Kostas Daniilidis
Ruth Yalom Stone Professor

GRASP Laboratory
Department of Computer and Information Science
School of Engineering and Applied Science
University of Pennsylvania

Take the world-wide first online Robotics Specialization offered by GRASP faculty !!

My publications in Google Scholar sorted by citation or by year, and in DBLP.

Recent Papers: 2016

C. Phillips, M. Lecce, K. Daniilidis, Seeing Glassware: from Edge Detection to Pose Estimation and Shape Recovery, Robotics: Science and Systems, RSS 2016, pdf.

Xiaowei Zhou, Menglong Zhu, Spyridon Leonardos, Kosta Derpanis, and Kostas Daniilidis. "Sparseness Meets Deepness: 3D Human Pose Estimation from Monocular Video." IEEE Comp. Vision Patt. Rec. (CVPR) 2016 pdf.

Justin Thomas, Giuseppe Loianno, Kostas Daniilidis, and Vijay Kumar. "Visual Servoing of Quadrotors for Perching by Hanging from Cylindrical Objects." (2015).IEEE Robotics and Automation Letters, Volume:1 , Issue: 1, pp. 57 - 64, 2016 pdf.

Luis Puig, Kostas Daniilidis, Monocular 3D Tracking of Deformable Surfaces, IEEE Int. Conf. Robotics and Automation (ICRA) 2016 pdf.

Spyridon Leonardos, Xiaowei Zhou, Kostas Daniilidis, Articulated Motion Estimation from a Monocular Image Sequence Using Spherical Tangent Bundles, IEEE Int. Conf. Robotics and Automation (ICRA) 2016 pdf.

Stephen Phillips, Andrew Jaegle, Kostas Daniilidis, Fast, Robust, Continuous Monocular Egomotion Computation, IEEE Int. Conf. Robotics and Automation (ICRA) 2016 pdf.

N. Atanasov, M. Zhu, K. Daniilidis, and G. Pappas, Localization from Semantic Observations via the Matrix Permanent, International Journal of Robotics Research, vol. 35 no. 1-3 73-99, 2016. pdf.


X. Zhou, M. Zhu, K. Daniilidis,Multi-Image Matching via Fast Alternating Minimization. International Conference on Computer Vision (ICCV), 2015, pdf.

M. Zhu, X. Zhou, K. Daniilidis, Single Image Pop-Up from Discriminatively Learned Parts. International Conference on Computer Vision (ICCV), 2015.pdf.

J. Owens, P. Osteen, K. Daniilidis, MSG-Cal: Multi-Sensor Graph Calibration, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 pdf.

X. Zhou, S. Leonardos, X. Hu, and K. Daniilidis. 3D shape reconstruction from 2D landmarks: A convex formulation. In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), oral presentation, 2015. pdf, code.

S. Leonardos, R. Tron, K. Daniilidis, A Metric Parametrization for Trifocal Tensors With Non-Colinear Pinholes, In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2015. pdf.

N. Atanasov, J. Le Ny, K. Daniilidis, and G. Pappas, "Decentralized Active Information Acquisition: Theory and Application to Multi-Robot SLAM", IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, May 2015. pdf.

L. Carlone, R. Tron, K. Daniilidis, F. Dellaert. Initialization Techniques for 3D SLAM: a Survey on Rotation Estimation and its Use in Pose Graph Optimization. IEEE Conference on Robotics and Automation, 2015. pdf.

B. Lee, K. Daniilidis, D.D. Lee, Online Self-Supervised Monocular Visual Odometry for Ground Vehicles, IEEE Conference on Robotics and Automation, 2015 pdf.

C.J. Phillips, M. Lecce, C. Davis, and K.Daniilidis, Grasping Surfaces of Revolution: Simultaneous Pose and Shape Recovery from Two Views, IEEE Conference on Robotics and Automation, 2015 pdf.

R. Tron, L. Carlone, F. Dellaert, K. Daniilidis. Rigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basis. IEEE American Control Conference, 2015. pdf.


R. Tron, K. Daniilidis, Statistical pose averaging with non-isotropic and incomplete relative measurements, European Conference on Computer Vision, ECCV, 2014, pdf.

M. Zhu, N. Atanasov, G.J. Pappas, K. Daniilidis, Active Deformable Part Model Inference, European Conference on Computer Vision, ECCV, 2014, pdf and here is the code.

N. Atanasov, M. Zhu, K.Daniilidis, G.J. Pappas, Semantic Localization Via the Matrix Permanent, Robotics, Science, and Systems, 2014, pdf.

Mayank Bansal, Kostas Daniilidis, Geometric Urban Geo-Localization IEEE Comp Vision Pattern Recognition, 2014 pdf.

Roberto Tron, Kostas Daniilidis On the quotient representation for the essential manifold IEEE Comp Vision Pattern Recognition, 2014 pdf.

N Atanasov, JL Ny, K Daniilidis, GJ Pappas Information Acquisition with Sensing Robots: Algorithms and Error Bounds IEEE Int Conf Robotics Automation, 2014

K. Mohta, V. Kumar, K. Daniilidis Vision-Based Control of a Quadrotor for Perching on Lines IEEE Int Conf Robotics Automation, 2014

M. Zhu, K. Derpanis, Y. Yang, S. Brahmbhatt, M. Zhang, C. Phillips, M. Lecce, K. Daniilidis Single Image 3D Object Detection and Pose Estimation for Grasping IEEE Int Conf Robotics Automation, 2014

R. Tron, K. Daniilidis, An Optimization Approach to Bearing-Only Visual Homing with Applications to a 2-D Unicycle Model IEEE Int Conf Robotics Automation, 2014

L Puig, JJ Guerrero, K Daniilidis, Scale Space for Camera Invariant Features, IEEE Trans. Pattern Analysis Machine Intelligence, 2014.

N Atanasov, B Sankaran, JL Ny, GJ Pappas, K Daniilidis, Nonmyopic View Planning for Active Object Classification and Pose Estimation, IEEE Transactions on Robotics, vol. 30, no. 5, 2014. pdf.

2013 and older

M. Bansal, K. Daniilidis, Joint Spectral Correspondence for Disparate Image Matching, in CVPR 2013 pdf.

N. Atanasov, B. Sankaran, J. Le Ny, Th. Koletschka, G.J. Pappas, and K. Daniilidis, Hypothesis Testing Framework for Active Object Detection, in ICRA 2013, pdf.

Ryan Kennedy, Kostas Daniilidis, Oleg Naroditsky and Camillo J. Taylor, Identifying maximal rigid components in bearing-based localization, in IROS 2012 pdf.

Mayank Bansal, Kostas Daniilidis, and Harpreet Sawhney, Ultra-wide Baseline Facade Matching for Geo-localization, ECCV Workshop on Visual Analysis and Geo-Localization of Large-Scale Imagery, A. Fusiello et al. (Eds.): ECCV 2012 Ws/Demos, Part I, LNCS 7583, pp. 175-186, 2012. pdf.

Butzke, J., Daniilidis, K., Kushleyev, A., Lee, D.D. , Likhachev, M., Phillips, C., Phillips, M., The university of Pennsylvania MAGIC 2010 multi-robot unmanned vehicle system, Journal of Field Robotics, Volume 29, Issue 5, September 2012, Pages 745-761 pdf.

K.G. Derpanis, M. Lecce, K. Daniilidis and R.P. Wildes, Dynamic Scene Understanding: The Role of Orientation Features in Space and Time in Scene Classification, IEEE CVPR 2012.

R. Anati, D. Scaramuzza, K.G. Derpanis, K. Daniilidis, Robot Localization using soft object detection, IEEE ICRA 2012, pdf.

A. Toshev, B. Taskar, K. Daniilidis, Shape-based Object Detection via Boundary Structure Segmentation, Int. J. of Computer Vision, 2012, pdf.

O. Naroditsky, X.S. Zhou, J. Gallier, S.I. Roumeliotis, and K. Daniilidis, Two Efficient Solutions for Visual Odometry Using Directional Correspondence, IEEE Trans. Patt. Anal. Mach. Intell., vol. 34, pp. 812-824, 2012, pdf.

O. Naroditsky and K. Daniilidis, Optimizing Polynomial Solvers for Minimal Geometry Problems, Int Conf Computer Vision, ICCV, 2011. pdf.

M. Zhu, Literate_PR2: Text detection and recognition for indoor environment, Willow and YouTube.

M. Bansal, H.S. Sawhney, HR. Cheng, K. Daniilidis, "Geo-localization of street views with aerial image databases." Proceedings of the 19th ACM international conference on Multimedia. ACM, 2011, pdf.

C. Phillips, K.G. Derpanis, K. Daniilidis, A Novel Stereoscopic Cue for Figure-Ground Segregation of Semi-Transparent Objects, 1st IEEE Workshop on Challenges and Opportunities in Robot Perception, 2011. pdf.

D. Scaramuzza, A. Censi, K. Daniilidis, Exploiting Motion Priors in Visual Odometry for Vehicle-Mounted Cameras with Non-holonomic Constraints, IROS 2011. pdf.

O. Naroditsky, A. Patterson, K. Daniilidis, Automatic Alignment of a Camera with a Line Scan LIDAR System, In IEEE Int. Conf. Robotics and Automations, 2011, pdf.

A. Makadia and K. Daniilidis. Spherical correlation of visual representations for 3d model retrieval. International Journal of Computer Vision, 2010. pdf.

G.L. Mariottini, F. Morbidi, D. Prattichizzo, N. Vander Val, N. Michael, G.J. Pappas, and K. Daniilidis. Vision-based localization of leader-follower formations. IEEE Trans. Robotics and Automation, 2009 pdf.

N. Moshtagh, N. Michael, A. Jadbabaie, and K. Daniilidis. Vision-based, distributed control laws for motion coordination of nonholonomic robots. IEEE Transactions on Robotics, 2009, pdf.

A. Toshev, A. Makadia, K. Daniilidis: Shape-based Detection of Moving Objects in Videos, IEEE Computer Vision Pattern Recognition CVPR 2009. pdf.

R. Anati, K. Daniilidis. Constructing Topological Maps using Markov Random Fields and Loop-Closure Detection. Neural Information Processing Systems 2009. pdf.

J.P. Tardif, Y. Pavlidis, and K. Daniilidis. Monocular visual odometry in urban environments using an omdirectional camera. In EEE International Conference on Intelligent Robots and Systems, 2008 pdf.

Research: My research field is computer vision and robotics and in particular space and motion perception with machines. Since 1990, I have been studying multiple view geometry, image matching, stereo vision, recognition, sensor deployment, and camera design. Recently, my group has been working on:

3D Object and 3D Human Detection, Localization, and Reconstruction Starting with the assumption that we have only a database of 3D CAD models, we built a system for detection of 3D object categories in clutter and 3D localization of their instances (Zhu et al. ICRA 2014). We moved on to part-based representations detected by CNNs and proposed an algorithm for 3D reconstruction of object classes from single views (ICCV 2015), and for 3D human pose from monocular video (CVPR 2016). In (Zhou et al. CVPR 2015) we were able to show that 3D pose and shape can be obtained from any 2D projection using convex optimization. Earlier, in CVPR 2009, we had shown how to detect 3D objects in video using only CAD models and joint segmentation.

Challenges in Image Matching Recently: (Zhou et al. ICCV 2015, Bansal CVPR 2013, Toshev CVPR 2007). Matching images, for example for location recognition, is challenging when views have small overlap and significant clutter. Using harmonic analysis on groups we have been able to convert a voting scheme for matching without any feature correspondence into a filtering problem, assuming only a consistent scene geometry (PAMI 2003, IJCV 2007, CVPR 2003, 2005, ICCV 2007). We extended our results to range imaging, by finding a procedure for aligning point clouds based on the similarity of their orientation histograms (CVPR 2006).

Semantic Localization (Atanasov IJRR 2016, RSS 2014; Anati ICRA 2012).

Active Perception (Atanasov et al. ICRA 2013, ICRA 2015, IJRR 2016, ECCV 2014)

Shape-based Object Detection and Segmentation We address the problem of object detection as a problem of representation and selection. We introduced a new shape-based representation, the chordiogram, and we a new selection procedure that enables simultaneous segmentation and detection by selecting the corresponding image segmets/boundaries. The chordiogram enables the formulation of the problem as quadratic optimization solved with convex relaxation (Toshev et al. CVPR 2010, IJCV 2012).

Minimal problems: We introduced a new optimization of poynomial solvers useful in any RANSAC selection (ICCV 2011) and we found a new minimal solution to structure from motion given directional correspondence (PAMI 2012).

Visual odometry and mapping: Using only omnidirectional cameras and exploiting proximal as well as distal landmarks we have been able to reconstruct one of the longest outdoor maps, a result that attracted immediate attention regarding application in GPS-denied environments (IROS 2008). In (IROS 2014) we presented a new approach on stereo visual odometry using points and lines.

Geometric foundations of panoramic cameras and omnidirectional vision: We introduced a novel unifying geometric theory (IJCV 2001) that described reflections of the 3D world on mirrors followed by projections on the omnidirectional plane. This model unifies all second order reflective surfaces and includes the traditional CCD camera as a degenerate case and reveals constraints for self-calibration (PAMI 2002). A representation of lifted points and line projections (circles) in a commo 3D space, called circle space -- after Moebius work; We discovered a group-theoretic characterization of fundamental intrinsic transformations in such systems: they are elements of the Lorentz group O(3,1) (ICCV 2003). This discovery enabled us to estimate motion and intrinsic camera parameters from kernels of 4x4 matrices. Later we generalized the lifting to cover radial distortion models (ICCV 2005).

Vision based formation control: We established the first framework for consensus of a formation of robots using only the lines of sight to neighbors. We proved that this is feasible using only bearing and the time to collision, giving thus a justification to biological evidence that many species flock without having any range sensors (RSS 2005, 2008, Transactions on Robotics 2009). When an agent can play the role of leader, we proved that the formation can act as a collective observer (ICRA 2007).

Tele-immersion and Stereo: In 1998, together with UNC, Brown University, and ANS, we set as our goal to make feasible an immersive sense of remote presence, so compelling that it instantaneously creates the illusion of being near to people and objects which are physically miles away. Our desire to close the loop through networking and graphics made us put a considerable effort on the systems and performance aspect. A series of successful milestones led to a system that acquires an environment as a set of depth maps from several viewpoints in 10Hz (using a dual Intel P4) and can run for several days without interruption (IJCV 2002, IEEE-CSVT 2003).

Recent Activities:

Workshops and Tutorial co-Chair ICCV 2015

Program Co-chair ECCV 2010: 11th European Conference on Computer Vision
Assosiate Editor of PAMI, the IEEE Transactions on Pattern Analysis and Machine Intelligence (2003-2007)
Short Courses Chair at CVPR 2007
CoChair 3DPVT: 3rd Int. Symposium on 3D Data Processing, Visualization, and Transmission 2006
Area Chair of CVPR 2016, CVPR 2014, ICCV 2011, ICCV 2007, CVPR 2006, 2005, 2004, and ECCV 2004.
Special Issue of the IEEE R&A Magazine on Panoramic Robotics, December 2004.
Co-Chair of the Computer and Robot Vision TC of the IEEE Robotics and Automation Society
Chair of the IEEE Workshop on Omnidirectional Vision, June 12, 2000.,
News/Media: Watch Sandy Patterson and me for 5min in the Discovery Channel feature "Debunked" .

PhD Students: Daphne Ippolito , Carlos Esteves, George Pavlakos , Alex Zhu, Stephen Phillips, Drew Jaegle, Spyros Leonardos , Christine Allen-Blanchette , Mabel Zhang , Matthieu Lecce , Jason Owens, Cody Phillips .

Postdocs: Xiaowei Zhou, Bernd Pfrommer

Alumni PhDs: Nikolay Atanasov, Menglong Zhu (Google), Mayank Bansal (GoogleX), Roy Anati (Google). Alexander Patterson IV (SightLogix) Oleg Naroditsky (FlyBy Media, now Apple), Alexander Toshev (Google Research), Ankita Kumar, (Oracle), Nima Moshtagh (Lockheed Martin). Ameesh Makadia (Google Research), Volkan Isler (U. of. Minnesota), Christopher Geyer (Berkshire Grey), Adnan Ansar (JPL/NASA), Weichuan Yu (HKUST).

Alumni Postdocs: Roberto Tron (Boston University), Luis Puig (UW postdoc), Konstantinos Derpanis (Ryerson University), Davide Scaramuzza (University of Zurich), Philippos Mordohai (Stevens Inst. of Technology), Jean-Philippe Tardif (CMU/NREC), Irene Cheng (U. of Alberta), Yanis Pavlidis , Rodrigo Carceroni(Google Labs), Rahul Swaminathan (Deutsche Telekom Labs), Xenophon Zampoulis (FORTH/CSI), Joao Barreto (University of Coimbra), Nikhil Kelshikar (CISCO), Thomas Buelow (Philips Research), Jane Mulligan (University of Colorado at Boulder).

Alumni MSE Students: Thomas Koletschka (Berkshire Robotics), Jonas Cleveland (COSY Robotics), Samarth Brahmbahtt (Georgia Tech), Barath Sanjaran (USC), Jason Liu (UCLA), Allison Mathis (ARL), Daniel Rudoy (2002, Harvard PhD), Andrew Trister (2002, MD-PhD Penn).

Teaching: Spring 2014, 2015, 2016 MEAM 620 with Vijay Kumar,

Spring 2007, 2008, Fall 2008, 2009, 2010,2011,2012,2014: CIS121 Data Structures
Fall 2006, 2007, Spring 2009, 2010, 2011,2013: CIS580 Machine Perception
Fall 2004, Fall 2003, Spring 2002, Fall 2002,: CSE390 Robotics.
Fall 2000, 1999, 1998: CSE240 Introduction to Computer Architecture.
Spring 2004, 2001: CIS 700 Special Topics in Machine Perception
Spring 2003, 2000, 1999: CIS 680 Advanced Topics in Machine Perception

Education: PhD, 1992, University of Karlsruhe with Hans-Hellmut Nagel. My advisor's advisor was the 1989 Physics Nobel Laureate Wolfgang Paul (1913-1993). Wolfgang Paul's advisor was Hans Kopfermann (1895-1963). Kopfermann's advisor was James Franck (1882-1964) Nobel Laureate 1925, Franck's advisor was Emil Warburg (1846-1931). Emil Warburg's advisor was Heinrich Gustav Magnus (1802-1870).

Diploma (Masters equivalent) in EE, 1986, National Technical University of Athens
Address: Department of Computer and Information Science, University of Pennsylvania, 3330 Walnut Street, Levine Hall 472, Philadelphia, PA 19104. How to reach GRASP
Acknowledgments: Grateful for support through the following grants: NSF-DGE-0966142 (IGERT), NSF-IIS-1317788, NSF-IIP-1439681 (I/UCRC), NSF-IIS-1426840, ARL MAST-CTA W911NF-08-2-0004, ARL RCTA W911NF-10-2-0016, ONR N000141310778, and a GSK grant.

Greek name spelling: Κώστας Δανιηλίδης