1996	1995	1994	1993	1992	1991	1990	1989	1988
1987	1986	1985

1996

1. Andrew Johnson and Martial Hebert. Seafloor Map Generation for Autonomous Underwater Vehicle Navigation. In Autonomous Robots, volume 3, pages 145-168. 1996. (pdf) (bibtex entry)
   [bibtex-key = Johnson_1996_1698]

2. A.R. Neureuther and Owen Carmichael. Computer Intensive Problems in Simulation of Integrated Circuit Lithography and Topography. In Proceedings NASA AMES Workshop, March 1996. (url)
   Keywords: geometric modeling. (bibtex entry)
   [bibtex-key = Neureuther_1996_1295]

3. Heung-Yeung Shum, Martial Hebert, and Katsushi Ikeuchi. On 3-D shape similarity. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '96), pages 526 - 531, June 1996. (pdf) (bibtex entry)
   [bibtex-key = Shum_1996_3605]

4. Reid Simmons, Sebastian Thrun, Greg Armstrong, R. Goodwin, K. Haigh, S. Koenig, Shyjan Mahamud, Daniel Nikovski, and Joseph O'Sullivan. Amelia. In Proceedings of the AAAI Thirteenth National Conference on Artificial Intelligence, 1996. (url) (bibtex entry)
   [bibtex-key = Simmons_1996_674]

5. Charles Thorpe and Martial Hebert. Mobile Robotics: Perspectives and Realities. In proceedings of International Workshop on Advanced Robotics and Intelligent Machines, April 1996.
   Note: Keynote addresses. (bibtex entry)
   [bibtex-key = Thorpe_1996_1655]

6. Andrew Johnson and Martial Hebert. Recognizing Objects by Matching Oriented Points. Technical report CMU-RI-TR-96-04, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, May 1996. (pdf)
   Abstract: "By combining techniques from geometric hashing and structural indexing, we have developed a new representation for recognition of free-form objects from three dimensional data. The representation comprises descriptive spin-images associated with each oriented point on the surface of an object. Constructed using single point bases, spin-images are data level shape descriptions that are used for efficient matching of oriented points. During recognition, scene spin-images are indexed into a stack of model images to establish point correspondences between a model object and scene data. Given oriented point correspondences, a rigid transformation that maps the model into the scene is calculated and then refined and verified using a modified iterative closest point algorithm. Indexing of oriented points bridges the gap between recognition by global properties and feature bases recognition without resorting to error-prone segmentation or feature extraction. It requires no knowledge of the initial transformation between model and scene, and it can register fully 3-D data sets as well as recognize objects from partial views with occlusions. We present results showing simultaneous recognition of multiple 3-D anatomical models in range images and range image registration in the context of interior modeling of an industrial facility. " (bibtex entry)
   [bibtex-key = Johnson_1996_399]

7. Dongmei Zhang and Martial Hebert. Multi-Scale Classification of 3-D Objects. Technical report CMU-RI-TR-96-39, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, November 1996. (pdf) (bibtex entry)
   [bibtex-key = Zhang_1996_431]

1. Martial Hebert, Katsushi Ikeuchi, and H. Delingette. A Spherical Representation for Recognition of Free-Form Surfaces. IEEE Transactions on Pattern Analysis and Machine Intelligence, 17(7):681-690, July 1995. (pdf)
   Abstract: "Introduces a new surface representation for recognizing curved objects. The authors approach begins by representing an object by a discrete mesh of points built from range data or from a geometric model of the object. The mesh is computed from the data by deforming a standard shaped mesh, for example, an ellipsoid, until it fits the surface of the object. The authors define local regularity constraints that the mesh must satisfy. The authors then define a canonical mapping between the mesh describing the object and a standard spherical mesh. A surface curvature index that is pose-invariant is stored at every node of the mesh. The authors use this object representation for recognition by comparing the spherical model of a reference object with the model extracted from a new observed scene. The authors show how the similarity between reference model and observed data can be evaluated and they show how the pose of the reference object in the observed scene can be easily computed using this representation. The authors present results on real range images which show that this approach to modelling and recognizing 3D objects has three main advantages: (1) it is applicable to complex curved surfaces that cannot be handled by conventional techniques; (2) it reduces the recognition problem to the computation of similarity between spherical distributions; in particular, the recognition algorithm does not require any combinatorial search; and (3) even though it is based on a spherical mapping, the approach can handle occlusions and partial views." (bibtex entry)
   [bibtex-key = Hebert_1995_1069]

2. K. Higuchi, Martial Hebert, and Katsushi Ikeuchi. Building 3-D Models from Unregistered Ranges Images. CVGIP-GMIP, 57(4):315-333, July 1995. (pdf) (bibtex entry)
   [bibtex-key = Higuchi_1995_1068]

3. Eric Krotkov, Martial Hebert, and Reid Simmons. Stereo Perception and Dead Reckoning for a Prototype Lunar Rover. Autonomous Robots, 2(4):313-331, December 1995. (pdf) (bibtex entry)
   [bibtex-key = krotkov-ar-1997]

4. David Simon, Martial Hebert, and Takeo Kanade. Techniques For Fast And Accurate Intrasurgical Registration. Journal of Image Guided Surgery, 1(1):17-29, 1995. (pdf)
   Abstract: "The goal of intra-surgical registration is to establish a common reference frame between pre-surgical and intra-surgical 3-D data sets that correspond to the same anatomy. This paper presents two novel techniques which have application to this problem: high-speed pose tracking, and intra-surgical data selection. In the first part of this paper, we describe an approach for tracking the pose of arbitrarily-shaped rigid objects at rates up to 10Hz. Static accuracies on the order of 1mm in translation and 1 degree in rotation have been achieved. We have demonstrated the technique on a human face using a high-speed VLSI range sensor; however, the technique is independent of the sensor used or the anatomy tracked. In the second part of this paper, we describe a general purpose approach for selecting near-optimal, intra-surgical registration data. Due to high costs associated with the acquisition of intra-surgical data, it is desirable to minimize the amount of data acquired, while ensuring that registration accuracy requirements are met. We synthesize near-optimal intra-surgical data sets, based upon an analysis of differential surface properties of pre-surgical data. We demonstrate, using data from a human femur, that discrete point data sets selected using our method provide superior pose refinement accuracy to those selected by human experts." (bibtex entry)
   [bibtex-key = Simon_1995_1179]

5. Martial Hebert, R. Hoffman, Andrew Johnson, and James Osborn. Sensor Based Interior Modeling. In American Nuclear Society 6th Topical Meeting on Robotics and Remote Systems (ANS '95), pages 731 - 737, February 1995. (pdf) (bibtex entry)
   [bibtex-key = Hebert_1995_1747]

6. Andrew Johnson, Patrick (Chris) Leger, R. Hoffman, Martial Hebert, and James Osborn. 3-D object modeling and recognition for telerobotic manipulation. In Proc. IEEE Intelligent Robots and Systems, volume 1, pages 103 - 110, August 1995. (pdf)
   Abstract: "This paper describes a system that semi-automatically builds a virtual world for remote operations by constructing 3-D models of a robot's work environment. With a minimum of human interaction, planar and quadric surface representations of objects typically found in man-made facilities are generated from laser rangefinder data. The surface representations are used to recognize complex models of objects in the scene. These object models are incorporated into a larger world model that can be viewed and analyzed by the operator, accessed by motion planning and robot safeguarding algorithms, and ultimately used by the operator to command the robot through graphical programming and other high level constructs. Limited operator interaction, combined with assumptions about the robots task environment, make the problem of modeling and recognizing objects tractable and yields a solution that can be readily incorporated into many telerobotic control schemes." (bibtex entry)
   [bibtex-key = Johnson_1995_1008]

7. Eric Krotkov and Martial Hebert. Mapping and Positioning for a Prototype Lunar Rover. In IEEE International Conference on Robotics and Automation, volume 3, pages 2913-2919, May 1995. (pdf)
   Abstract: "In this paper, we describe practical, effective approaches to outdoor mapping and positioning, and present results from systems implemented for a prototype lunar rover. For mapping, we have developed a binocular head and mounted it on a motion-averaging mast. This head provides images to a normalized correlation matcher, that intelligently selects what part of the image to process (saving time), and subsamples the images (again saving time) without subsampling disparities (which would reduce accuracy). The mapping system has operated successfully during long-duration field exercises, processing streams of thousands of images. The positioning system employs encoders, inclinometers, a compass, and a turn-rate sensor to maintain the position and orientation of the rover as it traverses. The system succeeds in the face of significant sensor noise by virtue of sensor modelling, plus extensive filtering and data screening." (bibtex entry)
   [bibtex-key = Krotkov_1995_1752]

8. Henry Schneiderman, M. Nashman, A. J. Wavering, and R. Lumia. Vision-Based Robotic Convoy Driving. In Machine Vision and Applications, volume 8, pages 359-364, 1995. (url) (bibtex entry)
   [bibtex-key = Schneiderman_1995_1030]

9. Reid Simmons, Eric Krotkov, L. Chrisman, Fabio Cozman, R. Goodwin, Martial Hebert, G. Heredia, S. Koenig, Pat Muir, Y. Shinoda, and William Red L. Whittaker. Mixed-Mode Control of Navigation for a Lunar Rover. In Proceedings of the SSI/Princeton Space Manufacturing Conference, 1995. (pdf) (bibtex entry)
   [bibtex-key = Simmons_1995_1588]

10. Reid Simmons, Eric Krotkov, Lonnie Chrisman, Fabio Cozman, Richard Goodwin, Martial Hebert, Lalitesh Katragadda, Sven Koenig, G. Krishnaswamy, Y. Shinoda, William Red L. Whittaker, and P. Klarer. Experience with Rover Navigation for Lunar-Like Terrains. In Proceedings of the 1995 Conference on Intelligent Robots and Systems (IROS '95), pages 441 - 446, 1995. IEEE. (pdf)
    Abstract: "Reliable navigation is critical for a lunar rover, both for autonomous traverses and safeguarded, remote teleoperation. This paper describes an implemented system that has autonomously driven a prototype wheeled lunar rover over a kilometer in natural, outdoor terrain. The navigation system uses stereo terrain maps to perform local obstacle avoidance, and arbitrates steering recommendations from both the user and the rover. The paper describes the system architecture, each of the major components, and the experimental results to date." (bibtex entry)
    [bibtex-key = Simmons_1995_2650]

11. Anthony (Tony) Stentz and Martial Hebert. A Complete Navigation System for Goal Acquisition in Unknown Environments. In Proceedings 1995 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '95), volume 1, pages 425 - 432, August 1995. (pdf)
    Abstract: "Most autonomous outdoor navigation systems tested on actual robots have centered on local navigation tasks such as avoiding obstacles or following roads. Global navigation has been limited to simple wandering, path tracking, straight-line goal seeking behaviors, or executing a sequence of scripted local behaviors. These capabilities are insufficient for unstructured and unknown environments, where replanning may be needed to account for new information discovered in every sensor image. To address these problems, the authors developed a complete system that integrates local and global navigation. The local system uses a scanning laser rangefinder to detect and avoid obstacles. The global system uses an incremental path planning algorithm to optimally replan the global path for each detected obstacle. A control arbiter steers the robot to achieve the proper balance between safety and goal acquisition. This system was tested on a real robot and successfully drove it 1.4 kilometers to find a goal given no a priori map of the environment. " (bibtex entry)
    [bibtex-key = Stentz_1995_2671]

12. Katsushi Ikeuchi and Martial Hebert. Spherical Representations: from EGI to SAI. Technical report CMU-CS-95-197, Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, October 1995. (pdf) (bibtex entry)
    [bibtex-key = Ikeuchi_1995_2767]

13. Andrew Johnson and Martial Hebert. Refinement of Seafloor Elevation Using Acoustic Backscatter. Technical report CMU-RI-TR-95-01, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, March 1995. (pdf)
    Abstract: "We propose an algorithm for the reconstruction of elevation and material property maps of the seafloor using a sidescan sonar backscatter image and sparse bathymetric points co-registered within the image. Given a path for the sensor, the reconstruction is corrected for the movement of the fish during the image generation process. To perform reconstruction, an arbitrary but computable scattering model is assumed for the seafloor backscatter. The algorithm uses the sparse bathymetric data to generate an initial estimate for the elevation map which is then iteratively refined to fit the backscatter image by minimizing a global error functional. Concurrently, the parameters of the scattering model are determined on a coarse grid in the image by fitting the assumed scattering model to the backscatter data. The elevation surface and the scattering parameter maps converge to their best fit shape and values given the backscatter data. The reconstruction is corrected for the movement of the sensor by initially doing local reconstructions in sensor coordinates and then transforming the local reconstructions to a global coordinate system and performing the reconstruction again. The algorithm supports different scattering models, so it can be applied to different underwater environments and sonar sensors. In addition to the elevation map of the seafloor, the parameters of the scattering model at every point in the image are generated. Since these parameters describe material properties of the seafloor, the maps of the scattering model parameters can be used to segment the seafloor by material type." (bibtex entry)
    [bibtex-key = Johnson_1995_360]

14. Heung-Yeung Shum, Martial Hebert, and Katsushi Ikeuchi. On 3-D Shape Similarity. Technical report CMU-CS-95-212, Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, 1995. (pdf) (bibtex entry)
    [bibtex-key = Shum_1995_1462]

15. Heung-Yeung Shum, Martial Hebert, and Katsushi Ikeuchi. On 3-D Shape Synthetis. Technical report CMU-CS-95-213, Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, 1995. (pdf) (bibtex entry)
    [bibtex-key = Shum_1995_1463]

16. Heung-Yeung Shum, Martial Hebert, Katsushi Ikeuchi, and Raj Reddy. An Integral Approach To Free-Form Object Modeling. Technical report CMU-CS-95-135, Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, May 1995. (pdf) (bibtex entry)
    [bibtex-key = Shum_1995_1457]

1. Dirk Langer and Martial Hebert. Building Elevation Maps from Underwater Sonar Data. In . 1994. (pdf)
   Abstract: "Deriving a terrain model from sensor data is an important task for the autonomous navigation of a mobile robot. This paper describes an approach for autonomous underwater vehicles using a side scan sonar system. First. some general aspects of the type of data and filtering techniques to improve it are discussed. We then proceed to derive an estimated bottom contour, using a geometric reflection model and information about shadows and highlights. Several techniques of surface reconstruction and their limitations are presented." (bibtex entry)
   [bibtex-key = Langer_1994_4253]

2. Dirk Langer, Julio Rosenblatt, and Martial Hebert. A Behavior-Based System for Off-Road Navigation. IEEE Trans. Robotics and Automation, 10(6):776-782, December 1994. (pdf) (bibtex entry)
   [bibtex-key = Langer_1994_1070]

3. Henry Schneiderman and M. Nashman. A discriminating feature tracker for vision-based autonomous driving. IEEE Transactions on Robotics and Automation, 10(6):769 - 775, December 1994. (url)
   Abstract: "A new vision-based technique for autonomous driving is described. This approach explicitly addresses and compensates for two forms of uncertainty: uncertainty about changes in road direction and uncertainty in the measurements of the road derived in each image. Autonomous driving has been demonstrated on both local roads and highways at speeds up to 100 km/h. The algorithm has performed well in the presence of non-ideal road conditions including gaps in the lane markers, sharp curves, shadows, cracks in the pavement, and wet roads. It has also performed well in rain, dark, and nighttime driving with headlights." (bibtex entry)
   [bibtex-key = Schneiderman_1994_4609]

4. Martial Hebert. Pixel-Based Processing for Autonomous Driving. In Proc. International Conference on Robotics and Automation, May 1994. (pdf) (bibtex entry)
   [bibtex-key = Hebert_1994_1666]

5. K. Higuchi, H. Delingette, Martial Hebert, and Katsushi Ikeuchi. Merging Multiple Views Using a Spherical Representation. In Proc of 2nd IEEE Workshop on CAD-based Vision, pages 124 - 131, February 1994. (pdf)
   Abstract: "This paper proposes a new method for building a 3-D model from a set of range images. The method can merge data of free-form surfaces obtained from arbitrary viewing directions, with no prior knowledge of the poses. Our approach is based on matching the spherical representations of an object between the views. To obtain the spherical representation, we deform a discrete mesh to fit the object surface. A variation of the Gaussian curvature metric, which we call simplex angle, is computed at each node on the deformed mesh and mapped to a coordinate on the unit sphere. The transformation of the objects is computed by comparing the simplex angle measure at each node on the unit sphere. The transformation which produces the minimum errors is selected as the best match. We have implemented this method, applied the method to range images of objects from arbitrary viewpoints, and demonstrated the applicability for modeling from observation." (bibtex entry)
   [bibtex-key = Higuchi_1994_1668]

6. K. Higuchi, Martial Hebert, and Katsushi Ikeuchi. Building 3D models from Unregistered Range Images. In Proceedings of IEEE Conference on Robotics and Automation (ICRA '94), volume 3, pages 2248 - 2253, May 1994. (pdf)
   Abstract: "The authors describe an approach to building a three-dimensional model from a set of range images. The authors' goal is to build models of free-form surfaces obtained from arbitrary viewing directions, with no initial estimate of the relative viewing directions. The approach is based on building discrete meshes representing the surfaces observed in each of the range images, to map each of the meshes to a spherical image, and to compute the transformations between the views by matching the spherical images. The meshes are built using an iterative fitting algorithm previously developed; the spherical images are built by matching the nodes of the surface meshes to the nodes of a reference mesh on the unit sphere and by storing a measure of curvature at every node. The authors describe the algorithms used for building such models from range images and for matching them. The authors give results obtained using range images of complex objects." (bibtex entry)
   [bibtex-key = Higuchi_1994_1667]

7. Eric Krotkov, Martial Hebert, M. Buffa, Fabio Cozman, and L. Robert. Stereo Driving and Position Estimation for Autonomous Planetary Rovers. In IARP Workshop on Robotics in Space, July 1994. (pdf)
   Abstract: "In this paper we present two new approaches to planetary rover perception. One approach concerns stereo driving without 3-D reconstruction. This approach begins with weakly calibrated stereo images, and evaluates the traversability of terrain using shape indicators such as relative slope and relative elevation. The approach then evaluates candidate paths based on the traversability analysis and generates the best path. The second approach involves estimating vehicle position by observing the Sun. At a given time, a measurement of the Sun's altitude constrains the observer to lie on a circle on the terrestrial surface called the circle of equal altitude. We determine the position of the observer by intersecting circles of equal altitude identified at different times. We are validating experimentally both approaches in unstructured, outdoor environments with several wheeled rovers, Future efforts will transfer the developed technology into Lunar Rover demonstration and flight programs." (bibtex entry)
   [bibtex-key = Krotkov_1994_1725]

8. Dirk Langer, Julio Rosenblatt, and Martial Hebert. A Reactive System For Off-Road Navigation. In Proc. of IEEE Robotics and Automation, May 1994. (pdf)
   Abstract: "In this paper; we describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the vehicle, and a planning module which issues commands to the vehicle controller. Our approach is to use the concept of early traversability evaluation, in which the perception module decides which parts of the terrain are traversable as soon as a new image is taken, and on the use of reactive planning for generating commands to drive the vehicle. We argue that our approach leads to a robust and efficient navigation system. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain. The system used in this experiment can be viewed as a core navigation system in that other modules, such as a map navigation module, can be easily added to the system." (bibtex entry)
   [bibtex-key = Langer_1994_1678]

9. Dirk Langer, Julio Rosenblatt, and Martial Hebert. An Integrated System for Autonomous Off-Road Navigation. In Proc. IEEE Int. Conf. on Robotics and Automation, May 1994. (pdf) (bibtex entry)
   [bibtex-key = Langer_1994_1677]

10. J. Ponce, R. Bajcsy, D. Metaxas, T. Binford, D. Forsyth, Martial Hebert, Katsushi Ikeuchi, A. Kak, L. Shapiro, S. Sclaroff, A. Pentland, and G. Stockman. Object representation for object recognition. In Proc of IEEE conf. on Computer Vision and Pattern Recognition, pages 147-152, June 1994. (pdf) (bibtex entry)
    [bibtex-key = Ponce_1994_1685]

11. L. Robert, M. Buffa, and Martial Hebert. Weakly-Calibrated Stereo Perception for Rover Navigation. In Proc. Image Understanding Workshop, November 1994. (bibtex entry)
    [bibtex-key = Robert_1994_1688]

12. L. Robert and Martial Hebert. Deriving Orientation Cues from Stereo Images. In Proc. European Conference on Computer Vision, May 1994. (bibtex entry)
    [bibtex-key = Robert_1994_1687]

13. Henry Schneiderman, A. J. Wavering, M. Nashman, and R. Lumia. Real-time Model-based Visual Tracking. In 1994 International Workshop on Intelligent Robotic Systems, 1994. (url) (bibtex entry)
    [bibtex-key = Schneiderman_1994_1034]

14. Reid Simmons, Eric Krotkov, Martial Hebert, and Lalitesh Katragadda. Experience with Rover Navigation for Lunar-Like Terrains. In International Lunar Exploration Conference, November 1994. (pdf)
    Abstract: "Reliable navigation is critical for a lunar rover, both for autonomous traverses and safeguarded, remote teleoperation. This paper describes an implemented system that has autonomously driven a prototype wheeled lunar rover over a kilometer in natural, outdoor terrain. The navigation system uses stereo terrain maps to perform local obstacle avoidance, and arbitrates steering recommendations from both the user and the rover. The paper describes the system architecture, each of the major components, and the experimental results to date." (bibtex entry)
    [bibtex-key = Simmons_1994_1435]

15. David Simon, Martial Hebert, and Takeo Kanade. Real-time 3-D pose estimation using a high-speed range sensor. In Proceedings of IEEE International Conference on Robotics and Automation (ICRA '94), volume 3, pages 2235-2241, May 1994. (pdf)
    Abstract: "This paper describes a system which can perform full 3-D pose estimation of a single arbitrarily shaped, rigid object at rates up to 10 Hz. A triangular mesh model of the object to be tracked is generated offline using conventional range sensors. Real-time range data of the object is sensed by the CMU high speed VLSI range sensor. Pose estimation is performed by registering the real-time range data to the triangular mesh model using an enhanced implementation of the Iterative Closest Point (ICP) Algorithm introduced by Besl and McKay (1992). The method does not require explicit feature extraction or specification of correspondence. Pose estimation accuracies of the order of 1 percent of the object size in translation, and 1 degree in rotation have been measured." (bibtex entry)
    [bibtex-key = Simon_1994_1178]

16. David Simon, Martial Hebert, and Takeo Kanade. Techniques for Fast and Accurate Intra-Surgical Registration. In First International Symposium on Medical Robotics and Computer Assisted Surgery, pages 90-97, September 1994. (bibtex entry)
    [bibtex-key = Simon_1994_1734]

17. Anthony (Tony) Stentz and Martial Hebert. A Complete Navigation System for Goal Acquisition in Unknown Environments. Technical report CMU-RI-TR-94-07, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, April 1994. (pdf)
    Abstract: "Autonomous outdoor navigation has broad application in mining, construction, planetary exploration, and military reconnaissance. To date, most of the work tested on actual robots has centered on local navigation tasks such as avoiding obstacles or following roads. Global navigation has been limited to simple wandering, path tracking, straight-line goal seeking behaviors, or executing a sequence of scripted local behaviors. The problem of global navigation in outdoor environments has been addressed in the literature, but it is generally assumed that the world exhibits coarse topological structure, most of which is known, and that sensors and position estimation systems provide highly-accurate data. These assumptions break down for real robots in highly unstructured and unknown environments. With every image, the sensors provide new information about the world that can impact the robot's path to the goal. Some of the information is real, some arises from noise, and some arises from aliasing due to robot position error. Replanning may be needed for every image, and it may be nontrivial due to the unstructured nature of the environment. To address these problems, we have developed a complete system that integrates local and global navigation. This system is capable of finding goal given no a priori map of the environment. It is robust to noise, vehicle position error, and is able to replan in real-time. We describe the system and present the results of experiments performed using a real robot." (bibtex entry)
    [bibtex-key = Stentz_1994_327]

1. H. Delingette, Martial Hebert, and Katsushi Ikeuchi. A Spherical Representation for the Recognition of Curved Objects. In International Conference on Computer Vision, pages 103 - 112, May 1993. (pdf)
   Abstract: "The authors introduce a surface representation for recognizing curved objects. The approach begins by representing an object by a discrete mesh of points built from range data or from a geometric model of the object. The mesh is computed from the data by deforming a standard shaped mesh, for example, an ellipsoid, until it fits the surface of the object. Local regularity constraints that the mesh must satisfy are defined. A canonical mapping is then defined between the mesh describing the object and a standard spherical mesh. A surface curvature index which is pose-invariant is stored at every node of the mesh. This object representation is used for recognition by comparing the spherical model of a reference object with the model extracted from a new observed scene. It is shown that the similarity between reference model and observed data can be evaluated, and it is also demonstrated that the pose of the reference object in the observed scene can be easily computed using this representation." (bibtex entry)
   [bibtex-key = Delingette_1993_1350]

2. Martial Hebert and Eric Krotkov. Local Perception for Mobile Robot Navigation in Natural Terrain: Two Approaches. In Workshop on Computer Vision for Space Applications, September 1993. (pdf) (bibtex entry)
   [bibtex-key = Hebert_1993_4249]

3. M. Nashman and Henry Schneiderman. Real-time Visual Processing For Autonomous Driving. In Intelligent Vehicles '93 Symposium, pages 373 - 378, July 1993. (url) (bibtex entry)
   [bibtex-key = Nashman_1993_4610]

4. Henry Schneiderman and J. Albus. Progress and Prospects for Vision-based Automatic Driving. In Proceedings of IVHS America 3rd Annual Meeting, April 1993. (url) (bibtex entry)
   [bibtex-key = Schneiderman_1993_1032]

5. Henry Schneiderman, M. Nashman, and R. Lumia. Model-based Vision for Car Following. In Proceedings of SPIE Conference on Sensor Fusion, September 1993. (url) (bibtex entry)
   [bibtex-key = Schneiderman_1993_1033]

6. Charles Thorpe, R. Craig Coulter, Martial Hebert, Todd Jochem, Dirk Langer, Dean Pomerleau, Julio Rosenblatt, W. Ross, and Anthony (Tony) Stentz. Smart Cars: The CMU Navlab. In Proceedings of WORLD MED93, October 1993. (bibtex entry)
   [bibtex-key = Thorpe_1993_612]

7. K. Higuchi, Martial Hebert, and Katsushi Ikeuchi. Building 3-D Models from Unregistered Range Images. Technical report CMU-CS-93-214, Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, November 1993. (pdf)
   Abstract: "Most computer vision systems require accurate three-dimensional models. The problem of building such models from observations consists in taking multiple range image of the object from different viewing positions and orientations, referred to as "viewing poses", to match the data in the different images in order to recover the relative poses, and to merge the data into a single model using the estimated poses. The approaches proposed so far suffer from two major limitations. First, they require accurate knowledge of the relative viewing poses. Second, they either require a complicated feature extraction algorithm to be applied to the range image or they restrict the class of shapes that can be modelled. Our goal in this paper is to eliminate these two restrictions in order to allow modelling of natural, free-form objects from arbitrary unknown viewpoints." (bibtex entry)
   [bibtex-key = Higuchi_1993_1371]

8. K. Higuchi, Martial Hebert, and Katsushi Ikeuchi. Combining Shape and Color Information For 3D Object Recognition. Technical report CMU-CS-93-215, Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, December 1993. (pdf) (bibtex entry)
   [bibtex-key = Higuchi_1993_1372]

9. David Simon, Martial Hebert, and Takeo Kanade. Real-Time 3-D Pose Estimation Using a High-Speed Range Sensor. Technical report CMU-RI-TR-93-24, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, November 1993. (pdf)
   Abstract: "This report describes a system which can perform full 3-D pose estimation of a single arbitrarily shaped, rigid object at rates up to 10Hz. A triangular mesh model of the object to be tracked is generated offline using conventional range sensors. Real-time range data of the object is sensed by the CMU high speed VLSI range sensor. Pose estimation is performed by registering the real-time range data to the triangular mesh model using an enhanced implementation of the Iterative Closest Point (ICP) Algorithm introduced by Besl and McKay. The method does not require explicit feature extraction or specification of correspondence. Pose estimation accuracies on the order to 1mm in translation and 1 degree in rotation have been measured." (bibtex entry)
   [bibtex-key = Simon_1993_313]

1. Charles Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer. The New Generation System for the CMU Navlab. In Ichiro Masaki, editor, Vision-Based Vehicle Guidance. Springer-Verlag, 1992.
   Note: A different version of this paper appears as the journal paper, in two parts, Towards Autonomous Driving: The CMU Navlab. (bibtex entry)
   [bibtex-key = Thorpe_1992_1609]

2. H. Delingette, Martial Hebert, and Katsushi Ikeuchi. Shape representation and image segmentation using deformable surfaces. Image and Vision Computing, pp 132 - 145, 1992. (pdf)
   Abstract: "We present a technique for constructing shape representation from images using free-form deformable surfaces. We model an object as a closed surface that is deformed subject to attractive fields generated by input data points and features. Features affect the global shape of the surface or unstructured environments. The algorithm is general in that it makes few assumptions on the type of features, the nature of the data and the type of objects. We present results in a wide range of applications: reconstruction of smooth isolated objects such as human faces, reconstruction of structured objects such as polyhedra, and segmentation of complex scenes with mutually occluding objects. We have successfully tested the algorithm using data from different sensors including grey-coding range finders and video cameras, using one or several images." (bibtex entry)
   [bibtex-key = Delingette_1992_4223]

3. Martial Hebert and Eric Krotkov. 3-D Measurements from Imaging Laser Radars: How Good Are They?. International Journal of Image and Vision Computing, 10(3):170-178, April 1992. (pdf)
   Abstract: "In this paper we analyse a class of imaging range finders - amplitude-modulated continuous-wave laser radars - in the context of computer vision and robotics. The analysis develops measurement models from the fundamental principles of laser radar operation, and identifies the nature and cause of key problems that affect measurements from this class of sensors. We classify the problems as fundamental (e.g. related to the signal-to-noise ratio), as architectural (e.g. limited by encoding distance by angles in [0, 2n]), and as artifacts of particular hardn*are implementations (e.g. insufficient temperature compensation). Experimental results from two different devices - scanning laser rangefinders designed for autonomous navigation - illustrate and support the analysis." (bibtex entry)
   [bibtex-key = Hebert_1992_1429]

4. Kerien Fitzpatrick, Martial Hebert, Dean Pomerleau, and Hagen Schempf. Autonomous Cargo Transport System. In Proceedings of the United States Postal Service 5th Advanced Technology Conference, December 1992. (bibtex entry)
   [bibtex-key = Fitzpatrick_1992_2051]

5. Katsushi Ikeuchi and Martial Hebert. Task Oriented Vision. In Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '92), pages 2187 - 2194, May 1992. (pdf)
   Abstract: "This paper overviews two recently completed vision systems (a rock sampling system for planetary rovers and a bin-picking system for industrial robots). Then, we will examine the reason why these two systems have different architectures although their goals are roughly same, picking up something by visual observation. Based on this discussion, we will develop the task-oriented vision paradigm, and examine the difference between the task-oriented vision paradigm and the traditional Marr's paradigm. We will also explore the research issues necessary for completing the task-oriented vision paradigm." (bibtex entry)
   [bibtex-key = Ikeuchi_1992_4228]

6. Alonzo Kelly, Anthony (Tony) Stentz, and Martial Hebert. Terrain Map Building for Fast Navigation on Rugged Outdoor Terrain. In Proceedings of SPIE Symposium on Mobile Robots, 1992. (bibtex entry)
   [bibtex-key = Kelly_1992_1220]

7. Henry Schneiderman and M. Nashman. Visual Processing for Autonomous Driving. In Proceedings of IEEE Workshop on Applications of Computer Vision, pages 164 - 171, December 1992. (url)
   Abstract: "Describes a visual processing algorithm that supports autonomous road following. The algorithm requires that lane markings be present and attempts to track the lane markings on both lane boundaries. There are three stages of computation: extracting edges; matching extracted edge points with a geometric model of the road, and updating the geometric road model. All processing is confined to the 2-D image plane. No information about the motion of the vehicle is used. This algorithm has been implemented and tested using video taped road scenes. It performs robustly for both highways and rural roads. The algorithm runs at a sampling rate of 15 Hz and has a worst case latency of 139 milliseconds (ms). The algorithm is implemented under the NASA/NBS Standard Reference Model for Telerobotic Control System Architecture (NASREM) architecture and runs on a dedicated vision processing engine and a VME-based microprocessor system" (bibtex entry)
   [bibtex-key = Schneiderman_1992_1031]

8. Herve Delingette, Martial Hebert, and Katsushi Ikeuchi. Representation and Recognition of Free-Form Surfaces. Technical report CMU-CS-92-214, Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, November 1992. (pdf)
   Abstract: "We introduce a new surface representation for recognizing curved objects. Our approach begins by representing an object by a discrete mesh of points built from range data or from a geometric model of the object The mesh is computed from the data by deforming a standard shaped mesh, for example, an ellipsoid, until it fits the surface of the object. We define local regularity constraints that the mesh must satisfy. We then define a canonical mapping between the mesh describing the object and a standard spherical mesh. A surface curvature index that is pose-invariant is stored at every node of the mesh. We use this object representation for recognition by comparing the spherical model of a reference object with the model extracted from a new observed scene. We show how the similarity between reference model and observed data can be evaluated and we show how the pose of the reference object in the observed scene can be easily computed using this representation. We present results on real range images which show that this approach to modelling and recognizing three-dimensional objects has three main advantages: First, it is applicable to complex curved surfaces that cannot be handled by conventional techniques. Second, it reduces the recognition problem to the computation of similarity between spherical distributions; in particular, the recognition algorithm does not require any combinatorial search. Finally, even though it is based on a spherical mapping, the approach can handle occlusions and partial views." (bibtex entry)
   [bibtex-key = Delingette_1992_4248]

1. Charles Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer. Toward Autonomous Driving: The CMU Navlab. Part II: System and Architecture. IEEE Expert, 6(4):44 - 52, August 1991. (pdf)
   Abstract: "A description is given of EDDIE, the architecture for the Navlab mobile robot which provides a toolkit for building specific systems quickly and easily. Included in the discussion are the annotated maps used by EDDIE and the Navlab's road-following system, called the Autonomous Mail Vehicle, which was built using EDDIE and its annotated maps as a basis. The contributions of the Navlab project and the lessons learned from it are examined. " (bibtex entry)
   [bibtex-key = Thorpe_1991_1623]

2. Charles Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer. Toward Autonomous Driving: The CMU Navlab. Part I: Perception. IEEE Expert, 6(4):31 - 42, August 1991. (pdf)
   Abstract: "The Navlab project, which seeks to build an autonomous robot that can operate in a realistic environment with bad weather, bad lighting, and bad or changing roads, is discussed. The perception techniques developed for the Navlab include road-following techniques using color classification and neural nets. These are discussed with reference to three road-following systems, SCARF, YARF, and ALVINN. Three-dimensional perception using three types of terrain representation (obstacle maps, terrain feature maps, and high-resolution maps) is examined. It is noted that perception continues to be an obstacle in developing autonomous vehicles. This work is part of the Defense Advanced Research Project Agency. Strategic Computing Initiative." (bibtex entry)
   [bibtex-key = Thorpe_1991_1622]

3. H. Delingette, Martial Hebert, and Katsushi Ikeuchi. Trajectory Generation with Curvature Constraint based on Energy Minimization. In Proceedings 1991 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '91, November 1991. (pdf) (bibtex entry)
   [bibtex-key = Delingette_1991_4235]

4. C. Francois, Katsushi Ikeuchi, and Martial Hebert. A Three-Finger Gripper for Manipulation in Unstructured Environments. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '91), pages 2261 - 2265, April 1991. (pdf)
   Abstract: "This paper describes a gripper for manipulation in natural, un-structured environments. The specific manipulation task is to plck up surface material such as pebbles, or small rocks, in a natural terrain. The application is to give autonomous sampling capabilities to an autonomous vehicle for planetary exploration. We describe the task analysis process that led to the selection of a configuration with three "soft" fingers. We carry out a complete analysis of the stability of a grasp for this gripper including an analysis of the deformation of the fingers at the points of contact. Finally. we describe the implementation of a grasp selection algorithm and present results on three-dimensional representations of objects computed from range data." (bibtex entry)
   [bibtex-key = Francois_1991_4279]

5. Martial Hebert and Eric Krotkov. 3-D measurements from imaging laser radars: how good are they?. In Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, Intelligence for Mechanical Systems, volume 1, pages 359 - 364, November 1991. (pdf)
   Abstract: "The authors analyze a class of imaging range finders-amplitude-modulated continuous-wave laser radars-in the context of computer vision and robotics. The analysis develops measurement models from the fundamental principles of laser radar operation, and identifies the nature and cause of key problems that plague measurements from this class of sensors. They classify the problems as fundamental (e.g. related to the signal-to-noise ratio), as architectural (e.g. limited by encoding distance by angles (0.2 pi )), and as artifacts of particular hardware implementations (e.g. insufficient temperature compensation). Experimental results from two different scanning laser range finders designed for autonomous navigation illustrate and support the analysis." (bibtex entry)
   [bibtex-key = Hebert_1991_3654]

6. Dirk Langer and Martial Hebert. Building Qualitative Elevation Maps from Side Scan Sonar Data for Autonomous Underwater Navigation. In Proceedings of the 1991 IEEE International Conference on Robotics and Automation (ICRA '91), April 1991. (pdf)
   Abstract: "Deriving a terrain model from sensor data is an important task for the autonomous navigation of a mobile robot. This paper describes an approach for autonomous underwater vehicles using a side scan sonar system. First. some general aspects of the type of data and filtering techniques to improve it are discussed. We then proceed to derive an estimated bottom contour, using a geometric reflection model and information about shadows and highlights. Several techniques of surface reconstruction and their limitations are presented. We also describe a method of feature extraction which is important for future data matching/fusion procedures." (bibtex entry)
   [bibtex-key = Langer_1991_4255]

7. Henry Schneiderman and Pradeep Khosla. Implementation of Traded and Shared Control Strategies Using a Tactile Sensor. In Robotics and Remote Systems (Proceedings of the 4th ANS Topical Meeting), February 1991. (url) (bibtex entry)
   [bibtex-key = Schneiderman_1991_1035]

8. Charles Thorpe, Omead Amidi, Jay Gowdy, Martial Hebert, and D. Pomerleau.. Integrating Position Measurement and Image Understanding for Autonomous Vehicle Navigation. In Proceedings of 2nd International Workshop on High Precision Navigation, November 1991. (bibtex entry)
   [bibtex-key = Thorpe_1991_1094]

1. T. Choi, H. Delingette, M. DeLuise, Y. Hsin, Martial Hebert, and Katsushi Ikeuchi. A perception and manipulation system for collecting rock samples. In . 1990. (pdf) (bibtex entry)
   [bibtex-key = Choi_1990_4220]

2. J.M. Cuschieri and Martial Hebert. Three-Dimensional Map Generation From Side-Scan Sonar Images. Journal of Energy Resources Technology, 112, June 1990. (pdf)
   Abstract: "The generation of three-dimensional (3-D) images and map building are essential components in the development of an autonomous underwater system. Although the direct generation of 3-D images is more efficient than the recovery of 3-D data from 2-D idormation, at present for underwater applications where sonar is the main form of remote sensing, the generation of 3-D images can only be achieved by either complex sonar systems or with systems which have a rather low resolution. In this paper an overview is presented on the type of sonar systems that are available for underwater remote sensing, and then a technique.is presented which demonstrates how through simple geometric reasoning procedures, 3-D information can be recoved from side scan-type (2-D) data. Also presented is the procedure to perform map building on the estimated 3-D data" (bibtex entry)
   [bibtex-key = Cuschieri_1990_4274]

3. Jay Gowdy, Anthony (Tony) Stentz, and Martial Hebert. Hierarchical Terrain Representations for Off-Road Navigation. In Proceedings of SPIE Symposium on Mobile Robots, 1990. (pdf)
   Abstract: "For most autonomous land vehicle tasks, creating the terrain representation is the greatest part of the problem. For example, once a road following system represents the terrain presented to it as road and non-road it is relatively easy to plan a path through the terrain. However, off road navigation does not have the luxury of such a compact representation. An off-road planner needs a detailed map of the terrain, and needs an efficient way of querying that terrain map. We have implemented a system that satisfies these two constraints for off-road navigation. We first build a Cartesian elevation map from a series of laser range finder images. This map is a complete, but intractable, representation of the terrain. We use the map to build a hierarchical representation of the terrain that we call a "terrain pyramid." Each cell at a level of the terrain pyramid holds the maximum and minimum elevation of the four cells in the !evel below it. We also build pyramids for various features in the Cartesian map such as terrain discontinuity and slope. The terrain pyramids are shipped to a planner module. We provide the planner module with calls to find the minimum and maximum values of a feature over any rectangle in the terrain. With these calls taking advantage of the hierarchical representation of the terrain. the planner can efficiently determine a safe path through the terrain." (bibtex entry)
   [bibtex-key = Gowdy_1990_1228]

1. John Bares, Martial Hebert, Takeo Kanade, Eric Krotkov, Tom Mitchell, Reid Simmons, and William Red L. Whittaker. Ambler: An Autonomous Rover for Planetary Exploration. IEEE Computer, 22(6):18-26, June 1989. (pdf) (bibtex entry)
   [bibtex-key = Bares_1989_1431]

2. C. Caillas, Martial Hebert, Eric Krotkov, In So Kweon, and Takeo Kanade. Methods for Identifying Footfall Positions for a Legged Robot. In Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '89. The Autonomous Mobile Robots and Its Applications, (IROS '89), pages 244 - 250, September 1989. (bibtex entry)
   [bibtex-key = Caillas_1989_3552]

3. Martial Hebert. Terrain Modeling for Autonomous Underwater Navigation. In Proceedings of the 7th International Symposium on Unmanned Untethered Submersible Technology, June 1989. (pdf) (bibtex entry)
   [bibtex-key = Hebert_1989_4252]

4. Martial Hebert. Building and navigating maps of road scenes using an active sensor. In Proceedings of IEEE International Conference on Robotics and Automation (ICRA '89), pages 1136 - 1143, May 1989. (pdf) (bibtex entry)
   [bibtex-key = Hebert_1989_4251]

5. Martial Hebert, C. Caillas, Eric Krotkov, In So Kweon, and Takeo Kanade. Terrain Mapping for a Roving Planetary Explorer. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '89), volume 2, pages 997-1002, May 1989. (pdf) (bibtex entry)
   [bibtex-key = Hebert_1989_2435]

6. Martial Hebert, Eric Krotkov, and Takeo Kanade. A Perception System for a Planetary Explorer. In Proc. of the 28th IEEE Conference on Decision and Control, volume 2, pages 1151-1156, December 1989. (pdf)
   Abstract: "To perform planetary exploration without human supervision, a completely autonomous robot must be able to model its environment and to locate itself while exploring its surroundings. For that purpose, the authors propose a modular perception system for an autonomous explorer. The perception system maintains a consistent internal representation of the observed terrain from multiple sensor views. The representation can be accessed from other modules through queries. The perception system is intended to be used by the Ambler, a six-legged vehicle being built at the authors' university. A partial implementation of the system using a range scanner is presented as well as experimental results on a testbed that includes the sensor, one computer-controlled leg, and obstacles on a sandy surface." (bibtex entry)
   [bibtex-key = Hebert_1989_2437]

7. Eric Krotkov, C. Caillas, Martial Hebert, In So Kweon, and Takeo Kanade. First Results in Terrain Mapping for a Roving Planetary Explorer. In Proc. NASA Conference on Space Telerobotics, January 1989. (pdf) (bibtex entry)
   [bibtex-key = Krotkov_1989_2434]

1. Charles Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer. Vision and navigation for the Carnegie-Mellon Navlab. IEEE Transactions on Pattern Analysis and Machine Intelligence, 10(3):362 - 373, May 1988.
   Note: Other versions appeared in High Precision Navigation (Springer-Verlag, 1989) and in Annual Reviews of Computer Science, Volume 2, 1987. pdf=http://www.ri.cmu.edu/pub_files/pub2/thorpe_charles_1988_1/thorpe_charles_1988_1.pdf. (bibtex entry)
   [bibtex-key = Thorpe_1988_1624]

2. J.M. Cuschieri and Martial Hebert. Sonar Applications for Underwater Vision. In The Eleventh Annual Energy-Sources Technology Conference and Exhibition - Current Practices and New Technology in Ocean Engineering - 1988, January 1988. The Ocean Engineering Division, ASME. (pdf) (bibtex entry)
   [bibtex-key = Cuschieri_1988_4275]

3. Martial Hebert and Takeo Kanade. 3-D Vision for Outdoor Navigation by an Autonomous Vehicle. In Proceedings of the 1988 DARPA Image Understanding Workshop, pages 593-601, April 1988. (pdf) (bibtex entry)
   [bibtex-key = Hebert_1988_2471]

4. Martial Hebert, Takeo Kanade, and In So Kweon. 3-D Vision Techniques for Autonomous Vehicles. Technical report CMU-RI-TR-88-12, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA pdf =http://www.ri.cmu.edu/pub_files/pub3/hebert_martial_1988_1/hebert_martial_1988_1.pdf, August 1988. (bibtex entry)
   [bibtex-key = Hebert_1988_175]

1. Charles Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer. Vision and Navigation for Carnegie Mellon Navlab. In et. al J. Traub, editor, Annual Review of Computer Science, volume 2, pages 521-556. Annual Reviews Inc., CA, 1987. (bibtex entry)
   [bibtex-key = Thorpe_1987_2392]

2. Martial Hebert, Charles Thorpe, S. Dunn, J. Cushieri, P. Rushfeldt, W. Girodet, and P. Schweitzer. A Feasibility Study for Long Range Autonomous Underwater Vehicle. In Proceedings of Fifth International Symposium on Unmanned Untethered Submersible Technology, pages 1-13, June 1987. (pdf) (bibtex entry)
   [bibtex-key = Hebert_1987_1649]

1. Martial Hebert and Takeo Kanade. Outdoor Scene Analysis Using Range Data. In Proc. 1986 IEEE International Conference on Robotics and Automation, volume 3, pages 1426-1432, April 1986. (pdf) (bibtex entry)
   [bibtex-key = Hebert_1986_2428]

1. In So Kweon, Martial Hebert, and Takeo Kanade. Sensor Fusion of Range and Reflectance Data for Outdoor Scene Analysis. In . 1985. (pdf) (bibtex entry)
   [bibtex-key = Kweon_1985_4201]

2. Martial Hebert and Takeo Kanade. First Results on Outdoor Scene Analysis Using Range Data. In Proceedings of the 1985 DARPA Image Understanding Workshop, pages 224-231, 1985. (bibtex entry)
   [bibtex-key = Hebert_1985_2466]

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