Publications

[IEEE copyright notice] [Bibtex entries]

2025

• Mitigating Covariate Shift in Imitation Learning for Autonomous Vehicles Using Latent Space Generative World Models
  A. Popov, A. Degirmenci, D. Wehr, S. Hegde, R. Oldja, A. Kamenev, B. Douillard, D. Nistér, U. Muller, R. Bhargava, S. Birchfield, N. Smolyanskiy
  International Conference on Robotics and Automation (ICRA), Atlanta, May 2025 (under review)
• SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation - website
  C.-C. Hsu, B. Wen, J. Xu, Y. Narang, X. Wang, Y. Zhu, J. Biswas, S. Birchfield
  International Conference on Robotics and Automation (ICRA), Atlanta, May 2025 (under review)
• GRS: Generating Robotic Simulation Tasks from Real-World Images
  A. Zook, F.-Y. Sun, J. Spjut, V. Blukis, S. Birchfield, J. Tremblay
  International Conference on Robotics and Automation (ICRA), Atlanta, May 2025 (under review)

2024

• FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects - website - code
  B. Wen, W. Yang, J. Kautz, S. Birchfield
  Computer Vision and Pattern Recognition (CVPR), Seattle, June 2024
  Press: NVIDIA AI post
  News: #1 on BOP leaderboard for unseen 6D pose estimation (2023/11/19 – 2024/09/03)
  Award: BOP Challenge 2024 "Early Bird" Award
• Neural Implicit Representation for Building Digital Twins of Unknown Articulated Objects - website - code
  Y. Weng, B. Wen, J. Tremblay, V. Blukis, D. Fox, L. Guibas, S. Birchfield
  Computer Vision and Pattern Recognition (CVPR), Seattle, June 2024
• NeRFDeformer: NeRF Transformation from a Single View via 3D Scene Flows - website - code
  Z. Tang, Z. Ren, X. Zhao, B. Wen, J. Tremblay, S. Birchfield, A. Schwing
  Computer Vision and Pattern Recognition (CVPR), Seattle, June 2024
• DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation - website - code
  B. P. Duisterhof, M. Zhao, Y. Yao, J.-W. Liu, J. Seidenschwarz, M. Z. Shou, D. Ramanan, S. Song, S. Birchfield, B. Wen, J. Ichnowski
  Workshop on the Algorithmic Foundations of Robotics (WAFR), Chicago, October 2024
  
• Partial-View Object View Synthesis via Filtered Inversion - website
  F.-Y. Sun, J. Tremblay, V. Blukis, K. Lin, D. Xu, B. Ivanovic, P. Karkus, S. Birchfield, D. Fox, R. Zhang, Y. Li, J. Wu, M. Pavone, N. Haber
  3DV, Davos, Switzerland, March 2024
  Also in CVPR Workshop on Advances in NeRF for the Metaverse (XRNeRF), Vancouver, June 2023
• Unlocking the Secrets of Linear Complexity Sequence Model from A Unified Perspective - workshop
  Z. Qin, X. Shen, W. Sun, D. Li, S. Birchfield, R. Hartley, Y. Zhong
  ICML Workshop on Next Generation of Sequence Modeling Architectures, Vienna, Austria, July 2024

2023

• HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions - website
  A. Guo, B. Wen, J. Yuan, J. Tremblay, S. Tyree, J. Smith, S. Birchfield
  International Conference on Intelligent Robots and Systems (IROS), Detroit, Michigan, October 2023
• BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects - silent video - website
  B. Wen, J. Tremblay, V. Blukis, S. Tyree, T. Müller, A. Evans, D. Fox, J. Kautz, S. Birchfield
  Computer Vision and Pattern Recognition (CVPR), Vancouver, June 2023
• TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation - website
  T. Lee, J. Tremblay, V. Blukis, B. Wen, B.-U. Lee, I. Shin, S. Birchfield, I. S. Kweon, K.-J. Yoon
  Computer Vision and Pattern Recognition (CVPR), Vancouver, June 2023
• Affordance Diffusion: Synthesizing Hand-Object Interactions - website
  Y. Ye, X. Li, A. Gupta, S. De Mello, S. Birchfield, J. Song, S. Tulsiani, S. Liu
  Computer Vision and Pattern Recognition (CVPR), Vancouver, June 2023
• Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation - website - code
  Y. Lin, T. Müller, J. Tremblay, B. Wen, S. Tyree, A. Evans, P. A. Vela, S. Birchfield
  International Conference on Robotics and Automation (ICRA), London, May 2023
• RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control - website
  Z. Tang, B. Sundaralingam, J. Tremblay, B. Wen, Y. Yuan, S. Tyree, C. Loop, A. Schwing, S. Birchfield
  International Conference on Robotics and Automation (ICRA), London, May 2023
• One-Shot Neural Fields for 3D Object Understanding
  V. Blukis, T. Lee, J. Tremblay, B. Wen, I. S. Kweon, K.-J. Yoon, D. Fox, S. Birchfield
  CVPR Workshop on Advances in NeRF for the Metaverse (XRNeRF), Vancouver, June 2023
• Vicinity Vision Transformer
  W. Sun, Z. Qin, H. Deng, J. Wang, Y. Zhang, K. Zhang, N. Barnes, S. Birchfield, L. Kong, Y. Zhong
  IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), 45(10):12635-12649, October 2023
• Diff-DOPE: Differentiable Deep Object Pose Estimation - website
  J. Tremblay, B. Wen, V. Blukis, B. Sundaralingam, S. Tyree, S. Birchfield
  arXiv:2310.00463, October 2023
• Audio-Visual Segmentation with Semantics - code - benchmark - website
  J. Zhou, X. Shen, J. Wang, J. Zhang, W. Sun, J. Zhang, S. Birchfield, D. Guo, L. Kong, M. Wang, Y. Zhong
  IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI) - submitted

2022

• MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare - website
  Y. Labbé, L. Manuelli, A. Mousavian, S. Tyree, S. Birchfield, J. Tremblay, J. Carpentier, M. Aubry, D. Fox, J. Sivic
  Conference on Robot Learning (CoRL), Auckland, New Zealand, December 2022
• 6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark - code and dataset
  S. Tyree, J. Tremblay, T. To, J. Cheng, T. Mosier, J. Smith, S. Birchfield
  International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 2022
• Audio-Visual Segmentation - code - website - (earlier workshop paper)
  J. Zhou, J. Wang, J. Zhang, W. Sun, J. Zhang, S. Birchfield, D. Guo, L. Kong, M. Wang, Y. Zhong
  European Conference on Computer Vision (ECCV), Tel-Aviv, Israel, October 2022
• PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation
  A. Kamenev, L. Wang, O. B. Bohan, I. Kulkarni, B. Kartal, A. Molchanov, S. Birchfield, D. Nistér, N. Smolyanskiy
  International Conference on Robotics and Automation (ICRA), Philadelphia, Pennsylvania, May 2022
• Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image - website - code
  Y. Lin, J. Tremblay, S. Tyree, P. A. Vela, S. Birchfield
  International Conference on Robotics and Automation (ICRA), Philadelphia, Pennsylvania, May 2022
• Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation - website - code
  Y. Lin, J. Tremblay, S. Tyree, P. A. Vela, S. Birchfield
  International Conference on Robotics and Automation (ICRA), Philadelphia, Pennsylvania, May 2022
• Displacement-Invariant Cost Computation for Stereo Matching - paper
  Y. Zhong, C. Loop, W. Byeon, S. Birchfield, Y. Dai, K. Zhang, A. Kamenev, T. Breuel, H. Li, J. Kautz
  International Journal of Computer Vision (IJCV), 130(5):1196-1209, May 2022
• RTMV: A Ray-Traced Multi-View Synthetic Dataset for Novel View Synthesis - website - workshop
  J. Tremblay*, M. Meshry*, A. Evans, J. Kautz, A. Keller, S. Khamis, C. Loop, N. Morrical, T. Müller, K. Nagano, T. Takikawa, S. Birchfield
  ECCV Workshop on Learning to Generate 3D Shapes and Scenes, Tel-Aviv, Israel, October 2022

2021

• Self-Supervised Real-to-Sim Scene Generation
  A. Prakash, S. Debnath, J.-F. Lafleche, S. Birchfield, E. Cameracci, G. State, M. T. Law
  International Conference on Computer Vision (ICCV), Montreal, Canada, October 2021 (virtual)
• Joint Space Control via Deep Reinforcement Learning
  V. Kumar, D. Hoeller, B. Sundaralingam, J. Tremblay, S. Birchfield
  International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 2021 (virtual)
• Multi-View Fusion for Multi-Level Robotic Scene Understanding
  Y. Lin, J. Tremblay, S. Tyree, P. A. Vela, S. Birchfield
  International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 2021 (virtual)
• Deep Two-View Structure-from-Motion Revisited - code
  Y. Zhong, J. Wang, Y. Dai, S. Birchfield, K. Zhang, N. Smolyanskiy, H. Li
  Computer Vision and Pattern Recognition (CVPR), Nashville, Tennessee, June 2021 (virtual)
• DexYCB: A Benchmark for Capturing Hand Grasping of Objects - website
  Y.-W. Chao, S. Birchfield, D. Fox, A. Handa, U. Iqbal, J. Kautz, P. Molchanov, J. Tremblay, Y. Xiang, W. Yang, Y. Narang
  Computer Vision and Pattern Recognition (CVPR), Nashville, Tennessee, June 2021 (virtual)
• Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs - website
  Y. Zhu, J. Tremblay, S. Birchfield, Y. Zhu
  International Conference on Robotics and Automation (ICRA), Xi'an, China, May 2021 (virtual)
• Fast Uncertainty Quantification for Deep Object Pose Estimation - website
  G. Shi, Y. Zhu, J. Tremblay, S. Birchfield, F. Ramos, A. Anandkumar, Y. Zhu
  International Conference on Robotics and Automation (ICRA), Xi'an, China, May 2021 (virtual)
• NViSII: A Scriptable Tool for Photorealistic Image Generation - code
  N. Morrical, J. Tremblay, Y. Lin, S. Tyree, S. Birchfield, V. Pascucci, I. Wald
  ICLR Workshop on Synthetic Data Generation, Vienna, Austria, May 2021 (virtual)
• RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
  C.-A. Cheng, M. Mukadam, J. Issac, S. Birchfield, D. Fox, B. Boots, N. Ratliff
  IEEE Transactions on Automation Science and Engineering (T-ASE), 18(3):968-987, July 2021

2020

• Contextual Reinforcement Learning of Visuo-tactile Multi-fingered Grasping Policies
  V. Kumar, T. Hermans, D. Fox, S. Birchfield, J. Tremblay
  NeurIPS Workshop on Robot Learning, December 2020 (virtual)
• Indirect Object-to-Robot Pose Estimation from an External Monocular RGB Camera
  J. Tremblay, S. Tyree, T. Mosier, S. Birchfield
  International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Nevada, October 2020 (virtual)
• MVLidarNet: Real-Time Multi-Class Scene Understanding for Autonomous Driving Using Multiple Views
  K. Chen, R. Oldja, N. Smolyanskiy, S. Birchfield, A. Popov, D. Wehr, I. Eden, J. Pehserl
  International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Nevada, October 2020 (virtual)
• Camera-to-Robot Pose Estimation from a Single Image - website - code - blog
  T. E. Lee, J. Tremblay, T. To, J. Cheng, T. Mosier, O. Kroemer, D. Fox, S. Birchfield
  International Conference on Robotics and Automation (ICRA), Paris, France, May 2020 (virtual)
• Toward Sim-to-Real Directional Semantic Grasping
  S. Iqbal, J. Tremblay, T. To, J. Cheng, E. Leitch, A. Campbell, K. Leung, D. McKay, S. Birchfield
  International Conference on Robotics and Automation (ICRA), Paris, France, May 2020 (virtual)
• DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System - website
  A. Handa, K. Van Wyk, W. Yang, J. Liang, Y.-W. Chao, Q. Wan, S. Birchfield, N. Ratliff, D. Fox
  International Conference on Robotics and Automation (ICRA), Paris, France, May 2020 (virtual)
• Improving Deep Stereo Network Generalization with Geometric Priors
  J. Wang, V. Jampani, D. Sun, C. Loop, S. Birchfield, J. Kautz
  arXiv:2008.11098, August 2020

2019

• PAMTRI: Pose-Aware Multi-Task Learning for Vehicle Re-Identification Using Highly Randomized Synthetic Data - code
  Z. Tang, M. Naphade, S. Birchfield, J. Tremblay, W. Hodge, R. Kumar, S. Wang, X. Yang
  International Conference on Computer Vision (ICCV), Seoul, South Korea, October 2019
• Few-Shot Viewpoint Estimation
  H.-Y. Tseng, S. De Mello, J. Tremblay, S. Liu, S. Birchfield, M.-H. Yang, J. Kautz
  British Machine Vision Conference (BMVC), Cardiff, UK, September 2019
• CityFlow: A City-Scale Benchmark for Multi-Target Multi-Camera Vehicle Tracking and Re-Identification
  Z. Tang, M. Naphade, M.-Y. Liu, X. Yang, S. Birchfield, S. Wang, R. Kumar, D. Anastasiu, J.-N. Hwang
  Conference on Computer Vision and Pattern Recognition (CVPR), Long Beach, California, June 2019
• Robust Learning of Tactile Force Estimation through Robot Interaction - website
  B. Sundaralingam, A. Lambert, A. Handa, B. Boots, T. Hermans, S. Birchfield, N. Ratliff, D. Fox
  IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019
  Best Robot Manipulation Paper, finalist
• Structured Domain Randomization: Bridging the Reality Gap by Context-Aware Synthetic Data
  A. Prakash, S. Boochoon, M. Brophy, D. Acuna, E. Cameracci, G. State, O. Shapira, S. Birchfield
  IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019
• Multiple Hypothesis Tracking with Kinematics and Appearance Models on Traffic Flow for Wide Area Traffic Surveillance
  X. Zhao, D. Dawson, W. A. Sarasua, and S. Birchfield
  ASCE Journal of Civil Engineering, 33(3), May 2019

2018

• RMPflow: A Computational Graph for Automatic Motion Policy Generation
  C.-A. Cheng, M. Mukadam, J. Issac, S. Birchfield, D. Fox, B. Boots, N. Ratliff
  International Workshop on the Algorithmic Foundations of Robotics (WAFR), Mérida, México, December 2018
• Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects
  J. Tremblay, T. To, B. Sundaralingam, Y. Xiang, D. Fox, S. Birchfield
  Conference on Robot Learning (CoRL), Zürich, Switzerland, October 2018
  Press: NVIDIA, VentureBeat, ZDNet, Robot Report, HardOCP, Design World, rbr, R&A News, Sensors
• Falling Things: A Synthetic Dataset for 3D Object Detection and Pose Estimation
  J. Tremblay, T. To, and S. Birchfield
  CVPR Workshop on Real World Challenges and New Benchmarks for Deep Learning in Robotic Vision, Salt Lake City, Utah, June 2018
• On the Importance of Stereo for Accurate Depth Estimation: An Efficient Semi-Supervised Deep Neural Network Approach
  N. Smolyanskiy, A. Kamenev, and S. Birchfield
  CVPR Workshop on Autonomous Driving (WAD), Salt Lake City, Utah, June 2018
• Training Deep Networks with Synthetic Data: Bridging the Reality Gap by Domain Randomization
  J. Tremblay, A. Prakash, D. Acuna, M. Brophy, V. Jampani, C. Anil, T. To, E. Cameracci, S. Boochoon, and S. Birchfield
  CVPR Workshop on Autonomous Driving (WAD), Salt Lake City, Utah, June 2018
• Synthetically Trained Neural Networks for Learning Human-Readable Plans from Real-World Demonstrations
  J. Tremblay, T. To, A. Molchanov, S. Tyree, J. Kautz, and S. Birchfield
  IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018
  Press: NVIDIA, TechCrunch, VentureBeat, Slash Gear, ZD Net
• Region Growing Curriculum Generation for Reinforcement Learning
  A. Molchanov, K. Hausman, S. Birchfield, G. Sukhatme
  arXiv:1807.01425, July 2018
• Riemannian Motion Policies
  N. D. Ratliff, J. Issac, D. Kappler, S. Birchfield, D. Fox
  arXiv:1801.02854, January 2018

2015-2017

• Automated Traffic Surveillance System with Aerial Camera Arrays Imagery: Macroscopic Data Collection with Vehicle Tracking
  X. Zhao, D. Dawson, W. Sarasua, and S. Birchfield
  Journal of Computing in Civil Engineering, 31(3), 2017
• Toward Low-Flying Autonomous MAV Trail Navigation using Deep Neural Networks for Environmental Awareness
  N. Smolyanskiy, A. Kamenev, J. Smith, S. Birchfield
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver BC, Canada, September 2017
• Reverse-Projection Method for Measuring Camera MTF
  S. Birchfield
  Proceedings of the IS&T International Symposium on Electronic Imaging: Image Quality and System Performance XIV, January 2017
• RGBD Point Cloud Alignment Using Lucas-Kanade Data Association and Automatic Error Metric Selection
  B. Peasley and S. Birchfield
  IEEE Transactions on Robotics, 31(6):1548-1554, December 2015

2014

• Program Synthesis by Examples for Object Repositioning Tasks (video) (video of 3D extension)
  A. Feniello, H. Dang, and S. Birchfield
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, September 2014
• Occlusion-Aware Multi-View Reconstruction of Articulated Objects for Manipulation - preprint
  X. Huang, I. Walker, and S. Birchfield
  Robotics and Autonomous Systems, 62(4):497-505, April 2014
• Efficient Hierarchical Graph-Based Segmentation of RGBD Videos
  S. Hickson, S. Birchfield, I. Essa, and H. Christensen
  Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Columbus, Ohio, June 2014
• Fast and Accurate PoseSLAM by Combining Relative and Global State Spaces
  B. Peasley and S. Birchfield
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 2014
• An Inexpensive Method for Evaluating the Localization Performance of a Mobile Robot Navigation System
  H. Kikkeri, G. Parent, M. Jalobeanu, and S. Birchfield
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 2014

2013

• An Energy Minimization Approach to Automatic Traffic Camera Calibration Using MCMC
  D. N. Dawson and S. T. Birchfield
  IEEE Transactions on Intelligent Transportation Systems, 14(3):1095-1108, September 2013
• Classification of Clothing Using Mid-Level Layers
  B. Willimon, I. Walker, and S. Birchfield
  ISRN Robotics, vol. 2013, January 2013
• A Person Follower Mobile Robot System for Indoor Environments
  N. Pradhan, S. Birchfield, and T. Burg
  Workshop on Assistance and Service Robotics in a Human Environment (with IROS), Tokyo, Japan, November 2013
• Indoor Navigation for Mobile Robots using Predictive Fields
  N. Pradhan, T. Burg, S. Birchfield, and U. Hasirci
  Proceedings of the American Control Conference (ACC), Washington, DC, June 2013
• Replacing Projective Data Association with Lucas-Kanade for KinectFusion
  B. Peasley and S. Birchfield
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013
• A New Approach to Clothing Classification using Mid-Level Layers
  B. Willimon, I. Walker, and S. Birchfield
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013
• 3D Non-Rigid Deformable Surface Estimation Without Feature Correspondence
  B. Willimon, I. Walker, and S. Birchfield
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013
• Real-Time Obstacle Detection and Avoidance in the Presence of Specular Surfaces Using an Active 3D Sensor
  B. Peasley and S. Birchfield
  IEEE Workshop on Robot Vision (WoRV), Clearwater, Florida, January 2013

2012

• Interactive Perception of Rigid and Non-Rigid Objects
  B. Willimon, S. Birchfield, and I. Walker
  International Journal of Advanced Robotic Systems, vol. 9, September 2012
• Autonomous Exploration Using Rapid Perception of Low-Resolution Image Information
  V. N. Murali and S. T. Birchfield
  Autonomous Robots, 32(2):115-128, February 2012
• An Energy Minimization Approach to 3D Non-Rigid Deformable Surface Estimation Using RGBD Data
  B. Willimon, S. Hickson, I. Walker, and S. Birchfield
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, October 2012
• Accurate On-Line 3D Occupancy Grids Using Manhattan World Constraints
  B. Peasley, S. Birchfield, A. Cunningham, and F. Dellaert
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, October 2012
• Extracting Minimalistic Corridor Geometry from Low-Resolution Images
  Y. Li, V. Murali, and S. T. Birchfield
  Proceedings of the International Conference on Intelligent Robotics and Applications (ICIRA), Montreal, Quebec, Canada, October 2012
• Occlusion-Aware Reconstruction and Manipulation of 3D Articulated Objects
  X. Huang, I. Walker, and S. Birchfield
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, May 2012

2011

• Development of an Automated Algorithm for Tracking and Quantifying Barnacle Cyprid Settlement Behavior
  N. N. Pradhan, N. V. Gohad, B. Orihuela, T. C. Burg, S. T. Birchfield, D. Rittschof, and A. S. Mount
  Journal of Experimental Marine Biology and Ecology, volume 410, pages 21-28, December 2011
• Visual Detection of Lintel-Occluded Doors by Integrating Multiple Cues Using a Data-Driven Markov Chain Monte Carlo Process
  Z. Chen, Y. Li, and S. T. Birchfield
  Robotics and Autonomous Systems, 59(11):966-976, November 2011
• Model for Unfolding Laundry using Interactive Perception
  B. Willimon, S. Birchfield, and I. Walker
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, California, September 2011
• Robot Crowd Navigation using Predictive Position Fields in the Potential Function Framework
  N. Pradhan, T. C. Burg, and S. Birchfield
  Proceedings of the American Control Conference (ACC), San Francisco, California, July 2011
• Classification of Clothing using Interactive Perception
  B. Willimon, S. Birchfield, and I. Walker
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011
• Evaluation of a Computer-Vision Tracking System for Collecting Traffic Data
  N. K. Kanhere, S. T. Birchfield, W. A. Sarasua, and S. Khoeini
  Transportation Research Board Annual Meeting, Washington, D.C., January 2011
• Fast image mosaicking using optical flow
  K. Sapra and S. T. Birchfield
  Proceedings of IEEE Southeastcon Conference, March 2011

2010

• A Taxonomy and Analysis of Camera Calibration Methods for Traffic Monitoring Applications
  N. K. Kanhere and S. T. Birchfield
  IEEE Transactions on Intelligent Transportation Systems, 11(2): 441-452, June 2010
• Iris Segmentation in Non-Ideal Images Using Graph Cuts
  S. Pundlik, S. Birchfield, and D. Woodard
  Image and Vision Computing, 28(12):1671-1681, December 2010
• Traffic Monitoring of Motorcycles During Special Events Using Video Detection
  N. K. Kanhere, S. T. Birchfield, W. A. Sarasua, and S. Khoeini
  Transportation Research Record:  Journal of the Transportation Research Board, No. 2160, pp. 69-76, 2010
  (presented at TRB Annual Meeting, Washington, D.C., January 2010)
• Rapid Automated Detection of Roots in Minirhizotron Images
  G. Zeng, S. T. Birchfield, and C. E. Wells
  Machine Vision and Applications, 21(3):309-317, April 2010
• Vision-Based Path Following Without Calibration
  Z. Chen and S. T. Birchfield
  In Mobile Robots Navigation, ed. Alejandra Barrera, InTech, pages 427-446, March 2010  (ISBN 978-953-307-076-6)
• Algorithm for Discriminating Aggregate Gaze Points: Comparison with Salient Regions-Of-Interest
  T. J. Grindinger, V. N. Murali, S. Tetreault, A. T. Duchowski, S. T. Birchfield, and P. Orero
  Proceedings of the International Workshop on Gaze Sensing and Interactions (IWGSI), Queenstown, New Zealand, November 2010
• Image-Based Segmentation of Indoor Corridor Floors for a Mobile Robot
  Y. Li and S. Birchfield
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, October 2010
• Rigid and Non-Rigid Classification Using Interactive Perception
  B. Willimon, S. Birchfield, and I. Walker
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, October 2010

2009

• Qualitative Vision-Based Path Following
  Z. Chen and S. T. Birchfield
  IEEE Transactions on Robotics, 25(3):749-754, June 2009
• Adaptive Fragments-Based Tracking of Non-Rigid Objects Using Level Sets
  P. Chockalingam, N. Pradeep, and S. T. Birchfield
  Proceedings of the International Conference on Computer Vision (ICCV), Kyoto, Japan, September 2009
• Motion-Based View-Invariant Articulated Motion Detection and Pose Estimation Using Sparse Point Features
  S. J. Pundlik and S. T. Birchfield
  Proceedings of the International Symposium on Visual Computing, Las Vegas, Nevada, November 2009

2008

• Real-Time Motion Segmentation of Sparse Feature Points at Any Speed
  S. J. Pundlik and S. T. Birchfield
  IEEE Transactions on Systems, Man, and Cybernetics Part B: Cybernetics, 38(3):731-742, June 2008
• Real-Time Incremental Segmentation and Tracking of Vehicles at Low Camera Angles Using Stable Features
  N. K. Kanhere and S. T. Birchfield
  IEEE Transactions on Intelligent Transportation Systems, 9(1):148-160, March 2008
• Automatic Discrimination of Fine Roots in Minirhizotron Images
  G. Zeng, S. T. Birchfield, and C. E. Wells
  New Phytologist, 177(2):549-557, January 2008
• Automatic Camera Calibration Using Pattern Detection for Vision-Based Speed Sensing
  N. K. Kanhere, S. T. Birchfield, and W. A. Sarasua
  Transportation Research Record:  Journal of the Transportation Research Board, No. 2086, pp. 30-39, 2008
  (presented at TRB Annual Meeting, Washington, D.C., January 2008)
• Adapting Starburst for Elliptical Iris Segmentation
  W. J. Ryan, D. L. Woodard, A. T. Duchowski, and S. T. Birchfield
  Proceedings of the IEEE Second International Conference on Biometrics: Theory, Applications and Systems (BTAS), Washington, D.C., September 2008
• Joint Tracking of Features and Edges
  S. T. Birchfield and S. J. Pundlik
  Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Anchorage, Alaska, June 2008 
• Visual Detection of Lintel-Occluded Doors from a Single Image
  Z. Chen and S. T. Birchfield.
  IEEE Computer Society Workshop on Visual Localization for Mobile Platforms (in association with CVPR), Anchorage, Alaska, June 2008
• Autonomous Navigation and Mapping Using Monocular Low-Resolution Grayscale Vision
  V. N. Murali and S. T. Birchfield
  IEEE Computer Society Workshop on Visual Localization for Mobile Platforms (in association with CVPR), Anchorage, Alaska, June 2008
• Non-Ideal Iris Segmentation Using Graph Cuts
  S. J. Pundlik, D. L. Woodard, and S. T. Birchfield.
  Proceedings of the IEEE Computer Society Workshop on Biometrics (in association with CVPR), Anchorage, Alaska, June 2008
• Limbus/Pupil Switching for Wearable Eye Tracking Under Variable Lighting Conditions
  W. J. Ryan, A. T. Duchowski, and S. T. Birchfield
  Symposium on Eye Tracking Research and Applications (ETRA), Savannah, Georgia, pages 61-64, March 2008

2007

• Spatial Histograms for Region-Based Tracking
  S. T. Birchfield and S. Rangarajan
  Electronics and Telecommunications Research Institute (ETRI) Journal, 29(5):697-699, October 2007
• Correspondence as Energy-Based Segmentation
  S. T. Birchfield, B. Natarajan, and C. Tomasi
  Image and Vision Computing, 25(8):1329-1340, August 2007
• Person Following with a Mobile Robot Using Binocular Feature-Based Tracking
  Z. Chen and S. T. Birchfield
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, California, pages 815-820, October 2007
• Isomap Tracking with Particle Filtering
  N. Rane and S. T. Birchfield
  Proceedings of the IEEE International Conference on Image Processing (ICIP), San Antonio, Texas, vol. 2, pages 513-516, September 2007
• Real-Time Detection and Tracking of Vehicle Base Fronts for Measuring Traffic Counts and Speeds on Highways
  N. K. Kanhere, S. T. Birchfield, W. A. Sarasua, and T. C. Whitney
  Transportation Research Record:  Journal of the Transportation Research Board, No. 1993, pp. 155-164, 2007
  (presented at TRB Annual Meeting, Washington, D.C., January 2007)

2006

• Detecting and Measuring Fine Roots in Minirhizotron Images Using Matched Filtering and Local Entropy Thresholding
  G. Zeng, S. T. Birchfield, and C. E. Wells
  Machine Vision and Applications, 17(4):265-278, 2006
• Motion Segmentation at Any Speed
  S. J. Pundlik and S. T. Birchfield
  Proceedings of the British Machine Vision Conference (BMVC), Edinburgh, Scotland, pages 427-436, September 2006
• Qualitative Vision-Based Mobile Robot Navigation
  Z. Chen and S. T. Birchfield 
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, pages 2686-2692, May 2006
• Vehicle Segmentation and Tracking in the Presence of Occlusions
  N. K. Kanhere, S. T. Birchfield, and W. A. Sarasua
  Transportation Research Record:  Journal of the Transportation Research Board, No. 1944, pp. 89-97, 2006
  (presented at TRB Annual Meeting, Washington, D.C., January 2006)
• Automated Patient Facial Image Capture to Reduce Medical Error
  C. Feied, M. Gillam, J. Handler, and S. Birchfield
  American Medical Informatics Association (AMIA) Annual Symposium, Washington DC, November 2006
• Automatic Detection of Fine Roots in Minirhizotron Images
  G. Zeng, S. Birchfield, C. Wells, and D. Layne
  Proceedings of the American Society for Horticultural Science (ASHS) Annual Conference,  New Orleans, Louisiana, July 2006
• GIS-Based Roadway Video-logging using a Firewire Camera Combined with Satellite Differentially Corrected GPS
  W. Sarasua, N. Kanhere, and S. Birchfield 
  Proceedings of the 19th Geospatial Information Systems for Transportation Symposium, Columbus, Ohio, March 2006

2005

• Microphone Array Position Calibration by Basis-Point Classical Multidimensional Scaling
  S. T. Birchfield and A. Subramanya
  IEEE Transactions on Speech and Audio Processing, 13(5):1025-1034, September 2005
• Spatiograms Versus Histograms for Region-Based Tracking
  S. T. Birchfield and S. Rangarajan
  Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), San Diego, California, volume 2, pages 1158-1163, June 2005
• Vehicle Segmentation and Tracking from a Low-Angle Off-Axis Camera
  N. K. Kanhere, S. J. Pundlik, and S. T. Birchfield
  Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), San Diego, California, volume 2, pages 1152-1157, June 2005 
• Analysis of Neurite Outgrowth for a Laser Patterned Neuronal Culture
  S. K. Guduru, S. V. Narasimhan, S. T. Birchfield, and B. Z. Gao
  Proceedings of the 2nd International IEEE EMBS Special Topic Conference on Neural Engineering, Arlington, Virginia, March 2005
• Acoustic Localization by Interaural Level Difference
  S. T. Birchfield and R. Ganghishetty
  Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Philadelphia, Pennsylvania, vol. 4, pages 1109-1112, March 2005

2001-2004

• A Unifying Framework for Acoustic Localization
  S. T. Birchfield
  Proceedings of the 12th European Signal Processing Conference (EUSIPCO), Vienna, Austria, September 2004 
• Extension and Evaluation of MDS for Geometric Microphone Array Calibration
  A. Subramanya and S. T. Birchfield
  Proceedings of the 12th European Signal Processing Conference (EUSIPCO), Vienna, Austria, September 2004
• Geometric Microphone Array Calibration by Multidimensional Scaling
  S. T. Birchfield
  Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Hong Kong, April 2003
• Fast Bayesian Acoustic Localization
  S. T. Birchfield and D. K. Gillmor
  Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Orlando, Florida, May 2002
• Acoustic Source Direction by Hemisphere Sampling
  S. T. Birchfield and D. K. Gillmor
  Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Salt Lake City, Utah, May 2001
• Auditory and Visual Spatial Sensing, Presentation delivered at various companies, colleges, and universities, 2002-2004

1995-1999

• Depth and Motion Discontinuities
  S. T. Birchfield
  Ph.D. dissertation, Stanford University, June 1999
• Depth Discontinuities by Pixel-to-Pixel Stereo
  S. Birchfield and C. Tomasi
  International Journal of Computer Vision, 35(3): 269-293, December 1999
• Multiway Cut for Stereo and Motion with Slanted Surfaces -- erratum
  S. Birchfield and C. Tomasi
  Proceedings of the Seventh IEEE International Conference on Computer Vision (ICCV), Kerkyra, Greece, pages 489-495, September 1999
• A Pixel Dissimilarity Measure That is Insensitive To Image Sampling
  S. Birchfield and C. Tomasi
  IEEE Transactions on Pattern Analysis and Machine Intelligence, 20(4):401-406, April 1998
• Elliptical Head Tracking Using Intensity Gradients and Color Histograms
  S. Birchfield
  Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Santa Barbara, California, pages 232-237, June 1998
• Depth Discontinuities by Pixel-to-Pixel Stereo
  S. Birchfield and C. Tomasi
  Proceedings of the Sixth IEEE International Conference on Computer Vision (ICCV), Mumbai, India, pages 1073-1080, January 1998
• An Elliptical Head Tracker
  S. Birchfield
  Proceedings of the 31st Asilomar Conference on Signals, Systems, and Computers, Pacific Grove, California, pages 1710-1714, November 1997
• Depth Discontinuities by Pixel-to-Pixel Stereo
  S. Birchfield and C. Tomasi. 
  Stanford University Technical Report STAN-CS-TR-96-1573, July 1996
• Dervish: An Office Navigating Robot
  I. Nourbakhsh, R. Powers, and S. Birchfield
  AI Magazine, 16(2): 53--60, Summer 1995

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