Jane Mulligan's Home Page

I am an assistant research professor
in Computer Science at the
University of Colorado at Boulder.

E-mail:
Phone: 303-492-4591
FAX: 303-492-2844

ECOT 527,
Department of Computer Science,
The University of Colorado at Boulder,
Boulder, CO

The Intelligence in Action Lab

What I do

I work on speed, accuracy and representational issues for real-time stereo reconstruction for telepresence. I am interested in the feasibility of telepresence systems as a communications medium for remote collaboration. I also work on sensing and feature selection for autonomous robot tasks.

Research Area:
Stereo vision; Modeling and prediction from depth sequences; Telepresence; Experimental analysis of robotic tasks; autonomous navigation; robotic manipulation; integration of computational vision and manipulation.

Students

Advice to PhD Students.

Recent Publications:

  1. Wei Xu and Jane Mulligan, Robust relative pose estimation with integrated cheirality constraint, In Proc. 19th Intl. Conf on Pattern. Recognition , Dec. 2008.
  2. Michael J. Procopio, Jane Mulligan, and Greg Grudic. Learning in Dynamic Environments with Ensemble Selection for Autonomous Outdoor Robot Navigation. In Proc. Intl. Conf on Intelligent Robots and Systems (IROS08) , NIce, France, Sept. 2008.
  3. Michael J. Procopio, Jane Mulligan, and Greg Grudic. Long-term learning using multiple models for outdoor autonomous robot navigation. In Proc. Intl. Conf on Intelligent Robots and Systems (IROS07), San Diego, CA, Oct. 2007.
  4. Michael W. Otte, Scott G. Richardson, Jane Mulligan, and Gregory Grudic. Local path planning in image space for autonomous robot navigation in unstructured environments. In Proc. Intl. Conf on Intelligent Robots and Systems (IROS07), San Diego, CA, Oct. 2007.
  5. Greg Grudic, Jane Mulligan, Michael Otte, and Adam Bates. Online learning of multiple perceptual models for navigation in unknown terrain. In Proceedings of the 6th International Conference on Field and Service Robotics, Chamonix, Fr, 2007.
  6. Michael Procopio, Thomas Strohmann, Adam Bates, Greg Grudic, and Jane Mulligan. Using binary classifiers to augment stereo vision for enhanced autonomous robot navigation.Computer Science CU-CS-1027-07, University of Colorado, Boulder, CO, April 2007.
  7. Jane Mulligan. Speed versus quality - measuring and optimizing stereo for telepresence. In Laurence Harris and Michael Jenkin, editors, Computational Vision in Neural and Machine Systems. Cambridge University Press, 2007.
  8. G. Grudic and J. Mulligan. Outdoor path labeling using polynomial mahalanobis distance. In Proceedings of Robotics: Science and Systems, Philadelphia, USA, August 2006. [pdf]
  9. P. Sambhoos, A. Hasan, R. Han, T. Lookabaugh, and J. Mulligan. "Weeblevideo: Wide angle field-of-view video sensor networks". In Workshop on Distributed Smart Cameras (DSC06), 2006, held in conjunction with ACM SenSys 2006.
  10. Wei Xu, John Penners, and Jane Mulligan. Recording real worlds for playback in a virtual exercise environment. Computer Science CU-CS 1013-06, University of Colorado at Boulder, Boulder, CO, 2006. [pdf] .
  11. Nicole Atzpadin and Jane Mulligan . Stereo Analysis. In O. Schreer, P. Kauff, and T. Sikora, editors, 3D Videocommunication , Chapter 7. Wiley, New York, 2005. [publisher]
  12. Jane Mulligan and Greg Grudic. Topological mapping from image sequences. In Proceedings of the IEEE Workshop on Learning in Computer Vision and Pattern Recognition (with CVPR05) , June 2005. [pdf]
  13. Gregory Grudic and Jane Mulligan. Topological mapping with multiple visual manifolds. In Proceedings of Robotics: Science and Systems, 2005. [pdf]
  14. Jane Mulligan. Upper body pose estimation from stereo and hand-face tracking. In Proceedings of the Second Canadian Conference on Computer and Robot Vision (CRV 2005) , 2005. [pdf]
  15. Jane Mulligan, Xenophon Zampoulis, Nikhil Kelshikar, and Kostas Daniilidis. Stereo-based environment scanning for immersive telepresence. IEEE Transactions on Circuits and Systems for Video Technology, pp. 304-320, Vol 14:3, March 2004.

CSCI 5722 Computer Vision (Spring'08)

Campus maps. Engineering Center Map.

My Curriculum Vitae.

Useful pointers.

GRASP Trinocular dataset (Buffalo Bill)

Greg Grudic and I organized the NIPS Workshop on Machine Learning Based Robotics in Unstructured Environments (2005). and the NIPS 2006 Workshop on Learning Applied to Ground Robots: Sensing and Locomotion.