Eric Krotkov Program Manager, DARPA Senior Research Scientist, CMU DARPA Contact Information CMU Contact Information Students Mobile Robot Research Machine Perception Research Current Activities Journal Articles Downloadable Gzipped Postscript Planetary Rover Workshop 1996 EK Bookmarks

DARPA Contact Information

CMU Contact Information

Students

• Wes Huang (co-advised by Matt Mason) completed his dissertation in 1997 on impulsive manipulation.
• Fabio Cozman is developing quasi-Bayesian estimation techniques and applying them to problems in outdoor localization and graphical inference.
• Liam Pedersen is working on sensing and perceiving meteorites.
• Matthew Deans is working on natural landmark navigation.

Mobile Robot Research

• Meteorite Search (1996-present)
  
• Atacama Desert Trek (1996-97)
  Dead reckoning with an Inertial Measurement Unit.
• Lunar Rover Navigation (1994-1996)
  This project developed and field tested a "safeguarded teleoperation" system for a prototype lunar rover. Co-investigators are Red Whittaker and Reid Simmons.
• Lunar Telescope Deployment (1996)
  
• User Interface for Rover Control in Java (1996)
  

Machine Perception Research

• Augmented Reality for Supervisory Control of Rovers (1995-present)
  One-page postscript writeup [99 KB]
  
• Perception of Material (1995-present)
  The emphasis is on identifying shape-invariant acoustic features of materials.
  
• Synthesis of Contact Sounds (1996-present)
  The goal of this work is to synthesize realistic contact sounds using physics-based models.
  
• Digital Sextant (1995)
  One-page postscript writeup [121 KB]
  
• Stereo Vision for Planetary Rovers (1994-97)
  One-page postscript writeup [278 KB]
  

Current Activities

• Interactive Multimedia Robotics Exhibit at Carnegie Science Center
• Educational Affairs & Enrollment Committee of the Board of Trustees
• Space Automation and Robotics Technical Committee

Journal Articles

• "Fractal Modeling of Natural Terrain: Analysis and Surface Reconstruction with Range Data" , K. Arakawa and E. Krotkov, Graphical Models and Image Processing, vol. 58, no. 5, September 1996, pp. 413-436.
• "Perception, Planning, and Control for Autonomous Walking with the Ambler Planetary Rover," E. Krotkov, R. Simmons, Intl. Journal of Robotics Research, vol. 15, no. 2, April 1996, pp. 155-180.
• "Robotics Laboratory Exercises," E. Krotkov, IEEE Trans. Education, vol. 39, no. 1, February 1996, pp. 94-97.
• Stereo Perception and Dead Reckoning for a Prototype Lunar Rover [8.9 MB] , E. Krotkov, M. Hebert, and R. Simmons, Autonomous Robots, vol. 2, no. 4, December 1995, pp. 313-331.
• "Ambler: Performance of a Six-Legged Planetary Rover," E. Krotkov, R. Simmons, W. Whittaker, Acta Astonautica, vol. 35, no. 1, 1995, pp. 75-81.
• "Terrain Mapping for a Walking Planetary Rover," E. Krotkov, R. Hoffman, IEEE Trans. Robotics and Automation, vol. 6, no. 10, December 1994, pp. 728-739.
• "Active Vision for Reliable Ranging: Cooperating Focus, Stereo, and Vergence," E. Krotkov, R. Bajcsy, Intl. Journal of Computer Vision, vol. 11, no. 2, October 1993, pp. 187-203.
• "Progress Towards Robotic Exploration of Extreme Terrain," R. Simmons, E. Krotkov, W. Whittaker, Journal of Applied Intelligence, vol. 2, Spring 1992, pp. 163-180.
• "3-D Measurements from Imaging Laser Radars: How Good Are They?" M. Hebert, E. Krotkov, Intl. Journal of Image and Vision Computing, vol. 10, no. 3, April 1992, pp. 170-178.
• "Stereo Ranging with Verging Cameras," E. Krotkov, K. Henriksen, R. Kories, IEEE Trans. on Pattern Analysis and Machine Intelligence, vol. 12, no. 12, December 1990, pp. 1200-1205.
• "Ambler: An Autonomous Rover for Planetary Exploration," J. Bares, M. Hebert, T. Kanade, E. Krotkov, T. Mitchell, R. Simmons, W. Whittaker, IEEE Computer, vol. 22, no. 6, June 1989, pp. 18-26.
• "An Agile Stereo Camera System for Flexible Image Acquisition," E. Krotkov, J. Summers, F. Fuma, IEEE Journal of Robotics and Automation, vol. 4, no. 1, February 1988, pp. 108-113.
• "Focusing," E. Krotkov, Intl. Journal of Computer Vision, vol. 1, no. 3, October 1987, pp. 223-237. (Reprinted in Physics-Based Vision, Jones and Bartlett, 1992.
• "Visual Hyperacuity," E. Krotkov, Computer Vision, Graphics, and Image Processing, vol. 33, no. 1, January 1986, pp. 99-115.

Downloadable Gzipped Postscript

• Experience with Rover Navigation for Lunar-Like Terrains [5.7 MB], R. Simmons, E. Krotkov, M. Hebert and L. Katragadda, International Lunar Exploration Conference, San Diego CA, November, 1994.
• Perception of Material Properties by Robotic Probing: Preliminary Investigations [1.0 MB], E. Krotkov, Proc. Intl. Joint Conf. Artifical Intelligence, Montreal, August 1995, pp. 88-94.
• Robotic Perception of Material: Experiments with Shape-Invariant Acoustic Measures of Material Type [0.9 MB], E. Krotkov, R. Klatzky, N. Zumel, in Experimental Robotics IV, Edited by O. Khatib and K. Salisbury, Lecture Notes in Control and Information Sciences 200, Springer-Verlag, 1996. Symposium held at Stanford, July 1995.