Dr. Larry Matthies Profile

Dr. Larry Matthies

Senior Research Scientist/Group Supervisor at Jet Propulsion Lab

SPIE Involvement:

Conference Program Committee | Author

Publications (34)

Proceedings Article | 14 June 2023 Presentation

Modeling and evaluation of thermal stereo vision for off-road driving (Conference Presentation)

Larry Matthies, Paolo Bellutta, Cecilia Mauceri

Proceedings Volume 12549, 1254908 (2023) https://doi.org/10.1117/12.2663421

KEYWORDS: Visual process modeling, 3D modeling, Thermal modeling, Performance modeling, Mathematical modeling, Long wavelength infrared, Sensors, Neural networks, Evolutionary algorithms, Visualization

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Proceedings Article | 23 April 2020 Presentation + Paper

Toward fieldable human-scale mobile manipulation using RoMan

Chad Kessens, Jonathan Fink, Arnon Hurwitz, Matthew Kaplan, Philip Osteen, Trevor Rocks, John Rogers, Ethan Stump, Long Quang, Michael DiBlasi, Mark Gonzalez, Dilip Patel, Jaymit Patel, Shiyani Patel, Matthew Weiker, Joseph Bowkett, Renaud Detry, Sisir Karumanchi, Joel Burdick, Larry Matthies, Yash Oza, Aditya Agarwal, Andrew Dornbush, Maxim Likhachev, Karl Schmeckpeper, Kostas Daniilidis, Ajinkya Kamat, Sanjiban Choudhury, Aditya Mandalika, Siddhartha Srinivasa

Proceedings Volume 11413, 1141316 (2020) https://doi.org/10.1117/12.2559995

KEYWORDS: Sensors, Robots, Calibration, Robotics, Clouds, Cameras, LIDAR, Actuators, Head, Neural networks

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Proceedings Article | 3 May 2018 Presentation + Paper

Modeling and traversal of pliable materials for tracked robot navigation

Camilo Ordonez, Ryan Alicea, Brandon Rothrock, Kyle Ladyko, Mario Harper, Sisir Karumanchi, Larry Matthies, Emmanuel Collins

Proceedings Volume 10640, 106400F (2018) https://doi.org/10.1117/12.2304431

KEYWORDS: Vegetation, Robotics, Intelligence systems

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Proceedings Article | 25 May 2016 Paper

Stereo vision-based obstacle avoidance for micro air vehicles using an egocylindrical image space representation

R. Brockers, A. Fragoso, L. Matthies

Proceedings Volume 9836, 98361R (2016) https://doi.org/10.1117/12.2224695

KEYWORDS: Micro unmanned aerial vehicles, 3D image processing, Sensors, Visualization, Image processing, 3D modeling, Electroluminescent displays, Cameras, Stereoscopic cameras, Virtual colonoscopy

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Proceedings Article | 13 May 2016 Paper

Incorporating polarization in stereo vision-based 3D perception of non-Lambertian scenes

Kai Berger, Randolph Voorhies, Larry Matthies

Proceedings Volume 9837, 98370P (2016) https://doi.org/10.1117/12.2231110

KEYWORDS: Polarization, Cameras, Reconstruction algorithms, Linear polarizers, Stereoscopic cameras, Ray tracing, Neodymium, 3D vision, Jones calculus, Jones vectors

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Proceedings Article | 13 May 2016 Paper

Video-based convolutional neural networks for activity recognition from robot-centric videos

M. Ryoo, Larry Matthies

Proceedings Volume 9837, 98370R (2016) https://doi.org/10.1117/12.2229531

KEYWORDS: Video, Neural networks, Cameras, 3D image processing, Convolutional neural networks, Robots, Video surveillance, Image segmentation, Visualization, 3D modeling

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Proceedings Article | 13 May 2016 Paper

LWIR passive perception system for stealthy unmanned ground vehicle night operations

Daren Lee, Arturo Rankin, Andres Huertas, Jeremy Nash, Gaurav Ahuja, Larry Matthies

Proceedings Volume 9837, 98370D (2016) https://doi.org/10.1117/12.2222788

KEYWORDS: Long wavelength infrared, Navigation systems, Unmanned ground vehicles, Safety, Cameras, Optical correlators, Sensors, Image resolution, Roads, Thermography

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Proceedings Article | 4 June 2014 Paper

High specific energy and specific power aluminum/air battery for micro air vehicles

A. Kindler, L. Matthies

Proceedings Volume 9083, 90831V (2014) https://doi.org/10.1117/12.2051820

KEYWORDS: Aluminum, Electrodes, Micro unmanned aerial vehicles, Metals, Corrosion, Hydrogen, Convection, Performance modeling, Artificial intelligence, Oxygen

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Proceedings Article | 3 June 2014 Paper

Micro air vehicle autonomous obstacle avoidance from stereo-vision

Roland Brockers, Yoshiaki Kuwata, Stephan Weiss, Lawrence Matthies

Proceedings Volume 9084, 90840O (2014) https://doi.org/10.1117/12.2055288

KEYWORDS: Micro unmanned aerial vehicles, Cameras, Monte Carlo methods, Stereo vision systems, Device simulation, Space operations, Sensors, 3D vision, Stereoscopic cameras, Navigation systems

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Proceedings Article | 25 May 2012 Paper

Fully self-contained vision-aided navigation and landing of a micro air vehicle independent from external sensor inputs

Roland Brockers, Sara Susca, David Zhu, Larry Matthies

Proceedings Volume 8387, 83870Q (2012) https://doi.org/10.1117/12.919278

KEYWORDS: Sensors, Sensor fusion, Micro unmanned aerial vehicles, Target detection, Navigation systems, Cameras, Visualization, Detection and tracking algorithms, Vehicle control, Control systems

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Proceedings Article | 25 May 2012 Paper

Semantic perception for ground robotics

M. Hebert, J. Bagnell, M. Bajracharya, K. Daniilidis, L. Matthies, L. Mianzo, L. Navarro-Serment, J. Shi, M. Wellfare

Proceedings Volume 8387, 83870Y (2012) https://doi.org/10.1117/12.918915

KEYWORDS: Image segmentation, 3D image processing, Data modeling, Sensors, LIDAR, Environmental sensing, Motion models, 3D modeling, Clouds, Robotics

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Proceedings Article | 17 May 2011 Paper

Unmanned ground vehicle perception using thermal infrared cameras

Arturo Rankin, Andres Huertas, Larry Matthies, Max Bajracharya, Christopher Assad, Shane Brennan, Paolo Bellutta, Gary Sherwin

Proceedings Volume 8045, 804503 (2011) https://doi.org/10.1117/12.884349

KEYWORDS: Cameras, Long wavelength infrared, Mid-IR, Vegetation, Sensors, Calibration, Image segmentation, Algorithm development, Forward looking infrared, Image classification

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Proceedings Article | 13 May 2011 Paper

Distributed autonomous mapping of indoor environments

J. Rogers, M. Paluri, A. Cunningham, H. Christensen, N. Michael, V. Kumar, J. Ma, L. Matthies

Proceedings Volume 8031, 80310Z (2011) https://doi.org/10.1117/12.884061

KEYWORDS: Robots, Nanotechnology, Sensors, Current controlled current source, Laser scanners, Cameras

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Proceedings Article | 13 May 2011 Paper

Autonomous landing and ingress of micro-air-vehicles in urban environments based on monocular vision

Roland Brockers, Patrick Bouffard, Jeremy Ma, Larry Matthies, Claire Tomlin

Proceedings Volume 8031, 803111 (2011) https://doi.org/10.1117/12.884449

KEYWORDS: Target detection, Cameras, Detection and tracking algorithms, Navigation systems, Sensors, Motion estimation, Micro unmanned aerial vehicles, Unmanned aerial vehicles, Vehicle control, 3D image processing

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Proceedings Article | 8 May 2010 Paper

Stereo-vision-based perception capabilities developed during the Robotics Collaborative Technology Alliances program

Arturo Rankin, Max Bajracharya, Andres Huertas, Andrew Howard, Baback Moghaddam, Shane Brennan, Adnan Ansar, Benyang Tang, Michael Turmon, Larry Matthies

Proceedings Volume 7692, 76920C (2010) https://doi.org/10.1117/12.852644

KEYWORDS: Sensors, Reflection, Image processing, Algorithm development, Image resolution, Detector development, Detection and tracking algorithms, Visualization, Image classification, Image filtering

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The Robotics Collaborative Technology Alliances (RCTA) program, which ran from 2001 to 2009, was funded by the U.S. Army Research Laboratory and managed by General Dynamics Robotic Systems. The alliance brought together a team of government, industrial, and academic institutions to address research and development required to enable the deployment of future military unmanned ground vehicle systems ranging in size from man-portables to ground combat vehicles. Under RCTA, three technology areas critical to the development of future autonomous unmanned systems were addressed: advanced perception, intelligent control architectures and tactical behaviors, and human-robot interaction. The Jet Propulsion Laboratory (JPL) participated as a member for the entire program, working four tasks in the advanced perception technology area: stereo improvements, terrain classification, pedestrian detection in dynamic environments, and long range terrain classification. Under the stereo task, significant improvements were made to the quality of stereo range data used as a front end to the other three tasks. Under the terrain classification task, a multi-cue water detector was developed that fuses cues from color, texture, and stereo range data, and three standalone water detectors were developed based on sky reflections, object reflections (such as trees), and color variation. In addition, a multi-sensor mud detector was developed that fuses cues from color stereo and polarization sensors. Under the long range terrain classification task, a classifier was implemented that uses unsupervised and self-supervised learning of traversability to extend the classification of terrain over which the vehicle drives to the far-field. Under the pedestrian detection task, stereo vision was used to identify regions-of-interest in an image, classify those regions based on shape, and track detected pedestrians in three-dimensional world coordinates. To improve the detectability of partially occluded pedestrians and reduce pedestrian false alarms, a vehicle detection algorithm was developed. This paper summarizes JPL's stereo-vision based perception contributions to the RCTA program.

Proceedings Article | 5 May 2010 Paper

Review of micro-autonomous vehicle sizing and power modeling

Rudranarayan Mukherjee, Michael Heiges, Larry Matthies

Proceedings Volume 7679, 76790X (2010) https://doi.org/10.1117/12.852633

KEYWORDS: Motion models, Micro unmanned aerial vehicles, Commercial off the shelf technology, Gait analysis, Sensors, Resistance, Fermium, Frequency modulation, Intelligence systems, Systems modeling

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Proceedings Article | 12 May 2009 Paper

Robust landing using time-to-collision measurement with actuator saturation

Yoshiaki Kuwata, Larry Matthies

Proceedings Volume 7318, 73180Q (2009) https://doi.org/10.1117/12.819522

KEYWORDS: Control systems, Actuators, Micro unmanned aerial vehicles, Sensors, Detection and tracking algorithms, Cameras, Optical flow, Distance measurement, Numerical simulations, Cadmium

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Proceedings Article | 30 April 2009 Paper

Stereo-vision-based terrain mapping for off-road autonomous navigation

Arturo Rankin, Andres Huertas, Larry Matthies

Proceedings Volume 7332, 733210 (2009) https://doi.org/10.1117/12.819099

KEYWORDS: Sensors, Image resolution, Image processing, Data modeling, Ranging, Cameras, Reflection, Associative arrays, Detection and tracking algorithms, Binary data

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Proceedings Article | 16 April 2008 Paper

Detecting personnel around UGVs using stereo vision

Max Bajracharya, Baback Moghaddam, Andrew Howard, Larry Matthies

Proceedings Volume 6962, 696202 (2008) https://doi.org/10.1117/12.782210

KEYWORDS: Clouds, Image segmentation, Cameras, LIDAR, Detection and tracking algorithms, Image processing, Image resolution, Sensors, Image classification, Palladium

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Proceedings Article | 2 May 2007 Paper

Night-time negative obstacle detection for off-road autonomous navigation

Arturo Rankin, Andres Huertas, Larry Matthies

Proceedings Volume 6561, 656103 (2007) https://doi.org/10.1117/12.720513

KEYWORDS: Infrared radiation, Infrared imaging, Sensors, Infrared signatures, Infrared detectors, Pixel resolution, Thermography, Cameras, Mid-IR, Unmanned ground vehicles

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Proceedings Article | 27 May 2005 Paper

Vision-based localization in urban environments

Michael McHenry, Yang Cheng, Larry Matthies

Proceedings Volume 5804, (2005) https://doi.org/10.1117/12.603973

KEYWORDS: Cameras, Buildings, Visualization, Sensors, Image segmentation, Ranging, Imaging systems, LIDAR, Motion estimation, Particle filters

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As part of DARPA's MARS2020 program, the Jet Propulsion Laboratory has developed a vision-based system for localization in urban environments that requires neither GPS nor active sensors. System hardware consists of a pair of small FireWire cameras and a standard Pentium-based computer. The inputs to the software system consist of: 1) a crude grid-based map describing the positions of buildings, 2) an initial estimate of robot location and 3) the video streams produced by the stereo pair. At each step during the traverse the system: captures new image data, finds image features hypothesized to lie on the outside of a building, computes the range to those features, determines an estimate of the robot's motion since the previous step and combines that data with the map to update a probabilistic representation of the robot's location. This probabilistic representation allows the system to simultaneously represent multiple possible locations. For our testing, we have derived the a priori map manually using non-orthorectified overhead imagery, although this process could be automated. The software system consists of three primary components. The first is a stereo-based visual odometry system that calculates the 6-degree of freedom camera motion between sequential frames. The second component uses a set of heuristics to identify straight-line segments that are likely to be part of a building exterior. Ranging to these straight-line features is computed using binocular or wide-baseline stereo. The resulting features and the associated range measurements are fed to the third software component, a particle-filter based localization system. This system uses the map and the most recent results from the first two to update the estimate of the robot's location. This report summarizes the design of both the hardware and software and describes the results of applying the system to the global localization of a camera system over an approximately half-kilometer traverse across JPL's Pasadena campus.

Proceedings Article | 27 May 2005 Paper

Passive perception system for day/night autonomous off-road navigation

Arturo Rankin, Charles Bergh, Steven Goldberg, Paolo Bellutta, Andres Huertas, Larry Matthies

Proceedings Volume 5804, (2005) https://doi.org/10.1117/12.604064

KEYWORDS: Sensors, Cameras, Head, Ranging, Image processing, Mid-IR, Data acquisition, Image classification, Navigation systems, Interfaces

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Proceedings Article | 2 September 2004 Paper

Enhancement of stereo at range discontinuities

Adnan Ansar, Andres Huertas, Larry Matthies, Steve Goldberg

Proceedings Volume 5422, (2004) https://doi.org/10.1117/12.547774

KEYWORDS: Image filtering, Bandpass filters, Cameras, Linear filtering, Optical correlators, Optimization (mathematics), Optical filters, Electronic filtering, Image processing, Gaussian filters

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Proceedings Article | 30 September 2003 Paper

Design of an agile unmanned combat vehicle: a product of the DARPA UGCV program

Lindsey Thornhill, Alan Walls, Ronald Arkin, Joseph Beno, Chuck Bergh, Don Bresie, Anthony Giovannetti, Benny Gothard, Larry Matthies, Porfirio Nogueiro, Jim Scanlon, Ron Scott, Miguel Simon, Wilford Smith, Kenneth Waldron

Proceedings Volume 5083, (2003) https://doi.org/10.1117/12.497847

KEYWORDS: Control systems, Sensors, Interfaces, Actuators, Vehicle control, Control systems design, Computer simulations, Electromechanical design, Weapons, Device simulation

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Proceedings Article | 30 September 2003 Paper

Detecting water hazards for autonomous off-road navigation

Larry Matthies, Paolo Bellutta, Mike McHenry

Proceedings Volume 5083, (2003) https://doi.org/10.1117/12.496942

KEYWORDS: Water, LIDAR, Reflection, Short wave infrared radiation, Sensors, Signal attenuation, Absorption, Mid-IR, Infrared imaging, Infrared radiation

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Proceedings Article | 30 September 2003 Paper

Multibaseline stereo system for evaluation of binocular stereo

Adnan Ansar, Larry Matthies

Proceedings Volume 5083, (2003) https://doi.org/10.1117/12.487040

KEYWORDS: Cameras, Imaging systems, Stereoscopic cameras, 3D modeling, Detection and tracking algorithms, Image filtering, Visibility, Calibration, Optical filters, Computer simulations

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Proceedings Article | 20 September 2001 Paper

Ladar-based terrain cover classification

Jose Macedo, Roberto Manduchi, Larry Matthies

Proceedings Volume 4364, (2001) https://doi.org/10.1117/12.439986

KEYWORDS: LIDAR, Robots, Statistical analysis, Vegetation, Computer simulations, Sensors, Cameras, Robotics, Navigation systems, Stereo vision systems

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Proceedings Article | 20 September 2001 Paper

Sensors and algorithms for small robot leader/follower behavior

Robert Hogg, Arturo Rankin, Michael McHenry, Dan Helmick, Chuck Bergh, Stergios Roumeliotis, Larry Matthies

Proceedings Volume 4364, (2001) https://doi.org/10.1117/12.439967

KEYWORDS: Sensors, Global Positioning System, Filtering (signal processing), Gyroscopes, Algorithm development, Error analysis, Detection and tracking algorithms, Electronic filtering, Mobile robots, Computer programming

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Proceedings Article | 19 May 1999 Paper

Virtual reality mapping system for Chernobyl accident site assessment

Theodore Blackmon, Laurent Ngyuen, Charles Neveu, Daryl Rasmussen, Eric Zbinden, Mark Maimone, Larry Matthies, Scott Thayer, James Teza, Vince Broz, James Osborn, Martial Hebert, Jerry Steele, Geb Thomas

Proceedings Volume 3644, (1999) https://doi.org/10.1117/12.348454

KEYWORDS: 3D modeling, 3D image processing, Data modeling, Image processing, Virtual reality, 3D acquisition, 3D displays, Cameras, Visualization, 3D metrology

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Proceedings Article | 6 October 1998 Paper

New planetary rovers for long-range Mars science and sample return

Paul Schenker, Eric Baumgartner, Randall Lindemann, Hrand Aghazarian, David Zhu, A. Ganino, Lee Sword, Michael Garrett, Brett Kennedy, Gregory Hickey, A. Lai, Larry Matthies, B. Hoffman, Terrance Huntsberger

Proceedings Volume 3522, (1998) https://doi.org/10.1117/12.325751

KEYWORDS: Visualization, Mars, Cameras, Robotics, Control systems, Composites, Spectroscopy, Optical tracking, Statistical analysis, Sensors

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Proceedings Article | 4 September 1998 Paper

Visual ordnance recognition for clearing test ranges

Clark Olson, Larry Matthies

Proceedings Volume 3392, (1998) https://doi.org/10.1117/12.324184

KEYWORDS: Image segmentation, Edge detection, Cameras, Image processing, Visualization, Sensors, Gaussian filters, Unmanned ground vehicles, Analytical research, Stereoscopic cameras

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Proceedings Article | 26 September 1997 Paper

Lightweight rovers for Mars science exploration and sample return

Paul Schenker, Lee Sword, A. Ganino, Donald Bickler, Gregory Hickey, D. Brown, Eric Baumgartner, Larry Matthies, Brian Wilcox, Tucker Balch, Hrand Aghazarian, Michael Garrett

Proceedings Volume 3208, (1997) https://doi.org/10.1117/12.290300

KEYWORDS: Mars, Composites, Mobile robots, Structural design, Laser stabilization, Sensors, Imaging systems, Imaging spectroscopy, Spectroscopes, Photometry

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We report on the development of new mobile robots for Mars exploration missions. These 'lightweight survivable rover (LSR)' systems are of potential interest to both space and terrestrial applications, and are distinguished from more conventional designs by their use of new composite materials, collapsible running gear, integrated thermal-structural chassis, and other mechanical features enabling improved mobility and environmental robustness at reduced mass, volume, and power. Our first demonstrated such rover architecture, LSR-1, introduces running gear based on 2D composite struts and 3D machined composite joints, a novel collapsible hybrid composite-aluminum wheel design, a unit-body structural- thermal chassis with improved internal temperature isolation and stabilization, and a spot-pushbroom laser/CCD sensor enabling accurate, fast hazard detection and terrain mapping. LSR-1 is an approximately .7 $MIL 1.0 meter(Lambda) 2(W X L) footprint six-wheel (20 cm dia.) rocker-bogie geometry vehicle of approximately 30 cm ground clearance, weighing only 7 kilograms with an onboard .3 kilogram multi-spectral imager and spectroscopic photometer. By comparison, NASA/JPL's recently flown Mars Pathfinder rover Sojourner is an 11+ kilogram flight experiment (carrying a 1 kg APXS instrument) having approximately .45 X .6 meter(Lambda) 2(WXL) footprint and 15 cm ground clearance, and about half the warm electronics enclosure (WEE) volume with twice the diurnal temperature swing (-40 to +40 degrees Celsius) of LSR- 1 in nominal Mars environments. We are also developing a new, smaller 5 kilogram class LSR-type vehicle for Mars sample return -- the travel to, localization of, pick-up, and transport back to an Earth return ascent vehicle of a sample cache collected by earlier science missions. This sample retrieval rover R&D prototype has a completely collapsible mobility system enabling rover stowage to approximately 25% operational volume, as well an actively articulated axle, allowing changeable pose of the wheel strut geometry for improved transverse and manipulation characteristics.

Proceedings Article | 25 March 1996 Paper

Programmable multiresolution CMOS active pixel sensor

Roger Panicacci, Sabrina Kemeny, Larry Matthies, Bedabrata Pain, Eric Fossum

Proceedings Volume 2654, (1996) https://doi.org/10.1117/12.236121

KEYWORDS: Sensors, Capacitors, Switches, Image resolution, CMOS sensors, Image sensors, Active sensors, Image processing, Aerospace engineering, Signal processing

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Proceedings Article | 1 September 1991 Paper

Stereo vision for planetary rovers: stochastic modeling to near-real-time implementation

Larry Matthies

Proceedings Volume 1570, (1991) https://doi.org/10.1117/12.48424

KEYWORDS: Visual process modeling, Stereo vision systems, Computer vision technology, Cameras, Machine vision, Error analysis, Statistical analysis, Image processing, 3D modeling, 3D image processing

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Showing 5 of 34 publications

Conference Committee Involvement (22)

Unmanned Systems Technology XXVI

23 April 2024 | National Harbor, Maryland, United States

Unmanned Systems Technology XXV

2 May 2023 | Orlando, Florida, United States

Unmanned Systems Technology XXIV

5 April 2022 | Orlando, Florida, United States

Unmanned Systems Technology XXIII

12 April 2021 | Online Only, Florida, United States

Unmanned Systems Technology XXII

27 April 2020 | Online Only, California, United States

Unmanned Systems Technology XXI

16 April 2019 | Baltimore, MD, United States

Unmanned Systems Technology XX

17 April 2018 | Orlando, FL, United States

Unmanned Systems Technology XIX

11 April 2017 | Anaheim, CA, United States

Unmanned Systems Technology XVIII

20 April 2016 | Baltimore, MD, United States

Unmanned Systems Technology XVII

21 April 2015 | Baltimore, MD, United States

Unmanned Systems Technology XVI

6 May 2014 | Baltimore, MD, United States

Unmanned Systems Technology XV

1 May 2013 | Baltimore, Maryland, United States

Unmanned Systems Technology XIV

25 April 2012 | Baltimore, Maryland, United States

Unmanned Systems Technology XIII

27 April 2011 | Orlando, Florida, United States

Unmanned Systems Technology XII

6 April 2010 | Orlando, Florida, United States

Unmanned Systems Technology XI

14 April 2009 | Orlando, Florida, United States

Unmanned Systems Technology X

17 March 2008 | Orlando, Florida, United States

Unmanned Systems Technology IX

9 April 2007 | Orlando, Florida, United States

Unmanned Systems Technology VIII

17 April 2006 | Orlando (Kissimmee), Florida, United States

Unmanned Ground Vehicle Technology VII

29 March 2005 | Orlando, Florida, United States

Unmanned Ground Vehicle Technology VI

13 April 2004 | Orlando, Florida, United States

Unmanned Ground Vehicle Technology V

22 April 2003 | Orlando, Florida, United States

Showing 5 of 22 Conference Committees

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