Home/Stephen T. Nuske

Stephen T. Nuske

Systems Scientist, RI
Email: snuske@andrew.cmu.edu
Office: NSH 2105
Phone: (412) 268-5901
Administrative Assistant: Nora Kazour

Full publication list and research information can be found at my personal website.

My research interests are with the design of computer vision systems practical for field robotic applications. Computer vision, although a very promising perceptual tool, has been under-utilized in field robotics because of the difficulties creating reliable systems. It is the harsh nature of the environments that is especially challenging for computer vision systems. There are field robotic applications where computer vision is the only feasible perceptual mechanism due to its small size, low weight, long working range, and the rich nature of the information it provides. Therefore it is essential to keep researching ways to improve the performance of computer vision systems under challenging conditions in order to further progress the development of field robotics.

My PhD work on visual localization – while I was at the CSIRO Autonomous Systems Lab and the University of Queensland, Australia – demonstrated that visual systems can in fact perform well in outdoor environments where historically lasers and other range sensors were thought to be the only possible sensory modalities for building reliable robotic systems.

My current work at the Carnegie Mellon University – Field Robotics Center is on visual localization, visual tracking and visual scene and object segmentation for both small UAVs and ground-based agricultural vehicles.

Publications

A Multi-Sensor Fusion MAV State Estimation from Long-Range Stereo, IMU, GPS and Barometric Sensors
Yu Song, Stephen T. Nuske, Sebastian Scherer

Sensors December, 2016

Long Distance Visual Ground-Based Signaling for Unmanned Aerial Vehicles
Volker Grabe, Stephen T. Nuske

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) October, 2016

Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Stephan Roth, Silvio Mano Maeta, Stephen T. Nuske, Yuzhang Wu, Sebastian Scherer

Journal of Field Robotics September, 2016

Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Stephan Roth, Silvio Mano Maeta, Stephen T. Nuske, Yuzhang Wu, Sebastian Scherer

Journal of Field Robotics September, 2016

Automated Measurement of Berry Size in Images
Omeed Mirbod, Luke Yoder, Stephen T. Nuske

IFAC-PapersOnLine August, 2016

Automated Assessment and Mapping of Grape Quality through Image-based Color Analysis
Zania Pothen, Stephen T. Nuske

IFAC-PapersOnLine August, 2016

Texture-based Fruit Detection via Images using the Smooth Patterns on the Fruit
Zania Pothen, Stephen T. Nuske

IEEE conference on Robotics and Automation May, 2016

Robust Autonomous Flight in Constrained and Visually Degraded Environments
Zheng Fang, Shichao Yang, Sezal Jain, Geetesh Dubey, Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang and Stephen T. Nuske

Field and Service Robotics June, 2015

Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers
Stephen T. Nuske, Sanjiban Choudhury, Sezal Jain, Andrew D. Chambers, Luke Yoder, Sebastian Scherer, Lyle J. Chamberlain, Hugh Cover and Sanjiv Singh

CMU-RI-TR- Journal of Field Robotics June, 2015

High-precision Autonomous Flight in Constrained Shipboard Environments
Shichao Yang, Zheng Fang, Sezal Jain, Geetesh Dubey, Silvio Mano Maeta, Stephan Roth, Sebastian Scherer, Yu Zhang and Stephen T. Nuske

CMU-RI-TR-15-06 February, 2015

Automated Visual Yield Estimation in Vineyards
Stephen T. Nuske, Stephen Kyle Wilshusen, Supreeth Achar, Luke Yoder, Srinivasa G. Narasimhan and Sanjiv Singh

Journal of Field Robotics September, 2014

Robust Multi-Sensor Fusion for Micro Aerial Vehicle Navigation in GPS-Degraded/Denied Environments
Andrew D. Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen T. Nuske and Sanjiv Singh

In Proceedings of American Control Conference, Portland, OR June, 2014

Autonomous River Exploration
Sezal Jain, Stephen T. Nuske andrew D. Chambers, Luke Yoder, Hugh Cover, Lyle J. Chamberlain, Sebastian Scherer and Sanjiv Singh

Field and Service Robotics, Brisbane December, 2013

Compensating for Motion During Direct-Global Separation
Supreeth Achar, Stephen T. Nuske and Srinivasa G. Narasimhan

The IEEE International Conference on Computer Vision (ICCV) December, 2013

Infrastructure-free Shipdeck Tracking for Autonomous Landing
Sankalp Arora, Sezal Jain, Sebastian Scherer, Stephen T. Nuske, Lyle J. Chamberlain and Sanjiv Singh

International Conference on Robotics and Automation May, 2013

Automated Crop Yield Estimation for Apple Orchards
Qi Wang, Stephen T. Nuske, Marcel Bergerman and Sanjiv Singh

CMU-RI-TR- 13th Internation Symposium on Experimental Robotics (ISER 2012) July, 2012

Modeling and Calibration Visual Yield Estimates in Vineyards
Stephen T. Nuske, Kamal Gupta, Srinivasa G. Narasimhan and Sanjiv Singh

International Conference on Field and Service Robotics July, 2012

Global pose estimation with limited gps and long range visual odometry
Joern Rehder, Kamal Gupta, Stephen T. Nuske and Sanjiv Singh

IEEE Conference on Robotics and Automation May, 2012

River mapping from a flying robot: state estimation, river detection, and obstacle mapping
Sebastian Scherer, Joern Rehder, Supreeth Achar, Hugh Cover andrew D. Chambers, Stephen T. Nuske and Sanjiv Singh

Autonomous Robots May, 2012

Visual yield estimation in vineyards: Experiments with different varietals and calibration procedures
Stephen T. Nuske, Supreeth Achar, Kamal Gupta, Srinivasa G. Narasimhan and Sanjiv Singh

CMU-RI-TR-11-39 December, 2011

Efficient Target Geolocation by Highly Uncertain Small Air Vehicles
Benjamin P. Grocholsky, Michael Dille and Stephen T. Nuske

CMU-RI-TR- Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11) September, 2011

Perception for a River Mapping Robot
Andrew D. Chambers, Supreeth Achar, Stephen T. Nuske, Joern Rehder, Bernd Manfred Kitt, Lyle J. Chamberlain, Justin Haines, Sebastian Scherer and Sanjiv Singh

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11) September, 2011

Yield Estimation in Vineyards by Visual Grape Detection
Stephen T. Nuske, Supreeth Achar, Terry Bates, Srinivasa G. Narasimhan and Sanjiv Singh

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11) September, 2011

Air-Ground Collaborative Surveillance with Human-Portable Hardware
Michael Dille, Benjamin P. Grocholsky, Stephen T. Nuske, Mark Moseley and Sanjiv Singh

AUVSI Unmanned Systems North America August, 2011

Self-Supervised Segmentation of River Scenes
Supreeth Achar, Bharath Sankaran, Stephen T. Nuske, Sebastian Scherer and Sanjiv Singh

CMU-RI-TR- ICRA 2011 May, 2011

Representing Substantial Heading Uncertainty for Accurate Geolocation by Small UAVs
Stephen T. Nuske, Michael Dille, Benjamin P. Grocholsky and Sanjiv Singh

AIAA Guidance, Navigation, and Control Conference August, 2010

Robust outdoor visual localization using a three-dimensional-edge map
Stephen T. Nuske, Jonathan Roberts and Gordon Wyeth

Journal of Field Robotics September, 2009

Experiments in visual localisation around underwater structures
Stephen T. Nuske, David Prasser, Jonathan Roberts and Gordon Wyeth

Proceedings of International Conference on Field and Service Robotics July, 2009

Mailing Address:

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

2017-05-10T11:23:09+00:00