Jane MULLIGAN

Department of Computer Science
University of Colorado at Boulder,
430 UCB
Boulder, CO
80309-0430
USA
E-mail:
phone:303-492-4591
web: http://ia.cs.colorado.edu/~jane
(PDF of this CV)

CITIZENSHIP: Canadian/US Permanent Resident

RESEARCH AREA:
Vision for autonomous Navigation; image-based virtual environments; stereo reconstruction; real-time vision; experimental analysis and model extraction for robotic tasks.

PhD Computer Science 1996

Dissertation: EMPIRICAL EVALUATION OF INFORMATION FOR
ROBOTIC MANIPULATION TASKS.
University of British Columbia, Vancouver, B.C.
supervisor: A. K. Mackworth

MSc. Computer Science 1988

Thesis: A COMPUTATIONAL VISION SYSTEM FOR JOINT ANGLE SENSING
University of British Columbia, Vancouver, B.C.
supervisor: A. K. Mackworth and P. D. Lawrence

Bachelor of Computer Science Honours 1984

Honours Thesis: A COMPILER FOR PROGRAPH
Acadia University, Wolfville N.S.
supervisor: P. T. Cox

Aug 2001 - present

Research Assistant Professor, Computer Science, University of Colorado at Boulder.

Sept 1998 - Aug. 2001

Post Doctoral Fellow, GRASP Lab, University of Pennsylvania.
Developing a real-time trinocular stereo reconstruction system for networked tele-immersion applications. New approaches to integrating and representing motion and depth data for segmentation and prediction of a dynamic scene.

Jan. 1997 - Jan. 1998

Post Doctoral Researcher, Computer Science, UBC.

Sept. 1990 - August 1996

IRIS Research Assistant, Computer Science, UBC.

Jan. 2002 -- Present

CU Computer Science: CSCI5722 -- Computer Vision

Introductory graduate course in Machine Vision techniques..

Jan. - May 2004

CU Computer Science 4229 Computer Graphics

Introductory undergraduate Computer Graphics.

Jan. - April 1998

Instructor, UBC Computer Science: CS405 -- Modeling and Simulation

Numeric models of dynamic systems, emphasis on discrete stochastic systems.

March 2009 - present

Consultant, Flashback Technologies, Longmont, CO
Biomedical feature extraction for detection and monitoring of hypovolemia.

August 1984 - August 1986

Member of the Scientific Staff (DMS), Bell Northern Research, Ottawa, Ont.
Software maintenance and development for a digital phone switch in the areas of call processing features and CCS7 trunk interface.

AWARDS:

1997

A. Jean Elder Prize, for outstanding doctoral thesis in the sciences by a women graduate student (1996).

1990

U.B.C. University Graduate Fellowship

1986-1990

NSERC Postgrad Scholarship (PGS 1-4)

1986-1990

Bell Northern Research Postgrad Award

1. 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.
2. 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.
3. 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.
4. Nicole Atzpadin and Jane Mulligan . Stereo Analysis. In O. Schreer, P. Kauff, and T. Sikora, editors, 3D Videocommunication , Chapter 7. Wiley, New York, 2005. In press. [publisher]
5. Jane Mulligan, Xenophon Zampoulis, Nikhil Kelshikar, and Kostas Daniilidis. Stereo-based environment scanning for immersive telepresence. IEEE Transactions on Circuits and Systems for Video Technology, pp. 304-320, Vol 14:3, March 2004.
6. Jane Mulligan, Volkan Isler, and Kostas Daniilidis. Trinocular stereo: a real-time algorithm and its evaluation. International Journal of Computer Vision, 47(1/2/3):51--61, 2002. [pdf]
7. K. Daniilidis, J. Mulligan, R. McKendall, G. Kamberova, D. Schmid, R. Bajcsy. Real-time 3d tele-immersion. In in The Confluence of Vision and Graphics, A. Leonardis et al. (Ed.), Kluwer Academic Publishers, 2000. [Gzipped Postscript]
8. Jane Mulligan. Fast calibrated stereo vision for manipulation. Journal of Real-time Imaging, 3(5), pages 331--341, Oct. 1997. (postscript).

1. Michael J. Procopio,W. Philip Kegelmeyer, Greg Grudic, and Jane Mulligan. Terrain segmentation with on-line mixtures of experts for autonomous robot navigation. In 8th International Workshop on Multiple Classifier Systems, Reykjavik, Iceland, June 2009.
2. 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.
3. Wei Xu and Jane Mulligan, Robust relative pose estimation with integrated cheirality constraint, In Proc. 19th Intl. Conf on Pattern. Recognition , Dec. 2008.
4. 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.
5. 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.
6. 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.
7. 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.
8. G. Grudic and J. Mulligan. Outdoor path labeling using polynomial mahalanobis distance. In Proceedings of Robotics: Science and Systems, Philadelphia, USA, August 2006. [pdf]
9. P. Sambhoos, A. Hasan, R. Han, T. Lookabaugh, and J. Mulligan. "Weeblevideo: Wide angle field-of-view video sensor networks". In Workshop on Distributed Smart Cameras (DSC06), 2006, held in conjunction with ACM SenSys 2006.
10. Jane Mulligan and Greg Grudic. Topological mapping from image sequences. In Proceedings of the IEEE Workshop on Learning in Computer Vision and Pattern Recognition (with CVPR05) , June 2005. [pdf]
11. Gregory Grudic and Jane Mulligan. Topological mapping with multiple visual manifolds. In Proceedings of Robotics: Science and Systems, 2005. [pdf]
12. Jane Mulligan. Upper body pose estimation from stereo and hand-face tracking. In Proceedings of the Second Canadian Conference on Computer and Robot Vision (CRV 2005) , 2005. [pdf]
13. Nikhil Kelshikar, Xenophon Zabulis, Jane Mulligan, Kostas Daniilidis, Vivek Sawant, Sudipta Sinha, Travis Sparks, Scott Larsen, Herman Towles, Ketan Mayer-Patel, Henry Fuchs, John Urbanic, Kathy Benninger, Raghurama Reddy, , and Gwendolyn Huntoon. Real-time terascale implementation of tele-immersion. In Proc. of the Terascale Performance Analysis Workshop, Melbourne, Australia, June 2003. In conjunction with ICCS'2003 - International Conference on Computational Science (LNCS 2660). [pdf]
14. Herman Towles, Wei-Chao Chen, Ruigang Yang, Sang-Uok Kum, Henry Fuchs, Nikhil Kelshikar, Jane Mulligan, Kostas Daniilidis, Loring Holden, Bob Zeleznik, Amela Sadagic, and Jaron Lanier. 3D Tele-Collaboration Over Internet2. In Proceedings of the International Workshop on Immersive Telepresence (ITP 2002), Juan-les-Pins, France, Dec. 2002.
15. Jane Mulligan, Volkan Isler, and Kostas Daniilidis. Trinocular stereo: a real-time algorithm and its evaluation. In Proceedings of the IEEE Workshop on Stereo and Multi-Baseline Vision , Kauai, HI, Dec. 2001. [pdf]
16. Jane Mulligan, Volkan Isler, and Kostas Daniilidis, Performance Evaluation of Stereo for Tele-presence. Eighth IEEE International Conference on Computer Vision (ICCV'01), volume 2, pages 558--565, Vancouver, B.C., Canada, July 9-12, 2001. [pdf]
17. Jane Mulligan, and Kostas Daniilidis, Real time trinocular stereo for tele-immersion. Proceedings of the 2001 International Conference on Image Processing (ICIP'01), Thessaloniki, Greece, October 2001. To Appear. [pdf]
18. J. Mulligan and K. Daniilidis, View-independent scene acquisition for tele-presence. In Proceedings of the IEEE and ACM International Symposium on Augmented Reality (ISAR'2000),pages 105--108, Munich, Germany, October 2000. [Gzipped Postscript]
19. J. Mulligan and K. Daniilidis, Trinocular Stereo for Non-Parallel Configurations. In Proceedings of the 15th International Conference on Pattern Recognition, Volume 1, pages 567--570, Barcelona, Spain, September 3-8, 2000. [Gzipped Postscript]
20. J. Mulligan and K. Daniilidis, Predicting Disparity Windows for Real-time Stereo. In Proceedings of the 6th European Conference on Computer Vision (ECCV'00), Volume I, pages 220-235, Dublin, Ireland, June 26-July 1, 2000. [Gzipped Postscript]
21. Jane Mulligan. Empirical Modeling and Comparison of Robotic Tasks. IEEE-RSJ International Conference on Intelligent Robots and Systems (IROS98) , Victoria, B.C., October 1998. (postscript).
22. Ray Burge, Jane Mulligan, and Peter D. Lawrence. Using disparity gradients for robot navigation and registration. IEEE-RSJ International Conference on Intelligent Robots and Systems (IROS98) , Victoria, B.C., October 1998.
23. Jane Mulligan and Alan Mackworth. Experimental Task Analysis. In Proceedings 1997 IEEE International Conference on Robotics and Automation (ICRA'97), volume 4, pages 3348--3353, Albuquerque, New Mexico, April 1997. (postscript).
24. Jane Mulligan. Fast calibrated stereo vision for manipulation. In Proceedings 1996 IEEE International Conference on Robotics and Automation (ICRA'96), volume 3, pages 2326--2331, Minneapolis, Minnesota, April 1996. (postscript).
25. J. Mulligan, A. Mackworth, and P. Lawrence. A Model-based Vision System for Manipulator Position Sensing. In Proceedings: Workshop on Interpretation of 3-D Scenes, pages 186--193, Austin, TX, November 1989. IEEE. (postscript).
26. P.T. Cox and I.J. Mulligan. Compiling the Graphical Functional Language PROGRAPH. In 1985 ACM SIGSmall Symposium on Small Systems, pages 34--41, Danvers, MA, May 1-3 1985. ACM SIGSMALL/PC.

1. Michael W. Otte, Dan Knights, Joseph J. Pfeiffer III, Jane Mulligan, and Greg Grudic. New techniques for path planning in image space. Dept. of Computer Science CU-CS-1052-09, University of Colorado at Boulder, 2009.
2. Soumya Ghosh, Joseph Pfeiffer III and Jane Mulligan. A Non-negative Matrix Factorization Framework for Combining Multiple Image Segmentations. Computer Science CU-CS-1050-08, University of Colorado, Boulder, CO, Dec. 2008.
3. 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.
4. Wei Xu, John Penners, and Jane Mulligan. Recording real worlds for playback in a virtual exercise environment. Computer Science CU-CS 1013-06, University of Colorado at Boulder, Boulder, CO, 2006. [pdf] .
5. Jane Mulligan. A proposed framework for characterization of robotic systems. Department of Computer Science 92-29, University of British Columbia, Vancouver, British Columbia, Canada, 1992.

1. P.D. Lawrence, A.K. Mackworth, and I.J. Mulligan. Manipulator Arm Position Sensing. US Patent No. 4,826,391.
   Method for tracking robot/excavator arms with markers and machine vision.

• Guest Editor: Journal of Field Robotics, Special Issue on Machine Learning Based Robotics in Unstructured Environments, Dec 2006 (with Greg Grudic).
• Reviewer: IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), IEEE Transactions on Multimedia, IEE Proceedings Vision, Image & Signal Processing, Image and Vision Computing, IEEE Transactions on Visualization and Computer Graphics.
• Program Committees: IEEE Computer Society International Conference on Computer Vision and Pattern Recognition (CVPR), IEEE International Conference on Computer Vision (ICCV), Canadian Conference on Computer and Robot Vision (CRV), European Conference on Computer Vision (ECCV), IEEE International Conference on Robotics and Automation (ICRA).