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NOTE: This list is out-of-date. Please see my RI page for a complete list of publications.

Invariance in Low-level Vision

3d scan of conertina wire

Extracting Scale and Illuminant Invariant Regions through Color
R. Unnikrishnan and Martial Hebert
17th British Machine Vision Conference (BMVC), Sept, 2006 [pdf].

Scene understanding from 3-D data

3d scan of conertina wire

Scale Selection for the Analysis of Point-sampled Curves
R. Unnikrishnan, J.-F. Lalonde, N. Vandapel, Martial Hebert
Third International Symposium on 3-D Processing, Visualization and Transmission (3DPVT), June, 2006 [pdf].

More details are in Tech report CMU-RI-TR-06-25 [pdf]

estimated support region in aerial data

Scale Selection for Classification of Point-sampled 3-D Surfaces
J.-F. Lalonde, R. Unnikrishnan, N. Vandapel and Martial Hebert
Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM 2005), June, 2005 [pdf]

range scene analysis

Robust Extraction of Multiple Structures from Non-Uniformly Sampled Data
R. Unnikrishnan and Martial Hebert
Proc. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2003 (IROS ‘03), Vol. 2, pp. 1322–1329 [pdf]

range scene analysis Toward Generating Labeled Maps from Color and Range Data for Robot Navigation
C. Pantofaru, R. Unnikrishnan, Martial Hebert
Proc. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2003 (IROS ‘03), Vol. 2, pp. 1314–1321 [pdf]

Empirical Evaluation of Computer Vision Algorithms

example multiple segmentations

A Measure for Objective Evaluation of Image Segmentation Algorithms
R. Unnikrishnan, C. Pantofaru, Martial Hebert
Proceedings of the 2005 IEEE Conference on Computer Vision and Pattern Recognition (CVPR '05), Workshop on Empirical Evaluation Methods in Computer Vision, June, 2005 [pdf]

sample segmentation

Measures of Similarity
R. Unnikrishnan, Martial Hebert
Seventh IEEE Workshop on Applications of Computer Vision (WACV), January, 2005, pp. 394-400 [pdf]


Fast and Robust Techniques for Sensor Calibration

snapshot of lcct GUI

Fast Extrinsic Calibration of a Laser Rangefinder to a Camera
R. Unnikrishnan, Martial Hebert
tech. report CMU-RI-TR-05-09, Robotics Institute, Carnegie Mellon University, July, 2005 [pdf]

The calibration software is available here.


Globally consistent mapping in large cyclic environments

map of grocery store

Efficient Construction of Globally Consistent Ladar Maps using Pose Network Topology and Nonlinear Programming
Alonzo Kelly, R. Unnikrishnan
Proc. 11th International Symposium of Robotics Research (ISRR 2003) [pdf]

mosaic of indoor scene A Constrained Optimization Approach to Globally Consistent Mapping
R. Unnikrishnan, Alonzo Kelly
Proc. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2002 (IROS ‘02), Vol. 1, October, 2002, pp. 564–569  [pdf]
mosaic on synthetic data Globally Consistent Mosaicking for Autonomous Visual Navigation
R. Unnikrishnan
Master’s thesis, tech. report CMU-RI-TR-02-22, Robotics Institute, Carnegie Mellon University, September, 2002  [pdf]
map misalignment with only dead reckoning Mosaicking Large Cyclic Environments for Visual Navigation in Autonomous Vehicles
R. Unnikrishnan, Alonzo Kelly
Proc. IEEE International Conference on Robotics and Automation, 2002 (ICRA ‘02), Vol. 4, May, 2002, pp. 4299–4306  [pdf]

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