My Ph.D. thesis work was to automate a small fixed-wing unmanned aerial vehicle (UAV) for autonomous navigation in an urban environment and its performance was demonstrated by an air-slalom task that demands the UAV to search, localize, and pass through multiple gates (click here to see my dissertation). Visit the MSUAV project page if you become more curious about what I have done.
My main research interest is currently moving to developing a wearable first-person-vision device and vision-based realtime indoor localization method for a walking person.
Dissertation
Myung Hwangbo, "Vision-Based Navigation for a Small Fixed-Wing Airplane in Urban Environment", Tech. Report CMU-RI-TR-12-11, Robotics Institute, Carnegie Mellon University, 2012 [pdf]
Selected Publications
M. Hwangbo, J.-S. Kim, and T. Kanade, "IMU Self Calibration Using Factorization,"
IEEE transactions on Robotics,
accepted for the publication in Nov 2012
M. Hwangbo, J.-S. Kim, and T. Kanade, "Gyro-Aided Feature Tracking for a Moving Camera: Fusion, Auto-Calibration and GPU Implementation,"
International Journal of Robotics Research,
vol. 30, no. 14, Dec 2011.
[doi]
J.-S. Kim, M. Hwangbo, and T. Kanade, "Spherical Approximation for Multiple Cameras in Motion Estimation: its Applicability and Advantages,"
Computer Vision and Image Understanding,
vol. 114, no. 10, Oct 2010.
[doi]
M. Hwangbo and T. Kanade, "Visual-inertial UAV Attitude Estimation Using Urban Scene Regularities,"
IEEE Int'l Conf on Robotics and Automation (ICRA), May 2011.
[doi]
J.-S. Kim, M. Hwangbo, and T. Kanade, "Realtime Affine-photometric KLT Feature Tracker on GPU in CUDA Framework,"
5th IEEE Workshop on Embedded Computer Vision in ICCV, Sep 2009.
[doi]
J.-S. Kim, M. Hwangbo, and T. Kanade, "Motion Estimation Using Multiple Non-overlapping Cameras for Small Unmanned Aerial Vehicles,"
IEEE Int'l Conf on Robotics and Automation (ICRA), May 2008.
[doi]
M. Hwangbo, J. Kuffner, and T. Kanade, "Efficient Two-phase 3D Motion Planning for Small Fixed-wing UAVs,"
IEEE Int'l Conf on Robotics and Automation (ICRA), Apr 2007.
[doi]
