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

Image matching: 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).

Image co-salience: We introduced a new matching score that rewards a simultaneous intra-image segmentation and inter-image correspondence between co-salient regions, and optimized it spectrally in a joint graph (CVPR 2007). We applied it in a novel approach for recogition of 3D objects in videos (CVPR 2009).

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).

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).

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).

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).

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
3DPVT: 3rd Int. Symposium on 3D Data Processing, Visualization, and Transmission 2006
Area Chair of ICCV 2007, CVPR 2006, 2005, 2004, and ECCV 2004.
Special Issue of the IEEE R&A Magazine on Panoramic Robotics, will be out in 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.,

2001 Ford Motor Company Award for Best Faculty Advising