Publications and Supervised Theses

(See also the RVSN group's research summary and my former group's (the graphics group's) publication list.)

2010:
Seth Teller,
Autonomous passenger vehicles,
in the McGraw-Hill 2010 Yearbook of Science and Technology (to appear),
pp. 28-31, McGraw-Hill, January 2010, New York, NY (ISBN 0071639284 / 9780071639286)
2009:
Olivier Koch and Seth Teller,
Body-Relative Navigation Guidance Using Uncalibrated Cameras,
in ICCV 2009 (to appear),
Kyoto, Japan, Sept./Oct. 2009 (PDF slides)
David Moore, Albert S. Huang, Matthew Walter, Edwin Olson, Luke Fletcher, John Leonard, and Seth Teller,
Simultaneous Local and Global State Estimation for Robotic Navigation,
in ICRA 2009,
Kobe, Japan, May 2009 (PDF slides)
Albert S. Huang, David Moore, Matthew Antone, Edwin Olson and Seth Teller,
Finding multiple lanes in urban road networks with vision and lidar,
in Autonomous Robots,
Volume 26, Numbers 2-3 / April, 2009
Seth Teller, Jonathan Battat, Ben Charrow, Dorothy Curtis, Russell Ryan, Jonathan Ledlie, and Jamey Hicks,
Organic Indoor Location Discovery,
As MIT CSAIL Technical Report MIT-CSAIL-TR-2008-075
2008:
Olivier Koch and Seth Teller,
A Self-Calibrating, Vision-Based Navigation Assistant,
in the Workshop on Computer Vision Applications for the Visually Impaired, A Satellite Workshop of ECCV 2008 (CVAVI 08),
Marseille, France, Oct. 2008
John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew Walter, David Barrett, Alexander Epstein, Keoni Maheloni, Katy Moyer, Troy Jones, Ryan Buckley, Matthew Antone, Robert Galejs, Siddhartha Krishnamurthy, and Jonathan Williams,
A Perception-Driven Autonomous Urban Vehicle,
in Journal of Field Robotics Special Issue on the DARPA Urban Challenge, pp. 1-48, 2008 (DOI: 10.1002/rob.20262).
Luke Fletcher, Seth Teller, Edwin Olson, David Moore, Yoshiaki Kuwata, Jonathan How, John Leonard, Isaac Miller, Mark Campbell, Dan Huttenlocher, Aaron Nathan, and Frank-Robert Kline,
The MIT-Cornell Collision and Why it Happened,
in Journal of Field Robotics Special Issue on the DARPA Urban Challenge, Volume 25, Issue 10, pp. 775-807, October 2008. 2008.
Albert Huang, David Moore, Matthew Antone, Edwin Olson, and Seth Teller,
Multi-Sensor Lane Finding in Urban Road Networks,
in Proc. RSS (to appear), Zurich, Switzerland, June 2008.
Albert Huang and Seth Teller,
Non-Metrical Navigation Through Visual Path Control,
MIT CSAIL Technical Report MIT-CSAIL-TR-2008-032, June 2008.
Jun-geun Park, Erik Demaine, and Seth Teller,
Moving-Baseline Localization,
in Proc. IPSN, St. Louis, Missouri, April 2008, pp. 15-26.
Peter Sand and Seth Teller,
Particle Video: Long-Range Motion Estimation using Point Trajectories,
in IJCV Vol. 80, No. 1, October 2008, pp. 72-91.
2007:
Olivier Koch and Seth Teller,
Wide-Area Egomotion Estimation from Known 3D Structure,
in Proc. CVPR (Computer Vision and Pattern Recognition) 2007, Minneapolis, MN, pp. 1-8, 17-22 June 2007.
Edwin Olson, John Leonard, and Seth Teller,
Spatially-Adaptive Learning Rates for Online Incremental SLAM (with errata corrected at pdf),
in Proc. RSS (Robotics: Science and Systems) 2007 (to appear), Atlanta, GA, pp. TBD, 27-30 June 2007.
Emily Whiting, Jonathan Battat, and Seth Teller,
Generating a Topological Model of Multi-Building Environments from Floorplans,
in Proc. CAAD (Computer-Aided Architectural Design) Futures 2007, Sydney, Australia, pp. 115-128, 11-13 July 2007 (Awarded "Best Presentation"!).
J. Leonard, D. Barrett, J. How, S. Teller, M. Antone, M. Berger, S. Campbell, A. Epstein, G. Fiore, L. Fletcher, E. Frazzoli, A. Huang, T. Jones, O. Koch, Y. Kuwata, K. Mahelona, D. Moore, K. Moyer, E. Olson, S. Peters, C. Sanders, J. Teo, and M. Walter,
Team MIT Urban Challenge Technical Report, MIT-CSAIL-TR-2007-058, 2007.
2006:
Edwin Olson, John Leonard, and Seth Teller,
Robust Range-Only Beacon Localization (preprint),
in Journal of Oceanic Engineering, 31(4), pp. 949-958, October 2006.
Carrick Detweiler, John Leonard, Daniela Rus and Seth Teller,
Passive Mobile Robot Localization within a Fixed Beacon Field,
in Proc. WAFR (Seventh International Workshop on the Algorithmic Foundations of Robotics), New York, NY, July 2006.
Peter Sand and Seth Teller,
Particle Video: Long-Range Motion Estimation Using Point Trajectories,
in Proc. Computer Vision and Pattern Recognition, New York, NY, pp. 2195-2202, June 2006.
Edwin Olson, John Leonard, and Seth Teller,
Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates,
in Proc. ICRA (International Conference on Robotics
and Automation), Orlando FL, pp. 2262-2269, May 2006.
2005:
Edwin Olson, Matthew Walter, John Leonard, and Seth Teller,
Single-Cluster Spectral Graph Partitioning for Robotics Applications,
in Proceedings of Robotics: Science and Systems,
Cambridge MA, June 2005, pp. 265--272.
Nissanka Bodhi Priyantha, Hari Balakrishnan, Erik Demaine, and Seth Teller,
Mobile-Assisted Localization in Wireless Sensor Networks,
in Proceedings of IEEE InfoCom 2005, March 2005, pp. 172--183.
(Addendum: Proposition 2 should additionally state that n_0 and n_1 are
known to be on the same side of the line through m_0, m_1, and m_2.)
2004:
David Moore, John Leonard, Daniela Rus, and Seth Teller,
Robust distributed network localization with noisy range measurements (Best paper award!),
in Proceedings of the Second ACM Conference on Embedded Networked Sensor Systems (SenSys '04),
Baltimore, MD, pp. 50-61, November 2004.
David Diel, Paul DeBitetto, and Seth Teller,
Epipolar Constraints for Vision-Aided Inertial Navigation,
in Proc. 7th IEEE Workshop on Applications of Computer Vision /
IEEE Workshop on Motion and Video Computing (WACV/MOTION 2005),
January 2005, pp. 221--228.
Peter Sand and Seth Teller,
Video Matching,
in ACM Transactions on Graphics (Proc. SIGGRAPH), Vol. 22, No. 3, July 2004, pp. 592-599.
Edwin Olson, John Leonard, and Seth Teller,
Robust Range-Only Beacon Localization,
in Proc. IEEE Autonomous Underwater Vehicles:
Workshop on Multiple AUV Operations,
Sebasco Estates ME, June 2004, pp. 66-75.
Matthew Brand, Matthew Antone, and Seth Teller,
Spectral solution of large-scale extrinsic camera calibration as a graph embedding problem,
in ECCV, May 2004, pp. 262-273.

Michael Bosse, Paul Newman, John Leonard, and Seth Teller,
Simultaneous Localization and Map Building in Large-Scale
Cyclic Environments Using the Atlas Framework,
in the International Journal of Robotics Research,
23(12), pp. 1113-1139, December 2004.

2003:

Seth Teller, Jiawen Chen and Hari Balakrishnan,
Pervasive Pose-Aware Applications and Infrastructure,
in IEEE CG&A, July/August 2003, pp. 14-18.

Michael Bosse, Paul Newman, John Leonard, Martin Soika, Wendelin Feiten, and Seth Teller,
An Atlas Framework for Scalable Mapping (Extended abstract),
in the International Conference on Robotics and Automation, Taipei, Taiwan, September 2003, pp. 1899-1906.

Michael Bosse, Richard Rikoski, John Leonard, and Seth Teller,
Vanishing Points and 3D Lines from Omnidirectional Video,
in The Visual Computer, Special Issue on Computational Video,
Volume 19, Number 6, October 2003, pp. 417-430.

Nissanka B. Priyantha, Hari Balakrishnan, Erik Demaine, and Seth Teller,
Anchor-Free Distributed Localization in Sensor Networks,
in Proc. 1st International Conference on Embedded Networked Sensor Systems (SenSys 2003),
Los Angeles, California, USA, November 5-7, 2003, pages 340-341.

David Dobkin and Seth Teller,
Computer Graphics,
in the CRC Handbook of Computational Geometry and Computer Graphics (2nd Ed.), 2003.

Seth Teller, Matthew Antone, Zachary Bodnar, Michael Bosse, Satyan Coorg, Manish Jethwa, and Neel Master:
Calibrated, Registered Images of an Extended Urban Area,
in the International Journal of Computer Vision, 53(1), pp. 93--107, June 2003.

2002:
Xiaoguang Wang, Stefano Totaro, Franck Taillandier, Allen Hanson, and Seth Teller,
Recovering Facade Texture and Microstructure from Real-World Images,
in Proc. 2nd International Workshop on Texture Analysis and Synthesis,
in conjunction with ECCV 2002, June 2002, pp. 145--149.

Xiaoguang Wang, Stefano Totaro, Franck Taillandier, Allen Hanson, and Seth Teller,
Recovering Facade Texture and Microstructure from Real-World Images,
in Proc. ISPRS Commission III Symposium on Photogrammetric Computer Vision,
Graz, Austria, September 2002, pp. A381-386.

Michael Bosse, Richard Rikoski, John Leonard, and Seth Teller,
Vanishing Points and 3D Lines from Omnidirectional Video,
in Proc. IEEE ICIP (International Conference on Image Processing),
Rochester NY, September 2002, pp. III-513 -- III-516.

Matthew Antone and Seth Teller,
Scalable, Extrinsic Calibration of Omni-Directional Image Networks,
in the International Journal of Computer Vision, 49(2/3), pp. 143-174, Sept./Oct. 2002.

2001:

Michael Bosse, Richard Rikoski, John Leonard, and Seth Teller,
Vanishing Points and 3D Lines from Omnidirectional Video,
in Proc. IEEE ICIP (International Conference on Image Processing),
Rochester NY, September 2002, pp. III-513 -- III-516.

Zach Bodnar [AUP Report, MIT]:
A Web Interface for a Large Calibrated Image Dataset, May 2001.

Scalable, Controlled Image Capture in Urban Environments
MIT LCS Technical Report 825, September 2001.

Matthew Antone and Seth Teller,
Scalable, Absolute Position Recovery for Omni-Directional Image Networks,
in Proc. IEEE CVPR, December 2001.

Seth Teller, Matthew Antone, Zachary Bodnar, Michael Bosse, Satyan Coorg, Manish Jethwa, and Neel Master:
Calibrated, Registered Images of an Extended Urban Area,
[also: browse the dataset online!],
in Proc. IEEE CVPR, December 2001.

Ilya Shlyakhter, Max Rozenoer, Julie Dorsey, and Seth Teller,
Reconstructing 3D Tree Models from Instrumented Photographs
in IEEE CG&A 21(3), pp. 53-61, May/June 2001.

Nissanka Bodhi Priyantha, Allen Miu, Hari Balakrishnan, and Seth Teller,
The Cricket Compass for Context-Aware Mobile Applications,
In Proc. 7th ACM International Conference on Mobile Computing,
and Networking (MOBICOM), pp. 1--14, July 2001.

with Rick Bukowski, Laura Downs, Maryann Simmons, and Carlo Séquin,
Citywalk: A Second Generation Walkthrough System,
in Proc. VSMM, October 2001 [Best paper award!].
 
[The following three reports are not about the City Scanning project but rather about an independent effort to produce semantically useful models of building exteriors and interiors through compilation of 2D CAD from Physical Plant.  We will use these to validate our acquired models.]

Todd Drury [AUP Report, MIT]:
Generating a Three-Dimensional Campus Model, also in word format,
May 2001.

Andreas Wehowsky [Independent Project Report, MIT]:
Procedural Generation of a 3-D Model of the MIT Campus,
May 2001.

Keyuan Xu [UROP Report, MIT]:
Three-Dimensional Reconstruction of Campus Buildings, also in word format,
May 2001.

2000:

Matthew Antone and Seth Teller,
Automatic Recovery of Camera Positions in Urban Scenes,
MIT LCS Technical Report 814, December, 2000.

Franck Taillandier [MSc Thesis]:
Texture and Relief Estimation from Multiple Georeferenced Images

Kavita Bala, Julie Dorsey, and Seth Teller,
Radiance Interpolants for Bounded-Error Interactive Ray Tracing
in ACM Transactions on Graphics, 18(3):213-256, July 2000.

Matthew Antone and Seth Teller,
Automatic Recovery of Relative Camera Rotations in Urban Scenes,
in Proc. CVPR, pp. II-282--289, June 2000.

Adam Kropp, Neel Master, and Seth Teller:
Acquiring and Rendering High-Resolution Spherical Mosaics,
in Proceedings IEEE Workshop on OmniDirectional Vision, June, 2000, pp. 47-53.

Satyan Coorg and Seth Teller,
Spherical Mosaics with Quaternions and Dense Correlation
in the International Journal of Computer Vision, 37(3):259-273, June 2000.

Kari Anne Høier Kjølaas [MEng thesis]:
Automatic Furniture Population of Large Architectural Models
2000.

Michael Bosse, Douglas de Couto, and Seth Teller,
Eyes of Argus: Georeferenced Imagery in Urban Environments,
in GPS World, April 2000, pp. 20-30.

1999:

Michael Hohmeyer and Seth Teller,
Determining the Lines Through Four Lines,
in the Journal of Graphics Tools, 4(3):11-22, 1999.

Eric Amram, Michael Werman, and Seth Teller,
Dense Matching by Conservative Search of Transformation Space,
unpublished manuscript.

Kavita Bala, Julie Dorsey, and Seth Teller,
Interactive Scene Editing Using Ray Segment Trees
in Proc. Eurographics Workshop on Rendering, pp. 31-44/39-52, June 1999.

Satyan Coorg and Seth Teller,
Extracting Textured Vertical Facades from Controlled Close-Range Imagery,
in Proc. CVPR, pp. 625-632, June 1999.

with John Alex:
Immediate-Mode Ray-Casting,
MIT LCS Technical Report 784, June 1999.

1998:

Toward Urban Model Acquisition from Geo-Located Images,
in Proc. Pacific Graphics '98, pp 45-51, Singapore, October 1998.

Automated Urban Model Acquisition: Project Rationale and Status,
in Proc. 1998 Image Understanding Workshop, November 1998, pp. 455-462
(also in Bulletin de la SFPT n. 153 (1999-1), pp. 56-63, June 1999).

Marek Teichmann and Seth Teller,
Assisted Articulation of Closed Polygonal Models,
in Prof. 9th Eurographics Workshop on Animation and Simulation, Lisbon, Portugal, July 1998, pp. 87--102.

Marek Teichmann and Seth Teller,
Polygonal Approximation of Voronoi Diagrams of Triangles in Three Dimensions,
also MIT LCS Technical Report 766, January 1998.

Nathan Boyd, Brandon Porter, Nick Tornow, and Seth Teller,
Distributed Development and Teaching of Algorithmic Concepts,
in Proc Siggraph '98 (Educational Track), July 1998, pp. 94-101.

Tara Schenkel and Seth Teller,
The MIT City Scanning Project (expository video)

John Alex and Seth Teller,
Frustum Casting for Progressive, Interactive Rendering,
MIT LCS Technical Report 740, January 1998.

Satyan Coorg and Seth Teller,
Automatic Extraction of Textured Vertical Facades from Pose Imagery,
MIT LCS Technical Report 729, January 1998.

Satyan Coorg, Neel Master, Seth Teller,
Acquisition of a Large Pose-Mosaic Dataset,
in Proc. CVPR, June 1998, pp. 872--878
(an early TR is here).

1997:

David Dobkin and Seth Teller,
Computer Graphics,
in CRC Handbook of Discrete and Computational Geometry, CRC Press, 1997.

Michael Capps and Seth Teller,
Communications Visibility in Shared Virtual Worlds
in Workshop on Distributed System Aspects of Sharing a Virtual Reality,
Proceedings of the Sixth Workshops on Enabling Technologies: Infrastructure for Collaborative Enterprises,
Cambridge, MA, June 18-20, 1997, pp. 187-192.

Automatic Acquisition of Hierarchical, Textured Geometric Models of Urban Environments: Project Plan,
in Proc. 1997 Image Understanding Workshop, pp. 767-770, May 1997.

George Chou and Seth Teller,
Multi-Image Correspondence Using Geometric and Structural Constraints,
in Proc. 1997 Image Understanding Workshop, pp. 869-874, May 1997.

Satyan Coorg and Seth Teller,
Matching and Pose Refinement with Camera Pose Estimates,
in Proc. 1997 Image Understanding Workshop, pp. 857-862, May 1997.

J.P. Mellor, Tomás Lozano-Pérez, and Seth Teller,
Dense Depth Maps for Epipolar Images (revision of AI Lab Tech Memo 1593),
in Proc. 1997 Image Understanding Workshop, pp. 893-900, May 1997.

J.P. Mellor, Tomás Lozano-Pérez, and Seth Teller,
Dense Depth Maps for Epipolar Images,
MIT AI Lab Technical Memo 1593.

Satyan Coorg and Seth Teller,
Real-Time Occlusion Culling for Models with Large Occluders,
in Proc. 1997 Symposium on Interactive 3D Graphics, pp. 83-90.

1996:

Kavita Bala, Julie Dorsey, and Seth Teller,
Conservative Radiance Envelopes for Ray Tracing,
in Proc. 7th Eurographics Rendering Workshop, pp. 257-268, June 1996.

Stephen Hardt and Seth Teller,
High-Fidelity Radiosity Rendering at Interactive Rates,
in Proc. 7th Eurographics Rendering Workshop, pp. 71-80, June 1996.

Satyan Coorg and Seth Teller,
Temporally Coherent Conservative Visibility,
In Proc. 12th Annual ACM Symposium on
Computational Geometry, pp. 78-87, Philadelphia, PA. May 24-26, 1996.

Rick Lewis [Master's Thesis, UC Berkeley]:
Generating Three-Dimensional Building Models from Two-Dimensional Architectural Plans,
May 1996.

Brian Gladstein [AUP Report, MIT]:
Berkeley/Princeton Radiosity Walkthrough System: MIT LCS Installation and Customization, also ps and html,
May 1996.

with Bernard Chazelle (Task Force Chair) and 36 other authors:
The Computational Geometry Impact Task Force's report
"Application Challenges to Computational Geometry," also as pdf.
Also Princeton CS Dept. Technical Report TR-521-96, April, 1996.

Satyan Coorg and Seth Teller,
A Spatially and Temporally Coherent Object Space Visibility Algorithm,
MIT LCS Technical Report 546.

Tom Funkhouser, Seth Teller, Delnaz Khorramabadi, and Carlo Séquin,
The UCB System for Interactive Visualization of Large Architectural Models,
In Presence, Vol. 5, No. 1, Winter (January) 1996, pp. 13-44.

1995:

Well, I did write a lot of grant proposals that year ...

1994:

Seth Teller, Celeste Fowler, Tom Funkhouser, and Pat Hanrahan:
Partitioning and Ordering Large Radiosity Computations,
in Computer Graphics (Proc. Siggraph '94), 28:443-450, pp. 443-450.

Seth Teller,
A Conservative O(m n d)-Time Infeasibility Test for Linear Programs Posed Within a Convex Region,
unpublished manuscript.

1993:

1992:

1991:

1990:

1989:

[Note: UCB CS Division Technical Reports can be found here.]

Back to Seth Teller's homepage.