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Jeremy Ma

Address:

4800 Oak Grove Drive
M/S 198-235
Pasadena, CA 91109

Phone:

818.354.1605

Fax:

818.393.5007
FORMER MEMBER

Jeremy C Ma

Member of Technical Staff

Biography

Jeremy Ma is currently a researcher in the Computer Vision Group at JPL. His current work focuses on algorithmic development for sensing and perception of autonomous systems, with an emphasis on 3D object modeling and estimation.
Dr. Ma earned his PhD in the robotics research group at Caltech where he developed real-time methods for robust 3D object detection and tracking using stereo-vision. While at Caltech, Dr. Ma also participated in the DARPA Urban Challenge, a race between autonomous vehicles in urban settings, leading the sensing group for TeamCaltech.

Education

* PhD in Mechanical Engineering, California Institute of Technology, 2009
Thesis: Real-Time Applications of 3D Object Detection and Tracking

* MS in Mechanical Engineering, California Institute of Technology, 2005

* BS in Mechanical Engineering, University of California, Los Angeles, 2004

Professional Experience

* Researcher in JPLs Computer Vision Group since January 2010.
Projects include: vision aided navigation for micro-autonomous systems, position estimation for grasping, and perception for legged autonomous systems

* 1 year as part-time software developer for local start-up company
* 1 year as part-time faculty at Art Center College of Design, teaching Robotics

Research Interests

* 3D object detection and pose estimation
* Sensor planning for improved perception
* Probabilistic methods for 3D object search

Publications

2016
  1. S. Karumanchi, K. Edelberg, I. Baldwin, J. Nash, J. Reid, C. Bergh, J. Leichty, K. Carpenter, M. Shekels, M. Gildner, D. Newill-Smith, J. Carlton, J. Koehler, T. Dobreva, M. Frost, P. Hebert, J, Borders, J. Ma, B. Douillard, P. Backes, B. Kennedy, B. Satzinger, C. Lau, K. Byl, K. Shankar, J. Burdick, "Team RoboSimian: Semi-autonomous Mobile Manipulation at the 2015 DARPA Robotics Challenge Finals," Journal of Field Robotics: Special Issue on the 2015 DARPA Robotics Challenge Finals, vol 34, issue 2, pp. 305-332, 18 October 2016.
2013
  1. M. Bajracharya, J. Ma, M. Malchano, A. Perkins, A. Rizzi, L. Matthies, "High Fidelity Day/Night Stereo Mapping with Vegetation and Negative Obstacle Detection for Vision-in-the-Loop Walking," Intelligent Robots and Systems (Submitted), 01 January 2013.
  2. P. Hebert, J. Ma, N. Hudson, J. Burdick, "Multi-Sensor Dual Arm State Estimation for Coordinated Bimanual Manipulation," IEEE International Conference on Robotics and Automation, 01 January 2013.
  3. P. Hebert, N. Hudson, J. Ma, T. Howard, J. Burdick., "Action Inference: The Next Best Touch for Model-Based Object Localization, Parameterization, and Identification," IEEE International Conference on Robotics and Automation, 01 January 2013.
  4. N. Hudson, J. Ma, P. Hebert, A. Jain, M. Bajracharya, T. Allen, R. Sharan, M. Horowitz, C. Kuo, T. Howard, L. Matthies, P. Backes, J. Burdick, "Model-Based Autonomous System for Performing Dexterous, Human-Level Manipulation Tasks," Autonomous Robots (Submitted), 01 January 2013.
  5. P. Trautman, J. Ma, R. Murray, A. Krause, "Robotic Navigation in Dense Human Crowds: The Case for Cooperation," International Conference on Robotics and Automation (Nominated Best Conference Paper), 01 January 2013.
2012
  1. Nicolas Hudson, Thomas Howard, Jeremy Ma, Abhinandan Jain, Max Bajracharya, Steven Myint, Calvin Kuo, Larry Matthies, Paul Backes, Paul Hebert, Thomas Fuchs, Joel Burdick, "End-to-End Dexterous Manipulation with Deliberate Interactive Estimation," ICRA 2012 (to appear, nominated for Best Paper in Robotic Manipulation), 09 May 2012.
  2. Backes, P., Younse, P., DiCicco, M., Hudson N., Collins C., Allwood A., Paolini R., Male C., Ma, J., Steele, A., Conrad, P., "Experimental Results of Rover-Based Coring and Caching," IEEE Aerospace Conference 2011, 09 May 2012.
  3. J. Ma, S. Susca, M. Bajracharya, L. Matthies, M. Malchano, D. Wooden, "Robust Multi-Sensor, Day/Night 6-DOF Pose Estimation for a Dynamic Legged Vehicle in GPS-denied Environments," International Conference on Robotics and Automation, 01 January 2012.
  4. P. Hebert, N. Hudson, J. Ma, T. Howard, T. Fuchs, M. Bajracharya, J. Burdick, "Combined Shape, Appearance and Silhouette for Simultaneous Manipulator and Object Tracking," IEEE International Conference on Robotics and Automation, 01 January 2012.
  5. N. Hudson, T. Howard, J. Ma, A. Jain, M. Bajracharya, S. Myint, C. Kuo, L. Matthies, P. Backes, P. Hebert, T. Fuchs, J. Burdick, "End-to-End Dextrous Manipulation with Deliberate Interactive Estimation," International Conference on Robotics and Automation, 01 January 2012.
  6. M.Bajracharya, J. Ma, A. Howard, L. Matthies, "Real-time 3D Stereo Mapping in Complex Dynamic Environments," International Conference on Robotics and Automation - Semantic Mapping, Perception, and Exploration (SPME) Workshop, 01 January 2012.
2011
  1. J. Ma, T. H. Chung, J. W. Burdick, "A Probabilistic Framework for Object Search with 6-DOF Pose Estimation," International Journal of Robotics Research, Special Issue: Semantic Perception, 01 July 2011.
  2. P. Trautman, J. Ma, A. Krause, R. Murray, "Robot Navigation in Crowded Cafeterias: Theory and Experiments," HRI Young Pioneers Workshop (Poster Session), 01 January 2011.
  3. P. Hebert, N. Hudson, J. Ma, J. W. Burdick, "Fusion of Stereo Vision, Force-Torque, and Joint Sensors for Estimation of In-Hand Object Location," International Conference on Robotics and Automation, 01 January 2011.
  4. J. M. Rogers, M. Paluri, A. Cunningham, H. I. Christensen, N. Michael, V. Kumar, J. Ma, L. Matthies, "Results from MAST Joint Experiment 3.1," SPIE, 01 January 2011.
  5. R. Brockers, P. Bouffard, J. Ma, L. Matthies, C. Tomlin, "Autonomous landing and ingress of micro-air-vehicles in urban environments based on monocular vision," Proc. of SPIE Vol. 8031, 01 January 2011.
2010
  1. J. Ma, "Real-time Applications of 3D Object Detection and Tracking," Ph.D Thesis, Mechanical Engineering Department, California Institute of Technology, 01 June 2010.
  2. J. Ma, J. Burdick, "Dynamic Sensor Planning with Stereo for Model Identification on a Mobile Platform," IEEE Conf. on Robotics and Automation, 01 May 2010.
  3. J. Ma, J. Burdick, "A Probabilistic Framework for Stereo-Vision Based 3D Object Search with 6D Pose Estimation," IEEE Conf. on Robotics and Automation, 01 May 2010.
  4. P. Trautman, J. Ma, A. Krause, R. Murray, "Unfreezing the Robot: Navigation in Dense Human Crowds," RSS Planning Workshop (Poster Session), 01 January 2010.
2009
  1. J. Ma, J. Burdick, "Sensor Planning for Object Pose Estimation and Identification," IEEE Int. Workshop on RObotics and SEnsors Environments (ROSE), 01 November 2009.