. 430 - 437, June, 2000
Omni-directional structure from motion
Peng Chang and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the 2000 IEEE Workshop on Omnidirectional Vision, pp. 127 - 133, June, 2000
Invariant filtering for simultaneous localization and mapping
Matthew Deans and Martial Hebert

Conference Paper, Carnegie Mellon University, IEEE International Conference on Robotics and Automation, pp. 1042-7, April, 2000
3D map reconstruction from range data
Daniel Huber, Owen Carmichael and Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 1, pp. 891 - 897, April, 2000
Active and passive range sensing for robotics
Martial Hebert

Conference Paper, Carnegie Mellon University, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 1, pp. 102 - 110, April, 2000
A New Approach to 3-D Terrain Mapping
Daniel Huber and Martial Hebert

Conference Paper, Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS '99), pp. 1121-1127, October, 1999
Large Data Sets and Confusing Scenes in 3-D surface Matching and Recognition
Owen Carmichael, Daniel Huber and Martial Hebert

Conference Paper, Proceedings of the Second International Conference on 3-D Digital Imaging and Modeling (3DIM'99), pp. 358-367, October, 1999
Experimental analysis of Harmonic Shape Images
Dongmei Zhang and Martial Hebert

Conference Paper, Proceedings of the Second International Conference on 3-D Digital Imaging and Modeling, pp. 209 - 218, October, 1999
Efficient Recovery of Low-dimensional Structure from High-dimensional Data
Shyjan Mahamud and Martial Hebert

Conference Paper, IEEE International Conference on Computer Vision (ICCV), September, 1999
3D Cueing: A Data Filter For Object Recognition
Owen Carmichael and Martial Hebert

Conference Paper, IEEE Conference on Robotics and Automation (ICRA '99), Vol. 2, pp. 944 - 950, May, 1999
Using spin images for efficient object recognition in cluttered 3D scenes
Andrew Johnson and Martial Hebert

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 21, No. 5, pp. 433 - 449, May, 1999
ARTISAN: An Integrated Scene Mapping and Object Recognition System
Vince Broz, Owen Carmichael, Scott Thayer, James Osborn and Martial Hebert

Conference Paper, American Nuclear Society 8th Intl. Topical Meeting on Robotics and Remote Systems, April, 1999
Virtual Reality Mapping System for Chernobyl Accident Site Assessment
Theodore T. Blackmon, Scott Thayer, James Teza, James Osborn and Martial Hebert

Conference Paper, Proceedings of the SPIE, Vol. 3644, pp. 338-345, February, 1999
Harmonic Maps and Their Applications in Surface Matching
Dongmei Zhang and Martial Hebert

Conference Paper, IEEE Conference on Computer Vision and Pattern Recognition (CVPR '99), Vol. 2, January, 1999
Experiments with Driving Modes for Urban Robots
Martial Hebert, Robert MacLachlan and Peng Chang

Conference Paper, Proceedings of SPIE, January, 1999
Toward a General 3-D Matching Engine: Multiple Models, Complex Scenes, and Efficient Data Filtering
Andrew Johnson, Owen Carmichael, Daniel Huber and Martial Hebert

Conference Paper, Proceedings of the 1998 Image Understanding Workshop (IUW), pp. 1097-1107, November, 1998
Laser Intensity-Based Obstacle Detection
John Hancock, Martial Hebert and Chuck Thorpe

Conference Paper, Proceedings 1998 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '98), Vol. 3, pp. 1541 - 1546, October, 1998
Unconstrained Registration of Large 3D Point Sets for Complex Model Building
Owen Carmichael and Martial Hebert

Conference Paper, Proceedings 1998 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '98), Vol. 1, pp. 360 - 367, October, 1998
Omni-directional Visual Servoing for Human-Robot interaction
Peng Chang and Martial Hebert

Conference Paper, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '98), Vol. 3, pp. 1801 - 1807, October, 1998
Mobility Planning for Autonomous Navigation of Multiple Robots in Unstructured Environments
Martial Hebert, Anthony (Tony) Stentz and Chuck Thorpe

Conference Paper, Proceedings of ISIC/CIRA/ISAS Joint Conference on the Science and Technology of Intelligent Systems, pp. 652 - 657, September, 1998
Evaluation of Image-Based Landmark Recognition Techniques
Yutaka Takeuchi and Martial Hebert

Tech. Report, CMU-RI-TR-98-20, Robotics Institute, Carnegie Mellon University, July, 1998
Finding Images of Landmarks in Video Sequences
Yutaka Takeuchi and Martial Hebert

Conference Paper, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '98), June, 1998
Efficient multiple model recognition in cluttered 3-D scenes
Andrew Johnson and Martial Hebert

Conference Paper, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '98), pp. 671 - 677, June, 1998
The space-time map applied to Drosophila embryogenesis
Prem Janardhan, Martial Hebert and Katsushi Ikeuchi

Conference Paper, Proceedings of the Workshop on Biomedical Image Analysis, pp. 144 - 153, June, 1998
Experiments in Autonomous Driving with Concurrent Goals and Multiple Vehicles
Barry Brummit and Martial Hebert

Conference Paper, Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA '98), Vol. 3, pp. 1895 - 1902, May, 1998
Active laser radar for high-performance measurements
John Hancock, Dirk Langer, Martial Hebert, R. Sullivan, D. Ingimarson, E. Hoffman, M. Mettenleiter and C. Froehlich

Conference Paper, Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA '98), Vol. 2, pp. 1465 - 1470, May, 1998
On Generating Multi-resolution Representations of Polygonal Meshes
Dongmei Zhang, Martial Hebert, Andrew Johnson and Yanxi Liu

Conference Paper, Proc. ICCV '98, January, 1998
Shape Recognition: Recent Techniques and Applications
Martial Hebert

Conference Paper, Proceedings of RFIA '98, January, 1998
An integral approach to free-form object modeling
Heung-Yeung Shum, Martial Hebert, Katsushi Ikeuchi and Raj Reddy

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 19, No. 12, pp. 1366 - 1370, December, 1997
A Spectro-Polarimetric Imager for Intelligent Transportation Systems
Daniel Huber, Louis Denes, Martial Hebert, Milton Gottlieb, Boris Kaminsky and Peter Metes

Conference Paper, SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Intelligent Transportation Systems, Vol. 3207, pp. 94-102, October, 1997
Evolution of a Prototype Lunar Rover: Addition to Laser-Based Hazard Detection, and Results from Field Trials in Lunar Analogue Terrain
Eric Krotkov, Martial Hebert, L. Henriksen, P. Levin, Mark Maimone, Reid Simmons and James Teza

Conference Paper, Autonomous Robots, Vol. 7, No. 2, pp. 119 - 130, July, 1997
Multi-Scale Classification of 3-D Objects
Dongmei Zhang and Martial Hebert

Conference Paper, IEEE Conference on Computer Vision and Pattern Recognition, pp. 864 - 869, June, 1997
Recognizing objects by matching oriented points
Andrew Johnson and Martial Hebert

Conference Paper, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '97),, pp. 684 - 689, June, 1997
Surface Registration by Matching Oriented Points
Andrew Johnson and Martial Hebert

Conference Paper, International Conference on Recent Advances in 3-D Digital Imaging and Modeling, pp. 121-128, May, 1997
A System for Semi-automatic Modeling of Complex Environments
Andrew Johnson, Regis Hoffman, James Osborn and Martial Hebert

Conference Paper, International Conference on Recent Advances in 3-D Digital Imaging and Modeling, pp. 213-220, May, 1997
Field Trials of a Prototype Lunar Rover under Multi-Sensor Safeguarded Teleoperation Control
Eric Krotkov, Martial Hebert, Lars Henriksen, Paul Levin, Mark Maimone, Reid Simmons and James Teza

Conference Paper, American Nuclear Society Seventh Topical Meeting on Robotics & Remote Systems, pp. 575 - 582, May, 1997
Visual Learning for Landmark Recognition
Yutaka Takeuchi, Patrick Gros, Martial Hebert and Katsushi Ikeuchi

Conference Paper, Image Understanding Workshop, May, 1997
Control of Polygonal Mesh Resolution for 3-D Computer Vision
Andrew Johnson and Martial Hebert

Tech. Report, CMU-RI-TR-96-20, Robotics Institute, Carnegie Mellon University, April, 1997
High-performance laser range scanner
John Hancock, E. Hoffman, R. Sullivan, D. Ingimarson, Dirk Langer and Martial Hebert

Conference Paper, SPIE Proceedings on Intelligent Transportation Systems, January, 1997
Map Building and Terrain-Aided Localisation in an Underground Mine
G. Dissanayake, Martial Hebert, Anthony (Tony) Stentz and H. Durrant-Whyte

Conference Paper, Proceedings of the Field and Service Robotics Conference, January, 1997
Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon
Martial Hebert, Chuck Thorpe and Anthony (Tony) Stentz

Book, January, 1997
Multi-Scale Classification of 3D Objects
Dongmei Zhang and Martial Hebert

Tech. Report, CMU-RI-TR-96-39, Robotics Institute, Carnegie Mellon University, November, 1996
On 3D shape similarity
Heung-Yeung Shum, Martial Hebert and Katsushi Ikeuchi

Conference Paper, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '96), pp. 526 - 531, June, 1996
Recognizing Objects by Matching Oriented Points
Andrew Johnson and Martial Hebert

Tech. Report, CMU-RI-TR-96-04, Robotics Institute, Carnegie Mellon University, May, 1996
Mobile Robotics: Perspectives and Realities
Chuck Thorpe and Martial Hebert

Conference Paper, proceedings of International Workshop on Advanced Robotics and Intelligent Machines, April, 1996
Seafloor Map Generation for Autonomous Underwater Vehicle Navigation
Andrew Johnson and Martial Hebert

Book Section/Chapter, Autonomous Robots, Vol. 3, pp. 145-168, January, 1996
Stereo Perception and Dead Reckoning for a Prototype Lunar Rover
Eric Krotkov, Martial Hebert and Reid Simmons

Journal Article, Autonomous Robots, Vol. 2, No. 4, pp. 313-331, December, 1995
Spherical Representations: from EGI to SAI
Katsushi Ikeuchi and Martial Hebert

Tech. Report, CMU-CS-95-197, Computer Science Department, Carnegie Mellon University, October, 1995
3-D object modeling and recognition for telerobotic manipulation
Andrew Johnson, Patrick (Chris) Leger, R. Hoffman, Martial Hebert and James Osborn

Conference Paper, Proc. IEEE Intelligent Robots and Systems, Vol. 1, pp. 103 - 110, August, 1995
A Complete Navigation System for Goal Acquisition in Unknown Environments
Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Proceedings 1995 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '95), Vol. 1, pp. 425 - 432, August, 1995
Building 3-D Models from Unregistered Ranges Images
K. Higuchi, Martial Hebert and Katsushi Ikeuchi

Journal Article, CVGIP-GMIP, Vol. 57, No. 4, pp. 315-333, July, 1995
A Spherical Representation for Recognition of Free-Form Surfaces
Martial Hebert, Katsushi Ikeuchi and H. Delingette

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 17, No. 7, pp. 681-690, July, 1995
Mapping and Positioning for a Prototype Lunar Rover
Eric Krotkov and Martial Hebert

Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2913-2919, May, 1995
An Integral Approach To Free-Form Object Modeling
Heung-Yeung Shum, Martial Hebert, Katsushi Ikeuchi and Raj Reddy

Tech. Report, CMU-CS-95-135, Computer Science Department, Carnegie Mellon University, May, 1995
Refinement of Seafloor Elevation Using Acoustic Backscatter
Andrew Johnson and Martial Hebert

Tech. Report, CMU-RI-TR-95-01, Robotics Institute, Carnegie Mellon University, March, 1995
Sensor Based Interior Modeling
Martial Hebert, R. Hoffman, Andrew Johnson and James Osborn

Conference Paper, American Nuclear Society 6th Topical Meeting on Robotics and Remote Systems (ANS '95), pp. 731 - 737, February, 1995
Techniques For Fast And Accurate Intrasurgical Registration
David Simon, Martial Hebert and Takeo Kanade

Journal Article, Journal of Image Guided Surgery, Vol. 1, No. 1, pp. 17-29, January, 1995
Mixed-Mode Control of Navigation for a Lunar Rover
Reid Simmons, Eric Krotkov, L. Chrisman, Fabio Cozman, R. Goodwin, Martial Hebert, G. Heredia, S. Koenig, Pat Muir, Y. Shinoda and William (Red) L. Whittaker

Conference Paper, Proceedings of the SSI/Princeton Space Manufacturing Conference, January, 1995
Experience with Rover Navigation for Lunar-Like Terrains
Reid Simmons, Eric Krotkov, Lonnie Chrisman, Fabio Cozman, Richard Goodwin, Martial Hebert, Lalitesh Katragadda, Sven Koenig, G. Krishnaswamy, Y. Shinoda, William (Red) L. Whittaker and P. Klarer

Conference Paper, Proceedings of the 1995 Conference on Intelligent Robots and Systems (IROS '95), pp. 441 - 446, January, 1995
On 3D Shape Similarity
Heung-Yeung Shum, Martial Hebert and Katsushi Ikeuchi

Tech. Report, CMU-CS-95-212, Computer Science Department, Carnegie Mellon University, January, 1995
On 3D Shape Synthetis
Heung-Yeung Shum, Martial Hebert and Katsushi Ikeuchi

Tech. Report, CMU-CS-95-213, Computer Science Department, Carnegie Mellon University, January, 1995
A Behavior-Based System for Off-Road Navigation
Dirk Langer, Julio Rosenblatt and Martial Hebert

Journal Article, IEEE Trans. Robotics and Automation, Vol. 10, No. 6, pp. 776-782, December, 1994
Experience with Rover Navigation for Lunar-Like Terrains
Reid Simmons, Eric Krotkov, Martial Hebert and Lalitesh Katragadda

Conference Paper, International Lunar Exploration Conference, November, 1994
Weakly-Calibrated Stereo Perception for Rover Navigation
L. Robert, M. Buffa and Martial Hebert

Conference Paper, Proc. Image Understanding Workshop, November, 1994
Techniques for Fast and Accurate Intra-Surgical Registration
David Simon, Martial Hebert and Takeo Kanade

Conference Paper, First International Symposium on Medical Robotics and Computer Assisted Surgery, pp. 90-97, September, 1994
Stereo Driving and Position Estimation for Autonomous Planetary Rovers
Eric Krotkov, Martial Hebert, M. Buffa, Fabio Cozman and L. Robert

Conference Paper, IARP Workshop on Robotics in Space, July, 1994
Object representation for object recognition
J. Ponce, R. Bajcsy, D. Metaxas, T. Binford, D. Forsyth, Martial Hebert, Katsushi Ikeuchi, A. Kak, L. Shapiro, S. Sclaroff, A. Pentland and G. Stockman

Conference Paper, Proc of IEEE conf. on Computer Vision and Pattern Recognition, pp. 147-152, June, 1994
Real-time 3-D pose estimation using a high-speed range sensor
David Simon, Martial Hebert and Takeo Kanade

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation (ICRA '94), Vol. 3, pp. 2235-2241, May, 1994
Pixel-Based Processing for Autonomous Driving
Martial Hebert

Conference Paper, Proc. International Conference on Robotics and Automation, May, 1994
Building 3D models from Unregistered Range Images
K. Higuchi, Martial Hebert and Katsushi Ikeuchi

Conference Paper, Proceedings of IEEE Conference on Robotics and Automation (ICRA '94), Vol. 3, pp. 2248 - 2253, May, 1994
An Integrated System for Autonomous Off-Road Navigation
Dirk Langer, Julio Rosenblatt and Martial Hebert

Conference Paper, Proc. IEEE Int. Conf. on Robotics and Automation, May, 1994
A Reactive System For Off-Road Navigation
Dirk Langer, Julio Rosenblatt and Martial Hebert

Conference Paper, Proc. of IEEE Robotics and Automation, May, 1994
Deriving Orientation Cues from Stereo Images
L. Robert and Martial Hebert

Conference Paper, Proc. European Conference on Computer Vision, May, 1994
A Complete Navigation System for Goal Acquisition in Unknown Environments
Anthony (Tony) Stentz and Martial Hebert

Tech. Report, CMU-RI-TR-94-07, Robotics Institute, Carnegie Mellon University, April, 1994
Merging Multiple Views Using a Spherical Representation
K. Higuchi, H. Delingette, Martial Hebert and Katsushi Ikeuchi

Conference Paper, Proc of 2nd IEEE Workshop on CAD-based Vision, pp. 124 - 131, February, 1994
Building Elevation Maps from Underwater Sonar Data
Dirk Langer and Martial Hebert

Miscellaneous, January, 1994
Combining Shape and Color Information For 3D Object Recognition
K. Higuchi, Martial Hebert and Katsushi Ikeuchi

Tech. Report, CMU-CS-93-215, Computer Science Department, Carnegie Mellon University, December, 1993
Real-Time 3-D Pose Estimation Using a High-Speed Range Sensor
David Simon, Martial Hebert and Takeo Kanade

Tech. Report, CMU-RI-TR-93-24, Robotics Institute, Carnegie Mellon University, November, 1993
Building 3-D Models from Unregistered Range Images
K. Higuchi, Martial Hebert and Katsushi Ikeuchi

Tech. Report, CMU-CS-93-214, Computer Science Department, Carnegie Mellon University, November, 1993
Smart Cars: The CMU Navlab
Chuck Thorpe, R. Craig Coulter, Martial Hebert, Todd Jochem, Dirk Langer, Dean Pomerleau, Julio Rosenblatt, W. Ross and Anthony (Tony) Stentz

Conference Paper, Proceedings of WORLD MED93, October, 1993
Local Perception for Mobile Robot Navigation in Natural Terrain: Two Approaches
Martial Hebert and Eric Krotkov

Conference Paper, Workshop on Computer Vision for Space Applications, September, 1993
A Spherical Representation for the Recognition of Curved Objects
H. Delingette, Martial Hebert and Katsushi Ikeuchi

Conference Paper, International Conference on Computer Vision, pp. 103 - 112, May, 1993
Autonomous Cargo Transport System
Kerien Fitzpatrick, Martial Hebert, Dean Pomerleau and Hagen Schempf

Conference Paper, Proceedings of the United States Postal Service 5th Advanced Technology Conference, December, 1992
Representation and Recognition of Free-Form Surfaces
Herve Delingette, Martial Hebert and Katsushi Ikeuchi

Tech. Report, CMU-CS-92-214, Computer Science Department, Carnegie Mellon University, November, 1992
Task Oriented Vision
Katsushi Ikeuchi and Martial Hebert

Conference Paper, Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '92), pp. 2187 - 2194, May, 1992
3-D Measurements from Imaging Laser Radars: How Good Are They?
Martial Hebert and Eric Krotkov

Journal Article, International Journal of Image and Vision Computing, Vol. 10, No. 3, pp. 170-178, April, 1992
Shape representation and image segmentation using deformable surfaces
H. Delingette, Martial Hebert and Katsushi Ikeuchi

Journal Article, Image and Vision Computing, pp. 132 - 145, January, 1992
Terrain Map Building for Fast Navigation on Rugged Outdoor Terrain
Alonzo Kelly, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Proceedings of SPIE Symposium on Mobile Robots, January, 1992
The New Generation System for the CMU Navlab
Chuck Thorpe, Martial Hebert, Takeo Kanade and Steven Shafer

Book Section/Chapter, Vision-Based Vehicle Guidance, January, 1992
Trajectory Generation with Curvature Constraint based on Energy Minimization
H. Delingette, Martial Hebert and Katsushi Ikeuchi

Conference Paper, Proceedings 1991 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '91, November, 1991
Integrating Position Measurement and Image Understanding for Autonomous Vehicle Navigation
Chuck Thorpe, Omead Amidi, Jay Gowdy, Martial Hebert and D. Pomerleau.

Conference Paper, Proceedings of 2nd International Workshop on High Precision Navigation, November, 1991
3-D measurements from imaging laser radars: how good are they?
Martial Hebert and Eric Krotkov

Conference Paper, Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, Vol. 1, pp. 359 - 364, November, 1991
Toward Autonomous Driving: The CMU Navlab. Part I: Perception
Chuck Thorpe, Martial Hebert, Takeo Kanade and Steven Shafer

Journal Article, IEEE Expert, Vol. 6, No. 4, pp. 31 - 42, August, 1991
Toward Autonomous Driving: The CMU Navlab. Part II: System and Architecture
Chuck Thorpe, Martial Hebert, Takeo Kanade and Steven Shafer

Journal Article, IEEE Expert, Vol. 6, No. 4, pp. 44 - 52, August, 1991
Building and navigating maps of road scenes using an active sensor
Martial Hebert

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation (ICRA '89), pp. 1136 - 1143, May, 1991
Building Qualitative Elevation Maps from Side Scan Sonar Data for Autonomous Underwater Navigation
Dirk Langer and Martial Hebert

Conference Paper, Proceedings of the 1991 IEEE International Conference on Robotics and Automation (ICRA '91), April, 1991
A Three-Finger Gripper for Manipulation in Unstructured Environments
C. Francois, Katsushi Ikeuchi and Martial Hebert

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '91), pp. 2261 - 2265, April, 1991
Three-Dimensional Map Generation From Side-Scan Sonar Images
J.M. Cuschieri and Martial Hebert

Journal Article, Journal of Energy Resources Technology, Vol. 112, June, 1990
Hierarchical Terrain Representations for Off-Road Navigation
Jay Gowdy, Anthony (Tony) Stentz and Martial Hebert

Conference Paper, Proceedings of SPIE Symposium on Mobile Robots, January, 1990
A perception and manipulation system for collecting rock samples
T. Choi, H. Delingette, M. DeLuise, Y. Hsin, Martial Hebert and Katsushi Ikeuchi

Miscellaneous, January, 1990
A Perception System for a Planetary Explorer
Martial Hebert, Eric Krotkov and Takeo Kanade

Conference Paper, Proc. of the 28th IEEE Conference on Decision and Control, Vol. 2, pp. 1151-1156, December, 1989
Methods for Identifying Footfall Positions for a Legged Robot
C. Caillas, Martial Hebert, Eric Krotkov, In So Kweon and Takeo Kanade

Conference Paper, Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '89. The Autonomous Mobile Robots and Its Applications, (IROS '89), pp. 244 - 250, September, 1989
Terrain Modeling for Autonomous Underwater Navigation
Martial Hebert

Conference Paper, Proceedings of the 7th International Symposium on Unmanned Untethered Submersible Technology, June, 1989
Ambler: An Autonomous Rover for Planetary Exploration
John Bares, Martial Hebert, Takeo Kanade, Eric Krotkov, Tom Mitchell, Reid Simmons and William (Red) L. Whittaker

Journal Article, IEEE Computer, Vol. 22, No. 6, pp. 18-26, June, 1989
Terrain Mapping for a Roving Planetary Explorer
Martial Hebert, C. Caillas, Eric Krotkov, In So Kweon and Takeo Kanade

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89), Vol. 2, pp. 997-1002, May, 1989
First Results in Terrain Mapping for a Roving Planetary Explorer
Eric Krotkov, C. Caillas, Martial Hebert, In So Kweon and Takeo Kanade

Conference Paper, Proc. NASA Conference on Space Telerobotics, January, 1989
3-D Vision Techniques for Autonomous Vehicles
Martial Hebert, Takeo Kanade and In So Kweon

Tech. Report, CMU-RI-TR-88-12, Robotics Institute, Carnegie Mellon University, August, 1988
Computer Vision For Autonomous Navigation
Martial Hebert

Miscellaneous, June, 1988
Vision and navigation for the Carnegie-Mellon Navlab
Chuck Thorpe, Martial Hebert, Takeo Kanade and Steven Shafer

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 10, No. 3, pp. 362 - 373, May, 1988
3-D Vision for Outdoor Navigation by an Autonomous Vehicle
Martial Hebert and Takeo Kanade

Conference Paper, Proceedings of the 1988 DARPA Image Understanding Workshop, pp. 593-601, April, 1988
Sonar Applications for Underwater Vision
J.M. Cuschieri and Martial Hebert

Conference Paper, The Eleventh Annual Energy-Sources Technology Conference and Exhibition - Current Practices and New Technology in Ocean Engineering - 1988, January, 1988
A Feasibility Study for Long Range Autonomous Underwater Vehicle
Martial Hebert, Chuck Thorpe, S. Dunn, J. Cushieri, P. Rushfeldt, W. Girodet and P. Schweitzer

Conference Paper, Proceedings of Fifth International Symposium on Unmanned Untethered Submersible Technology, June, 1987
Vision and Navigation for Carnegie Mellon Navlab
Chuck Thorpe, Martial Hebert, Takeo Kanade and Steven Shafer

Book Section/Chapter, Annual Review of Computer Science, Vol. 2, pp. 521-556, January, 1987
Outdoor Scene Analysis Using Range Data
Martial Hebert and Takeo Kanade

Conference Paper, Proc. 1986 IEEE International Conference on Robotics and Automation, Vol. 3, pp. 1426-1432, April, 1986
The 3-D Profile Method for Object Recognition
Martial Hebert and Takeo Kanade

Conference Paper, Proceedings of the 1985 Computer Vision and Pattern Recognition Conference (CVPR '85), pp. 458-464, January, 1985
First Results on Outdoor Scene Analysis Using Range Data
Martial Hebert and Takeo Kanade

Conference Paper, Proceedings of the 1985 DARPA Image Understanding Workshop, pp. 224-231, January, 1985
Sensor Fusion of Range and Reflectance Data for Outdoor Scene Analysis
In So Kweon, Martial Hebert and Takeo Kanade

Miscellaneous, January, 1985
Mailing Address
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
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