Most widely held works by Martial Hebert
Object representation in computer vision : International NSF-ARPA Workshop, New York City, NY, USA, December 5-7, 1994 : proceedings by Martial Hebert ( Book )
17 editions published in 1995 in English and German and held by 385 WorldCat member libraries worldwide
This book documents the scientific outcome of the International NSF-ARPA Workshop on Object Representation in Computer Vision, held in New York City in December 1994 with invited participants chosen among the recognized experts in the field. The volume presents the complete set of papers in revised full-length versions. In addition, the first paper is a report on the workshop in which the panel discussions as well as the conclusions and recommendations reached by the workshop participants are summarized. Altogether the volume provides an excellent, in-depth view of the state of the art in this active area of research and applications
Object representation in computer vision II : ECCV '96 International Workshop, Cambridge, UK, April 13-14, 1996 : proceedings by Jean Ponce ( Book )
14 editions published in 1996 in English and held by 318 WorldCat member libraries worldwide
"This book constitutes the strictly refereed post-workshop proceedings of the second International Workshop on Object Representation in Computer Vision, held in conjunction with ECCV '96 in Cambridge, UK, in April 1996. The 15 revised full papers contained in the book were selected from 45 submissions for presentation at the workshop. Also included are three invited contributions based on the talks by Takeo Kanade, Jan Koenderink, and Ram Nevatia as well as a workshop report by the volume editors summarizing several panel discussions and the general state of the art in the area."--PUBLISHER'S WEBSITE
Intelligent unmanned ground vehicles : autonomous navigation research at Carnegie Mellon by Martial Hebert ( Book )
8 editions published in 1997 in English and held by 153 WorldCat member libraries worldwide
Intelligent Unmanned Ground Vehicles describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road vehicles with computer-controlled, unmanned driving capabilities. The book describes contributions in the area of mobility for UGVs including: tools for assembling complex autonomous mobility systems; on-road and off-road navigation; sensing techniques; and route planning algorithms. In addition to basic mobility technology, the book covers a number of integrated systems demonstrated in the field in realistic scenarios. The approaches presented in this book can be applied to a wide range of mobile robotics applications, from automated passenger cars to planetary exploration, and construction and agricultural machines. Intelligent Unmanned Ground Vehicles shows the progress that was achieved during this program, from brittle specially-built robots operating under highly constrained conditions, to groups of modified commercial vehicles operating in tough environments. One measure of progress is how much of this technology is being used in other applications. For example, much of the work in road-following, architectures and obstacle detection has been the basis for the Automated Highway Systems (AHS) prototypes currently under development. AHS will lead to commercial prototypes within a few years. The cross-country technology is also being used in the development of planetary rovers with a projected launch date within a few years. The architectural tools built under this program have been used in numerous applications, from an automated harvester to an autonomous excavator. The results reported in this work provide tools for further research development leading to practical, reliable and economical mobile robots
Toward category-level object recognition by Jean Ponce ( )
6 editions published in 2006 in English and held by 30 WorldCat member libraries worldwide
Proceedings / International NSF-ARPA Workshop : New York City, NY, USA, December 5 - 7, 1994 by National Science Foundation ( Book )
1 edition published in 1995 in English and held by 12 WorldCat member libraries worldwide
Representation and recognition of free-form surfaces by Hervé Delingette ( Book )
2 editions published in 1992 in English and held by 6 WorldCat member libraries worldwide
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."
Object representation in computer vision I : International NSF-ARPA Workshop, New York City, NY, USA, December 5-7, 1994 : proceedings ( Book )
2 editions published in 1995 in English and held by 6 WorldCat member libraries worldwide
Combining shape and color information for 3D object recognition by Kazunori Higuchi ( Book )
2 editions published in 1993 in English and held by 5 WorldCat member libraries worldwide
We show how this matching algorithm can be used for object recognition using both geometric and photometric information. In addition, we describe how the two types of information can be combined in a way that takes into account their actual distribution on the surface."
Spherical representations : from EGI to SAI by Katsushi Ikeuchi ( Book )
2 editions published in 1995 in English and held by 5 WorldCat member libraries worldwide
Abstract: "One of the fundamental problems in representing a curved surface is how to define an intrinsic, i.e., viewer independent, coordinate system over a curved object surface. In order to establish point matching between model and observed feature distributions over the standard coordinate system, we need to set up a coordinate system that maps a point on a curved surface to a point on a standard coordinate system. This mapping should be independent of the viewing direction. Since the boundary of a 3-D object forms a closed surface, a coordinate system defined on the sphere is preferred. We have been exploring several intrinsic mappings from an object surface to a spherical surface. We have investigated several representations including: the EGI (Extended Gaussian Image), the DEGI (Distributed Extended Gaussian Image), the CEGI (Complex Extended Gaussian Image), and the SAI (Spherical Attribute Image). This paper summarizes our motivations to derive each representation and the lessons that we have learned through this endeavor."
Task oriented vision by Katsushi Ikeuchi ( Book )
1 edition published in 1991 in English and held by 5 WorldCat member libraries worldwide
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 the 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."
Building 3-D models from unregistered range images by Kazunori Higuchi ( Book )
1 edition published in 1993 in English and held by 4 WorldCat member libraries worldwide
The meshes are built using an iterative fitting algorithm previously developed; the spherical images are built by mapping 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. We describe the algorithms used for building such models from range images and for matching them. We show results obtained using range images of complex objects."
RECONNAISSANCE DE FORMES TRIDIMENSIONNELLES by Martial Hebert ( Book )
2 editions published in 1983 in French and held by 4 WorldCat member libraries worldwide
CETTE THESE PRESENTE UN ALGORITHME DE RECONNAISSANCE PERMETTANT D'IDENTIFIER DES OBJETS TRIDIMENSIONNELS PLACES DANS UNE POSITION QUELCONQUE ET PARTIELLEMENT CACHES. CE SYSTEME QUI A ETE EXPERIMENTE SUR DES PIECES INDUSTRIELLES PERMET UNE IDENTIFICATION RAPIDE AINSI QU'UNE ESTIMATION PRECISE DE LA POSITION DE LA PIECE RECONNUE
On 3D shape similarity by Heung-Yeung Shum ( Book )
1 edition published in 1995 in English and held by 4 WorldCat member libraries worldwide
Abstract: "We study the 3D shape similarity between closed surfaces. We represent a curved or polyhedral 3D object of genus zero using a mesh representation that has nearly uniform distribution with known connectivity among mesh nodes. We define a shape similarity metric based on the L₂ distance between the local curvature distributions over the mesh representations of the two objects. For both convex and concave objects, the shape metric can be computed in time O(n²), where n is the number of tessellation of sphere or the number of meshes which approximate the surface. Experiments show that our method produces good shape similarity measurements."
3-D vision techniques for autonomous vehicles by Martial Hebert ( Book )
3 editions published in 1988 in English and held by 4 WorldCat member libraries worldwide
A Mobile robot needs an internal representation of its environment in order to accomplish its mission. Building such a representation involves transforming raw data from sensors into a meaningful geometric representation. In this paper, we introduce techniques for building terrain representations from range data for an outdoor mobile robot. We introduce three levels of representations that correspond to levels of planning: obstacle maps, terrain patches, and high resolution elevation maps. Since terrain representations from individual locations are not sufficient for many navigation tasks, we also introduce techniques for combining multiple maps. Combining maps may be achieved either by using features or the raw elevation data. Finally, we introduce algorithms for combining 3-D descriptions with descriptions from other sensors, such as color cameras. We examine the need for this type of sensor fusion when some semantic information has to be extracted from an observed scene and provide an example application of outdoor scene analysis. Many of the techniques presented in this paper have been tested in the field on three mobile robot systems developed at CMU. Keywords: Autonomous navigation; Three dimensional; Ground vehicles; Image processing; Optical processing. (sdw)
On 3D shape synthesis by Heung-yeung Shum ( Book )
1 edition published in 1995 in English and held by 3 WorldCat member libraries worldwide
Abstract: "We present a novel approach to 3D shape synthesis of closed surfaces. A curved or polyhedral 3D object of genus zero is represented by a curvature distribution on a spherical mesh that has nearly uniform distribution with known connectivity among mesh nodes. This curvature distribution, i.e., the result of forward mapping from shape space to curvature space, is used as the intrinsic shape representation because it is invariant to rigid transformation and scale factor. Furthermore, with regularity constraints on the mesh, the inverse mapping from curvature space to shape space always exists and can be recovered using an iterative method. Therefore, the task of synthesizing a new shape from two known objects becomes one of interpolating the two known curvature distributions, and then mapping the interpolated curvature distribution back to a 3D morph. Using the distance between two curvature distributions, we can quantitatively control the shape synthesis process to yeild [sic] smooth curvature migration. Experiments show that our method produces smooth and realistic shape morphs."
Robo-Buddy ( Book )
1 edition published in 2008 in English and held by 3 WorldCat member libraries worldwide
A complete navigation system for goal acquisition in unknown environments by Anthony Stentz ( Book )
2 editions published in 1994 in English and held by 3 WorldCat member libraries worldwide
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
Refinement of seafloor elevation using acoustic backscatter by Andrew E Johnson ( Book )
1 edition published in 1995 in English and held by 2 WorldCat member libraries worldwide
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."
Real-time 3-D pose estimation using a high-speed range sensor by David A Simon ( Book )
1 edition published in 1993 in English and held by 2 WorldCat member libraries worldwide
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 of 1mm in translation and 1 degree in rotation have been measured."
Predictive Mover Detection and Tracking in Cluttered Environments ( )
1 edition published in 2006 in English and held by 1 WorldCat member library worldwide
This paper describes the design and experimental evaluation of a system that enables a vehicle to detect and track moving objects in real-time. The approach investigated in this work detects objects in LADAR scan lines and tracks these objects (people or vehicles) over time. The system can fuse data from multiple scanners for 360 deg. coverage. The resulting tracks are then used to predict the most likely future trajectories of the detected objects. The predictions are intended to be used by a planner for dynamic object avoidance. The perceptual capabilities of our system form the basis for safe and robust navigation in robotic vehicles, necessary to safeguard soldiers and civilians operating in the vicinity of the robot
Algorithms All terrain vehicles--Automatic control Artificial intelligence Autonomous vehicles Carnegie-Mellon University Computer-aided design Computer animation Computer graphics Computer science Computer software Computer vision Engineering Image processing--Digital techniques Intelligent control systems Mechanical engineering Mobile robots Morphing (Computer animation) Motor vehicles--Automatic control Navigation Object-oriented methods (Computer science) Optical pattern recognition Pattern perception Pattern recognition systems Research Robotics Robots Robot vision Sonar
Hebert, Martial H.
Hebert, Martial H. 1958-