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Research
My work is in the areas of
computer vision and perception for autonomous systems. My interests are
in the interpretation of perception data (both 2-D and 3-D), including
building models of environments. Current research directions include:
- 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
Post-Docs/Visitors/Research
Staff
Former Post-Docs/Visitors (Since 2008)
Former PhD Students
(in approximate chronological order)
- Ishan Misra (Robotics,
PhD 2018, now at Facebook)
- Learning
to Learn for Small Sample Visual Recognition
- Jacob Walker (Robotics,
PhD 2018, now at DeepMind) (Co-advised with Abhinav Gupta)
- Data-Driven
Visual Forecasting
- Yuxiong
Wang (Robotics, PhD 2018)
- Learning
to Learn for Small Sample Visual Recognition
- Arun
Venkatraman (Robotics,
PhD 2017, now at Aurora) (Co-advised with Drew Bagnell)
- Training
Strategies for Time Series: Learning for Prediction, Filtering, and Reinforcement
Learning
- David Fouhey
(Robotics, PhD 2016, now at University of Michigan) (Co-advised
with Abhinav Gupta)
- Factoring
Scenes into 3D Structure and Style
- Ekatarina Taralova
(Robotics, PhD 2014)
- Feature
Quantization and Pooling for Videos
- Ed
Hsiao (Robotics, PhD 2014, now at
A9)
- Addressing
Ambiguity in Object Instance Detection
- Scott
Satkin (Robotics,
PhD 2013, now at Google)
- Data-Driven
Geometric Scene Understanding
- Daniel
Munoz (Robotics, PhD 2013, now at Aurora) (Co-advised
with Drew Bagnell)
- Inference
Machines: Parsing Scenes via Iterated Predictions
- Alvaro Collet
(Robotics, PhD 2012, now at Microsoft) (Co-advised with
Siddhartha Srinivasa)
- Lifelong
Robotic Object Perception
- Pyry Matikainen (Robotics,
PhD 2012)
- Model
Recommendation for Action Recognition and Other Applications
- Hong-Wen (Henry) Kang (Robotics, PhD 2012)
(Co-advised with Takeo Kanade)
- Object
Instance Discovery from Scenes of Daily Living
- Santosh Kumar Divvala (Robotics,
PhD 2012, now at University of Washington) (Co-advised with Alexei Efros)
- Context
and Subcategories for Sliding Window Object Recognition
- Marius Leordeanu (Robotics, PhD 2009, now at Romanian
Academy)
- PhD
Thesis -- Spectral Graph Matching, Learning, and Inference for Computer
Vision
- Gunhee
Kim (Robotics, Masters 2008)
- Caroline Pantofaru (Robotics, PhD 2008, now at
Willow Garage)
- PhD
Thesis -- Studies In Using Image Segmentation to Improve Object
Recognition
- Ranjith
Unnikrishnan (Robotics, PhD 2008, now
at Google)
- PhD
Thesis -- Statistical Approaches to Multi-scale Point Cloud
Processing
- Andrew Stein (Robotics, PhD
2008, now at Tandent Vision)
- PhD
Thesis -- Occlusion Boundaries: Low-Level Processing to High-Level
Reasoning
- Yan Ke (CS,
PhD 2008, now at Microsoft), co-advised with Rahul Sukthankar
- Derek Hoiem (Robotics, PhD
2007, now at UIUC), co-advised with Alexei Efros
- Cristian Dima (Robotics,
PhD 2006, now at CMU NREC), co-advised with Tony Stentz
- Sanjiv Kumar (Robotics,
PhD 2005, now at Google, NY)
- Jean-François Lalonde (Robotics, Masters 2006, now CMU
PhD student)
- Bart Nabbe
(Robotics, PhD 2005, now at Tandent Vision)
- Charles
Rosenberg (CS, PhD 2004, now at Google), co-advised with Sebastian Thrun
- Raghavenra Rao Donamukkala
(Robotics, Masters 2007, now at Yahoo)
- Owen
Carmichael (Robotics, PhD 2003, now at U.C. Davis)
- Peng Chang
(Robotics, PhD 2002, now at Princeton Vision)
- Matthew Deans (Robotics,
PhD 2005, now at NASA Ames)
- Daniel Huber (Robotics, PhD
2002, now at Facebook)
- Shyjan
Mahamud (CS, PhD 2002, now at Australian
National University)
- Liam Pedersen (Robotics,
PhD 2000, now at NASA Ames)
- John Hancock (Robotics,
PhD 1999), co-advised with Chuck Thorpe
- Dongmei Zhang (CS, PhD 1999, now at Microsoft)
- Andrew
Johnson (Robotics, PhD 1997, now at JPL)
Selected
Projects (occasionally updated...)
(see the
RI Web page for a mostly complete list
of publications)

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Generating
Object Detectors from Few Samples
Yuxiong Wang, Martial Hebert
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Unfolding an
Origami World
David Fouhey,
Abhinav
Gupta, Martial Hebert
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Unsupervised visual predicition
Jacob Walker, Abhinav
Gupta, Martial Hebert
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Data-Driven
Exemplar Model Selection
Ishan Misra, Abhinav
Shrivastava, Martial Hebert
WACV 2014 (Best Student Paper Award)
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Predicting Failures
of Vision Systems
Peng Zhang , Jiuling Wang, Ali Farhadi
, Martial Hebert, Devi Parikh
CVPR 2014
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Style-aware
Mid-level Representations for Discovering Visual Connections in Space and
Time
Yong Jae Lee , Alexei Efros
, Martial Hebert
ICCV 2013
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Data-Driven 3D Primitives for
Single Image Understanding
David Fouhey,
Abhinav
Gupta , Martial Hebert
ICCV 2013
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Data-Driven Scene Understanding from
3D Models
Scott Satkin,
Jason Lin, Maheen Rashid, Martial Hebert
IJCV 2014, ICCV 2013, BMVC 2012
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Activity
Forecasting
Kris Kitani, Drew Bagnell, Martial Hebert
ECCV 2012 (Runner-Up Best Paper
Award)
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Model
recommendation for vision tasks
Pyry Matikainen,
Rahul Sukthankar, Martial Hebert
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Perception for autonomous
flying in cluttered environments
Debadeepta Dey, Narek
Melik-Barkhudarov, Stéphane
Ross, Kumar Shaurya Shankar, Gaurav Singh,
Andreas Wendel,
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Object discovery
Hongwen
Kang, Takeo Kanade, Martial Hebert
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Occlusion Reasoning for
Object Detection under Arbitrary Viewpoint
Ed Hsiao and Martial Hebert
CVPR 2012
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Inference
Machines for Scene Understanding
Daniel Munoz , Stephane Ross ,
Xuehan Xiong , Drew Bagnell , Martial Hebert
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Robotic object discovery
Alvaro Collet Romea, Martial Hebert, Siddhartha Srinivasa
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Prediction of
pedestrian trajectories
Luis Navarro-Serment, Drew Bagnell,
Martial Hebert
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Blocks World
Revisited
Abhinav Gupta, Alexei A. Efros,
Martial Hebert
(Runner-Up Best Paper
Award)
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Stacked Hierarchical Labeling
Daniel Munoz, Drew Bagnell
in ECCV 2010
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Structure Discovery in Multi-modal Data
Alvaro Collet Romea, Siddhartha Srinivasa, Martial
Hebert
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Addressing Feature
Ambiguity for Point-Based 3D Object Recognition
Edward Hsiao, Alvaro Collet
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Contextual Classification with Functional
Max-Margin Markov Networks
Daniel Munoz,
Nicolas Vandapel, Drew Bagnell
in CVPR'09
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Activity Recognition from First Person
Sensing
Ekaterina H. (Spriggs) Taralova, Fernando De la Torre, Martial Hebert
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Efficient image indexing for localization and image
composition
Takeo
Kanade, Alexei
A. Efros, Martial Hebert
in 3dRR'09, EgoVision'09
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3D Scene
Analysis
David Lee, Takeo Kanade, Martial Hebert
in CVPR 2009
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An
Empirical Study of Context in Object Detection
Santosh Kumar Divvala, Derek
Hoiem, James Hays, Alexei A. Efros, Martial
Hebert
in CVPR 2009
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Image Matching in
Large Scale Environments
Hongwen
Kang, Takeo Kanade, Alexei A. Efros, Martial
Hebert
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Volumetric Features for Event Recognition in Video
Yan Ke,
Rahul Sukhtankar,
Martial Hebert
in ICCV 2007.
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Detecting
Boundaries for Segmentation and Recognition
Andrew Stein,
Martial Hebert
in ICCV 2007.
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A framework for learning to
recognize and segment object classes
Caroline Pantofaru, Martial Hebert
in BMVC 2007.
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Object and Category Recognition from Pairwise
Relations between Features
Marius Leordeanu, Rahul Sukhtankar,
Martial Hebert
in CVPR 2007.
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Evaluation of Image
Segmentation Algorithms
Caroline Pantofaru, Ranjith Unnikrishnan, Martial Hebert
in PAMI 2007.
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Recovering
Occlusion Boundaries from a Single Image
Derek Hoiem,
Andrew Stein, Alexei A. Efros, Martial Hebert
in ICCV 2007.
Source code available
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Putting
Objects in Perspective
Derek Hoiem,
Alexei A. Efros, Martial Hebert
In CVPR 2006.
Best Paper Award
Source code available
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Geometric
Context from a Single Image
Derek Hoiem,
Alexei A. Efros, Martial Hebert
In ICCV 2005
(see also expanded
journal version, IJCV 2007)
Executable available
(for non-commerical use only)
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Spectral Techniques for Matching and Inference
Marius Leordeanu, Martial Hebert
in ICML 2006.
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Automatic
Photo Pop-up
Derek Hoiem,
Alexei A. Efros, Martial Hebert
In SIGGRAPH 2005
See article in
The Economist
Technology licensed to FreeWebs as Fotowoosh
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3-D
Recognition and 3-D environment model building
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Terrain
Classification from 3-D Point Clouds for Autonomous Mobility
Jean-François Lalonde, Nicolas Vandapel,
Martial Hebert
In Journal of Field Robotics, 2006.
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Detection
and Tracking of Moving Objects in Dynamic Environments
Christoph Mertz, Luis Navarro-Serment, Martial Hebert
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Efficient Data Structures for On-Line Processing of
3-D Point Clouds
Jean-François
Lalonde, Nicolas Vandapel,
Martial Hebert
In International Journal of Robotics Research, 2007.
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Automatic Scale Selection for Analyzing 3-D Point
Clouds
Ranjith Unnikrishnan, Jean-François Lalonde, Nicolas Vandapel,
Martial Hebert
in BMVC 2007.
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