Roberto Manduchi

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Autonomous navigation in cross-country environments presents many new challenges with respect to more traditional, urban environments. The lack of highly structured components in the scene complicates the design of even basic functionalities such as obstacle detection. In addition to the geometric description of the scene, terrain typing is also an(More)
Range sensors, in particular time-of-flight and stereo cameras, are being increasingly used for applications such as robotics, automotive, human-machine interface and virtual reality. The ability to recover the geometrical structure of visible surfaces is critical for scene understanding. Typical structured indoor or urban scenes are often represented via(More)
In this work we characterize the energy consumption of a visual sensor network testbed. Each node in the testbed consists of a "single-board computer", namely Crossbow's Stargate, equipped with a wireless network card and a Webcam. We assess energy consumption of activities representative of the target application (e.g., perimeter surveillance) using a(More)
In this paper we introduce a general framework for an image based autonomous rock detection process for Martian terrain. A rock detection algorithm, based on this framework, is described and demonstrated on examples of real Mars Rover data. An attempt is made to produce a system that is independent of parameters to ease on-board implementation for real time(More)
Camera cellphones have become ubiquitous, thus opening a plethora of opportunities for mobile vision applications. For instance, they can enable users to access reviews or price comparisons for a product from a picture of its barcode while still in the store. Barcode reading needs to be robust to challenging conditions such as blur, noise, low resolution,(More)
This paper presents the design principles underlying the video nodes of long-lifetime wireless networks. The hardware and firmware architectures of the system are described in detail, along with the system-power-consumption model. A prototype is introduced to validate the proposed approach. The system mounts a Flash-based field-programmable gate array and a(More)
In this work, we classify 3D aerial LiDAR height data into roads, grass, buildings, and trees using a supervised parametric classification algorithm. Since the terrain is highly undulating, we subtract the terrain elevations using digital elevation models (DEMs, easily available from the United States Geological Survey (USGS)) to obtain the height of(More)
We describe a complete hardware/software system, dubbed Universal Real-Time Navigational Assistance (URNA), which enables communication of relevant location-aware information to a blind person carrying a Bluetooth-enabled cell phone. Although URNA can be used for a number of different applications (e.g., an information kiosk at a shopping mall or public(More)