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GRASP Special Seminar – Larry Matthies, Jet Propulsion Laboratory, NASA, “Visual Navigation for Unmanned Vehicles”

March 10, 2010 @ 12:00 pm - 1:30 pm

Abstract: The main research focus in the Computer Vision Group at JPL is visual navigation for unmanned vehicles, including ground, sea, and air vehicles on Earth and rovers and landers in planetary exploration. This talk will start with a brief overview of the range of our activities, then present recent work in two areas.  First, the main thrust of our NASA-funded work currently is on vision systems for safe and precise landing; I will give an overview of work on these problems for eventual missions to the moon, Mars, comets, asteroids, and Titan.  Second, we are working on detecting people around ground vehicles for safe navigation, using classification and tracking applied to 3D point clouds from dense stereo vision.  Our system performs dense stereo, visual odometry, and pedestrian detection at 5 Hz on 1024×768 imagery with one quad core embedded Pentium, with ROCs that compare favorably to other recent work that runs very slowly off-line.


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Larry Matthies obtained a PhD in Computer Science from Carnegie Mellon University in 1989, then moved to the Jet Propulsion Laboratory, where he has supervised the Computer Vision Group since 1997. His research interests focus on visual navigation for unmanned vehicles. This started with a primary focus on 3D perception, egomotion estimation, and multi-sensor terrain classification for unmanned ground vehicles in static environments, and has gradually broadened to include perception of dynamic environments, unmanned sea and air vehicles, and safe and precise landing in planetary exploration. He and his group developed the stereo vision, visual odometry, and lander velocity estimation algorithms used by the Mars Exploration Rovers. He is also a member of the editorial boards for Autonomous Robots and the Journal of Field Robotics and an Adjunct Professor in Computer Science at the University of Southern California.


March 10, 2010
12:00 pm - 1:30 pm
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