I am an assistant research professor in Computer Science at the University of Colorado at Boulder. E-mail: Phone: 303-492-4591 FAX: 303-492-2844
	ECOT 527, Department of Computer Science, The University of Colorado at Boulder, Boulder, CO

What I do

I work on design and evaluation of sensor systems for autonomous navigation; speed, accuracy and representational issues for real-time stereo reconstruction; and modeling human motion and appearance.

Research Area:
Stereo vision; Immersive Telepresence; Image-based virtual environments; and Vision-based robot navigation.

• Wei Xu
• Jaeheon Jeong

Advice to PhD Students.

Recent Publications:

1. Adam R. Bates, Avleen S. Bijral, Jane Mulligan, and Greg Grudic. Traversable path identification in unstructured terrains: A markov random walk approach. In Proc. 2009 IEEE International Conference on Robotics and Automation (ICRA2009), 2009.
2. Michael W. Otte, Scott G. Richardson, Jane Mulligan, Gregory Grudic, Path planning in image space for autonomous robot navigation in unstructured environments. In Journal of Field Robotics , Volume 26, Issue 2 (February 2009), pp 212-240.
3. Michael J. Procopio, Jane Mulligan, Gregory Grudic, Learning terrain segmentation with classifier ensembles for autonomous robot navigation in unstructured environments . In Journal of Field Robotics , Volume 26, Issue 2 (February 2009), pp 145-175.
4. Wei Xu and Jane Mulligan, Robust relative pose estimation with integrated cheirality constraint, In Proc. 19th Intl. Conf on Pattern. Recognition , Dec. 2008.
5. Michael J. Procopio, Jane Mulligan, and Greg Grudic. Learning in Dynamic Environments with Ensemble Selection for Autonomous Outdoor Robot Navigation. In Proc. Intl. Conf on Intelligent Robots and Systems (IROS08) , Nice, France, Sept. 2008.
6. Michael J. Procopio, Jane Mulligan, and Greg Grudic. Long-term learning using multiple models for outdoor autonomous robot navigation. In Proc. Intl. Conf on Intelligent Robots and Systems (IROS07), San Diego, CA, Oct. 2007.
7. Michael W. Otte, Scott G. Richardson, Jane Mulligan, and Gregory Grudic. Local path planning in image space for autonomous robot navigation in unstructured environments. In Proc. Intl. Conf on Intelligent Robots and Systems (IROS07), San Diego, CA, Oct. 2007.
8. Greg Grudic, Jane Mulligan, Michael Otte, and Adam Bates. Online learning of multiple perceptual models for navigation in unknown terrain. In Proceedings of the 6th International Conference on Field and Service Robotics, Chamonix, Fr, 2007.
9. Michael Procopio, Thomas Strohmann, Adam Bates, Greg Grudic, and Jane Mulligan. Using binary classifiers to augment stereo vision for enhanced autonomous robot navigation.Computer Science CU-CS-1027-07, University of Colorado, Boulder, CO, April 2007.
10. Jane Mulligan. Speed versus quality - measuring and optimizing stereo for telepresence. In Laurence Harris and Michael Jenkin, editors, Computational Vision in Neural and Machine Systems. Cambridge University Press, 2007.
11. G. Grudic and J. Mulligan. Outdoor path labeling using polynomial mahalanobis distance. In Proceedings of Robotics: Science and Systems, Philadelphia, USA, August 2006. [pdf]

Computer Vision Area Exam 2009

Campus maps. Engineering Center Map.

My Curriculum Vitae.

Useful pointers.