GRASP Laboratory
Department of Computer and Information Science
University of Pennsylvania
Philadelphia, PA 19104
Jan 2, 1967: Kingston Jamaica, West Indies
U.S. Citizen
Ph.D. Electrical Engineering, Yale University, New Haven CT, 1994
(Ph.D. Advisor David Kriegman)
M.S. M.S. in Computer Engineering, Yale University, New Haven CT, 1990
A.B. Electrical Computer and Systems
Engineering, Harvard College, Cambridge MA, 1988
1997- Assistant Professor, Department of Computer and Information Science, University of Pennsylvania
1994-97 Postdoctoral researcher/lecturer University of California, Berkeley
·
2001
Lindback Minority Junior Faculty Award
·
1999 NSF
Career Award
·
Phi Beta
Kappa: Member of the Harvard Chapter of Phi Beta Kappa.
·
1988 Dudley
House Book Prize: Awarded to the graduating senior in Dudley House with the
most outstanding scholastic record.
·
Harvard
College Scholarship: 1986-87, 1987-88.
·
1984 Jamaica
Scholar: This scholarship is awarded annually to the student with the best
results in the G.C.E Advanced Level Examinations in the country.
IEEE, ACM
·
Harvard
University March 1994: Computer Vision Algorithms for Mobile Robots
·
David
Sarnoff Laboratories June 1994: Structure and Motion from Line Segments in
Multiple Images
·
Xerox Parc
March 1997: Recovering Architectural Models from Imagery
·
Teleos
Research, Palo Alto, May 1997: Recovering Architectural Models from Imagery
·
Carnegie
Mellon University June 1997: Recovering 3-D Models from Line Correspondences
·
Honda
Research Center, Tochigi Japan, December 1997: Vision-Based Lateral Control of Motor Vehicles
·
Columbia
University March 1998: Recovering 3D Models from 2D Images
·
Siemens
Research Institute June 1998: Recovering 3D Models from 2D Images
·
NEC Research
Institute August 1999: Recovering 3D Models from 2D Images
·
Alcoa
African American Speaker Series Carnegie Mellon University Feb. 2000: Applications
of Computer Vision Research
·
CMU Robotics
Institute Seminar, Carnegie Mellon University, Feb. 2000: Reconstruction from
Omnidirectional Imagery
·
Remote
Reality Corporation, March 2001: Video Plus
·
A framework for sensor planning and control with
applications to vision guided multi-robot systems: Microsoft
Research July 2001
·
University
of California at Berkeley, March 2002: View Synthesis with Occlusion Reasoning using
Quasi-Sparse Feature Correspondences
·
University
of Illinois at Urbana Champaign, March 2002: View Synthesis with
Occlusion Reasoning using Quasi-Sparse Feature Correspondences
·
University
of Delaware, April 2002: View Synthesis with Occlusion Reasoning using
Quasi-Sparse Feature Correspondences
·
Cambridge
University U.K, May 2002: View Synthesis with Occlusion Reasoning using
Quasi-Sparse Feature Correspondences
·
Oxford
University U.K, May 2002: View Synthesis with Occlusion Reasoning using
Quasi-Sparse Feature Correspondences
·
Carnegie
Mellon University (Robotics Institute Seminar), Sept. 2002: View
Synthesis with Occlusion Reasoning using Quasi-Sparse Feature Correspondences
·
Columbia
University, Nov. 2002: View Synthesis with Occlusion Reasoning using
Quasi-Sparse Feature Correspondences
·
Microsoft
Research, Nov. 2002: View Synthesis with Occlusion Reasoning using
Quasi-Sparse Feature Correspondences
·
Caltech,
Nov. 2002: View Synthesis with Occlusion Reasoning using Quasi-Sparse
Feature Correspondences
·
Institute
for Creative Technology University of Southern California, Nov. 7 2002: View
Synthesis with Occlusion Reasoning using Quasi-Sparse Feature Correspondences
·
University
of Southern California, Nov. 2002: Dynamic Sensor Planning and Control
·
CSE
371/372: Digital Systems
Organization and Design Spring 1998-2001 University of Pennsylvania
·
CIS 580: Machine Perception Fall 1997-2001 University of
Pennsylvania
·
EE 125: Introduction to Robotics Fall 1994 and Spring
1996, U.C. Berkeley
· EE 298-34: Mobile Robots Spring 1995 and Spring 1996, U.C. Berkeley
1.
C.J. Taylor and D. Kriegman “Structure and
motion from line segments in multiple images”, IEEE Trans. On Pattern Analysis
and Machine Intelligence, Vol. 17 No. 11, pp 1021-1033, November 1995
2. C.J. Taylor and D. Kriegman “Vision-Based Motion Planning and Exploration Algorithms for Mobile Robots”, IEEE Trans. On Robotics and Automation, Vol. 14 No. 3, pp 417-427, June 1998
3.
C.J. Taylor, J. Kosecka, R. Blasi and J. Malik
“A comparative study of vision-based lateral control strategies for autonomous
highway driving” International Journal
of Robotics Research Vol. 18 No. 5, pp 442-454, May 1999
4. Camillo J. Taylor, , "Reconstruction of Articulated Objects from Point Correspondences in a Single Image" : Computer Vision and Image Understanding, Volume 80, No. 3 pp 349-363 Dec. 2000
5. David Jelinek , C. J. Taylor. “Reconstruction of Linearly Parameterized Models from Single Images with a Camera of Unknown Focal Length” : IEEE Transactions on Pattern Analysis and Machine Intelligence Vol. 23 No. 7 pp. 767-774 July 2001
6. Camillo J. Taylor “VideoPlus: A Method for Capturing the Structure and Appearance of Immersive Environments” IEEE Transactions on Visualization and Computer Graphics Vol 8 No. 2 pp 171-183 April-June 2002
7. R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. Taylor, "A framework and architecture for multirobot coordination," (accepted for publication) International Journal of Robotics Research
8. Aveek Das, Rafael Fierro, Vijay Kumar, Jim Ostrowski and C.J. Taylor “A Vision-Based Formation Control Framework” IEEE Transactions on Robotics and Automation Vol. 18 No. 5 pp 813-826 October 2002
9. John Spletzer, Camillo J. Taylor “Dynamic Sensor Planning and Control” (accepted for publication) International Journal of Robotics Research
1.
C.J. Taylor
and Paul E. Debevec and Jitendra Malik. “Reconstructing Polyhedral Models of
Architectural Scenes from Photographs”.
Proceeding of the European Conference on Computer Vision, May 1996, pp.
659-668
2.
Paul E.
Debevec and C.J.Taylor and Jitendra Malik. “Modeling and Rendering Architecture
from Photographs:A hybrid geometry-and image-based approach.” SIGGRAPH 1996, pp. 11-20
3.
C.J. Taylor
and Jitendra Malik and Joseph Weber. “A Real-Time Approach to Stereopsis and
Lane-Finding.” Intelligent Vehicles 1996, pp. 207-212
4.
J. Kosecka,
R. Blasi, C.J. Taylor and Jitendra Malik “Vision-Based Lateral Control of
Vehicles.” Intelligent Transportation
Systems March 1997, pp. 173-179
5.
C. Taylor,
D. Kriegman, and P. Anandan. “Structure and motion in two dimensions from
multiple images: A least squares approach.” Workshop on Visual Motion, October
1991, pp 242-248
6.
C.J.Taylor.
“Building representations for the environment of a mobile robot from image
data.” Proc. SPIE Symp. on Intelligent Robotic Systems, Sensor fusion IV, Proc.
SPIE Vol. 1613, Mobile Robots VI 1992, pp 331-339
7.
David J.
Kriegman and Camillo J. Taylor. “Mobile robot map making from vision and
motion” Allerton Conference on Communication, Control and Computing, October
1991, pp 35-40
8.
C. Taylor
and D.J. Kriegman. “Structure and motion from line segments multiple images”.
IEEE Int. Conf. on Robotics and Automation, May 1992, pp 1615-1620
9.
C.J. Taylor
and D.J. Kriegman. “Exploration strategies for mobile robots.” IEEE Int. Conf. on
Robotics and Automation, May 1993, pp 248-253
10.
C.J. Taylor
and D. Kriegman. “Vision-Based Motion Planning and Exploration Algoithms for
Mobile Robots” Workshop on the
Algorithmic Foundations of Robotics, February 1994, pp 69-84
11.
M. Buehler,
N. Vlamis, C. Taylor and A. Ganz. “The Cyclops Vision System.” Proc. North
American Transputer Users Group Meeting, Salt Lake City UT, Apr. 1989, pp.
141-150
12.
J. Kosecka,
R. Blasi, C. Taylor and J. Malik. “A
Comparative Study of Vision-Based Lateral Control Strategies for Autonomous
Highway Driving”. In IEEE Int. Conf. on
Robotics and Automation May 1998, pp
1903-1908,
13.
David
Jelinek , C. J. Taylor. “Reconstruction of Linearly Parameterized Models from
Single Images with a Camera of Unknown Focal Length”. In IEEE Conference on
Computer Vision and Pattern Recognition, June 1999, pp 346-352
14.
C.J. Taylor,
James P. Ostrowski and Sang-Hack Jung. “Robust Visual Servoing based on
Relative Orientation” In IEEE Conference on Computer Vision and Pattern
Recognition, June 1999, pp 574-580
15.
C.J. Taylor
and James P. Ostrowski “Robust Vision-Based Pose Control”, In IEEE Conference
on Robotics and Automation April 2000, pp 2734-2740
16.
Camillo J. Taylor, "Reconstruction of
Articulated Objects from Point Correspondences in a Single Image" : In
IEEE Conference on Computer Vision and Pattern Recognition June 2000, pp 677-685
17. Camillo J. Taylor, “Video Plus” In IEEE Workshop on Omnidirectional Vision 2000 (Held in Conjunction with IEEE CVPR 2000) June 2000, pp. 3-11
18. Camillo J. Taylor, “VideoPlus: A Method for Capturing the Structure and Appearance of Immersive Environments” Second Workshop on 3D Structure from Multiple Images of Large-scale Environments July 2000, pp 187-204
19. Solomon Steplight, Geoffrey Egnal, Sang-Hack Jung, Daniel B. Walker, Camillo J. Taylor and James P. Ostrowski “A Mode-Based Sensor Fusion Approach to Robotic Stair-Climbing” IROS, November 2000, pp. 1113-1118
20. R.
Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J.
P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. Taylor, "A
framework and architecture for multirobot coordination," ISER00, Seventh
International Symposium on Experimental Robotics, Honolulu, Hawaii, Dec. 10-13,
2000, pp 289-300
21. David Jelinek and C.J. Taylor “Quasi-Dense Motion Stereo for 3D View Morphing” International Symposium on Virtual and Augmented Architecture (VAA01) June 2001, pp 219-229
22. John Benjamin Southall and C.J. Taylor “Stochastic road shape estimation” International Conference on Computer Vision, June 2001, pp. 205-212
23. A. Das, R. Fierro, V. Kumar, B. Southall, J. Spletzer and C. Taylor," Real-time Vision-based Control of a Nonholonomic Mobile Robot," ICRA2001, IEEE Int.Conf. Robot. Autom, Seoul, Korea, May 2001, pp 1714-1719
24. J. Spletzer, A.K. Das, R. Fierro, C.J. Taylor, V. Kumar, and J.P. Ostrowski, "Cooperative localization and control for multi-robot manipulation", IROS Oct. 2001, Hawaii, USA Oct 2001, pp 567-573
25. John Spletzer and Camillo J. Taylor " A framework for sensor planning and control with applications to vision guided multi-robot systems" IEEE Conference on Computer Vision and Pattern Recognition Dec. 2001, pp 1114-1120
26. Sang-Jung and Camillo J. Taylor "Camera Trajectory Estimation using Inertial Sensor Measurements and Structure fom Motion Results" IEEE Conference on Computer Vision and Pattern Recognition Dec. 2001, pp 732-740
27. John Spletzer and Camillo J. Taylor " A framework for sensor planning and control with applications to vision guided multi-robot systems" ICRA2002, IEEE Int.Conf. Robot. Autom., pp 676-682
28. R.S. Rao, K.Conn, S.H. Jung, J. Katupitiya, T.Kientz, V.Kumar, J. Ostrowski, S. Patel, C.J. Taylor “Human Robot Interaction: Application to Smart Wheelchairs” ICRA2002, IEEE Int.Conf. Robot. Autom., pp 3583-3589
29. S. Patel, S. H. Jung, J. Ostrowski,R. S. Rao,C. J. Taylor, “Sensor Based Door Navigation for a Nonholonomic Vehicle” ICRA2002, IEEE Int.Conf. Robot. Autom., pp 3081-3087
30. David
Jelinek and C.J. Taylor “View Synthesis with Occlusion Reasoning using
Quasi-Sparse Feature Correspondences” European Conference on Computer Vision
Copenhagen Denmark May 02, Vol2 pp 463-492
31. G.
Pereira, V. Kumar, J. Spletzer, C.J. Taylor and M. Campos “Cooperative
Transport of Planar Objects by Multiple Mobile Robots Using Object Closure”
Accepted for Publication International Symposium on Experimental Robotics ISER
02
32. E.
Altug, J. Ostrowski and C.J. Taylor
“Quadrotor Control Using Dual Camera Visual Feedback” Accepted for Publication International
Symposium on Experimental Robotics ISER 02
33. A. Das, J. Spletzer, V. Kumar and C. Taylor, "Ad Hoc Networks for Localization and Control of Mobile Robots," Accepted for Publication IEEE Conf. on Decision and Control CDC02
1.
Volkan
Isler, Sanjeev Khanna, John Spletzer and C.J. Taylor “Target Tracking in Sensor
Networks and the Focus of Attention Problem” Submitted to International
Conference on Robotics and Automation (ICRA 03)
2.
E.
Altug, J. Ostrowski and C.J. Taylor
“Quadrotor Control Using Dual Camera Visual Feedback” Submitted to International Conference on
Robotics and Automation (ICRA 03)
1. Camillo J. Taylor and David J. Kriegman “Minimization on the Lie Group SO(3) and Related Manifolds” Center for Systems Science Technical Report TR9405, May 1994, Dept. of Electrical Engineering Yale University.
2. Camillo J. Taylor "Reconstruction of Articulated Objects from Point Correspondences in a Single Image" University of Pennsylvania CIS Dept. Technical Report MS-CIS-99-18
1.
NSF Career
Award. “Object-Level 3D Reconstruction Techniques for Mobile Robots”- Sole
Investigator - $86,316 per year $320,000 total
2.
Delphi ACAS/FOT, “Forward Vision Sensor”– Sole
Investigator - $150,000 total
3.
General
Motors - “Student Support Grant”- Sole
Investigator - $15,000.00
4.
Lindback
Minority Junior Faculty Award 2001 – Sole Investigator $11,000.00
5.
DARPA
Tactical Mobile Robotics - Co-PI (1 of 4) - $450,000 for 2yrs
6.
DARPA Mobile
Autonomous Robot Software - Co-PI (1 of 6) - $2,541,900 total for 2 yrs
7.
Algorithmics
of Motion (MURI) - Co-PI (1 of 6) - 3,431,101 total for 5 yrs
8.
NSF IIS
Grant “Customized Interfaces for Assistive Technology” Co-PI (1 of 3) -
$489,000.00 total for 3 yrs
9.
NSF IIS
Grant “Coordination, Control and Communication Strategies for Teams of
Mobile Robots” PI with 2 Co-PIs $200,000 total for 1 year.
10.
Adaptive
Coordinated Control of Intelligent Multi-Agent Teams DARPA MURI Co-PI (1 of 10)
$1,000,000 total for 5 years
11.
NSF Grant
Laboratory for Undergraduate Robotics Education Co-PI (1 of 8) $140,000 from
NSF + $140,000 matching funds from Penn
12.
University
Research Foundation “Computer Recording and Modeling the Pre-Columbian Built
Environment”- Co-PI (1 of 3) $15,000 for 1 year
13.
DARPA “Mobile
Autonomous Robot Software (MARS) Adaptive Autonomous Robot Teams for
Situational Awareness DARPA” Co-PI (1 of
3) $300,000 total for 3 years
14.
NSF Architectures
for Networked Distributed Embedded Sensors - Co-PI, (1 of 2) $300,000
total for 3 years
PhD Students
· David Jelinek, Graduated Dec. 01 “Novel View Synthesis using Quasi-Sparse Depth Maps”
· Sang-Hack Jung, passed WPE2, Expected graduation May 03
· John Spletzer, passed WPE2, Expected graduation May 03
·
Aveek Das, co-supervised with Vijay Kumar,
Expected graduation September 03
·
Rahul Rao, co-supervised with Vijay Kumar
·
Sarangi Patel, co-supervised with Jim Ostrowski
·
Erdinc Altug, co-supervised with Jim Ostrowski
Postdoctoral Researchers
· John Benjamin Southall: ACAS/FOT, Forward Vision Sensor
· Geoff Egnal: Computer Recording and Modeling the Pre-Columbian Built Environment
· Robert Blasi Jr., “A Study of Lateral Controllers for the Stereo Drive Project”, M.S. Thesis U.C. Berkeley 1997
· Choon-Meng Lee “Vision-Based Lane Tracking for Autonomous Highway Driving” University of Pennsylvania 1998
· Solomon Steplight “A Mode-Based Sensor Fusion Approach to Robotic Stair-Climbing” University of Pennsylvania 2000
· Naomi Takahashi “A Hierarchical Monte Carlo Approach to Recognizing Parameterized Primitives” University of Pennsylvania 2000
Service to the Scientific Community
Associate
Editor IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Conference on Computer Vision and Pattern Recognition Program Committee Member
IEEE Transactions on Robotics and Automation
IEEE Transactions on Pattern Analysis and Machine Intelligence
International Journal on Computer Vision
International Journal of Robotics Research
Pattern Recognition Letters
ACM SIGGRAPH
Eurographics Workshop on Rendering