Publications (8)
Using a Distance Sensor to Detect Deviations in a Planar Surface
Carter Sifferman, William Sun, Mohit Gupta +1
We investigate methods for determining if a planar surface contains geometric deviations (e.g., protrusions, objects, divots, or cliffs) using only an instantaneous measurement fro…
Efficient Detection of Objects Near a Robot Manipulator via Miniature Time-of-Flight Sensors
Carter Sifferman, Mohit Gupta, Michael Gleicher
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is diff…
IKLink: End-Effector Trajectory Tracking with Minimal Reconfigurations
Yeping Wang, Carter Sifferman, Michael Gleicher
Many applications require a robot to accurately track reference end-effector trajectories. Certain trajectories may not be tracked as single, continuous paths due to the robot's ki…
Towards 3D Vision with Low-Cost Single-Photon Cameras
Fangzhou Mu, Carter Sifferman, Sacha Jungerman +5
We present a method for reconstructing 3D shape of arbitrary Lambertian objects based on measurements by miniature, energy-efficient, low-cost single-photon cameras. These cameras,…
Unlocking the Performance of Proximity Sensors by Utilizing Transient Histograms
Carter Sifferman, Yeping Wang, Mohit Gupta +1
We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient hi…
A Review of Scene Representations for Robot Manipulators
Carter Sifferman
For a robot to act intelligently, it needs to sense the world around it. Increasingly, robots build an internal representation of the world from sensor readings. This representatio…