Research Interests

My research focuses on perception for mobile robotics, using tools from computer vision, machine learning, and statistical signal processing for map building and localization. I am specifically interested in developing algorithms that are robust to dynamic changes in the environment, with the end goal of helping to enable long term autonomy.


Publications

Generic factor-based node marginalization and edge sparsification for pose-graph SLAM
Nicholas Carlevaris-Bianco and Ryan M. Eustice,
In Proceedings of the IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 2013.

Learning temporal co-observability relationships for lifelong robotic mapping
Nicholas Carlevaris-Bianco and Ryan M. Eustice,
IROS Workshop on Lifelong Learning for Mobile Robotics Applications, Vilamoura, Portugal, October 2012.

Visual localization in fused image and laser range data
Nicholas Carlevaris-Bianco, Anush Mohan, James R. McBride and Ryan M. Eustice,
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, September 2011.

Multi-view registration for feature-poor underwater imagery
Nicholas Carlevaris-Bianco and Ryan M. Eustice,
In Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011.

Initial results in underwater single image dehazing
Nicholas Carlevaris-Bianco, Anush Mohan and Ryan M. Eustice,
In Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, Seattle, WA, September 2010.


Projects

Long Term Visual Localization in Dynamic Environments

More info soon ...


Naval Engineering Education Center (NEEC)

The goal of the NEEC program is to train graduate and undergraduate engineers for careers in the Navy. Currently our group is working on autonomously landing a quadrotor on top of a moving Segway. This serves to simulate landing a helicopter on an aircraft carrier. For more info check out the PeRL NEEC page.

                                                           

PeRL's Autonomous Underwater Vehicles

The lab operates two heavily modified Ocean-Server Iver2 autonomous underwater vehicles. I work on system development and a couple of times each summer I get to head out with the group for field testing and data collection.

Contact

Email: carlevar@umich.edu
Email: nickcarlevaris@gmail.com

Perceptual Robotics Laboratory
242 NAME Building
2600 Draper Drive
Ann Arbor, MI 48109
ph: 734.763.7798
fax: 734.936.8820