Larry Matthies

TL;DR: A real-time system that enables a highly capable dynamic quadruped robot to maintain an accurate six-degree-of-freedom pose estimate over long distances traversed through complex, dynamic outdoor terrain, during day and night, in the presence of camera occlusion and saturation, and occasional large external disturbances, such as slips or falls is presented.

TL;DR: In this article, a new unified descriptor, called relation history image (RHI), is proposed to detect and recognize activities of different types that happen in sequence or concurrently, which can be extracted from all the activity types we are interested in.

TL;DR: The design and initial operations of SRR-1 (Sample Return Rover), a novel 10 kg-class four wheel, hybrid composite-metal vehicle for rapid (10 - 30 cm/sec) autonomous location, rendezvous, and retrieval of collected samples under integrated visual and beacon guidance, and development of the FIDO rover (Field Integrated Design and Operations), a new high mobility, multi-km range science vehicle.

TL;DR: This work develops a sliding window filter that focuses computational resources on accurately estimating the immediate spatial surroundings using a sliding time window of the most recent sensor measurements and gives a derivation of the SLAM problem from the Gaussian non-linear least squares optimization perspective.

TL;DR: This work presents a real time algorithm that detects foliage, using a range from a rotating ladar, and exploits the expected localities and continuities of an obstacle, in both space and time.