Martial Hebert homepage

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Martial Hebert

Professor
The Robotics Institute
School of Computer Science
Carnegie Mellon University
Pittsburgh, PA 15213, USA

Office: 224 EDSH
Phone: +1 (412) 268-2585
Email: hebert@ri.cmu.edu

Research
Current students and collaborators
Former students
Data/Software
Selected projects
Sponsors

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

Graduate Students

Jacob Walker (Robotics, PhD) (with Abhinav Gupta)
David Fouhey (Robotics, PhD) (with Abhinav Gupta)
Arne Suppe (Robotics, PhD)
Yuxiong Wang (Robotics, PhD)
Allie DelGiorno (Robotics, PhD) (with Drew Bagnell)
Hanzhang Hu (MLD, PhD) (with Drew Bagnell)
Arun Venkatraman (Robotics, PhD) (with Drew Bagnell)

Post-Docs/Visitors/Research Staff

Associated Projects/Labs/Centers

University Transportation Center (UTC)

Quality of Life Technology Center (QoLT)
Vision and Mobile Robotics Lab
Willow Research Team (INRIA)
ASDMCon Project (Civil Eng. Dept.)

Former Post-Docs/Visitors (Since 2008)

Former Students (in approximate chronological order)

Ekatarina Taralova (Robotics, PhD 2014, now Post-Doc. at Columbia University)

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 GoogleX) (Co-advised with Drew Bagnell)

Inference Machines: Parsing Scenes via Iterated Predictions

Narek Melik-Barkhudarov (Robotics,Masters)
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

PhD Thesis -- Volumetric Features for Video Event Detection

Derek Hoiem (Robotics, PhD 2007, now at UIUC), co-advised with Alexei Efros

PhD Thesis -- Seeing the World Behind the Image: Spatial Layout for 3D Scene Understanding

Cristian Dima (Robotics, PhD 2006, now at CMU NREC), co-advised with Tony Stentz

PhD Thesis -- Active Learning for Outdoor Perception

Sanjiv Kumar (Robotics, PhD 2005, now at Google, NY)

PhD Thesis -- Models for Learning Spatial Interactions in Natural Images for Context-Based Classification

Jean-François Lalonde (Robotics, Masters 2006, now CMU PhD student)
Bart Nabbe (Robotics, PhD 2005, now at Tandent Vision)

PhD Thesis -- Extending the Path-planning Horizon

Charles Rosenberg (CS, PhD 2004, now at Google), co-advised with Sebastian Thrun

PhD Thesis -- Semi-Supervised Training of Models for Appearance-Based Statistical Object Detection Methods

Raghavenra Rao Donamukkala (Robotics, Masters 2007, now at Yahoo)
Owen Carmichael (Robotics, PhD 2003, now at U.C. Davis)

PhD Thesis -- Discriminative Techniques For The Recognition Of Complex-Shaped Objects

Peng Chang (Robotics, PhD 2002, now at Princeton Vision)

PhD Thesis -- Robust Tracking and Structure from Motion with Sampling Method

Matthew Deans (Robotics, PhD 2005, now at NASA Ames)

PhD Thesis -- Bearings-Only Localization and Mapping

Daniel Huber (Robotics, PhD 2002, now at CMU RI)

PhD Thesis -- Automatic Three-Dimensional Modeling from Reality

Shyjan Mahamud (CS, PhD 2002, now at Australian National University)

PhD Thesis -- Discriminative Distance Measures for Object Detection

Liam Pedersen (Robotics, PhD 2000, now at NASA Ames)

PhD Thesis -- Robotic Rock Classification and Autonomous Exploration

John Hancock (Robotics, PhD 1999), co-advised with Chuck Thorpe

PhD Thesis -- Laser Intensity Based Obstacle Detection and Tracking

Dongmei Zhang (CS, PhD 1999, now at Microsoft)

PhD Thesis -- Harmonic Shape Images: A Representation for 3-D Free-Form Surfaces and its Application in Surface Matching

Andrew Johnson (Robotics, PhD 1997, now at JPL)

PhD Thesis -- Spin-Images: A Representation for 3D Surface Matching

Data/Software (See also individual project links)

· Set of images and features from images in an indoor environment for testing image matching ZIP file (Warning: over 800Megs!).

· Labeled 3D point clouds for classification and 3D segmentation.

CMU IKEA Kitchen Object Dataset: Difficult dataset for recognition of object instances in typical ADL environments.

Selected Projects (occasionally updated...)

(see the RI Web page for a mostly complete list of publications)

	Generating Object Detectors from Few Samples Yuxiong Wang, Martial Hebert
	Unfolding an Origami World David Fouhey, Abhinav Gupta, Martial Hebert
	Unsupervised visual predicition Jacob Walker, Abhinav Gupta, Martial Hebert
	Data-Driven Exemplar Model Selection Ishan Misra, Abhinav Shrivastava, Martial Hebert WACV 2014 (Best Student Paper Award)
	Predicting Failures of Vision Systems Peng Zhang , Jiuling Wang, Ali Farhadi , Martial Hebert, Devi Parikh CVPR 2014
	Style-aware Mid-level Representations for Discovering Visual Connections in Space and Time Yong Jae Lee , Alexei Efros , Martial Hebert ICCV 2013
	Data-Driven 3D Primitives for Single Image Understanding David Fouhey, Abhinav Gupta , Martial Hebert ICCV 2013
	Data-Driven Scene Understanding from 3D Models Scott Satkin, Jason Lin, Maheen Rashid, Martial Hebert IJCV 2014, ICCV 2013, BMVC 2012
	Activity Forecasting Kris Kitani, Drew Bagnell, Martial Hebert ECCV 2012 (Runner-Up Best Paper Award)
$Description: C:\Users\hebert\Dropbox\homew\model_recommendation_webpage\martial_webpage\img\me_2_ex.jpg$ $Description: C:\Users\hebert\Dropbox\homew\model_recommendation_webpage\martial_webpage\img\collabfilterdiag.png$	Model recommendation for vision tasks Pyry Matikainen, Rahul Sukthankar, Martial Hebert
	Perception for autonomous flying in cluttered environments Debadeepta Dey, Narek Melik-Barkhudarov, Stéphane Ross, Kumar Shaurya Shankar, Gaurav Singh, Andreas Wendel,
$Description: C:\Users\hebert\Dropbox\homew\discovery1_files\teaser22.jpg$ $Description: C:\Users\hebert\Dropbox\homew\discovery1_files\ADL.png$	Object discovery Hongwen Kang, Takeo Kanade, Martial Hebert
	Occlusion Reasoning for Object Detection under Arbitrary Viewpoint Ed Hsiao and Martial Hebert CVPR 2012
	Inference Machines for Scene Understanding Daniel Munoz , Stephane Ross , Xuehan Xiong , Drew Bagnell , Martial Hebert
	Robotic object discovery Alvaro Collet Romea, Martial Hebert, Siddhartha Srinivasa
	Prediction of pedestrian trajectories Luis Navarro-Serment, Drew Bagnell, Martial Hebert
	Blocks World Revisited Abhinav Gupta, Alexei A. Efros, Martial Hebert (Runner-Up Best Paper Award)
	Stacked Hierarchical Labeling Daniel Munoz, Drew Bagnell in ECCV 2010

$Description: C:\Users\hebert\Dropbox\homew\struct_discovery\main.jpg$	Structure Discovery in Multi-modal Data Alvaro Collet Romea, Siddhartha Srinivasa, Martial Hebert
	Addressing Feature Ambiguity for Point-Based 3D Object Recognition Edward Hsiao, Alvaro Collet
	Contextual Classification with Functional Max-Margin Markov Networks Daniel Munoz, Nicolas Vandapel, Drew Bagnell in CVPR'09
	Activity Recognition from First Person Sensing Ekaterina H. (Spriggs) Taralova, Fernando De la Torre, Martial Hebert
	Efficient image indexing for localization and image composition Takeo Kanade, Alexei A. Efros, Martial Hebert in 3dRR'09, EgoVision'09
	3D Scene Analysis David Lee, Takeo Kanade, Martial Hebert in CVPR 2009
	An Empirical Study of Context in Object Detection Santosh Kumar Divvala, Derek Hoiem, James Hays, Alexei A. Efros, Martial Hebert in CVPR 2009
	Image Matching in Large Scale Environments Hongwen Kang, Takeo Kanade, Alexei A. Efros, Martial Hebert
	Volumetric Features for Event Recognition in Video Yan Ke, Rahul Sukhtankar, Martial Hebert in ICCV 2007.
	Detecting Boundaries for Segmentation and Recognition Andrew Stein, Martial Hebert in ICCV 2007.
$Description: C:\Users\hebert\Dropbox\homew\regs_files\examplel.jpg$ $Description: C:\Users\hebert\Dropbox\homew\regs_files\exampler.jpg$	A framework for learning to recognize and segment object classes Caroline Pantofaru, Martial Hebert in BMVC 2007.
$Description: C:\Users\hebert\Dropbox\homew\rec_files\rec1.jpg$ $Description: C:\Users\hebert\Dropbox\homew\rec_files\horse.jpg$ $Description: C:\Users\hebert\Dropbox\homew\rec_files\rec2.jpg$ $Description: C:\Users\hebert\Dropbox\homew\rec_files\horse2.jpg$	Object and Category Recognition from Pairwise Relations between Features Marius Leordeanu, Rahul Sukhtankar, Martial Hebert in CVPR 2007.
$Description: C:\Users\hebert\Dropbox\homew\segs_files\seg1.jpg$ $Description: C:\Users\hebert\Dropbox\homew\segs_files\seg2.jpg$	Evaluation of Image Segmentation Algorithms Caroline Pantofaru, Ranjith Unnikrishnan, Martial Hebert in PAMI 2007.
$Description: C:\Users\hebert\Dropbox\homew\homew_files\occlusion.png$	Recovering Occlusion Boundaries from a Single Image Derek Hoiem, Andrew Stein, Alexei A. Efros, Martial Hebert in ICCV 2007. Source code available
$Description: C:\Users\hebert\Dropbox\homew\homew_files\hoiem06.jpg$	Putting Objects in Perspective Derek Hoiem, Alexei A. Efros, Martial Hebert In CVPR 2006. Best Paper Award Source code available
$Description: C:\Users\hebert\Dropbox\homew\homew_files\gcimage.jpg$	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)
$Description: C:\Users\hebert\Dropbox\homew\icml.jpg$	Spectral Techniques for Matching and Inference Marius Leordeanu, Martial Hebert in ICML 2006.
$Description: C:\Users\hebert\Dropbox\homew\homew_files\popup_small.jpg$	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
$Description: C:\Users\hebert\Dropbox\homew\rec3d_files\adscom.jpg$ $Description: C:\Users\hebert\Dropbox\homew\rec3d_files\mars.jpg$	3-D Recognition and 3-D environment model building
	Terrain Classification from 3-D Point Clouds for Autonomous Mobility Jean-François Lalonde, Nicolas Vandapel, Martial Hebert In Journal of Field Robotics, 2006.
$Description: C:\Users\hebert\Dropbox\homew\datmo_files\datmotop.jpg$ $Description: C:\Users\hebert\Dropbox\homew\datmo_files\datmotop2.jpg$	Detection and Tracking of Moving Objects in Dynamic Environments Christoph Mertz, Luis Navarro-Serment, Martial Hebert
	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.
	Automatic Scale Selection for Analyzing 3-D Point Clouds Ranjith Unnikrishnan, Jean-François Lalonde, Nicolas Vandapel, Martial Hebert in BMVC 2007.