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Larry Matthies
Group Supervisor, Senior Research Scientist

  1. A.Johnson, S.Goldberg, Y.Cheng, L.Matthies, "Robust and efficient stereo feature tracking for visual odometry," IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 2008.
  2. M. Bajracharya, A. Howard, L. Matthies, "Learning long-range terrain classification for autonomous navigation," IEEE International Conference on Robotics and Automation (ICRA), Pasadena CA, May 2008.
  3. T. Marks, A. Howard, M. Bajracharya, G. W. Cottrell, L. Matthies, "Gamma-SLAM: using stereo vision and variance grid maps for SLAM in unstructured environments," IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 2008.
  4. L. Matthies, A. Huertas, Y. Cheng, A. Johnson, "Stereo vision and shadow analysis for landing hazard detection," IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 2008.
  5. D. M. Helmick, A. Angelova, M. Livianu, L. H. Matthies, "Terrain adaptive navigation for Mars rovers," IEEE Aerospace Conference, Big Sky, MT, March 2008.
  6. D. Helmick, A. Angelova, L.Matthies, C. Brooks, I. Halatci, S. Dubowsky, K. Iagnemma, "Experimental results from a terrain adaptive navigation system for planetary rovers," 9th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Los Angeles, CA, February 2008.
  7. A. Howard, L. H. Matthies, A. Huertas, M. Bajracharya, and A. Rankin, "Detecting pedestrians with stereo vision: safe operation of autonomous ground vehicles in dynamic environments," International Symposium of Robotics Research, November 2007.
  8. T. K. Marks, A. Howard, M. Bajracharya, G. W. Cottrell, L. Matthies, "Gamma-SLAM: stereo vision SLAM in unstructured environments using variance grid maps," IEEE/RSJ International Confererence on Intelligent Robots and Systems - Workshop on Visual SLAM, San Diego, CA, November 2007.
  9. K. Di, F. Xu, J. Wang, S. Agarwal, E. Brodyagina, R. Li and L. Matthies, "Photogrammetric Processing of Rover Imagery of the 2003 Mars Exploration Rover mission," ISPRS Journal of Photogrammetry and Remote Sensing, September 2007.
  10. A. I. Mourikis, N. Trawny, S. I. Roumeliotis, A. Johnson, and L. Matthies, "Vision-aided inertial navigation for precise planetarylLanding: analysis and experiments," NASA Science Technology Conference (NSTC07), College Park, MD, June 2007.
  11. R. Li, K. Di, J. Wang, S. He, A. Howard, and L. Matthies, "Rock modeling and matching for autonomous Mars rover localization," NASA Science Technology Conference (NSTC07), College Park, MD, June 2007.
  12. A. Huertas, Y. Cheng, and L. Matthies, "Real-time hazard detection for landers," NASA Science Technology Conference (NSTC07), College Park, MD, June 2007.
  13. A. Angelova, L. Matthies, D. Helmick, and P. Perona, "Fast terrain classification using variable-length representation for autonomous navigation," IEEE Conference on Computer Vision and Pattern Recognition, Minneapolis, MN, June 2007.
  14. A. Angelova, L. Matthies, D. Helmick, and P. Perona, "Dimensionality reduction using automatic supervision for vision-based terrain learning," Robotics Science and Systems, Atlanta, GA, June 2007.
  15. A. I. Mourikis, N. Trawny, S. I. Roumeliotis, A. Johnson, A. Ansar, and L. Matthies, "Vision-aided inertial navigation for precise planetary landing: analysis and experiments," Robotics Science and Systems, Atlanta, GA, June 2007.
  16. N. Trawny, A. I. Mourikis, S. I. Roumeliotis, A. Johnson, J. Montgomery, A. Ansar, and L. Matthies, "Coupled Vision and Inertial Navigation for Pin-Point Landing," NASA Science Technology Conference (NSTC07), College Park, MD, June 2007.
  17. A. Johnson, A. Ansar, L. Matthies, N. Trawny, A. I. Mourikis, and S. I. Roumeliotis, "A General Approach to Terrain Relative Navigation for Planetary Landing," AIAA Infotech at Aerospace Conference, Rohnert Park, CA, May 2007.
  18. L. Matthies, A. Huertas, Y. Cheng, A. Johnson, "Landing hazard detection with stereo vision and shadow analysis," AIAA Infotech at Aerospace Conference, Rohnert Park, CA, May 2007.
  19. S. W. Thurman, L. Matthies, J. M. Corliss, R. K. Johnson, "Space flight testing of vision-guided planetary landing system," AIAA Infotech at Aerospace Conference, Rohnert Park, CA, May 2007.
  20. C. Seybold, G. Chen, P. Bellutta, A. Johnson, L. Matthies, and S. Thurman, "Suborbital flight test of a prototype terrain-relative navigation system," AIAA Infotech at Aerospace Conference, Rohnert Park, CA, May 2007.
  21. A. Rankin, A. Huertas, and L. Matthies, "Night-time negative obstacle detection for off-road autonomous navigation," Proc. SPIE vol. 6561 Unmanned Systems Technology IX, May 2007.
  22. Keynote lecture, "Vision-based safe and precise landing for space exploration (Invited)," Canadian Conference on Computer and Robot Vision, Montreal, Canada, May 2007.
  23. A. Angelova, L. Matthies, D. Helmick, and P. Perona, "Learning slip feedback using automatic mechanical supervision," IEEE International Conference on Robotics and Automation, Rome, Italy, April 2007.
  24. G. Sibley, L. Matthies, and G. Sukhatme, "Constant time sliding window filter SLAM as a basis for metric visual perception," IEEE International Conference on Robotics and Automation, Rome, Italy, April 2007.
  25. D. M. Helmick, A. Angelova, M.Livianu, L.H.Matthies, "Terrain adaptive navigation for Mars rovers," IEEE Aerospace Conference, Big Sky, MT, March 2007.
  26. L. Matthies, "Toward chip-scale vision-guided navigation for UAVs (Invited)," DARPA/MTO Workshop on Chip-Scale Avionics, Orlando, FL, February 2007.
  27. Invited presentation, "Toward chip-scale vision-guided navigation for UAVs," DARPA/MTO Workshop on Chip-Scale Avionics, Orlando, FL, February 2007.
  28. A. Rankin and L. Matthies, "Daytime water detection and localization for unmanned ground vehicle autonomous navigation," Proc. 25th Army Science Conference, November 2006.
  29. A. Rankin and L. Matthies, "Daytime water detection and localization for unmanned ground vehicle autonomous navigation (Invited)," Proc. 25th Army Science Conference, Orlando FL, November 2006.
  30. G. Sibley, L. Matthies, G. Sukhatme, "The iterated sigma point Kalman filter with applications to long range stereo," Robotics Science and Systems Conference, Philadelphia, PA, August 2006.
  31. A. Angelova, D. Helmick, L. Matthies, P. Perona, "Slip prediction using visual information," Robotics Science and Systems Conference, Philadelphia, PA, August 2006.
  32. A. Stein, A. Huertas, L. Matthies, "Attenuating stereo pixel-locking via affine window adaptation," IEEE International Conference on Robotics and Automation, Orlando, FL, May 2006.
  33. A. Angelova, D. Helmick, L.Matthies, P. Perona, "Learning to predict slip for ground robots," IEEE International Conference on Robotics and Automation, Orlando, FL, May 2006.
  34. K. Di, J. Wang, S. Agarwal, E. Brodyagina, L. Yan, R. Li, L. Matthies, "New photogrammetric techniques used in the 2003 Mars Exploration Rover mission," ASPRS 2006 Annual Conference, Reno, NV, May 2006.
  35. C. Theodore, D. Rowley, D. Hubbard, A. Ansar, S. Goldberg, M. Whalley, "Flight trial of a rotorcraft unmanned aerial vehicle landing autonomously at unprepared sites," American Helicopter Society Conference, May 2006.
  36. R. Li, K. Di, S. Agarwal, J. Wang, L. Matthies, "Object modeling and matching from multi-view ground images for automated Mars rover localization," IEEE Aerospace Conference, Big Sky, MT, March 2006.
  37. L. Matthies, M. Turmon, A. Howard, A. Angelova, B. Tang, E. Mjolsness, "Learning for autonomous navigation: extrapolating from underfoot to the far field," NIPS Workshop on Machine Learning Based Robotics in Unstructured Environments, Whistler, Canada, December 2005.
  38. G. Sibley, L.Matthies, G. Sukhatme, "Bias reduction and filter convergence for long range stereo," 12th International Symposium of Robotics Research, San Francisco, CA, October 2005.
  39. R. Li, K. Di, J. Wang, S. Agarwal, L. Matthies, A. Howard, R. Willson, "Incremental bundle adjustment techniques using networked overhead and ground imagery for long-range autonomous Mars rover localization," International Symposium on Artificial Intelligence, Robotics, and Automation in Space (iSAIRAS), Munich, Germany, September 2005.
  40. D. Helmick, S. Roumeliotis, Y. Cheng, D. Clouse, M. Bajracharya, and L. Matthies, "Slip Compensation for a Mars Rover," IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, August 2005, pp. 1419-1426.
  41. Y. Cheng, A. Johnson, L. Matthies, "MER-DIMES: a planetary landing application of computer vision," IEEE Conference on Computer Vision and Pattern Recognition (CVPR), San Diego, CA, June 2005.
  42. A. Rankin, A. Huertas, L. Matthies, "Evaluation of stereo vision obstacle detection algorithms for off-road autonomous navigation (Invited)," Proc. 32nd AUVSI Symposium on Unmanned Systems, Orlando, Florida, June 2005.
  43. A. Johnson, J. Montgomery, and L. Matthies, "Vision-guided landing of an autonomous helicopter in hazardous terrain," IEEE International Conference on Robotics and Automation, April 2005, pp. 3966-3971.
  44. K. Di, F. Xu, J. Wang, X. Niu, C. Serafy, F. Zhou, R. Li, L. Matthies, "Surface imagery based mapping and rover localization for the 2003 Mars Exploration Rover mission," Annual Conference of the American Society for Photogrammetry and Remote Sensing, Baltimore, MD, March 2005.
  45. A. Rankin, C. Bergh, S. Goldberg, P. Bellutta, A. Huertas, L. Matthies, "Passive perception system for day/night autonomous off-road navigation," Proc. SPIE vol?5804: Unmanned Ground Vehicle Technology VII, Orlando, FL, March 2005.
  46. M. McHenry, Y. Cheng, and L. Matthies, "Vision-based localization in urban environments," Proc. SPIE vol 5804: Unmanned Ground Vehicle Technology VII, Orlando, FL, March 2005.
  47. A. Huertas, L. Matthies, A. Rankin, "Stereo-based tree traversability analysis for autonomous off-road navigation," 7th IEEE Workshop on applications of Computer Vision, January 2005.
  48. A. Rankin, L. Matthies, and A. Huertas, "Daytime water detection by fusing multiple cues for autonomous off-road navigation (Invited)," Proc. 24th Army Science Conference, November 2004.
  49. L. Matthies, "Autonomous navigation in the Mars Exploration Rover mission (Invited)," Basterfield Lecture, University of Regina, Regina, Canada, October 2004.
  50. A. Ansar, A. Castano, L.Matthies, "Enhanced real-time stereo using bilateral filtering," 2nd International Symposium on 3D Data Processing, Visualization, and Transmission, Thessaloniki, Greece, September 2004.
  51. A. Talukder, L. Matthies,"Real-time detection of moving objects from moving vehicles using dense stereo and optical flow," IEEE Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, September 2004.
  52. A. Morfopoulos, M. McHenry, L. Matthies, "Reduction of user interaction by autonomy," Performance Metrics for Intelligent Systems Workshop (PerMIS04), August 2004.
  53. Invited paper and plenary talk, "Autonomous navigation results from the Mars Exploration Rover (MER) mission," International Symposium on Experimental Robotics, Singapore, June 2004.
  54. A. Ansar, A. Huertas, L. Matthies, S. Goldberg, "Enhancement of stereo at range discontinuities," SPIE Symposium on Unmanned Ground Vehicles, Orlando, FL, April 2004.
  55. L. Matthies, "Sensing for micro air vehicles (Invited)," Workshop on Micro Air Vehicles: The Next 10 Years, held in conjunction with the IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2004.
  56. Invited lecture, "Computer vision for Mars exploration," Stanford University, April 2004.
  57. C. Olson, L. Matthies, J. Wright, R. Li, K. Di, "Visual terrain mapping for Mars exploration," IEEE Aerospace Conference, Big Sky, MO, March 2004.
  58. D. Helmick, Y. Cheng, D. Clouse, L. Matthies, S. Roumeliotis,"Path following using visual odometry for a Mars rover in high-slip environments," IEEE Aerospace Conference, Big Sky, MO, March 2004.
  59. C. Olson, L. Matthies, J. Wright, R. Li, K. Di, "Visual terrain mapping for Mars exploration," IEEE Aerospace Conference, Big Sky, MT, March 2004.
  60. Invited lecture, "Terrain perception for autonomous navigation of UGVs and UAVs," Monterey Bay Aquarium Research Institute, March 2004.
  61. L.Matthies, A. Rankin, "Negative obstacle detection by thermal signature," IEEE Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, October 2003.
  62. A. Talukder, S. Goldberg, L. Matthies, A. Ansar, "Real-time detection of moving objects in a dynamic scene from moving robotic vehicles," IEEE Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, October 2003.
  63. L. Matthies, C. Bergh, A. Castano, J. Macedo, R. Manduchi, "Obstacle detection in foliage with ladar and radar (Invited)," 11th International Symposium Robotics Research, Siena, Italy, October 2003.
  64. A. Castano, L. Matthies, "Foliage discrimination using a rotating ladar," IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September 2003.
  65. L. Matthies, P. Bellutta, M. McHenry, "Detecting water hazards for autonomous off-road navigation," SPIE Conference on Unmanned Ground Vehicles, Orlando, FL, April 2003.
  66. A. Ansar, L. Matthies, "Multibaseline stereo system for evaluation of binocular stereo," SPIE Conference on Unmanned Ground Vehicles V, vol 5083, Orlando, FL, April 2003.
  67. R. Arkin, J. Beno, C. Bergh, D. Bresie, A. Giovannetti, B. Gothard, L. Matthies, P. Nogueiro, J. Scanlon, R. Scott, M. Simon, W. Smith, L. Thornhill, K.Waldron, A.Walls,"Design of an agile unmanned combat vehicle - a product of the DARPA UGCV program," SPIE Conference on Unmanned Ground Vehicles, Orlando, FL, April 2003.
  68. R. Arkin, J. Beno, C. Bergh, D. Bresie, A. Giovannetti, B. Gothard, L. Matthies, P. Nogueiro, J. Scanlon, R. Scott, M. Simon, W. Smith, L. Thornhill, K.Waldron, A.Walls, "Design of an agile unmanned combat vehicle - a product of the DARPA UGCV program," SPIE Conference on Unmanned Ground Vehicles, Orlando, FL, April 2003.
  69. A. Ansar, L. Matthies, "Improvement of stereo in complex scenes (Invited)," U.S. Army Collaborative Technology Alliances Conference, Adelphia, MD, April 2003.
  70. P. Bellutta, M. McHenry, L. Matthies, A. Ansar, "Active and passive detection of water," U.S. Army Collaborative Technology Alliances Conference, Adelphia, MD, April 2003.
  71. Invited presentation, "Perception for autonomous navigation," Naval Studies Board Committee on Autonomous Vehicles in Support of Naval Operations, San Diego, CA, March 2003.
  72. Y. Cheng, A. Johnson, C. Olson, L. Matthies, "Optical landmark detection for spacecraft navigation," 13th Annual AAS/AIAA Space Flight Mechanics Meeting, Ponce, Puerto Rico, February 2003.
  73. R. Li, K. Di, F. Xu, L. Matthies, C. Olson, R. Arvidson, "Ground image-based high precision Mars rover localization and landing site mapping," American Geophysical Union Fall Meeting, San Franciso, CA, December 2002.
  74. A. Talukder, R. Manduchi, R. Castano, K. Owens, L. Matthies, A. Castano, R. Hogg,"Autonomous terrain characterization and modelling for dynamic control of unmanned vehicles," IEEE Conference on Intelligent Robots and Systems (IROS), Lausanne, Switzerland, September 2002.
  75. D. Helmick, S. Roumeliotis, M. McHenry, L. Matthies, "Multi-sensor, high speed autonomous stair climbing," IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), September 2002.
  76. A. Talukder, R. Manduchi, K. Owens, L. Matthies, A. Castano, R. Hogg, "Autonomous terrain characterization and modelling for dynamic control of unmanned vehicle," IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), September 2002.
  77. F. Xu, K. Di, R. Li, L. Matthies, C. Olson,"Automatic feature registration and DEM generation for Martian surface mapping," nternational Symposium of the ISPRS Com. II, Xian, China, August 2002.
  78. K. Di, F. Xu, R. Li, L. Matthies, C. Olson, "High precision landing site mapping and rover localization by integrated bundle adjustment of MPF surface images," ISPRS Com IV Symposium, Ottawa, Canada, August 2002.
  79. A. Talukder, R. Manduchi, A. Rankin, L. Matthies,"Fast and reliable obstacle detection and segmentation for cross-country navigation," IEEE Intelligent Vehicles Symposium, Versailles, France, June 2002.
  80. R. Hogg, A. Rankin, S.Roumeliotis, M. McHenry, D. Helmick, C. Bergh, L. Matthies, "Algorithms and sensors for small robot path following," IEEE International Conference on Robotics and Automation, May 2002.
  81. Invited presentation joint with R. Volpe, "Evaluation of Perception Systems for Autonomous Navigation," ICRA Workshop on Validation of Public Sector Robotic Systems, May 2002.
  82. K. Di, R. Li, L. Matthies, C. Olson, "A study on optimal design of image traverse networks for Mars rover localization," Proceedings of ACSM-ASPRS 2002 Annual Conference, Washington, D.C., April 2002.
  83. K. Di, R. Li, L. Matthies, C. Olson, "A study on optimal design of image traverse networks for Mars rover localization," Proceedings of ACSM-ASPRS 2002 Annual Conference, Washington, D.C., April 2002.
  84. S. Goldberg, M. Maimone, L. Matthies, "Stereo vision and rover navigation software for planetary exploration," IEEE Aerospace Conference, Big Sky, Montana, March 2002.
  85. Y. Xiong, C. Olson, L. Matthies,"Computing depth maps from descent imagery," IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Kauai, Hawaii, December 2001.
  86. R. Manduchi, L. Matthies, F. Pollara, "From cross-country autonomous navigation to intelligent deep space communications: visual sensor processing at JPL," 11th International Conference on Image Analysis and Processing, Palermo, Italy, September 2001.
  87. C. Olson, L. Matthies, Y. Xiong, R. Li, F. Ma, F. Xu, "Multi-resolution mapping using surface, descent and orbital imagery," International Symposium on Artificial Intelligence, Robotics, and Automation in Space (iSAIRAS), Montreal, Canada, June 2001.
  88. Invited presentation, "Passive Perception for Off-Road Navigation," National Research Council Board on Army Science and Technology, June 2001.
  89. C. Olson, L.Matthies, M. Schoppers, M. Maimone, "Stereo ego-motion improvements for robust rover navigation," IEEE International Conference on Robotics and Automation, Seoul, Korea, May 2001.
  90. J. Macedo, R. Manduchi, L. Matthies, "Ladar-based terrain cover classification," SPIE Unmanned Ground Vehicles Symposium III, Orlando, FL, April 2001.
  91. R. Hogg, A.Rankin, M. McHenry, D. Helmick, C. Bergh, S. Roumeliotis, L. Matthies, "Sensors and algorithms for small robot leader/follower behavior," SPIE Unmanned Ground Vehicles Symposium III, Orlando, FL, April 2001.
  92. F. Ma,K. Di, L. Matthies, C. Olson, "Incremental Mars rover localization using descent and rover imagery," ASPRS Annual Conference, St. Louis, MO, April 2001.
  93. F. Xu, F. Ma, R. Li, L. Matthies, C. Olson, "Automatic generation of a hierarchical DEM for Mars rover navigation," 3rd Mobile Mapping Conference, Cairo, Egypt, January 2001.
  94. F. Xu, F. Ma, R. Li, L. Matthies, C. Olson, "Automatic generation of a hierarchical DEM for Mars rover navigation," 3rd Mobile Mapping Conference, Cairo, Egypt, January 2001.
  95. Y. Cheng, A. Johnson, L. Matthies, and A. Wolf, "Passive image-based hazard avoidance for spacecraft safe landing (Invited)," Proc. 6th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS, 2001.
  96. J. Macedo, R. Manduchi, L. Matthies, "Ladar-based discrimination of grass from obstacles for autonomous navigation," Seventh International Symposium of Experimental Robotics (ISER), Honolulu, Hawaii, December 2000.
  97. P. Bellutta, R. Manduchi, L. Matthies, K. Owens, A. Rankin,"Terrain perception for Demo III," Proceedings of the Intelligent Vehicles Symposium, Dearborn, Michigan, October 2000.
  98. C. Bergh, B. Kennedy, L. Matthies, A. Johnson,"A compact and low power two-axis scanning laser rangefinder for mobile robots," Seventh Mechatronics Forum International Conference, Atlanta, Georgia, September 2000.
  99. R. Li, F. Ma, F. Xu, L. Matthies, C. Olson, and Y. Xiong,"Large scale Mars mapping and rover localization using descent and rover imagery," Proceedings of ISPRS 19th Congress, Amsterdam, July 2000.
  100. L. Matthies, Y. Xiong,R. Hogg, D. Zhu, A. Rankin, B. Kennedy, "A portable, autonomous, urban reconnaissance robot," Sixth International Conference on Intelligent Autonomous Systems, Venice, Italy, July 2000.
  101. C. Olson, L. Matthies, M. Schoppers, M. Maimone, "Robust stereo ego-motion for long distance navigation," IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Hilton Head, South Carolina, June 2000.
  102. R. Li, F. Ma, F. Xu, L. Matthies, C. Olson, and Y. Xiong,"Mars rover localization using descent and rover imagery  result of the field test at Silver Lake, CA," ASPRS Annual Conference, Washington, D.C., May 2000.
  103. Invited brief, "Terrain perception for Unmanned Ground Vehicles," U.S. Army Science Board, May 2000.
  104. L. Matthies, "Invited speaker," Cognitive Sciences Department, University of California at Irvine, May 2000.
  105. Y. Xiong and L. Matthies, "Vision-guided autonomous stair climbing," IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA, April 2000.
  106. A. Johnson, Y. Cheng, L. Matthies, "Machine vision for autonomous small body navigation," IEEE Aerospace Conference, Big Sky, Montana, March 2000.
  107. L. Matthies, "Invited speaker," Artificial Intelligence Colloquium, Stanford University, January 2000.
  108. L. Matthies, "Invited distinguished lecture," Computer and Information Technology Institute, Rice University, December 1999.
  109. L. Matthies, "Invited keynote speaker," IASTED Robotics99 Conference, Santa Barbara, CA, October 1999.
  110. K. Owens and L. Matthies, "Passive night vision sensor comparison for unmanned ground vehicle stereo vision navigation," IEEE Workshop on Computer Vision Beyond the Visible Spectrum Fort Collins, CO, June 1999.
  111. B. Leroy, G. Medioni, A. Johnson, L. Matthies,"Crater detection for autonomous landing on asteroids," IEEE Workshop on Perception for Mobile Agents, Fort Collins, CO, June 1999.
  112. A. Johnson and L. Matthies,"Precise image-based motion estimation for autonomous small body exploration," 5th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS), Noordwijk, Netherlands, June 1999.
  113. T. T. Blackmon, L. Ngyuen, C. F. Neveu, D. Rasmussen, E. Zbinden, M. Maimone, L. H. Matthies, et al., "Virtual reality mapping system for Chernobyl accident site assessment," Proc. SPIE vol. 3644, Human Vision and Electronic Imaging IV, pp. 338-345, May 1999.
  114. T. Blackmon, L. Ngyuen, C. Neveu, D. Rasmussen, E. Zbinden, M.Maimone, L. Matthies, S. Thayer, V. Broz, J. Teza, J. Osborn, M. Hebert, G.Thomas, J. Steele,"Photorealistic virtual reality mapping system for Chornobyl accident site assessment," SPIE Conference on Human Vision and Electronic Imaging IV, San Jose, CA, January 1999.
  115. M. Maimone, L. Matthies, J. Osborn, E. Rollins, J. Teza, S. Thayer,"A photo-realistic 3-D mapping system for extreme nuclear environments: Chornobyl," IEEE/RSJ International Conference on Intelligent Robotic Systems (IROS), Vancouver, Canada, October 1998.
  116. P. S. Schenker, E. T. Baumgartner, R. A. Lindemann, H. Aghazarian, D. Q. Zhu, A. J. Ganino, L. F. Sword, M. S. Garrett, B. A. Kennedy, G. S. Hickey, A. S. Lai, L. H. Matthies, B. D. Hoffman, and T. L. Huntsberger, "New planetary rovers for long-range Mars science and sample return," Proc. SPIE Vol. 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, pp. 24-36, October 1998.
  117. L. Matthies, "Robotic perception for autonomous navigation of Mars rovers (Invited)," National Academy of Engineering, Irvine, CA, September 1998.
  118. C. Olson and L. Matthies,"Visual ordnance recognition for clearing test ranges," SPIE Symposium on Detection and Remediation Technologies for Mines and Minelike Targets III, Orlando, Florida, June 1998.
  119. A. Rankin, K. Owens, L. Matthies, and T. Litwin, "Terrain-adaptive gaze and velocity control for UGV obstacle detection (Invited)," Annual Symposium of the Association for Unmanned Vehicle Systems (AUVSI), Huntsville, AL, June 1998.
  120. C. Olson and L. Matthies, "Maximum likelihood rover localization by matching range maps," IEEE International Conference on Robotics and Automation (ICRA), Leuven, Belgium, May 1998.
  121. S. Laubach, J. Burdick, and L. Matthies, "Autonomous path-planning for the Rocky 7 prototype microrover," IEEE International Conference on Robotics and Automation (ICRA), Leuven, Belgium, May 1998.
  122. S. Laubach, J. Burdick, and L. Matthies, "Autonomous path-planning for the Rocky 7 prototype microrover," IEEE International Conference on Robotics and Automation (ICRA), Leuven, Belgium, May 1998.
  123. L. Matthies, T. Litwin, K. Owens, A. Rankin, K. Murphy, D. Coombs, J. Gilsinn, T. Hong, S. Legowik, M. Nashman, B. Yoshimi, "Performance evaluation of UGV obstacle detection with CCD/FLIR stereo vision and LADAR (Invited)," IEEE Workshop on Perception for Mobile Agents, Santa Barbara, CA. Also presented at the IEEE Workshop on Field Robotics, Leuven, Belgium, 1998.
  124. P. S. Schenker, L. F. Sword, A. J. Ganino, D. B. Bickler, G. S. Hickey, D. K. Brown, E. T. Baumgartner, L. H. Matthies, B. H. Wilcox, T. Balch, H. Aghazarian, and M. S. Garrett, "Lightweight rovers for Mars science exploration and sample return," Proc. SPIE Vol. 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, pp. 24-36, September 1997.
  125. L. Matthies, C. Olson, G. Tharp, and S. Laubach, "Visual localization methods for Mars rovers using lander, rover, and descent imagery," International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS), Tokyo, Japan, July 1997.
  126. Y. Xiong and L. Matthies,"Error analysis of a real-time stereo system," IEEE Conference on Computer Vision and Pattern Recognition (CVPR), San Juan, Puerto Rico, June 1997.
  127. L. Matthies, T. Balch, and B. Wilcox,"Fast optical hazard detection for planetary rovers using multiple spot laser triangulation," IEEE International Conference on Robotics and Automation (ICRA), Albuquerque, NM, April 1997.
  128. J. Weber and L. Matthies, "A obstacle representation for off-road autonomous driving," Proceedings of the Intelligent Vehicles Symposium, Tokyo, J, September 1996.
  129. L.Matthies and E. Brown, "Machine vision for obstacle detection and ordnance recognition (Invited)," Annual Symposium of the Association for Unmanned Vehicle Systems (AUVSI), Orlando, FL, July 1996.
  130. R. Panicacci, S. Kemeny, L. Matthies, B. Pain, and E. Fossum, "Programmable multiresolution CMOS active pixel sensor," Proceedings of SPIE Conference 2654A: Solid State Sensor Arrays: Development and Applications, March 1996.
  131. L.Matthies, A. Kelly, T. Litwin, G. Tharp, "Obstacle Detection for Unmanned Ground Vehicles: A Progress Report," 7th International Symposium of Robotics Research, Munich, Germany, October 1995.
  132. I. Davis, A. Kelly, A. Stentz, L.Matthies,"Terrain Typing for Real Robots," Proceedings of the Intelligent Vehicles Symposium, Detroit, MI, September 1995.
  133. L. Matthies, A. Kelly, T. Litwin, G. Tharp, "Obstacle Detection for Unmanned Ground Vehicles: A Progress Report," Proceedings of the Intelligent Vehicles Symposium, Detroit, MI, September 1995.
  134. L.Matthies, E. Gat, R. Harrison, B.Wilcox, R. Volpe, and T. Litwin,"Mars Microrover Navigation: Performance Evaluation and Enhancement," International Conference on Intelligent Robots and Systems (IROS), Pittsburgh, PA, August 1995.
  135. R. Volpe, T. Litwin, L. Matthies, "Mobile Robot Localization by Remote Viewing of a Colored Cylinder," International Conference on Intelligent Robots and Systems (IROS), Pittsburgh, PA, August 1995.
  136. L. Matthies, P. Grandjean, T. Litwin, B. Wilcox, and J. Morrison, "Range Sensing for Planetary Rovers," European Space Agency Symposium on Computer Vision for Space Applications, Juan-les-Pins, France, September 1993.
  137. L. Matthies, "Stochastic Performance Modeling and Evaluation of Obstacle Detectability with Imaging Range Sensors," IEEE Conference on Computer Vision and Pattern Recognition (CVPR), New York, NY, June 1993.
  138. P. Grandjean and L.Matthies, "Perception Control for Obstacle Detection by a Cross-country Rover," IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, May 1993.
  139. L. Matthies, "Toward Stochastic Modeling of Obstacle Detectability in Passive Stereo Range Imagery," Matthies, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Urbana-Champaign, IL, June 1992.
  140. B. Wilcox, L. Matthies, D. Gennery, B. Cooper, T. Nguyen, T. Litwin, A. Mishkin, H. Stone, "Robotic Vehicles for Planetary Exploration (Invited)," IEEE International Conference on Robotics and Automation (ICRA), Nice, France, May 1992.
  141. L. Matthies, "Viewpoint on Passive Ranging (Invited)," IEEE Special Workshop on Passive Ranging , Princeton, NJ, October 1991.
  142. L. Matthies, "Stereo Vision for Planetary Rovers: Stochastic Modeling to Near Real-time Implementation," SPIE Conference 1570: Geometric Methods in Computer Vision, San Diego, CA, July 1991.
  143. Panel, "Applications in Robotics and Navigation," National Science Foundation Workshop on Future Directions in Computer Vision, June 1991.
  144. L. Matthies and M. Okutomi, "A Bayesian Foundation for Active Stereo Vision (Invited)," SPIE Symposium on Sensor Fusion II: Human and Machine Strategies, Philadelphia, PA, November 1989.
  145. L. Matthies and A. Elfes, "Probabilistic Estimation Mechanisms and Tesselated Representations for Sensor Fusion (Invited)," SPIE Symposium on Sensor Fusion: Spatial Reasoning and Scene Interpretation, Cambridge, MA, November 1988.
  146. L.Matthies, R. Szeliski, and T. Kanade, "Incremental Estimation of Dense DepthMaps from Image Sequences," IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Ann Arbor, MI, June 1988.
  147. L. Matthies, "Depth from Stereo Image Sequences (Invited)," International Workshop on High Precision Navigation, Stuttgart, West Germany, May 1988.
  148. L. Matthies and A. Elfes, "Integration of Sonar and Stereo Range Data Using a Grid-based Representation," IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, PA, April 1988.
  149. A. Elfes and L. Matthies, "Sensor Integration for Robot Navigation: Combining Sonar and Stereo Range Data in a Grid-based Representation (Invited)," IEEE Conference on Decision and Control, Los Angeles, CA, December 1987.
  150. L. Matthies and T. Kanade, "The Cycle of Uncertainty and Constraint in Robot Perception (Invited)," 4th International Symposium of Robotics Research, Santa Cruz. Sponsored by the National Science Foundation., April 1987.
  151. L. Matthies and S. Shafer,"Error Modelling in Stereo Navigation," ACM/IEEE Fall Joint Computer Conference, Dallas, TX, November 1986.
  152. C. Thorpe, L. Matthies, and H. Moravec, "Experiments and Thoughts on Visual Navigation (Invited)," IEEE International Conference on Robotics and Automation (ICRA), St. Louis, MO, March 1985.
  153. L. Matthies and C. Thorpe, "Experience with Visual Robot Navigation (Invited)," IEEE OCEANS84 Conference, Annapolis, MD, September 1984.
  154. C. Thorpe and L. Matthies, "Path Relaxation: Path Planning for aMobile Robot (Invited)," IEEE OCEANS84 Conference, Annapolis, MD, September 1984.

Journal Paper:
  1. L. Matthies, M. Maimone, A. Johnson, Y. Cheng, R. Willson, C. Villalpando, S. Goldberg, A. Huertas, "Computer vision on Mars," International Journal of Computer Vision, October 2007, vol.75, no.1, pp.67-92.
  2. A. Johnson, R. Willson, Y. Cheng, J. Goguen, C. Leger, M. Sanmartin, L. Matthies, "Design through operation of an image-based velocity estimation system for Mars landing," International Journal of Computer Vision and International Journal of Robotics Research - Joint Special Issue on Vision and Robotics, September 2007, vol.74, no.3, pp.319-341.
  3. A. Mourikis, N. Trawny, S. Roumeliotis, D. Helmick, L. Matthies, "Autonomous stair climbing for tracked vehicles," International Journal of Computer Vision and International Journal of Robotics Research - Joint Special Issue on Vision and Robotics, July 2007, vol.26, no.7, pp.737-758.
  4. M. Maimone, Y. Cheng, L. Matthies, "Two years of visual odometry on the Mars Exploration Rovers," Journal of Field Robotics, Special Issue on Space Robotics, March 2007, vol.24, no.3, pp.169-186.
  5. R. Li, K. Di, A. B. Howard, L. Matthies, J. Wang, S. Agarwal, "Rock modeling and matching for autonomous long-range Mars rover localization," Journal of Field Robotics, Special Issue on Space Robotics (I), March 2007, vol.24, no.3, pp.187-203.
  6. A. Angelova, L.Matthies, D. Helmick, P. Perona, "Learning and prediction of slip from visual information," Journal of Field Robotics, Special Issue on Space Robotics (I), March 2007, vol.24, no.3, pp.205-231.
  7. R. Li, R. E. Arvidson, K. Di, M. Golombek, J. Guinn, A. Johnson, L.Matthies, M. Malin, T. Parker, S.W. Squyres, W. A.Watters, "Opportunity rover localization and topographic mapping at the landing site of Meridiani Planum," Journal of Geophysical Research, February 2007, vol.112, E02S90, doi:10.1029/2006JE002776.
  8. C. F. Olson, L. Matthies, J. R. Wright, R. Li, K. Di, "Visual terrain mapping for Mars exploration," Computer Vision and Image Understanding, January 2007, vol.105, no.1, pp.73-85.
  9. A. Howard, M. Turmon, A. Angelova, L. Matthies, B. Tang, E. Mjolsness, "Towards learned traversability for robot navigation: from underfoot to the far field," Journal of Field Robotics, Special Issue on Machine Learning Based Robotics in Unstructured Environments, November 2006, vol. 23, no. 11, pp. 1005-1017.
  10. D. Helmick,S. Roumeliotis, Y. Cheng, D. Clouse, M. Bajracharya, L. Matthies, "Slip-compensated path following for planetary exploration rovers," Advanced Robotics, October 2006.
  11. J. Montgomery, A. Johnson, S. Roumeliotis, L. Matthies, "The JPL autonomous helicopter testbed: a platform for planetary exploration technology research and development," Journal of Field Robotics, March 2006, vol. 23, no. 3/4, pp. 245-267.
  12. R. Li, B. Archinal, R. Arvidson, J. Bell, P. Christensen, L. Crumpler, D. Des Marais, K. Di, T. Duxbury, M. Golombek, J. Grant, R. Greeley, J. Guinn, A. Johnson, R. Kirk, M. Maimone, L. Matthies, M. Malin, T. Parker, M. Sims, S. Thompson, S. Squyres, L. Soderblom, "Spirit rover localization and topographic mapping at the landing site of Gusev Crater, Mars," Journal of Geophysical Research - Planets, January 2006, vol.111,E02S06, doi:10.1029/2005JE023483.
  13. Rongxing Li, Steven W. Squyres, Raymond E. Arvidson, Brent A. Archinal, Jim Bell, Yang Cheng, Larry Crumpler, David J. Des Marais, Kaichang Di, Todd A. Ely, Matt Golombek, Eric Graat, John Grant, Joe Guinn, Andrew Johnson, Ron Greeley, Randolph L. Kirk, Mark Maimone, Larry H. Matthies, Mike Malin, Tim Parker, Mike Sims, Larry A. Soderblom, Shane Thompson, Jue Wang, Patrick Whelley, and Fengliang Xu, "Initial results of rover localization and topographic mapping for the 2003 Mars Exploration Rover mission"," Photogrammetric Engineering and Remote Sensing, October 2005, vol.71, no.10, pp.1129-1142.
  14. R. Manduchi, A. Castano, A. Thalukder, L.Matthies, "Obstacle detection and terrain classification for autonomous off-road navigation," Autonomous Robots, May 2005, vol.18,no.1.
  15. Y. Xiong, C. Olson, L. Matthies, "Computing depth maps from descent images," Machine Vision and Applications, May 2005, vol.16, no.3, pp.139-147.
  16. R. Li, K. Di, L. Matthies, R. Arvidson, W. Folkner, B. Archinal, "Rover localization and landing site mapping technology for the 2003 Mars Exploration Rover mission," Journal of Photogrammetric Engineering and Remote Sensing, vol. 70, no. 1, January 2004, vol.70, no.1.
  17. C. Olson, L. Matthies, M. Schoppers, M. Maimone, "Rover navigation using stereo ego-motion," Robotics and Autonomous Systems, vol. 43, no. 4, June 2003.
  18. R. Li, F. Ma, F. Xu, L. Matthies, C. Olson, R. Arvidson, "Localization of Mars rovers using descent and surface-based image data," Geophysical Research-Planet, vol 107, no E11, November 2002.
  19. L. Matthies, Y. Xiong, R. Hogg, D. Zhu, A. Rankin, B. Kennedy, M. Hebert, R. Maclachlan, C. Won, T. Frost, "A portable, autonomous, urban reconnaissance robot," Robotics and Autonomous Systems, vol. 40, no. 2, August 2002.
  20. B. Leroy, G. Medioni, A. E. Johnson, and L. Matthies, "Crater Detection for Autonomous Landing on Asteroids," International Journal of Image and Vision Computing, vol. 19, no. 11, September 2001.
  21. J.R. Matijevic, et al., "Characterization of the Martian surface deposits by the Mars Pathfinder rover, Sojourner," Science 278 (5344), December 5, 1997, 1765-1768.
  22. S. Kemeny, R. Panicacci, B. Pain, L. Matthies, E. Fossum, "Multiresolution Image Sensor," IEEE Transactions on Circuits and Systems for Video Technology, vol. 7, no. 4, August 1997.
  23. J. R. Matijevic, D. B. Bickler, D. F. Braun, H. J.Eisen, L. H. Matthies, et al., "The Pathfinder Microrover," Journal of Geophysical Research, vol. 102, no. E2, pp. 3989-4002, February 1997.
  24. L. Matthies, E. Gat, R. Harrison, B. Wilcox, R. Volpe, and T. Litwin, "Mars Microrover Navigation: Performance Evaluation and Enhancement," Autonomous Robots Journal, special issue on Autonomous Vehicles for Planetary Exploration vol. 2, no. 4, 1995.
  25. L. Matthies and P. Grandjean, "Stochastic Performance Modeling and Evaluation of Obstacle Detectability with Imaging Range Sensors," IEEE Transactions on Robotics and Automation, Special Issue on Perception-based Real World Navigation, vol. 16, no. 12, December 1994.
  26. L. Matthies, "Passive Stereo Range Imaging for Semi-autonomous Land Navigation," Journal of Robotic Systems, Special Issue on Passive Ranging, vol 9, no. 6, September 1992.
  27. L. Matthies, "Stereo Vision for Planetary Rovers: Stochastic Modeling to Near Real-time Implementation," International Journal of Computer Vision, vol. 8, no. 1, July 1992.
  28. L. Matthies, R. Szeliski, and T. Kanade, "Kalman Filter-based Algorithms for Estimating Depth from Image Sequences," nternational Journal of Computer Vision, vol. 3, no. 3, September 1989.
  29. L. Matthies and S. Shafer, "Error Modelling in Stereo Navigation," IEEE Journal of Robotics and Automation, vol. RA-3, no. 3, June 1987.

Papers in Professional Society Magazines:
  1. Y. Cheng, M. Maimone, L. Matthies, "Visual odometry on the Mars Exploration Rovers," IEEE Robotics and Automation Magazine, vol. 13, no. 2, June 2006.
  2. C. R. Weisbin, J. Blitch, D. Lavery, E. Krotkov, C. Shoemaker, L. Matthies, and G. Rodriguez, "Miniature robot for space and military missions," IEEE Robotics and Automation Magazine, vol. 6, no. 3, pp. 9-18, September 1999.
  3. Y. Cheng, J. Goguen, A. Johnson, C. Leger, L. Matthies, M. San Martin, R. Willson, "The Mars Exploration Rovers Descent Image Motion Estimation System," IEEE Intelligent Systems Magazine, May/June 2004.

Papers Reprinted in Books:
  1. L. Matthies and A. Elfes, "Integration of Sonar and Stereo Range Data Using a Grid-based Representation," Autonomous Mobile Robots: Perception, Mapping, and Navigation, edited by S. Iyengar and A. Elfes, IEEE Computer Society Press, 1991. Reprinted from the IEEE International Conference on Robotics and Automation., .
  2. L. Matthies, R. Szeliski, and T. Kanade, "Kalman Filter-based Algorithms for Estimating Depth from Image Sequences," Autonomous Mobile Robots: Perception, Mapping, and Navigation, edited by S. Iyengar and A. Elfes, IEEE Computer Society Press, 1991. Reprinted from the International Journal of Computer Vision, .
  3. L. Matthies and S. Shafer, "Error Modelling in Stereo Navigation," Autonomous Robot Vehicles, edited by I. Cox and G. Wilfong, Springer-Verlag, 1990. Reprinted from the IEEE Journal of Robotics and Automation., .

PATENTS:
  1. C. Anderson and L. Matthies, "Near Real-time Stereo Vision System," Patent No. 5,179,441, Jan. 12, 1993.
  2. S.Kemeny, E. Fossum, B. Pain, J. Nakamura, and L. Matthies, "CMOS Active Pixel Sensor Array with Programmable Multiresolution Readout," Patent pending, .

Poster Presentations and Abstracts Only Conferences (no paper):
  1. R. Li, K. Di, B. Wu, W. Chen, M. W. Maimone, L. H. Matthies, L. Richter, R. Kirk, R. Sullivan, L. Crumpler, T. Parker, D. Des Marais, R. Arvidson, M. H. Sims, S. Squyres, "Over three years of rover localization and topographic mapping for MER 2003 Mission," Athena Science Team, Seventh International Conference on Mars, Abstract #3277, Pasadena, CA (CD-ROM), July 9-13, 2007.
  2. L. Matthies, "Bootstrap Algorithms for Dynamic Stereo Vision," IEEE-ASSPS Sixth Workshop on Multi-dimensional Signal Processing, Monterey, CA, September 1989.

Published Book Chapters:
  1. L. Matthies, M. Maimone, Y. Cheng, A. Johnson, R. Willson, "Computer vision in the Mars Exploration Rover (MER) mission," Computational Vision in Neural and Machine Systems, L. R. Harris and M. R. M. Jenkin (eds.), Cambridge University Press, 2007.
  2. M. Hebert, B. Bolles, B. Gothard, L. Matthies, M. Rosenbloom, "Mobility for the Unmanned Ground Vehicle," Reconnaissance, Surveillance, and Target Acquisition (RSTA) for the Unmanned Ground Vehicle, Oscar Firschein (ed.), PRC Inc, 1996.

Technical Reports:
  1. L. Matthies, "Stereo Vision for Planetary Rovers: Stochastic Modeling to Near Real-time Implementation," Technical report JPL D-8131, Jet Propulsion Laboratory, January 1991.
  2. L.Matthies, "Dynamic Stereo Vision," Technical report CMU-CS-89-195, Carnegie Mellon University, Ph.D. thesis., 1989.
  3. B. McCann and L. Matthies, "The CRG Frame Buffer," Technical Report CR-80- 16, Computer Research Laboratory, Tektronix Laboratories, Beaverton, Oregon, 1980.
  4. L. Matthies, "Interactive Graphics Software for Tektronix Devices on the M.D.S.L. PDP-11/60 Computer," Laboratory Technical Report LTR-SH-238, Marine Dynamics and Ship Laboratory, National Research Council of Canada, Ottawa, August 1978.
  5. L. Matthies, R. Szeliski, and T. Kanade, "Kalman Filter-based Algorithms for Estimating Depth from Image Sequences," Technical report CMU-CS-87-185, Carnegie Mellon University, December 1987. Also appeared in The Robotics Institute: Annual Research Review for 1987, Carnegie Mellon University., .
  6. L. Matthies with the staff of the Mobile Robot Laboratory, "Towards Autonomous Vehicles," The Robotics Institute: Annual Research Review for 1984, Carnegie Mellon University., .

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