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1. Martial Hebert, Charles Thorpe, and Anthony (Tony) Stentz. Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon. KluwerAcademic Publishers, 1997.
   

   @book{Hebert_1997_1611,
   author = "Martial Hebert and Charles Thorpe and Anthony (Tony) Stentz",
   editor = "M. Hebert, C. Thorpe, and A Stentz",
   title = "Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon",
   publisher = "KluwerAcademic Publishers",
   year = "1997" 
   }

1. Heung-Yeung Shum, Martial Hebert, Katsushi Ikeuchi, and Raj Reddy. An integral approach to free-form object modeling. IEEE Transactions on Pattern Analysis and Machine Intelligence, 19(12):1366 - 1370, December 1997. (pdf)
   

   @article{Shum_1997_3603,
   author = "Heung-Yeung Shum and Martial Hebert and Katsushi Ikeuchi and Raj Reddy",
   title = "An integral approach to free-form object modeling",
   journal = "IEEE Transactions on Pattern Analysis and Machine Intelligence",
   month = "December",
   year = "1997",
   volume = "19",
   number = "12",
   pages = "1366 - 1370",
   pdf =""http://www.ri.cmu.edu/pub_files/pub2/shum_heung_yeung_1997_1/shum_heung_yeung_1997_1.pdf" 
   }

1. L.J. Denes, M. Gottlieb, B. Kaminsky, and Daniel Huber. A Spectro-Polarimetric Imager for Scene Discrimination. In Proceedings of the International Symposium on Spectral Sensing Research (ISSSR), 1997.
   Keywords: Multi-spectral imaging, object recognition, Acousto-optical tunable filters..
   

   @inproceedings{Denes_1997_538,
   author = "L.J. Denes and M. Gottlieb and B. Kaminsky and Daniel Huber",
   title = "A Spectro-Polarimetric Imager for Scene Discrimination",
   booktitle = "Proceedings of the International Symposium on Spectral Sensing Research (ISSSR)",
   year = "1997",
   keywords="Multi-spectral imaging, object recognition, Acousto-optical tunable filters. " 
   }

2. G. Dissanayake, Martial Hebert, Anthony (Tony) Stentz, and H. Durrant-Whyte. Map Building and Terrain-Aided Localisation in an Underground Mine. In Proceedings of the Field and Service Robotics Conference, 1997.
   

   @inproceedings{Dissanayake_1997_1202,
   author = "G. Dissanayake and Martial Hebert and Anthony (Tony) Stentz and H. Durrant-Whyte",
   title = "Map Building and Terrain-Aided Localisation in an Underground Mine",
   booktitle = "Proceedings of the Field and Service Robotics Conference",
   year = "1997" 
   }

3. Daniel Huber, Louis Denes, Martial Hebert, Milton Gottlieb, Boris Kaminsky, and Peter Metes. A Spectro-Polarimetric Imager for Intelligent Transportation Systems. In SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Intelligent Transportation Systems, volume 3207, pages 94-102, October 1997. SPIE. (pdf)
   Keywords: Multi-spectral imaging, object recognition, Acousto-optical tunable filters.
   

   @inproceedings{Huber_1997_467,
   author = "Daniel Huber and Louis Denes and Martial Hebert and Milton Gottlieb and Boris Kaminsky and Peter Metes",
   title = "A Spectro-Polarimetric Imager for Intelligent Transportation Systems",
   booktitle = "SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Intelligent Transportation Systems",
   month = "October",
   year = "1997",
   volume = "3207",
   pages = "94-102",
   publisher = "SPIE",
   pdf="http://www.ri.cmu.edu/pub_files/pub1/huber_daniel_f_1997_1/huber_daniel_f_1997_1.pdf",
   keywords="Multi-spectral imaging, object recognition, Acousto-optical tunable filters" 
   }

4. Andrew Johnson and Martial Hebert. Surface Registration by Matching Oriented Points. In International Conference on Recent Advances in 3-D Digital Imaging and Modeling, pages 121-128, May 1997. (pdf)
   Abstract: "For registration of 3-D free-form surfaces we have developed a representation which requires no knowledge of the transformation between views. The representation comprises descriptive images associated with oriented points on the surface of an object. Constructed using single point bases, these images are data level shape descriptions that are used for efficient matching of oriented points. Correlation of images is used to establish point correspondences between two views; from these correspondences a rigid transformation that aligns the views is calculated. The transformation is then refined and verified using a modified iterative closest point algorithm. To demonstrate the generality of our approach, we present results from multiple sensing domains."
   

   @inproceedings{Johnson_1997_974,
   author = "Andrew Johnson and Martial Hebert",
   title = "Surface Registration by Matching Oriented Points",
   booktitle = "International Conference on Recent Advances in 3-D Digital Imaging and Modeling",
   month = "May",
   year = "1997",
   pages = "121-128",
   pdf="http://www.ri.cmu.edu/pub_files/pub2/johnson_andrew_1997_1/johnson_andrew_1997_1.pdf",
   abstract="For registration of 3-D free-form surfaces we have developed a representation which requires no knowledge of the transformation between views. The representation comprises descriptive images associated with oriented points on the surface of an object. Constructed using single point bases, these images are data level shape descriptions that are used for efficient matching of oriented points. Correlation of images is used to establish point correspondences between two views; from these correspondences a rigid transformation that aligns the views is calculated. The transformation is then refined and verified using a modified iterative closest point algorithm. To demonstrate the generality of our approach, we present results from multiple sensing domains." 
   }

5. Andrew Johnson and Martial Hebert. Recognizing objects by matching oriented points. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '97),, pages 684 - 689, June 1997. (pdf)
   

   @inproceedings{Johnson_1997_3604,
   author = "Andrew Johnson and Martial Hebert",
   title = "Recognizing objects by matching oriented points",
   booktitle = "Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '97),",
   month = "June",
   year = "1997",
   pages = "684 - 689",
   pdf="http://www.ri.cmu.edu/pub_files/pub2/johnson_andrew_1997_5/johnson_andrew_1997_5.pdf" 
   }

6. Andrew Johnson, Regis Hoffman, James Osborn, and Martial Hebert. A System for Semi-automatic Modeling of Complex Environments. In International Conference on Recent Advances in 3-D Digital Imaging and Modeling, pages 213-220, May 1997. (pdf)
   

   @inproceedings{Johnson_1997_975,
   author = "Andrew Johnson and Regis Hoffman and James Osborn and Martial Hebert",
   title = "A System for Semi-automatic Modeling of Complex Environments",
   booktitle = "International Conference on Recent Advances in 3-D Digital Imaging and Modeling",
   month = "May",
   year = "1997",
   pages = "213-220",
   pdf ="http://www.ri.cmu.edu/pub_files/pub1/johnson_andrew_1997_3/johnson_andrew_1997_3.pdf" 
   }

7. Eric Krotkov, Martial Hebert, L. Henriksen, P. Levin, Mark Maimone, Reid Simmons, and James Teza. Evolution of a Prototype Lunar Rover: Addition to Laser-Based Hazard Detection, and Results from Field Trials in Lunar Analogue Terrain. In Autonomous Robots, volume 7, pages 119 - 130, July 1997.
   Abstract: "This paper presents the results of field trials of a prototype lunar rover traveling over natural terrain under safeguarded teleoperation control. Both the rover and the safeguarding approach have been used in previous work. The original contributions of this paper are the development and integration of a laser hazard detection system, and extensive field testing of the overall system. The laser system, which complements an existing stereo vision system, is based on a line-scanning laser ranger viewing the area 1 meter in front of the rover. The laser system has demonstrated excellent performance: zero misses and few false alarms operating at 4 Hz. The overall safeguarding system guided the rover 43 km over lunar analogue terrain with 0.8 failures per kilometer."
   

   @inproceedings{Krotkov_1997_940,
   author = "Eric Krotkov and Martial Hebert and L. Henriksen and P. Levin and Mark Maimone and Reid Simmons and James Teza",
   title = "Evolution of a Prototype Lunar Rover: Addition to Laser-Based Hazard Detection, and Results from Field Trials in Lunar Analogue Terrain",
   booktitle = "Autonomous Robots",
   month = "July",
   year = "1997",
   volume = "7",
   number = "2",
   pages = "119 - 130",
   abstract="This paper presents the results of field trials of a prototype lunar rover traveling over natural terrain under safeguarded teleoperation control. Both the rover and the safeguarding approach have been used in previous work. The original contributions of this paper are the development and integration of a laser hazard detection system, and extensive field testing of the overall system. The laser system, which complements an existing stereo vision system, is based on a line-scanning laser ranger viewing the area 1 meter in front of the rover. The laser system has demonstrated excellent performance: zero misses and few false alarms operating at 4 Hz. The overall safeguarding system guided the rover 43 km over lunar analogue terrain with 0.8 failures per kilometer." 
   }

8. Eric Krotkov, Martial Hebert, Lars Henriksen, Paul Levin, Mark Maimone, Reid Simmons, and James Teza. Field Trials of a Prototype Lunar Rover under Multi-Sensor Safeguarded Teleoperation Control. In American Nuclear Society Seventh Topical Meeting on Robotics & Remote Systems, pages 575 - 582, May 1997. (pdf)
   Abstract: "This paper presents the results of field trials of a prototype lunar rover traveling over natural terrain under safeguarded teleoperation control. Both the rover and the safeguarding approach have been used in previous work. The original contributions of this paper are the development and integration of a laser sensing system, and extensive field testing of the overall system. The laser system, which complements an existing stereo vision system, is based on a line-scanning laser ranger viewing the area 1 meter in front of the rover. The laser system has demonstrated excellent performance: zero misses and few false alarms operating at 4 Hz. The overall safeguarding system guided the rover 43 km over lunar analogue terrain with 0.8 failures per kilometer."
   

   @inproceedings{Krotkov_1997_983,
   author = "Eric Krotkov and Martial Hebert and Lars Henriksen and Paul Levin and Mark Maimone and Reid Simmons and James Teza",
   title = "Field Trials of a Prototype Lunar Rover under Multi-Sensor Safeguarded Teleoperation Control",
   booktitle = "American Nuclear Society Seventh Topical Meeting on Robotics & Remote Systems",
   month = "May",
   year = "1997",
   pages = "575 - 582",
   pdf="http://www.ri.cmu.edu/pub_files/pub3/krotkov_eric_1997_1/krotkov_eric_1997_1.pdf",
   abstract="This paper presents the results of field trials of a prototype lunar rover traveling over natural terrain under safeguarded teleoperation control. Both the rover and the safeguarding approach have been used in previous work. The original contributions of this paper are the development and integration of a laser sensing system, and extensive field testing of the overall system. The laser system, which complements an existing stereo vision system, is based on a line-scanning laser ranger viewing the area 1 meter in front of the rover. The laser system has demonstrated excellent performance: zero misses and few false alarms operating at 4 Hz. The overall safeguarding system guided the rover 43 km over lunar analogue terrain with 0.8 failures per kilometer." 
   }

9. Yutaka Takeuchi, Patrick Gros, Martial Hebert, and Katsushi Ikeuchi. Visual Learning for Landmark Recognition. In Image Understanding Workshop, May 1997. (pdf)
   

   @inproceedings{Takeuchi_1997_1002,
   author = "Yutaka Takeuchi and Patrick Gros and Martial Hebert and Katsushi Ikeuchi",
   title = "Visual Learning for Landmark Recognition",
   booktitle = "Image Understanding Workshop",
   month = "May",
   year = "1997",
   pdf ="http://www.ri.cmu.edu/pub_files/pub2/takeuchi_yutaka_1997_1/takeuchi_yutaka_1997_1.pdf" 
   }

10. Dongmei Zhang and Martial Hebert. Multi-Scale Classification of 3-D Objects. In IEEE Conference on Computer Vision and Pattern Recognition, pages 864 - 869, June 1997. (pdf)
    

    @inproceedings{Zhang_1997_1007,
    author = "Dongmei Zhang and Martial Hebert",
    title = "Multi-Scale Classification of 3-D Objects",
    booktitle = "IEEE Conference on Computer Vision and Pattern Recognition",
    month = "June",
    year = "1997",
    pages = "864 - 869",
    pdf ="http://www.ri.cmu.edu/pub_files/pub1/zhang_dongmei_1997_1/zhang_dongmei_1997_1.pdf" 
    }

1. Matthew Deans, Gregory Fries, Keith Lay, Benjamin Shamah, Alex Foessel, Diana LaBelle, Stewart Moorehead, and Kimberly Shillcutt. Icebreaker: A Lunar South Pole Exploring Robot. Technical report CMU-RI-TR-97-22, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, June 1997.
   

   @techreport{Deans_1997_447,
   author = "Matthew Deans and Gregory Fries and Keith Lay and Benjamin Shamah and Alex Foessel and Diana LaBelle and Stewart Moorehead and Kimberly Shillcutt",
   title = "Icebreaker: A Lunar South Pole Exploring Robot",
   institution = "Robotics Institute, Carnegie Mellon University",
   month = "June",
   year = "1997",
   number = "CMU-RI-TR-97-22",
   address = "Pittsburgh, PA" 
   }

2. Andrew Johnson and Martial Hebert. Control of Polygonal Mesh Resolution for 3-D Computer Vision. Technical report CMU-RI-TR-96-20, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, April 1997. (pdf)
   Abstract: "A common representation in 3-D computer vision is the polygonal surface mesh because meshes can model objects of arbitrary shape and are easily constructed from sensed 3-D data. The resolution of a surface mesh is the overall spacing between vertices that comprise the mesh. Because sensed 3-D points are often unevenly distributed, the resolution of a surface mesh is often poorly defined. We present an algorithm that transforms a mesh with an uneven spacing between vertices into a mesh with a more even spacing between vertices, thus improving its definition of resolution. In addition, we show how the algorithm can be used to control the resolution of surface meshes, making them amenable to multi-resolution approaches in computer vision. The structure of our algorithm is modeled on iterative"
   

   @techreport{Johnson_1997_413,
   author = "Andrew Johnson and Martial Hebert",
   title = "Control of Polygonal Mesh Resolution for 3-D Computer Vision",
   institution = "Robotics Institute, Carnegie Mellon University",
   month = "April",
   year = "1997",
   number = "CMU-RI-TR-96-20",
   address = "Pittsburgh, PA",
   pdf="http://www.ri.cmu.edu/pub_files/pub2/johnson_andrew_1997_2/johnson_andrew_1997_2.pdf",
   abstract="A common representation in 3-D computer vision is the polygonal surface mesh because meshes can model objects of arbitrary shape and are easily constructed from sensed 3-D data. The resolution of a surface mesh is the overall spacing between vertices that comprise the mesh. Because sensed 3-D points are often unevenly distributed, the resolution of a surface mesh is often poorly defined. We present an algorithm that transforms a mesh with an uneven spacing between vertices into a mesh with a more even spacing between vertices, thus improving its definition of resolution. In addition, we show how the algorithm can be used to control the resolution of surface meshes, making them amenable to multi-resolution approaches in computer vision. The structure of our algorithm is modeled on iterative" 
   }

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