Kostas Daniilidis
Ruth Yalom Stone Professor


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

News: Our paper Probabilistic Data Association for Semantic SLAM won the Best Conference Paper Award at ICRA 2017 ! A sneak peek here, more material, and the ceremony.

The worldwide first Micromasters in Robotics taught by GRASP faculty!

My robohub podcast on geometry, robots, deep learning, start-ups, and PhD.

2nd Workshop Geometry Meets Deep Learning at ICCV 2017.


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

2017

Sean L. Bowman, Nikolay Atanasov, Kostas Daniilidis, G.J. Pappas, Probabilistic Data Association for Semantic SLAM, IEEE International Conference on Robotics and Automation (ICRA 2017 Best Conference Paper) pdf.

A. Zhu, N. Atanasov, K. Daniilidis (2017), Event-based Visual Inertial Odometry, IEEE Comp. Vision Pattern Recognition, CVPR pdf.

G Pavlakos, X Zhou, KG Derpanis, K Daniilidis, Coarse-to-Fine Volumetric Prediction for Single-Image 3D Human Pose, IEEE Comp. Vision Pattern Recognition, CVPR (Spotlight) pdf.

Pavlakos, G., Zhou, X., Derpanis, K. G., & Daniilidis, K. (2017). Harvesting Multiple Views for Marker-less 3D Human Pose Annotations. IEEE Comp. Vision Pattern Recognition, CVPR (Spotlight) pdf.

S Leonardos, X Zhou, K Daniilidis (2017), Distributed Consistent Data Association IEEE Int. Conf. Robotics and Automation. pdf.

A. Zhu, N. Atanasov, K. Daniilidis (2017), Event-based Feature Tracking with Probabilistic Data Association, IEEE Int. Conf. Robotics and Automation. pdf.

Pavlakos, G., Zhou, X., Chan, A., Derpanis, K. G., & Daniilidis, K. (2017). 6-dof object pose from semantic keypoints. IEEE Int. Conf. Robotics and Automation. pdf.

B. Pfrommer, N. Sanket, K. Daniilidis, J. Cleveland (2017), PennCOSYVIO: A Challenging Visual Inertial Odometry Benchmark, IEEE Int. Conf. Robotics and Automation. pdf.

Thomas, J., Welde, J., Loianno, G., Daniilidis, K., & Kumar, V. (2017). Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor. IEEE Robotics and Automation Letters, 2(3), 1762-1769. pdf.

Cleveland, J., Thakur, D., Dames, P., Phillips, C., Kientz, T., Daniilidis, K., ... & Kumar, V. (2017). Automated System for Semantic Object Labeling With Soft-Object Recognition and Dynamic Programming Segmentation. IEEE Transactions on Automation Science and Engineering, 14(2), 820-833.

Tron, Roberto, and Kostas Daniilidis. "The space of essential matrices as a Riemannian quotient manifold." SIAM Journal on Imaging Sciences (2017).

2016

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.

Zhou, X., Zhu, M., Leonardos, S., & Daniilidis, K. (2016). Sparse representation for 3D shape estimation: A convex relaxation approach. IEEE Transactions on Pattern Analysis and Machine Intelligence.

C. Phillips, M. Lecce, K. Daniilidis, Seeing glassware: from edge detection to pose estimation and shape recovery, Robotics Science and Systems, 2017.

Tron, Roberto, Xiaowei Zhou, and Kostas Daniilidis. "A survey on rotation optimization in structure from motion." Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops. 2016.

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.

2015

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.

2014

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.

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.,

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, .

Postdocs: Xiaowei Zhou, Bernd Pfrommer

Alumni PhDs: Cody Phillips 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, 2017 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 2016, 2015, 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-IIP-1439681 (I/UCRC), NSF-IIS-1426840, ARL MAST-CTA W911NF-08-2-0004, ARL RCTA W911NF-10-2-0016, ONR N00014-17-1-2093, and a GSK grant.