Recent Publications

GUMS is a complete projection model for omnidirectional stereo vision systems. GUMS is based on the existing generalized unified model (GUM), which we extend for fixed baseline sensors.
In IROS, 2016.

We describe the design and 3D sensing performance of an omnidirectional stereo (omnistereo) vision system applied to Micro Aerial Vehicles (MAVs).
In Sensors, 2016.

We present an on-board navigation system for Micro Aerial Vehicles (MAV) based on information provided by a visual odometry algorithm processing data from an RGB-D camera.
In ICRA, 2014.

A 6-degree-of-freedom (6-DoF) pose localization method for a monocular camera in a 3D point-cloud dense map prebuilt by an RGB-D sensor.
In ROBIO, 2013.

We introduce a catadioptric single-camera omnistereo vision system that uses a pair of custom-designed mirrors (in a folded configuration) satisfying the single view point (SVP) property as a good solution to the perception challenge of MAVs.
In ICIEA, 2013.

We present a real-time technique for 6-DoF camera pose estimation through the incremental registration of RGB-D images.
In ICRA, 2012.

We design a novel ‘folded’ spherical catadioptric rig (formed by two coaxially-aligned spherical mirrors of distinct radii and a single perspective camera) to recover near-spherical range panoramas.
In MVAP, 2011.

We design a novel ‘folded’ spherical catadioptric rig (formed by two coaxially-aligned spherical mirrors of distinct radii and a single perspective camera) to recover near-spherical range panoramas.
In ICRA, 2011.

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Jan 1, 2017

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Current Doctoral Students Alumni
Carlos Jaramillo Roberto G. Valenti (2011-2016)
Bing Li Ivan Dryanovski (2010-2015)
Liang Yang Samleo L. Joseph (~2015)
Chunhua Deng Xiaochen Zhang (~2016)
Flavio Cabrera-Mora (~2014)
Rex Wong (~2014)
Xiaohai Li (~2012)

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