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Martial Hebert

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

Office: 224 EDSH
Phone: +1 (412) 268-2585


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

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)


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.

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

Description: a

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 SukthankarMartial Hebert

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 KanadeMartial Hebert

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

Description: aa

Prediction of pedestrian trajectories
Luis Navarro-Serment, Drew Bagnell, Martial Hebert

Description: aa

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



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Structure Discovery in Multi-modal Data
Alvaro Collet Romea, Siddhartha Srinivasa, Martial Hebert

Description: aa

Addressing Feature Ambiguity for Point-Based 3D Object Recognition
Edward Hsiao,  Alvaro Collet

Description: aa

Contextual Classification with Functional Max-Margin Markov Networks
Daniel Munoz,  Nicolas Vandapel, Drew Bagnell
in CVPR'09

Description: AA

Activity Recognition from First Person Sensing
Ekaterina H. (Spriggs) Taralova, Fernando De la Torre, Martial Hebert

Description: aa

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

Description: localtion

Image Matching in Large Scale Environments
Hongwen Kang, Takeo Kanade, Alexei A. Efros, Martial Hebert

Description: event detection

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
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
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.