Mark was a Research Associate at the Robotics Institute of Carnegie Mellon University from July 1996 through December 1997. He worked as Mapping Sensor Lead for the Pioneer project that will send a robot into the Chornobyl reactor, and as Software and Navigation lead on the Lunar Rover Demonstration project. Work on this project culminated during the summer of 1997 in the Atacama Desert Trek, during which the Nomad robot was driven through the Moon-like Atacama Desert in Chile by novice drivers located in the United States. Nomad also drove itself through 21 kilometers of the Atacama Desert.
He completed his graduate work in computer vision (stereo matching) with Steve Shafer in the Vision and Autonomous Systems Center, part of the School of Computer Science at Carnegie Mellon University. His Ph.D. thesis dealt with Characterizing Stereo Matching Problems using Local Spatial Frequency methods (e.g., Fourier analysis, Gabor wavelets); it demonstrates results using real and synthetic imagery with ground truth. Some of the data collected in the Calibrated Imaging Lab is available on the CIL Stereo Datasets page, and local information about generating synthetic stereo and range data is also available. A paper, Modeling Foreshortening in Stereo Vision using Local Spatial Frequency, was presented at IROS'95 (Errata sheet now available in PostScript (320K)). A Taxonomy for Stereo Computer Vision Experiments was presented at the ECCV'96 workshop on Performance Characteristics of Vision Algorithms (CFP).
His Ph.D. research was partially funded by the NASA Graduate Student Research Program via the NASA Ames Vision Group.
Earlier work includes the creation and maintenance of the Computer Vision home page, a WWW Tutorial presentation, the Miró visual specification language, f2c (a Fortran 77 to C translator), Space-related net resources, and more Web and Net-related freeware. Mark is also an alumnus of the 1989 International Space University Summer Session.