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Faculty

Kostas Daniilidis

Kostas Daniilidis

Ruth Yalom Stone Professor, CIS

Kostas’ research interests are in computer vision and robotic perception. His research addresses challenges in the perception of motion and space, such as the geometric design of cameras, and the interplay of geometry and appearance in perception tasks. Kostas’s research gives solutions to perceptual tasks such as panoramic vision, localization, perception of self-motion, large-scale mapping, visual location recognition, 3-D object recognition, and vision-based flocking. Applications of his research involve robot navigation, tele-immersion, and image and shape retrieval.

Research Areas


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Publications

A Low-Rank Matrix Approximation Approach to Multiway Matching with Applications in Multi-Sensory Data Association

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Coherent Reconstruction of Multiple Humans From a Single Image

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

IMU-Based Pedestrian Dead Reckoning with Learned Motion Model

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

The Tiercel: A Novel Autonomous Micro Aerial Vehicle That Can Map the Environment by Flying into Obstacles

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Toward fieldable human-scale mobile manipulation using RoMan

Publisher Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications

A Distributed Optimization Approach to Consistent Multiway Matching

Publisher IEEE Conference on Decision and Control (CDC)

Autonomous Precision Pouring From Unknown Containers

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Convolutional mesh regression for single-image human shape reconstruction

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

Cross-domain 3d equivariant image embeddings

Publisher International Conference on Machine Learning (ICML)

Distributed 3-D Bearing-Only Orientation Localization

Publisher IEEE Conference on Decision and Control (CDC)

Equivariant multi-view networks

Publisher IEEE International Conference on Computer Vision (ICCV)

Graph Neural Networks For Multi-Image Matching

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Keyframing the Future: Discovering Temporal Hierarchy with Keyframe-Inpainter Prediction

Publisher Annual Conference on Learning for Dynamics and Control (L4DC)

Learning Event-based Height from Plane and Parallax

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Learning to reconstruct 3D human pose and shape via model-fitting in the loop

Publisher IEEE International Conference on Computer Vision (ICCV)

Learning what you can do before doing anything

Publisher International Conference on Learning Representations (ICLR)

Live Demonstration: Unsupervised Event-Based Learning of Optical Flow, Depth and Egomotion

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

MonoCap: Monocular Human Motion Capture using a CNN Coupled with a Geometric Prior

Publisher IEEE Transactions on Pattern Analysis and Machine Intelligence

Perception-driven curiosity with bayesian surprise

Publisher International Conference on Learning Representations (ICLR)

Texturepose: Supervising human mesh estimation with texture consistency

Publisher IEEE International Conference on Computer Vision (ICCV)

Unsupervised event-based learning of optical flow, depth, and egomotion

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

Unsupervised event-based optical flow using motion compensation

Publisher Lecture Notes in Computer Science (LNCS)

A dynamical systems approach to distributed eigenvector computation

Publisher IEEE Conference on Decision and Control (CDC)

A unifying view of geometry, semantics, and data association in SLAM

Publisher International Joint Conference on Artificial Intelligence (IJCAI)

Human Motion Capture Using a Drone

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Learning SO(3) Equivariant Representations with Spherical CNNs

Publisher Lecture Notes in Computer Science (LNCS)

Learning to Estimate 3D Human Pose and Shape from a Single Color Image

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

Multi-image Semantic Matching by Mining Consistent Features

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

Ordinal Depth Supervision for 3D Human Pose Estimation

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

Polar transformer networks

Publisher International Conference on Learning Representations (ICLR)

Realtime time synchronized event-based stereo

Publisher Lecture Notes in Computer Science (LNCS)

Semi-dense visual-inertial odometry and mapping for quadrotors with swap constraints

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Tactile-visual integration for task-aware grasping

Publisher Robotics: Science and Systems (RSS)

Understanding image motion with group representations

Publisher International Conference on Learning Representations (ICLR)

6-DoF object pose from semantic keypoints

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Active end-effector pose selection for tactile object recognition through Monte Carlo tree search

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Automated System for Semantic Object Labeling with Soft-Object Recognition and Dynamic Programming Segmentation

Publisher IEEE Transactions on Automation Science and Engineering (T-ASE)

Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Coarse-to-fine volumetric prediction for single-image 3D human pose

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

Distributed consistent data association via permutation synchronization

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Event-based feature tracking with probabilistic data association

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Event-based visual inertial odometry

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

Fast multi-image matching via density-based clustering

Publisher IEEE International Conference on Computer Vision (ICCV)

Harvesting multiple views for marker-less 3D human pose annotations

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

PennCOSYVIO: A challenging Visual Inertial Odometry benchmark

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Precise dispensing of liquids using visual feedback

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Probabilistic data association for semantic SLAM

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Shape-based object classification and recognition through continuum manipulation

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Sparse Representation for 3D Shape Estimation: A Convex Relaxation Approach

Publisher IEEE Transactions on Pattern Analysis and Machine Intelligence

Tactile-vision integration for task-compatible fine-part manipulation

Publisher Robotics: Science and Systems (RSS)

The space of essential matrices as a Riemannian Quotient manifold

Publisher SIAM Journal on Imaging Sciences (SIIMS)

3-D vision for navigation and grasping

Publisher Springer Handbook of Robotics

A Survey on Rotation Optimization in Structure from Motion

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

A triangle histogram for object classification by tactile sensing

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Articulated motion estimation from a monocular image sequence using spherical tangent bundles

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Fast, robust, continuous monocular egomotion computation

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Integrated intelligence for human-robot teams

Publisher International Symposium on Experimental Robotics (ISER)

Localization from semantic observations via the matrix permanent

Publisher International Journal of Robotics Research (IJRR)

Monocular 3D tracking of deformable surfaces

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Sparseness meets deepness: 3D human pose estimation from monocular video

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

The role of vision in perching and grasping for MAVs

Publisher International Society for Optical Engineering (SPIE)

Ultrawide baseline facade matching for geo-localization

Publisher Large-Scale Visual Geo-Localization

3D shape estimation from 2D landmarks: A convex relaxation approach

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

A metric parametrization for trifocal tensors with non-colinear pinholes

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

An automated system for semantic object labeling with soft object recognition and dynamic programming segmentation

Publisher IEEE International Conference on Automation Science and Engineering (CASE)

Decentralized active information acquisition: Theory and application to multi-robot SLAM

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Grasping surfaces of revolution: Simultaneous pose and shape recovery from two views

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Initialization techniques for 3D SLAM: A survey on rotation estimation and its use in pose graph optimization

Publisher IEEE International Conference on Robotics and Automation (ICRA)

MSG-cal: Multi-sensor graph-based calibration

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Multi-image matching via fast alternating minimization

Publisher IEEE International Conference on Computer Vision (ICCV)

Online self-supervised monocular visual odometry for ground vehicles

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Reconstruction of 3D Pose for Surfaces of Revolution from Range Data

Publisher International Conference on 3D Vision (3DV)

Single image pop-up from discriminatively learned parts

Publisher IEEE International Conference on Computer Vision (ICCV)

VAIS: A dataset for recognizing maritime imagery in the visible and infrared spectrums

Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)

Visual servoing of quadrotors for perching by hanging from cylindrical objects

Publisher Institute of Electrical and Electronics Engineers (IEEE)

News

GRASP News

ICRA 2021 – GRASP Accepted Papers

March 3, 2021


Faculty News

GRASP Faculty receives new NSF Award

September 11, 2020


GRASP News

2020 ECCV Conference Papers

August 27, 2020


GRASP News

ICRA 2020 Recap

June 24, 2020


Student News

An Eye on Advanced Robotics

October 25, 2019


GRASP News

The brain in the machine

September 19, 2019


GRASP News

GRASP goes to China

June 24, 2015


Students

Katrina Ashton

PhD, CIS


Divya Bade

Robotics MSE


Anthony Bisulco

PhD, ESE


Sean Bowman

PhD, CIS


Kenneth Chaney

PhD, CIS


Anthony Georgiades

Robotics MSE


Konstantinos Gkatzonis

Robotics MSE - Accelerated Master's


Kun Huang

Robotics MSE


Wen Jiang

PhD, CIS


Christopher Kennedy

Robotics MSE


Jiahui Lei

PhD, CIS


Zichen Li

Robotics MSE


Wenxin Liu

PhD, CIS


Shiyani Patel

Robotics MSE


Bernd Pfrommer

Visiting Scholar, CIS


Kendall Queen

Robotics MSE '19, PhD, ESE


Oleh Rybkin

PhD, CIS


Karl Schmeckpeper

Robotics MSE '19, PhD, CIS


Dmitry Shatalin

Robotics MSE - Submatric


Yuzhi Wang

Robotics MSE


Yufu Wang

PhD, CIS - Robotics MSE '20


Ziyun Wang

Robotics MSE '19; PhD, CIS


Quinn Wu

Robotics MSE - Submatric


Yinshuang Xu

Robotics MSE '19; PhD, CIS


Shenghao Zhou

PhD, CIS - Robotics MSE '21


Research Staff

Marc Badger

Post Doc, CIS


Diego Patiño

PostDoc, CIS


Alumni

Nephele Agrafiotis

Researcher Staff '20


Lukas Allard

Robotics MSE '17


Christine Allen-Blanchette

Robotics MSE '13, PhD, CIS '19


Roy Anati

PhD, CIS '16 - Software Engineer, Google Inc


Rachit Bhargava

Robotics MSE '18 - Machine Vision Engineer, OpenSpace


Samarth Brahmbhatt

Robotics MSE '14


Levi Cai

ROBOTICS MSE '15 - Software Engineer, MasterStreet


Sam Carp

Robotics MSE '18


Aaron Chan

Robotics MSE '17 - PhD Student, University of Southern California


Sai Chandrasekar

Robotics MSE '18 - Senior Computer Vision Software Engineer, Nvidia


Huaiyu Chen

Robotics MSE '21


Dian Chen

Robotics MSE '19


Addwiteey Chrungoo

Robotics MSE '15


Jonas Cleveland

Robotics MSE '14


Benjamin Cohen

Robotics MSE '10; PhD, CIS '15


Luke Charles Deluccia

Robotics MSE '17 - Comcast


Carlos Machado Silva Esteves

PhD, CIS '20 - Google


Christopher Foley

Robotics MSE '20 - Nuro


Rafael Gehrke

Robotics MSE '21


Cathleen Gui

Robotics MSE '19 - Warburg Pincus


Mustafa Hasekioglu

Robotics MSE '18 - Perception Software Engineer, Boston Dynamics


Anthony Hoogs

Senior Director of Computer Vision, Kitware, Inc.


Seong Jae Hwang

Robotics MSE '13


David Isele

Robotics MSE '14; PhD, CIS '17


Andrew Jaegle

PhD, CIS '18


Dhruv Karthik

Robotics MSE '21


Ji Hyun (Sally) Kong

Robotics MSE '17 - Lead Technical Director, Blue Sky Studios


Maria Kustikova

Robotics MSE '19


Spyridon Leonardos

PhD, CIS '19 - The Voleon Group


Chenhao Liu

Robotics MSE '19 - Algorithm Engineer, Pony.ai


Anurag Makineni

Robotics MSE '18 - Robotics Software Engineer, Zipline


Nima Moshtagh

PhD, ESE '08 - Johns Hopkins University


Siddharth Mysore Sthaneshwar

Robotics MSE '16 - PhD Candidate at Boston University, A.I. Intern at Electronic Arts


Alexander Patterson IV

PhD, CIS '14 - SightLogix


Georgios Pavlakos

PhD, CIS '20 - UC Berkeley


Stephen Phillips

Robotics MSE '16; PhD '21


Cody Phillips

PhD, CIS '17 -Head of Machine Learning, Avvir


Sahithya Prakash

Robotics MSE '19


Luis Puig

PostDoc, CIS '14


Bharath Sankaran

Robotics MSE '12 - CTO, Scaled Robotics


Davide Scaramuzza

PostDoc, CIS '12 - University of Zurich


Ramanan Sekar

Robotics MSE '20


Chhavi Sharma

Robotics MSE '20


Yu Sun

Robotics MSE '19 - Software Engineer, Aurora


Roberto Tron

PostDoc, CIS '15 - Faculty, Boston University


Po-Yuan Wang

Robotics MSE '21


Liangzhe Yuan

Robotics MSE '18 - Google


Wenbo Zhang

Robotics MSE '20


Mengwei Zhang

Robotics MSE '20


Mabel Zhang

Robotics MSE '13; PhD, CIS '19


Hongrui Zheng

Robotics MSE '19


Shenghao Zhou

PhD, CIS - Robotics MSE '21


Xiaowei Zhou

PostDoc, CIS '19 - Zhejiang University


Qinyi Zhu

Robotics MSE '20


Haomin Zhu

Robotics MSE '19


Alex Zhu

Robotics MSE '16; PhD, CIS '19


Menglong Zhu

Robotics MSE '13; PhD, CIS '17 - Director of Machine Learning, DJI


Kostas Daniilidis

Research Areas

  • Neuromorphic Vision Algorithms
  • 3D Vision
  • Geometric Deep Learning
  • Exploration and Curiosity
  • Semantic SLAM