Kostas Daniilidis
Ruth Yalom Stone Professor, CIS
Kostas’ research interests are in computer vision and robotic perception. His research addresses challenges in the perception of motion and space, such as the geometric design of cameras, and the interplay of geometry and appearance in perception tasks. Kostas’s research gives solutions to perceptual tasks such as panoramic vision, localization, perception of self-motion, large-scale mapping, visual location recognition, 3-D object recognition, and vision-based flocking. Applications of his research involve robot navigation, tele-immersion, and image and shape retrieval.
Research Areas
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Projects
Publications
Publisher CVPR
Uncertainty-driven Planner for Exploration and Navigation
Publisher IEEE Robotics and Automation Society - ICRA
An Adversarial Objective for Scalable Exploration
Publisher IROS
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Publisher arXiv
Coherent Reconstruction of Multiple Humans From a Single Image
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
Planning to Explore via Self-Supervised World Models
Publisher arXiv
Reactive Navigation in Partially Familiar Planar Environments Using Semantic Perceptual Feedback
Publisher arXiv
Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback
Publisher IEEE Robotics and Automation Letters (RA-L)
Spike-FlowNet: Event-based Optical Flow Estimation with Energy-Efficient Hybrid Neural Networks
Publisher arXiv
Publisher arXiv
Publisher arXiv
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Toward fieldable human-scale mobile manipulation using RoMan
Publisher Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications
IMU-Based Pedestrian Dead Reckoning with Learned Motion Model
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
A Distributed Optimization Approach to Consistent Multiway Matching
Publisher IEEE Conference on Decision and Control (CDC)
Publisher arXiv
Autonomous Precision Pouring From Unknown Containers
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Autonomous vehicle for mapping store layout
Publisher US Patent
Convolutional mesh regression for single-image human shape reconstruction
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
Cross-domain 3d equivariant image embeddings
Publisher International Conference on Machine Learning (ICML)
Distributed 3-D Bearing-Only Orientation Localization
Publisher IEEE Conference on Decision and Control (CDC)
Equivariant multi-view networks
Publisher IEEE International Conference on Computer Vision (ICCV)
Graph Neural Networks For Multi-Image Matching
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Keyframing the Future: Discovering Temporal Hierarchy with Keyframe-Inpainter Prediction
Publisher Annual Conference on Learning for Dynamics and Control (L4DC)
Learning Event-based Height from Plane and Parallax
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Learning Predictive Models From Observation and Interaction
Publisher arXiv
Learning to reconstruct 3D human pose and shape via model-fitting in the loop
Publisher IEEE International Conference on Computer Vision (ICCV)
Learning what you can do before doing anything
Publisher International Conference on Learning Representations (ICLR)
Live Demonstration: Unsupervised Event-Based Learning of Optical Flow, Depth and Egomotion
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
MonoCap: Monocular Human Motion Capture using a CNN Coupled with a Geometric Prior
Publisher IEEE Transactions on Pattern Analysis and Machine Intelligence
Perception-driven curiosity with bayesian surprise
Publisher International Conference on Learning Representations (ICLR)
Tagslam: Robust slam with fiducial markers
Publisher arXiv
Texturepose: Supervising human mesh estimation with texture consistency
Publisher IEEE International Conference on Computer Vision (ICCV)
Unsupervised event-based learning of optical flow, depth, and egomotion
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
Unsupervised event-based optical flow using motion compensation
Publisher Lecture Notes in Computer Science (LNCS)
A dynamical systems approach to distributed eigenvector computation
Publisher IEEE Conference on Decision and Control (CDC)
A unifying view of geometry, semantics, and data association in SLAM
Publisher International Joint Conference on Artificial Intelligence (IJCAI)
Fast, autonomous flight in GPS-denied and cluttered environments
Publisher Journal of Field Robotics
Fast, autonomous flight in GPS‐denied and cluttered environments
Publisher Journal of Field Robotics
Human Motion Capture Using a Drone
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Labeling Panoramas with Spherical Hourglass Networks
Publisher arXiv
Learning SO(3) Equivariant Representations with Spherical CNNs
Publisher Lecture Notes in Computer Science (LNCS)
Learning to Estimate 3D Human Pose and Shape from a Single Color Image
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
Multi-image Semantic Matching by Mining Consistent Features
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
Ordinal Depth Supervision for 3D Human Pose Estimation
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
Publisher International Conference on Learning Representations (ICLR)
Predicting the Future with Transformational States
Publisher arXiv
Realtime time synchronized event-based stereo
Publisher Lecture Notes in Computer Science (LNCS)
Robustness meets deep learning: An end-to-end hybrid pipeline for unsupervised learning of egomotion
Publisher arXiv
Semi-dense visual-inertial odometry and mapping for quadrotors with swap constraints
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Tactile-visual integration for task-aware grasping
Publisher Robotics: Science and Systems (RSS)
The Multivehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception
Publisher IEEE Robotics and Automation Letters (RA-L)
Understanding image motion with group representations
Publisher International Conference on Learning Representations (ICLR)
6-DoF object pose from semantic keypoints
Publisher IEEE International Conference on Robotics and Automation (ICRA)
A game-theoretic approach to Robust Fusion and Kalman filtering under unknown correlations
Publisher IEEE American Control Conference (ACC)
Active end-effector pose selection for tactile object recognition through Monte Carlo tree search
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Publisher IEEE Transactions on Automation Science and Engineering (T-ASE)
Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Coarse-to-fine volumetric prediction for single-image 3D human pose
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
Distributed consistent data association via permutation synchronization
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Event-based feature tracking with probabilistic data association
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Event-based visual inertial odometry
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
Fast multi-image matching via density-based clustering
Publisher IEEE International Conference on Computer Vision (ICCV)
Harvesting multiple views for marker-less 3D human pose annotations
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
Publisher Institute of Electrical and Electronics Engineers (IEEE)
PennCOSYVIO: A challenging Visual Inertial Odometry benchmark
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Precise dispensing of liquids using visual feedback
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Probabilistic data association for semantic SLAM
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Shape-based object classification and recognition through continuum manipulation
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Sparse Representation for 3D Shape Estimation: A Convex Relaxation Approach
Publisher IEEE Transactions on Pattern Analysis and Machine Intelligence
Tactile-vision integration for task-compatible fine-part manipulation
Publisher Robotics: Science and Systems (RSS)
The space of essential matrices as a Riemannian Quotient manifold
Publisher SIAM Journal on Imaging Sciences (SIIMS)
3-D vision for navigation and grasping
Publisher Springer Handbook of Robotics
Publisher IEEE Control Systems
A Survey on Rotation Optimization in Structure from Motion
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
A triangle histogram for object classification by tactile sensing
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Articulated motion estimation from a monocular image sequence using spherical tangent bundles
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Publisher IEEE Conference on Decision and Control (CDC)
Fast, robust, continuous monocular egomotion computation
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Integrated intelligence for human-robot teams
Publisher International Symposium on Experimental Robotics (ISER)
Localization from semantic observations via the matrix permanent
Publisher International Journal of Robotics Research (IJRR)
Publisher US Patent
Monocular 3D tracking of deformable surfaces
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Seeing glassware: From edge detection to pose estimation and shape recovery
Publisher Robotics: Science and Systems (RSS)
Sparseness meets deepness: 3D human pose estimation from monocular video
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
The role of vision in perching and grasping for MAVs
Publisher International Society for Optical Engineering (SPIE)
Ultrawide baseline facade matching for geo-localization
Publisher Large-Scale Visual Geo-Localization
3D shape estimation from 2D landmarks: A convex relaxation approach
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
A metric parametrization for trifocal tensors with non-colinear pinholes
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
Publisher IEEE International Conference on Automation Science and Engineering (CASE)
Decentralized active information acquisition: Theory and application to multi-robot SLAM
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Grasping surfaces of revolution: Simultaneous pose and shape recovery from two views
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Publisher IEEE International Conference on Robotics and Automation (ICRA)
MSG-cal: Multi-sensor graph-based calibration
Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)
Multi-image matching via fast alternating minimization
Publisher IEEE International Conference on Computer Vision (ICCV)
Online self-supervised monocular visual odometry for ground vehicles
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Pose and Shape Estimation with Discriminatively Learned Parts
Publisher arXiv
Reconstruction of 3D Pose for Surfaces of Revolution from Range Data
Publisher International Conference on 3D Vision (3DV)
Publisher IEEE American Control Conference (ACC)
Single image pop-up from discriminatively learned parts
Publisher IEEE International Conference on Computer Vision (ICCV)
VAIS: A dataset for recognizing maritime imagery in the visible and infrared spectrums
Publisher IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)
Visual servoing of quadrotors for perching by hanging from cylindrical objects
Publisher Institute of Electrical and Electronics Engineers (IEEE)
News
Faculty News
Penn Engineers Join Honda Research Institute’s ‘Curious Minded Machine’ Project
October 25, 2018
GRASP News
October 10, 2017
Faculty News
Kostas Daniildis is featured in Robots Podcast “Geometric Methods in Computer Vision”
May 11, 2017
GRASP News
“Penn Engineering Offers an Online MicroMasters in Robotics” in Penn Engineering
February 28, 2017
Alumni News
“How Hard Is It for Startups to Raise Capital in Philly?” in Philly Magazine
February 17, 2017
Student News
“Autonomous perching and grasping for micro aerial vehicles” in SPIE Newsroom
February 8, 2017
GRASP News
Why 10 District teachers spent their summer doing grad-level STEM research
August 24, 2016
GRASP News
July 14, 2015
GRASP News
“Roboticists from Penn Engineering take on the world” in the Penn Current
January 9, 2014
Ph.D. Students
Research Staff
Alumni
Research Areas
- Neuromorphic Vision Algorithms
- 3D Vision
- Geometric Deep Learning
- Exploration and Curiosity
- Semantic SLAM