PhD Thesis Defense
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PhD Thesis Defense
Optimization of Small Unmanned Ground Vehicle Design using Reconfigurability, Mobility, and Complexity
Abstract: Unmanned ground vehicles are being deployed in increasingly diverse and complex environments. With modern developments in sensing and planning, the field of ground vehicle mobility presents rich possibilities for mechanical innovations that may be especially relevant for unmanned systems. In particular, reconfigurability may enable vehicles to traverse a wider set of terrains with greater [...]
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PhD Thesis Defense
Towards Reconstructing Non-rigidity from Single Camera
Abstract: In this talk we will discuss how to infer 3D from images captured by a single camera, without assuming the target scenes / objects being static. The non-static setting makes our problem ill-posed and challenging to solve, but is vital in practical applications where target-of-interest is non-static. To solve ill-posed problems, the current trend [...]
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PhD Thesis Defense
Large Scale Dense 3D Reconstruction via Sparse Representations
Abstract: Dense 3D scene reconstruction is in high demand today for view synthesis, navigation, and autonomous driving. A practical reconstruction system inputs multi-view scans of the target using RGB-D cameras, LiDARs, or monocular cameras, computes sensor poses, and outputs scene reconstructions. These algorithms are computationally expensive and memory-intensive due to the presence of 3D data. [...]
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Carnegie Mellon University
Carnegie Mellon University