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Larry Matthies

Address:

4800 Oak Grove Drive
M/S 198-235

Pasadena, CA 91109

Member of:

3471 - Section Staff

Larry Matthies

Senior Research Scientist

Biography

Larry Matthies is a Senior Research Scientist at JPL in the Mobility and Robotic Systems Section. He is a member of the editorial boards for the Autonomous Robots journal and the Journal of Field Robotics. His research interests are in perception for autonomous navigation of robotic vehicles of all varieties. He is currently the Technology Coordinator for the Mars Exploration Program office at JPL.

Education

Ph.D. in Computer Science, 1989, Carnegie Mellon University
M.Math. in Computer Science, 1981, University of Waterloo
B.Sc. in Computer Science, 1979, University of Regina

Professional Experience

Mars Exploration Program Technology Coordinator since 2020

Senior Research Scientist since 2001
Principal Member of Technical Staff since 1999
Group Supervisor, 1997-2018
Principal investigator, New Millennium ST9 Concept Study Phase, "Descent Image Navigation and Hazard Detection"
Principal investigator/task manager of numerous research tasks in computer vision funded by NASA, DARPA, U.S. Army, and other sponsors since 1992
Participated in development of vision systems for Mars Exploration Rover and Mars Pathfinder missions and the Ingenuity Mars helicopter. Vision algorithm work from his group has impacted every U.S. Mars surface mission since Pathfinder.

Research Interests

Perception systems for autonomous navigation of robotic vehicls of all kinds. Perception interests include 3-D sensing, visual motion estimation, obstacle detection, terrain classification using multispectral active and passive sensors and texture analysis, and custom hardware implementations of real-time vision systems.

Awards

2019 AIAA GNC Conference best paper
2017 IROS Conference best cognitive robotics paper
2017 IEEE Embedded Vision Workshop best poster
2016 IEEE ICRA Conference best vision paper
2012 IEEE ICRA Conference finalist for best manipulation paper
2009 IEEE Trans. Robotics best paper of the year
2008 IEEE Robotics and Automation Award
2007 NASA Exceptional Achievement Medal
Finalist, best student paper, Robotics Science and Systems conference, lead author: A. Angelova, "Dimensionality reduction using automatic supervision for vision-based terrain learning"
2006 Best Paper Award, Robotics Society of Japan, for "Slip-compensated path following for planetary exploration rovers", Advanced Robotics, vol. 20, no. 11, 2006. D.M. Helmick, S.I. Roumeliotis, Y. Cheng, D.S. Clouse, M. Bajracharya, L.H. Matthies
2006 John I. Davidson Presidents Award for Practical Papers (First Place), American Society for Photogrammetry and Remote Sensing, for "Initial results of rover localization and topographic mapping for the 2003 Mars Exploration Rover Mission", R. Li et al.
Finalist, best vision paper, IEEE International Conference on Robotics and Automation, lead author: A. Stein, "Attenuating stereo pixel-locking via affine window adaptation"

Flight Project and Research Task Involvement

Research Tasks
Enhancements for Stereo Obstacle Detection
Human Detection
Learning Perception for Autonomous Navigation
Micro Autonomous Systems and Technology (MAST)
Micro Autonomous Systems Collaborative Technology Alliance (MAST CTA)
Multi-modal Image Registration and Mapping
Perception System Design for FCS ANS
Robotic Reconnaissance Systems – Micro Air Vehicles
Titan Precision Landing
Urbie: Urban Robot
Vision System for Autonomous Helicopter
Visual Navigation of a Small Rotorcraft
Water Detection

Publications

2023
  1. Shreyansh Daftry, Zhanlin Chen, Yang Cheng, Scott Tepsuporn, Brian Coltin, Ussama Naal, Lanssie Mingyue Ma, Shehryar Khattak, Matthew Deans, Larry Matthies, "LunarNav: Crater-based Localization for Long-range Autonomous Lunar Rover Navigation," IEEE Aerospace Conference, Big Sky, MT, 04 March 2023.
  2. Abhishek Cauligi, R. Michael Swan, Masahiro Ono, Shreyansh Daftry, John Elliott, Larry Matthies, Deegan Atha, "ShadowNav: Crater-Based Localization for Nighttime and Permanently Shadowed Region Lunar Navigation," IEEE Aerospace Conference, Big Sky, MT, 04 March 2023.
2022
  1. Larry Matthies, Shreyansh Daftry, Scott Tepsuporn, Yang Cheng, Deegan Atha, R. Michael Swan Sanjna Ravichandar and Masahiro Ono, "Lunar Rover Localization Using Craters as Landmarks," IEEE Aerospace Conference (AERO), 05 March 2022.
  2. R. Brockers, P. Proença, J. Delaune, J. Todd, L. Matthies, T. Tzanetos, J. B. Balaram, "On-board Absolute Localization Based on Orbital Imagery for a Future Mars Science Helicopter," 2022 IEEE Aerospace Conference (AERO), Big Sky, MT, USA, pp. 1-11, 05 March 2022.
  3. T. Tzanetos, J. Bapst, G. Kubiak, L. Tosi, S. Sirlin, R. Brockers, J. Delaune, H. Grip, L. Matthies, J. B. Balaram, S. Withrow-Maser, W. Johnson, L. Young, B. Pipenberg, "Future of Mars Rotorcraft - Mars Science Helicopter," 2022 IEEE Aerospace Conference (AERO), Big Sky, MT, USA, pp. 1-16, 05 March 2022.
  4. J. Delaune, J. Izraelevitz, S. Sirlin, D. Sternberg, L. Giersch, L. Tosi, E. Skyliyanskiy, L. Young, M. Mischna, S. Withrow-Maser, J. Mueller, J. Bowman, M. Wallance, H. Grip, L. Matthies, W. Johnson, M. Keennon, B. Pipenberg, H. Patel, C. Lim, M. Veismann, H. Cummings, S. Conley, T. Tzanetos, R. Brockers, A, Jain, D. Bayard, A. Chmielewski, O. Toupet, J. Burdick, M. Gharib, J. B. Balaram, "Mid-Air Helicopter Delivery at Mars Using a Jetpack," 2022 IEEE Aerospace Conference (AERO), Big Sky, MT, USA, pp. 1-20, 05 March 2022.
2021
  1. P. Schoppmann, P. Proença, J. Delaune, M. Pantic, T. Hinzmann, L. Matthies, R. Siegwart, R. Brockers, "Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft," 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, pp. 1990-1997, 27 September 2021.
2020
  1. L. Matthies with the staff of the Mobile Robot Laboratory, "Towards Autonomous Vehicles," The Robotics Institute: Annual Research Review for 1984, Carnegie Mellon University., 17 September 2020.
  2. S.Kemeny, E. Fossum, B. Pain, J. Nakamura, and L. Matthies, "CMOS Active Pixel Sensor Array with Programmable Multiresolution Readout," Patent pending, 17 September 2020.
  3. Delaune, J., Brockers, R., Bayard, D.S., Dor, H., Hewitt, R., Sawoniewicz, J., Kubiak, G., Tzanetos, T., Matthies, L. and Balaram, J., "Extended Navigation Capabilities for a Future Mars Science Helicopter Concept," Accepted in IEEE Aerospace Conference, Big Sky, Montana, USA, pp. 1-10, 07 March 2020.
  4. C. Ordonez, R. Alicea, B. Rothrock, K. Ladyko, J. Nash, R. Thakker, S. Daftry, M. Harper, E. Collins and L. Matthies, "Characterization and Traversal of Pliable Vegetation for Robot Navigation," Proceedings of the 2018 International Symposium on Experimental Robotics, pp. 293–304, 23 January 2020.
2019
  1. A. Johnson, A. Ansar, L. Matthies, N. Trawny, A.I. Mourikis, S.I. Roumeliotis, "A General Approach to Terrain Relative Navigation for Planetary Landing," AIAA Infotech at Aerospace Conf., 30 August 2019.
  2. H. Grip, J. Lam, D. Bayard, D. Conway, G. Singh, R. Brockers, J. Delaune, L. Matthies, C. Malpica, T. Brown, A. Jain, A. San Martin, and G. Merewether, "Flight Control System for NASA's Mars Helicopter," AIAA Scitech 2019 Forum, pp. 1-20, 07 January 2019.
2018
  1. J. Cutts, L. Matthies, T. Thomspon, L. Glaze... J. Izraelevitz, et al., "Aerial Platforms for the Scientific Exploration of Venus," Big NASA Study, Summary Report JPL D-102569, 31 October 2018.
2016
  1. D. Lee, A. Rankin, A. Huertas, J. Nash, G. Ahuja, and L. Matthies, "LWIR passive perception system for stealthy unmanned ground vehicle night operations," Unmanned Systems Technology XVIII, vol. 9837, pp. 94–101, 15 May 2016.
2015
  1. V. Desaraju, N. Michael, M. Humenberger, R. Brockers, S. Weiss, J. Nash, and L. Matthies, "Vision-Based Landing Site Evaluation and Informed Optimal Trajectory Generation Toward Autonomous Rooftop Landing," Autonomous Robots, vol. 39, pp. 445-463, 26 July 2015.
2008
  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, 01 May 2008.
  2. M. Bajracharya, A. Howard, L. Matthies, M. Turmon, B. Tang, "Learning long-range terrain classification for autonomous navigation," IEEE International Conference on Robotics and Automation (ICRA), 01 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), 01 May 2008.
  4. L. Matthies, A. Huertas, Y. Cheng and A. Johnson, "Stereo vision and shadow analysis for landing hazard detection," International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 2008, 01 May 2008.
2007
  1. L. Matthies, et. al,, "Computer Vision on Mars," Intl. Journal of Computer Vision, Oct. 2007, vol. 75, No. 1, pp. 67-92., 01 October 2007.
  2. 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, vol.26, no.7, pp.737-758, 01 July 2007.
  3. 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 (NSTC'07), College Park, MD, 01 June 2007.
  4. 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 (NSTC'07), College Park, MD, 01 June 2007.
  5. A. Huertas, Y. Cheng, and L. Matthies, "Real-time hazard detection for landers," NASA Science Technology Conference (NSTC'07), College Park, MD, 01 June 2007.
  6. 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, 01 June 2007.
  7. 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, 01 May 2007.
  8. 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, 01 May 2007.
  9. 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, 01 May 2007.
  10. 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, 01 May 2007.
  11. Keynote lecture, "Vision-based safe and precise landing for space exploration (Invited)," Canadian Conference on Computer and Robot Vision, Montreal, Canada, 01 May 2007.
  12. 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, 01 April 2007.
  13. 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, 01 April 2007.
  14. 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, vol.24, no.3, pp.169-186, 01 March 2007.
  15. 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), vol.24, no.3, pp.187-203, 01 March 2007.
  16. 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), vol.24, no.3, pp.205-231, 01 March 2007.
  17. D. M. Helmick, A. Angelova, M.Livianu, L.H.Matthies, "Terrain adaptive navigation for Mars rovers," IEEE Aerospace Conference, Big Sky, MT, 01 March 2007.
  18. L. Matthies, "Toward chip-scale vision-guided navigation for UAVs (Invited)," DARPA/MTO Workshop on Chip-Scale Avionics, Orlando, FL, 01 February 2007.
  19. Invited presentation, "Toward chip-scale vision-guided navigation for UAVs," DARPA/MTO Workshop on Chip-Scale Avionics, Orlando, FL, 01 February 2007.
  20. N. Trawny, A. Mourikis, S. Roumeliotis, A. Johnson, J. Montgomery, A. Ansar, L. Matthies, "Coupled Vision and Inertial Navigation for Pin-Point Landing," NASA Science and Technology Conference, 01 January 2007.
  21. 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, 01 January 2007.
2006
  1. D. Helmick,S. Roumeliotis, Y. Cheng, D. Clouse, M. Bajracharya, L. Matthies, "Slip-Compensated Path Following for Planetary Exploration Rovers," Advanced Robotics, 01 October 2006.
  2. 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, 01 August 2006.
  3. A. Angelova, D. Helmick, L. Matthies, P. Perona, "Slip prediction using visual information," Robotics Science and Systems Conference, Philadelphia, PA, 01 August 2006.
  4. Y. Cheng, M. Maimone, L. Matthies, "Visual Odometry on the Mars Exploration Rovers," IEEE Robotics and Automation Magazine, vol. 13, no. 2, 01 June 2006.
  5. A. Stein, A. Huertas, L. Matthies, "Attenuating stereo pixel-locking via affine window adaptation," IEEE International Conference on Robotics and Automation, Orlando, FL, 01 May 2006.
  6. A. Angelova, D. Helmick, L.Matthies, P. Perona, "Learning to Predict Slip for Ground Robots," IEEE International Conference on Robotics and Automation, Orlando, FL, 01 May 2006.
  7. 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, 01 May 2006.
2005
  1. G. Sibley, L.Matthies, G. Sukhatme, "Bias reduction and filter convergence for long range stereo," 12th International Symposium of Robotics Research, San Francisco, CA, 01 October 2005.
  2. D. Helmick, S. Roumeliotis, Y. Cheng, D. Clouse, M. Bajracharya, L. Matthies, "Slip Compensation for a Mars Rover," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 01 August 2005.
  3. 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, 01 June 2005.
  4. 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, 01 June 2005.
  5. R. Manduchi, A. Castano, A. Thalukder, L.Matthies, "Obstacle detection and terrain classification for autonomous off-road navigation," Autonomous Robots, vol.18,no.1, 01 May 2005.
  6. Y. Xiong, C. Olson, L. Matthies, "Computing depth maps from descent images," Machine Vision and Applications, vol.16, no.3, pp.139-147, 01 May 2005.
  7. A. Johnson, J. Montgomery, and L. Matthies, "Vision-guided landing of an autonomous helicopter in hazardous terrain," IEEE International Conference on Robotics and Automation, pp. 3966-3971, 01 April 2005.
  8. 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, 01 March 2005.
  9. M. McHenry, Y. Cheng, and L. Matthies, "Vision-Based Localization in Urban Environments," Proc. SPIE vol 5804: Unmanned Ground Vehicle Technology VII, Orlando, FL, 01 March 2005.
  10. A. Huertas, L. Matthies, A. Rankin, "Stereo-based tree traversability analysis for autonomous off-road navigation," 7th IEEE Workshop on applications of Computer Vision, 01 January 2005.
  11. Li, R., S.W. Squyres, R.E. Arvidson, J. Bell, Y. Cheng, L. Crumpler, J.J. Des Marais, K. Di, T.A. Ely, M. Golombek, E. Graat, J. Grant, J. Guinn, A. Johnson, R. Greeley, R.L. Kirk, M. Maimone, L.H. Matthies, M. Malin, T. Parker, M. Sims, L.A. Soderblom, S. Thompson, J. Wang, P. Whelley and F. Xu, "Initial Results of Rover Localization and Topographic Mapping for the 2003 Mars Exploration Rover Mission," Journal of Photogrammetric Engineering and Remote Sensing, Vol.71, No.10, pp.1129-1142., 01 January 2005.
2004
  1. 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, 01 November 2004.
  2. L. Matthies, "Autonomous navigation in the Mars Exploration Rover mission (Invited)," Basterfield Lecture, University of Regina, Regina, Canada, 01 October 2004.
  3. A. Ansar, A. Castano and L. Matthies, "Enhanced real-time stereo using bilateral filtering," IEEE Proc. 2nd Int'l Symp 3D Data Processing, Visualization and Transmission, Thessaloniki, Greece, 01 September 2004.
  4. Morfopoulos, A., McHenry, M., and Matthies, L.,, "Reduction of user interaction by autonomy," Performance Metrics for Intelligent Systems 2004, Gaithersburg, MD., 01 August 2004.
  5. Invited paper and plenary talk, "Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission," International Symposium on Experimental Robotics, Singapore, 01 June 2004.
  6. 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, 01 April 2004.
  7. Invited lecture, "Computer vision for Mars exploration," Stanford University, 01 April 2004.
  8. C. Olson, L. Matthies, J. Wright, R. Li, K. Di, "Visual terrain mapping for Mars exploration," IEEE Aerospace Conference, Big Sky, MT, 01 March 2004.
  9. D.M. Helmick, Y. Cheng, S.I. Roumeliotis, D.S. Clouse, L.H. Matthies, "Path following using visual odometry for a Mars rover in high-slip environments," IEEE Aerospace Conference Proceedings, 01 March 2004.
  10. Invited lecture, "Terrain perception for autonomous navigation of UGVs and UAVs," Monterey Bay Aquarium Research Institute, 01 March 2004.
  11. A. Ansar, A. Huertas, L. MAtthies and S. Goldberg, "Enhancement of stereo at range discontinuities," Proc. 2004 SPIE Defense and Security Symposium: UGV Technology, 01 January 2004.
  12. 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, 01 January 2004.
2003
  1. L. Matthies and A. Rankin, "Negative obstacle detection by thermal signature," Proceedings of the IEEE Conference on Intelligent Robots and Systems, Las Vegas, 01 October 2003.
  2. 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, 01 October 2003.
  3. A. Castano and L. Matthies, "Foliage discrimination using a rotating ladar," Proc. IEEE Int'l Conf. on Robotics and Automation, Taipei, Taiwan, pp. 1-6, 01 September 2003.
  4. Clark F. Olson, Larry H. Matthies, Marcel Schoppers and Mark W. Maimone, "Rover navigation using stereo ego-motion," Robotics and Autonomous Systems 43(4), Elsevier Publishers, June 2003,, 215-229., 01 June 2003.
  5. L. Matthies, P. Bellutta, M. McHenry, "Detecting water hazards for autonomous off-road navigation," SPIE Conference on Unmanned Ground Vehicles, Orlando, FL, 01 April 2003.
  6. 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, 01 April 2003.
  7. A. Ansar, L. Matthies, "Improvement of stereo in complex scenes (Invited)," U.S. Army Collaborative Technology Alliances Conference, Adelphia, MD, 01 April 2003.
  8. Invited presentation, "Perception for autonomous navigation," Naval Studies Board Committee on Autonomous Vehicles in Support of Naval Operations, San Diego, CA, 01 March 2003.
  9. 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,, 01 February 2003.
  10. A. Ansar, L. Matthies, "Multibaseline stereo system for evaluation of binocular stereo," Proc. of SPIE Aerosense, 01 January 2003.
  11. P. Bellutta, M. McHenry, L. Matthies, A. Ansar, "Active and passive detection of water," Proceedings of Collaborative Technology Alliances Conference, 01 January 2003.
2002
  1. 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,, 01 December 2002.
  2. 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, 01 November 2002.
  3. D. Helmick, S. Roumeliotis, M. McHenry, L. Matthies, "Multi-sensor, high speed autonomous stair climbing," IEEE/RSJ Conference on Intelligent Robots and Systems (IROS), 01 September 2002.
  4. 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, Xi'an, China,, 01 August 2002.
  5. A. Talukder, R. Manduchi, A. Rankin, L. Matthies, "Fast and reliable obstacle detection and segmentation for cross-country navigation," Proceeding of the 2002 Intelligent Vehicles Conference, France, 01 June 2002.
  6. R. Hogg, A. Rankin, S. Roumeliotis, M. McHenry, D. Helmick, C. Bergh, L. Matthies, "Algorithms and sensors for small robot path following," Proceedings of the 2002 International Conference on Robotics and Automation, Washington D.C., 01 May 2002.
  7. Invited presentation joint with R. Volpe, "Evaluation of Perception Systems for Autonomous Navigation," ICRA Workshop on Validation of Public Sector Robotic Systems, 01 May 2002.
  8. 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., 01 April 2002.
  9. Goldberg, Maimone, and Matthies, "Stereo vision and rover navigation software for planetary exploration," March 2002 IEEE Aerospace conference proceedings, volume 5, Big Sky, Montana, USA, 2025-2036, 01 March 2002.
2001
  1. Y. Xiong, C. Olson, L. Matthies,, "Computing depth maps from descent imagery," IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Kauai, Hawaii, 01 December 2001.
  2. 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, 01 June 2001.
  3. Invited presentation, "Passive Perception for Off-Road Navigation," National Research Council Board on Army Science and Technology, 01 June 2001.
  4. J. Macedo, R. Manduchi, L. Matthies, "Ladar-based terrain cover classification," SPIE Unmanned Ground Vehicles Symposium III, Orlando, FL, 01 April 2001.
  5. R. Hogg, A. Rankin, M. McHenry, D. Helmick, C. Bergh, S. Roumeliotis, and L. Matthies, "Sensors and algorithms for small robot leader/follower behavior," Proceedings of the SPIE AeroSense Symposium. Orlando, 01 April 2001.
  6. F. Ma,K. Di, L. Matthies, C. Olson, "Incremental Mars rover localization using descent and rover imagery," ASPRS Annual Conference, St. Louis, MO,, 01 April 2001.
  7. Clark F. Olson, Larry H. Matthies, Marcel Schoppers, and Mark W. Maimone, "Stereo ego-motion improvements for robust rover navigation," 2001 ICRA conference proceedings, Seoul, Korea, 1099-1104., 01 January 2001.
  8. 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, 01 January 2001.
  9. 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, 01 January 2001.
2000
  1. 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,, 01 December 2000.
  2. P. Bellutta, R. Manduchi, L. Matthies, K. Owens, A. Rankin, "Terrain perception for Demo III," Proceedings of the 2000 Intelligent Vehicles Conference, Dearborn, MI, 326-331, 01 October 2000.
  3. C. Bergh, B. Kennedy, L. Matthies, A. Johnson, "A compact and low power two-axis scanning laser rangefinder for mobile robots," 7th Mechatronics Forum International Conference, Atlanta, GA, 01 September 2000.
  4. 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, 01 July 2000.
  5. 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,, 01 July 2000.
  6. Clark F. Olson, Larry H. Matthies, Marcel Schoppers, and Mark W. Maimon, "Robust stereo ego-motion for long distance navigation," June 2000 CVPR conference proceedings, Hilton Head, South Carolina, 453-458, 01 June 2000.
  7. Invited brief, "Terrain perception for Unmanned Ground Vehicles," U.S. Army Science Board, 01 May 2000.
  8. Y. Xiong and L. Matthies, "Vision-guided autonomous stair climbing," IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA, 01 April 2000.
  9. Andrew E. Johnson, Yang Cheng and Larry Matthies, "Machine vision for autonomous small body navigation," IEEE Aerospace Conference, 01 January 2000.
  10. L. Matthies, "Invited speaker," Artificial Intelligence Colloquium, Stanford University, 01 January 2000.
1999
  1. L. Matthies, "Invited distinguished lecture," Computer and Information Technology Institute, Rice University, 01 December 1999.
  2. L. Matthies, "Invited keynote speaker," IASTED Robotics'99 Conference, Santa Barbara, CA, 01 October 1999.
  3. 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, 01 September 1999.
  4. 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, 01 June 1999.
  5. 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, 01 May 1999.
  6. Andrew E. Johnson and Larry H. Matthies, "Precise image-based motion estimation for autonomous small body exploration," 5th Int'l Symp. Artificial Intelligence, Robotics and Automation in Space, 01 January 1999.
  7. T. T. Blackmon, L. Ngyuen, C. F. Neveu, D. Rasmussen, E. Zbinden, M. Maimone, L. H. 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," Human Vision and Electronic Imaging IV, San Jose, CA. 25-28 January, 1999., 01 January 1999.
1998
  1. Maimone, Matthies, Osborn, Rollins, Teza and Thayer, "A photo-realistic 3-D mapping system for extreme nuclear environments: Chornobyl," October, 1998 IROS Conference Proceedings vol III, Victoria, BC, 1521-1527., 01 October 1998.
  2. 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, 01 October 1998.
  3. L. Matthies, "Robotic perception for autonomous navigation of Mars rovers (Invited)," National Academy of Engineering, Irvine, CA, 01 September 1998.
  4. 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, 01 June 1998.
  5. 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, 01 June 1998.
  6. C. Olson and L. Matthies, "Maximum likelihood rover localization by matching range maps," IEEE International Conference on Robotics and Automation (ICRA), Leuven, Belgium, 01 May 1998.
  7. 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, 01 May 1998.
1997
  1. J.R. Matijevic, et al., "Characterization of the Martian surface deposits by the Mars Pathfinder rover, Sojourner," Science 278 (5344), 1765-1768, 05 December 1997.
  2. 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, 01 September 1997.
  3. 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, 01 August 1997.
  4. 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, 01 June 1997.
  5. 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, 01 April 1997.
  6. 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, 01 February 1997.
1996
  1. J. Weber and L. Matthies, "A obstacle representation for off-road autonomous driving," Proceedings of the Intelligent Vehicles Symposium, Tokyo, J, 01 September 1996.
  2. 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, 01 July 1996.
  3. 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,, 01 March 1996.
  4. 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, 01 January 1996.
1995
  1. 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, 01 September 1995.
  2. I. Davis, A. Kelly, A. Stentz, L.Matthies,, "Terrain Typing for Real Robots," Proceedings of the Intelligent Vehicles Symposium, Detroit, MI, 01 September 1995.
  3. 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, 01 August 1995.
  4. 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, 01 August 1995.
1993
  1. 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, 01 September 1993.
  2. 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, 01 May 1993.
  3. C. Anderson and L. Matthies, "Near Real-time Stereo Vision System," Patent No. 5,179,441, 12 January 1993.
1992
  1. L. Matthies, "Passive Stereo Range Imaging for Semi-autonomous Land Navigation," Journal of Robotic Systems, Special Issue on Passive Ranging, vol 9, no. 6, 01 September 1992.
  2. 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, 01 May 1992.
1991
  1. L. Matthies, "Viewpoint on Passive Ranging (Invited)," IEEE Special Workshop on Passive Ranging , Princeton, NJ, 01 October 1991.
  2. Panel, "Applications in Robotics and Navigation," National Science Foundation Workshop on Future Directions in Computer Vision, 01 June 1991.
  3. L. Matthies, "Stereo Vision for Planetary Rovers: Stochastic Modeling to Near Real-time Implementation," Technical report JPL D-8131, Jet Propulsion Laboratory, 01 January 1991.
1989
  1. 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, 01 November 1989.
  2. 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., 01 September 1989.
  3. L. Matthies, "Bootstrap Algorithms for Dynamic Stereo Vision," IEEE-ASSPS Sixth Workshop on Multi-dimensional Signal Processing, Monterey, CA, 01 September 1989.
  4. L.Matthies, "Dynamic Stereo Vision," Technical report CMU-CS-89-195, Carnegie Mellon University, Ph.D. thesis., 01 January 1989.
1988
  1. 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, 01 June 1988.
  2. L. Matthies, "Depth from Stereo Image Sequences (Invited)," International Workshop on High Precision Navigation, Stuttgart, West Germany, 01 May 1988.
  3. 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., 01 April 1988.
1987
  1. 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., 01 April 1987.
1986
  1. 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., 01 November 1986.
1985
  1. 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, 01 March 1985.
1984
  1. L. Matthies and C. Thorpe, "Experience with Visual Robot Navigation (Invited)," IEEE OCEANS'84 Conference, Annapolis, MD, 01 September 1984.
  2. C. Thorpe and L. Matthies, "Path Relaxation: Path Planning for aMobile Robot (Invited)," IEEE OCEANS'84 Conference, Annapolis, MD, 01 September 1984.
1980
  1. B. McCann and L. Matthies, "The CRG Frame Buffer," Technical Report CR-80- 16, Computer Research Laboratory, Tektronix Laboratories, Beaverton, Oregon, 01 January 1980.