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The GRASP Laboratory is located in the heart of the engineering building complex and spans approximately 7000 square feet providing workspaces for 70 students or postdocs. The Swarms lab houses more than 20 ground and air mini-vehicles for indoor operation as well as ground truth sensing systems including a 6DOF Vicon motion capture system. The lab owns an Unmanned Ground Vehicle (drive by wire Toyota Prius, one of the finalists at the Urban Challenge) equipped with multiple Sick and Hokuyo range sensors, multiple six-legged Edubots, self-configurable modular robots, a haptics lab, and a team of four Albaderan humanoids for participation in the Soccer Robo-Cup. The lab provides a camera cluster with 52 cameras for 3D model capture, multiple range scanners, and panoramic and binocular camera systems, as well as a photometric facility. Regarding visualization the Laboratory provides three stereoscopic projectors, one Dynasight 3-DOF tracker, one pan-tilt Intersense inertial tracker, four Graphics Cards enabling stereoscopic display with the CrystalEyes shutter glasses, one stereo-output Tornado E&S card and a Kaiser Head Mounted Display. 3D-form acquisition is achieved with a Cyberscan Laser Ranger. Full 6-DOF pose can be measured with the infrared OptoTrack tracker. The tele-immersion facility is hosted in the main GRASP lab area and consists of sixty 1394 cameras mounted on an Optical Kinetics Trass and connected via 1394 syncboxes. Each four of them is connected to a dual processor Dell Precision. The tele-immersion facility is directly connected to the campus gateway with its own fiber connection initiated with two switches (48i and 1i) from Extreme Networks. A 3rd Tech Deltashere 3D laser digitizer can acquire surround range images. Two clusters of four 64bit quad-core AMD each connected with a Network Appliances servers are the main computational transform for computer vision computations.