Home/Daniel Huber

Daniel Huber

Senior Systems Scientist
Email: huber@andrew.cmu.edu
Phone: (412) 268-3818
Personal Homepage
Administrative Assistant: Jessica Butterbaugh

My area of expertise is three dimensional (3D) computer vision, specifically using high accuracy range sensors such as laser scanners for problems in the areas of modeling, recognition, and visualization. My goal is to make progress toward solving the problem of scene understanding using 3D computer vision. I am particularly interested in methods that combine image-based approaches from traditional computer vision with 3D computer vision algorithms. I am interested in methods to extract high-level semantics from 3D models, such as models of buildings. The ability to reverse engineer buildings has enormous potential benefit in a variety of fields, ranging from robotics to civil engineering to homeland security. I am also interested in methods for processing and visualizing 3D data in real time for high-speed teleoperation telepresence applications. Finally, I am studying the effects of sensor noise and data artifacts on the accuracy of 3D models for precision measurement applications.

Publications

Displaying 71 Publications
Guaranteed Parameter Estimation for Discrete Energy Minimization
Mengtian Li, Daniel Huber

WACV 2017, March, 2017

Complexity of Discrete Energy Minimization Problems
Mengtian Li, Alexander Shekhovtsov, Daniel Huber

Computer Vision – ECCV 2016, September, 2016

Vision-based Robot Localization by Ground to Satellite Matching in GPS-denied Situations
Anirudh Viswanathan, Bernardo F R Esteves Pires and Daniel Huber

Proceedings of the International Conference on Intelligent Robots and Systems (IROS), pp. 192-198, September, 2015

Analysis of the CMU Localization Algorithm under varied conditions
Aayush Bansal, Hernan Badino and Daniel Huber

CMU-RI-TR-15-05, Robotics Institute, Carnegie Mellon University, January, 2015

Extrinsic Calibration of 3D Sensors Using a Spherical Target
Minghao Ruan and Daniel Huber

Proceedings of the International Conference on 3D Vision, December, 2014

Building Modeling through Enclosure Reasoning
Adam Stambler and Daniel Huber

Proceedings of the International Conference on 3D Computer Vision, Workshop on 3D Computer Vision in the Built Environment (3DV), October, 2014

Topometric Localization on a Road Network
Danfei Xu, Hernan Badino and Daniel Huber

International Conference on Intelligent Robots and Systems (IROS), pp. 3448-3455, September, 2014

Understanding How Camera Configuration and Environmental Conditions Affect Appearance-based Localization
Aayush Bansal, Hernan Badino and Daniel Huber

IEEE Intelligent Vehicles Symposium, June, 2014

Online approximate model representation of unknown objects
Ki Ho Kwak, Junsik Kim, Daniel Huber and Takeo Kanade

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 1725-1732, May, 2014

Automatic Creation of Semantically Rich 3D Building Models from Laser Scanner Data
Xuehan Xiong, Antonio Adan Oliver, Burcu Akinci and Daniel Huber

Automation in Construction, Vol. 31, pp. 325-337, May, 2013

CANINE: A Robotic Mine Dog
Brian A. Stancil, Jeffrey Hyams, Jordan Shelly, Kartik S. Babu, Hernan Badino, Aayush Bansal, Daniel Huber and Parag Batavia

Proceedings of the IS&T/SPIE Conference on Electronic Imaging, February, 2013

Multi-Pose Multi-Target Tracking for Activity Understanding
Hamid Izadinia, Varun Ramakrishna, Kris M. Kitani and Daniel Huber

IEEE Workshop on the Applications of Computer Vision, January, 2013

Sensor Fusion for Human Safety in Industrial Workcells
Paul Rybski, Peter Anderson-Sprecher, Daniel Huber, Christopher Niessl and Reid Simmons

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2012

Real-Time Topometric Localization
Hernan Badino, Daniel Huber and Takeo Kanade

International Conference on Robotics and Automation, May, 2012

Extrinsic Calibration of a Single Line Scanning Lidar and a Camera
Ki Ho Kwak, Daniel Huber, Hernan Badino and Takeo Kanade

International Conference on Intelligent Robots and Systems (IROS 2011), December, 2011

Automatic Creation of Semantically Rich 3D Building Models from Laser Scanner Data
Antonio Adan Oliver, Xuehan Xiong, Burcu Akinci and Daniel Huber

Proceedings of the International Symposium on Automation and Robotics in Construction (ISARC), June, 2011

Detection, Modeling, and Classification of Moldings for Automated Reverse Engineering of Buildings from 3D Data
Enrique Valero Rodriguez, Antonio Adan Oliver, Daniel Huber and Carlos Cerrada

International Symposium on Automation and Robotics in Construction (ISARC), June, 2011

Efficient and Effective Quality Assessment of As-Is Building Information Models and 3D Laser-Scanned Data
Pingbo Tang, Engin Anil, Burcu Akinci and Daniel Huber

Proceedings of the ASCE International Workshop on Computing in Civil Engineering, June, 2011

Representation Requirements of As-Is Building Information Models Generated from Laser Scanned Point Cloud Data
Engin Anil, Burcu Akinci and Daniel Huber

Proceedings of the International Symposium on Automation and Robotics in Construction, June, 2011

Visual Topometric Localization
Hernan Badino, Daniel Huber and Takeo Kanade

CMU-RI-TR-, Proceedings of the Intelligent Vehicles Symposium (IV 2011), June, 2011

3D Reconstruction of Interior Wall Surfaces Under Occlusion and Clutter
Antonio Adan Oliver and Daniel Huber

Proceedings of 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT), May, 2011

Background Subtraction and Accessibility Analysis in Evidence Grids
Peter Anderson-Sprecher, Reid Simmons and Daniel Huber

Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), May, 2011

Fast and Accurate Computation of Surface Normals from Range Images
Hernan Badino, Daniel Huber, Y. Park and Takeo Kanade

CMU-RI-TR-, International Conference on Robotics and Automation (ICRA), May, 2011

Integrating LIDAR into Stereo for Fast and Improved Disparity Computation
Hernan Badino, Daniel Huber and Takeo Kanade

CMU-RI-TR-, 3D Imaging, Modeling, Processing, Visualization, Transmission (3DIMPVT), May, 2011

As-Is Modeling – Capturing Existing Spatial Conditions Using Laser Scanners
Daniel Huber and Burcu Akinci

Embedded Commissioning of Building Systems: Evaluating Buildings in the Information Age, January, 2011

Assessment of Quality of As-is Building Information Models Generated from Point Clouds Using Deviation Analysis
Engin Anil, Pingbo Tang, Burcu Akinci and Daniel Huber

Proceedings of the SPIE Vol. 7864A, Electronics Imaging Science and Technology Conference (IS&T), 3D Imaging Metrology, January, 2011

Methods for Automatically Modeling and Representing As-built Building Information Models
Daniel Huber, Burcu Akinci, Antonio Adan Oliver, Engin Anil, Brian E. Okorn and Xuehan Xiong

Proceedings of the NSF CMMI Research Innovation Conference, January, 2011

The ASTM E57 File Format for 3D Imaging Data Exchange
Daniel Huber

Proceedings of the SPIE Vol. 7864A, Electronics Imaging Science and Technology Conference (IS&T), 3D Imaging Metrology, Vol. 7864A, January, 2011

Using Context to Create Semantic 3D Models of Indoor Environments
Xuehan Xiong and Daniel Huber

Proceedings of the British Machine Vision Conference (BMVC), September, 2010

Space-carving Kernels for Accurate Rough Terrain Estimation
Raia Hadsell, J. Andrew (Drew) Bagnell, Daniel Huber and Martial Hebert

International Journal of Robotics Research, Vol. 29, No. 8, pp. 981-996, July, 2010

Visual Classification of Coarse Vehicle Orientation using Histogram of Oriented Gradients Features
Paul Rybski, Daniel Huber, Daniel D. Morris and Regis Hoffman

2010 IEEE Intelligent Vehicles Symposium, June, 2010

Boundary Detection Based on Supervised Learning
Kiho Kwak, Daniel Huber, Jeongsook Chae and Takeo Kanade

Proceedings of the International Conference on Robotics and Automation (ICRA), May, 2010

Semi-Automated As-Built Modeling of Light Rail System Guide Beams
Pingbo Tang, Burcu Akinci and Daniel Huber

Proceedings of the ASCE Construction Research Congress, May, 2010

Toward Automated Modeling of Floor Plans
Brian E. Okorn , Xuehan Xiong, Burcu Akinci and Daniel Huber

Proceedings of the Symposium on 3D Data Processing, Visualization and Transmission, May, 2010

Reconstruction of Wall Surfaces Under Occlusion and Clutter in 3D Indoor Environments
Antonio Adan Oliver and Daniel Huber

CMU-RI-TR-10-12, Robotics Institute, Carnegie Mellon University, April, 2010

Using Laser Scanners for Modeling and Analysis in Architecture, Engineering, and Construction
Daniel Huber, Burcu Akinci, Pingbo Tang, Antonio Adan Oliver, Brian E. Okorn and Xuehan Xiong

Proceedings of the Conference on Information Sciences and Systems (CISS), March, 2010

Quantification of Edge Loss of Laser Scanned Data at Spatial Discontinuities
Pingbo Tang, Burcu Akinci and Daniel Huber

Automation in Construction, Vol. 18, No. 8, pp. 1070-1083, December, 2009

Objective Evaluation of Scanning Ladar Configurations for Mobile Robots
Ankit Desai and Daniel Huber

Proceedings of the IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), October, 2009

Real-time Photo-realistic Visualization of 3D Environments for Enhanced Tele-operation of Vehicles
Daniel Huber, Herman Herman , Alonzo Kelly , Peter Rander and Jason Ziglar

Proceedings of the International Conference on 3-D Digital Imaging and Modeling (3DIM), October, 2009

Accurate Rough Terrain Estimation with Space-Carving Kernels
Raia Hadsell, J. Andrew (Drew) Bagnell, Daniel Huber and Martial Hebert

Proc. Robotics Science and Systems, June, 2009

Characterization of Three Algorithms for Detecting Surface Flatness Defects from Dense Point Clouds
Pingbo Tang, Burcu Akinci and Daniel Huber

IS&T/SPIE Conference on Electronic Imaging, Science and Technology, Vol. 7239, January, 2009

Segmentation of Salient Regions in Outdoor Scenes Using Imagery and 3-D Data
Gunhee Kim, Daniel Huber and Martial Hebert

IEEE Workshop on Applications of Computer VIsion (WACV08), January, 2008

Three-dimensional and thermal surface imaging produces reliable measures of joint shape and temperature: a potential tool for quantifying arthritis
Steven Spalding, C. Kent Kwoh, Robert Boudreau, Joseph Enama, Julie Lunich, Daniel Huber, Louis J. Denes and Raphael Hirsch

Arthritis Research & Therapy, Vol. 10, No. 1, January, 2008

A Comparative Analysis of Depth-Discontinuity and Mixed-Pixel Detection Algorithms
Pingbo Tang, Daniel Huber and Burcu Akinci

Proceedings of the International Conference on 3-D Digital Imaging and Modeling (3DIM), pp. 29-38, August, 2007

Natural terrain classification using three-dimensional ladar data for ground robot mobility
Jean-Francois Lalonde, Nicolas Vandapel, Daniel Huber and Martial Hebert

Journal of Field Robotics, Vol. 23, No. 10, pp. 839 - 861, November, 2006

Rapid object indexing using locality sensitive hashing and joint 3D-signature space estimation
B. Matei, Ying Shan, H.S. Sawhney, Yi Tan, R. Kumar, Daniel Huber and Martial Hebert

IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 28, No. 7, pp. 1111 - 1126, July, 2006

The ASDMCon project: The challenge of detecting defects on construction sites
Kui Yue, Daniel Huber, Burcu Akinci and Ramesh Krishnamurti

Proceedings of the Third International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT), pp. 1048-1055, June, 2006

A Formalism for Utilization of Sensor Systems and Integrated Project Models for Active Construction Quality Control
Burcu Akinci, Frank Boukamp, Chris Gordon, Daniel Huber, Catherine Lyons and Kuhn Park

Automation in Construction, Vol. 15, No. 2, pp. 124-138, February, 2006

Automatic Three-dimensional Underground Mine Mapping
Daniel Huber and Nicolas Vandapel

The International Journal of Robotics Research, Vol. 25, No. 1, January, 2006

Assessment of visualization software for support of construction site inspection tasks using data collected from reality capture technologies
Chris Gordon, Burcu Akinci, Frank Boukamp and Daniel Huber

Proceedings of the 2005 International Conference on Computing in Civil Engineering, July, 2005

Automatic class selection and prototyping for 3-D object classification
Raghavendra Rao Donamukkala, Daniel Huber, Anuj Kapuria and Martial Hebert

Proceedings of the 5th International Conference on 3-D Digital Imaging and Modeling (3DIM '05), pp. 64-71, June, 2005

Linear Model Hashing and Batch RANSAC for Rapid and Accurate Object Recognition
Y. Shan, B. Matei, H. S. Sawhney, R. Kumar, Daniel Huber and Martial Hebert

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2004), June, 2004

Parts-based 3D object classification
Daniel Huber, Anuj Kapuria, Raghavendra Rao Donamukkala and Martial Hebert

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 04), June, 2004

Recognizing Objects in Range Data Using Regional Point Descriptors
Andrea Frome, Daniel Huber, Ravi Kolluri, Thomas Bulow and Jitendra Malik

Proceedings of the European Conference on Computer Vision (ECCV), May, 2004

Natural Terrain Classification using 3-D Ladar Data
Nicolas Vandapel, Daniel Huber, Anuj Kapuria and Martial Hebert

IEEE International Conference on Robotics and Automation, Vol. 5, pp. 5117 - 5122, April, 2004

Combining Reality Capture Technologies for Construction Defect Detection: A Case Study
C. Gordon, F. Boukamp, Daniel Huber, Edward Latimer, K. Park and B. Akinci

EIA9: E-Activities and Intelligent Support in Design and the Built Environment, 9th EuropIA International Conference, pp. 99-108, October, 2003

Automatic 3D underground mine mapping
Daniel Huber and Nicolas Vandapel

International Conference on Field and Service Robotics, July, 2003

Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping
Aaron Christopher Morris, Derek Kurth, Daniel Huber, Chuck Whittaker and Scott Thayer

International Conference on Field and Service Robotics (FSR), July, 2003

Fully automatic registration of multiple 3D data sets
Daniel Huber and Martial Hebert

Image and Vision Computing, Vol. 21, No. 7, pp. 637-650, July, 2003

3D Modeling Using a Statistical Sensor Model and Stochastic Search
Daniel Huber and Martial Hebert

Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 858-865, June, 2003

Automatic Three-dimensional Modeling from Reality
Daniel Huber

CMU-RI-TR-02-35, Robotics Institute, Carnegie Mellon University, December, 2002

Fully Automatic Registration of Multiple 3D Data Sets
Daniel Huber and Martial Hebert

IEEE Computer Society Workshop on Computer Vision Beyond the Visible Spectrum(CVBVS 2001), December, 2001

Progress in 3-D Mapping and Localization
Martial Hebert , Matthew Deans, Daniel Huber, Bart Nabbe and Nicolas Vandapel

International Symposium on Intelligent Robotic Systems, July, 2001

Automatic 3D Modeling Using Range Images Obtained from Unknown Viewpoints
Daniel Huber

Proceedings of the Third International Conference on 3-D Digital Imaging and Modeling, pp. 153-160, May, 2001

3D map reconstruction from range data
Daniel Huber, Owen Carmichael and Martial Hebert

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 1, pp. 891 - 897, April, 2000

A New Approach to 3-D Terrain Mapping
Daniel Huber and Martial Hebert

Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS '99), pp. 1121-1127, October, 1999

Large Data Sets and Confusing Scenes in 3-D surface Matching and Recognition
Owen Carmichael, Daniel Huber and Martial Hebert

Proceedings of the Second International Conference on 3-D Digital Imaging and Modeling (3DIM'99), pp. 358-367, October, 1999

Toward a General 3-D Matching Engine: Multiple Models, Complex Scenes, and Efficient Data Filtering
Andrew Johnson, Owen Carmichael, Daniel Huber and Martial Hebert

Proceedings of the 1998 Image Understanding Workshop (IUW), pp. 1097-1107, November, 1998

Spectro-Polarimetric Imaging for Object Recognition
L.J. Denes, M. Gottlieb, B. Kaminsky and Daniel Huber

Proceedings of Applied Imagery Pattern Recognition (AIPR '97), Vol. 3240, January, 1998

A Spectro-Polarimetric Imager for Intelligent Transportation Systems
Daniel Huber, Louis Denes, Martial Hebert , Milton Gottlieb, Boris Kaminsky and Peter Metes

SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Intelligent Transportation Systems, Vol. 3207, pp. 94-102, October, 1997

A Spectro-Polarimetric Imager for Scene Discrimination
L.J. Denes, M. Gottlieb, B. Kaminsky and Daniel Huber

Proceedings of the International Symposium on Spectral Sensing Research (ISSSR), January, 1997

Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

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