Yalin Xiong. Senior Member of Technical Staff, Jet Propulsion Lab, Pasadena, CA. February now.

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1 Yalin Xiong Jet Propulsion Lab Eagle Ridge Lane 4800 Oak Grove Dr., M/S Northridge, CA Pasadena, CA (818) Phone: (818) FAX: (818) Internet: WWW: Employment Senior Member of Technical Staff, Jet Propulsion Lab, Pasadena, CA. February now. Senior Engineer/Scientist, Apple Computer, Cupertino, CA. June February Postdoctoral Fellow, Carnegie Mellon University, Pittsburgh, PA. October June Education Ph.D. in Robotics (computer vision), September 1995, Carnegie Mellon University, Pittsburgh, Pennsylvania. M.S. in Robotics, May 1993, Carnegie Mellon University, Pittsburgh, Pennsylvania. B.S. in Computer Science, June 1990, University of Science & Technology of China, Hefei, China. Academic Recognition/Awards Merit Award, Jet Propulsion Lab, 9/99. Honorable Mention for Marr Prize in the Fifth International Conference on Computer Vision, Cambridge, MA, June 20-23, Program Committee member in IEEE Workshop on Nonrigid and Articulated Motion. June 16, 1997 at San Juan, Puerto Rico. Patents Method and System for Creating an Image-based virtual reality environment utilizing a fisheye lens, Apple Computer, US Patent US , Image Blending by Grassfire Transform, Apple Computer. (pending since Dec, 1998)

2 Improved System and Method for Creating High Quality Virtual Reality Panoramas, Apple Computer, (pending since Dec, 1998) Products & Projects Tactical Mobile Robot, Jet Propulsion Lab, Technical Lead 2/98-now. This is a DARPA-funded project led by JPL with contributions from University of Southern California, Carnegie Mellon University, Oak Ridge National Lab and IS Robotics. My responsibilities include the architecture design of the software system, management of the technical team, and implementation of the realtime computer vision subsystem. - Software: VxWorks based real-time embedded system capable of autonomous navigation in urban environment including obstacle-avoidance and stair-climbing by analyzing real-time monocular and binocular on-board video. The entire software (C++) was designed and built from scratch for this project. - Hardware: PC/104+, board cameras, frame grabbers, gyro/accel, compass, GPS, Digital/Analog IO. All hardware except the mechanical design and motor drivers was designed and built from scratch for this project. Real-Time Binocular Stereo, Jet Propulsion Lab, Technology Development, 2/98-9/98. Frame rate (30Hz) 3D extraction from binocular video streams. To enable the real-time performance, this system was implemented on PowerPC G4 processor (beta version) using AltiVec instruction set. Digital Elevation Map from Descent Imagery, Jet Propulsion Lab, Technology Development, 2/98-9/98. Building multi-resolution digital elevation maps using a sequence of descent images taken during Mars landing. This technology generates high-resolution digital maps to improve safe landing and enable long term planning for Mars rovers. QuickTime VR Authoring Studio 2.0, Apple Computer. (Technology Lead) 6/96-2/98. This is an internal project in Apple Computer intended to expand the technology of QuickTime VR in a few new directions. It is later cancelled due to reorganization. My main technical contributions are the invention and implementation of the following two technologies that are both patented by Apple Computer. - Fisheye-based spherical panoramas: Creating spherical panoramas with fisheye lenses by self-calibrating the lens parameters. - Projective stitchers: A generic image stitcher which employs fast projective registrations and blending for building spherical panoramas from ordinary lens and for composing images. QuickTime VR Authoring Studio 1.0, Apple Computer. (Major technical contributions) 6/96-8/97. This is a multimedia authoring product Apple Computer is still marketing. It creates high-quality QuickTime VR. - Award-winning product led by Mr. Ed Harp of Apple Computer. My main contribution to the product is the image blending technique that takes multiple images and blends them seamlessly into QuickTime VR Panoramas. One patent is pending. Stereo Self-Calibration, Carnegie Mellon University, 9/95-6/96. Self-calibrate stereo cameras using natural scenes. This technique enables in-field calibration of stereo cameras.

3 Ph.D. Thesis High-Precision Image Matching and Shape Recovery advisor: Dr. Steven A. Shafer In this thesis, we first address the general image-matching problem, which is fundamental to many vision algorithms. This general matching problem includes defocus matching, stereo matching, optical-flow matching, affine matching and so on. A novel hypergeometric filter is proposed to approach all those matching problems uniformly. Furthermore, because this new approach is capable of analytically representing effects of finite-width windows and non-zero gradients of matching parameters, we can easily achieve much higher precision using the uniform algorithm on different matching problems than those state-of-art algorithms designed for specific matching problems. One of the primary reasons of pursuing high precision in image matching is to obtain accurate 3D shape or depth information. In the second part of the thesis, we address the problem of recovering dense shape information from a dense optical flow sequence. The challenge is the handling of the uncertainty information, which traditionally requires O(N*N) computation and memory, where N is the number of pixels in one image. By separating independent and correlated uncertainty information, we are able to apply principal component analysis to reduce both the computation and memory requirements to O(N). An EKF-based system, which can incrementally build dense 3D shape model, is demonstrated. Publications 1. "Vision-Guided Autonomous Stair Climbing", Yalin Xiong and Larry Matthies, to appear in IEEE International Conference on Robotics and Automation, San Francisco, CA, April 24-28, Registration, Calibration and Blending in Creating High Quality Panoramas, Yalin Xiong and Ken Turkowski, in the Fourth Workshop on Applications of Computer Vision (WACV 98), Princeton, NJ, October Creating Image-Based VR Using a Self-Calibrating Fisheye Lens, Yalin Xiong and Ken Turkowski, in Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR 97), pp , Puerto Rico, Error Analysis of a Real Time Stereo System, Yalin Xiong and Larry Matthies, in Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR 97), pp , Puerto Rico, Dense Structure from a Dense Optical Flow Sequence Yalin Xiong and Steven A. Shafer, in Computer Vision and Image Understanding (CVIU), March Also in Proceedings of International Symposium on Computer Vision, November 21-23, 1995, pp Also as a technical report CMU-RI-TR-95-10, The Robotics Institute, Carnegie Mellon University. 6. Hypergeometric Filters for Optical Flow and Affine Matching Yalin Xiong and Steven A. Shafer, in International Journal of Computer Vision, 24(2) , Also in Proceedings of International Conference on Computer Vision, June 20-23, 1995, pp Moment Filters for High Precision Computation of Focus and Stereo Yalin Xiong and Steven A. Shafer, In Proceedings of International Conference on Intelligent Robots and Systems (IROS), August 5-9, 1995, pp (Volume 3).

4 8. Moment and Hypergeometric Filters for High Precision Computation of Focus, Stereo and Optical Flow Yalin Xiong and Steven A. Shafer, in International Journal of Computer Vision, 22(1), 25-59, Also as technical report CMU-RI-TR-94-28, The Robotics Institute, Carnegie Mellon University. 9. Backtracking Techniques for the Job Shop Scheduling Constraint Satisfaction Problem Norman Sadeh, Katia Sycara and Yalin Xiong, in Artificial Intelligence, vol. 76, no. 1-2, July 1995, pp Also as a technical report CMU-RI-TR-94-31, The Robotics Institute, Carnegie Mellon University. 10. Recursive Filters for High Precision Computation of Focus, Stereo and Optical Flow, Yalin Xiong and Steven A. Shafer, Proceedings of DARPA Image Understanding Workshop, November, Variable Window Gabor Filters and Their Use in Focus and Correspondence Yalin Xiong and Steven A. Shafer. Proceedings of IEEE Conference on Computer Vision and Pattern Recognition, pp , Also appeared as a technical report CMU-RI-TR , The Robotics Institute, Carnegie Mellon University. 12. Depth from Focusing and Defocusing Yalin Xiong and Steven A. Shafer, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition, pp , Also appears in Proceedings of DARPA Image Understanding Workshop 1993 and as a technical report CMU-RI-TR-93-07, The Robotics Institute, Carnegie Mellon University. 13. Backtracking Techniques for Hard Scheduling Problems Norman Sadeh, Katia Sycara and Yalin Xiong, a technical report CMU-RI-TR-93-08, The Robotics Institute, Carnegie Mellon University. 14. Intelligent Backtracking Techniques for Job Shop Scheduling Yalin Xiong, Norman Sadeh and Katia Sycara, Third International Conference on Principles of Knowledge Representation and Reasoning, pp , Improved Roberts Algorithm and its Application Renzhi Zhu and Yalin Xiong, in Proceedings of the Second International Conference on CADDM, Hangzhou, China pages 1-6. Invited Research Talks IEEE Conference on Computer Vision and Pattern Recognition, New York City, NY Depth from Focusing and Defocusing, June International Conference on Computer Vision, Cambridge, MA Hypergeometric Filters for Optical Flow and Affine Matching, June IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Pittsburgh Moment Filters for High-Precision Computation of Focus and Stereo, August Jet Propulsion Lab, Pasadena, CA High Precision Image Matching and Shape Recovery, October International Symposium on Computer Vision, Coral Gables, FL Dense Structure from a Dense Optical Flow Sequence, November 1995.

5 VASC Retreat, Snowshoe Resort, WV Content-Based Expansion for Image Matching, January NEC Research Institute, Princeton, NJ Image Matching and 3D Recovery, May 21, Apple Computer, Inc., Cupertino, CA Image Matching and 3D Recovery, May 24, IEEE Conference on Computer Vision and Pattern Recognition, San Juan, Puerto Rico Error Analysis of a Real Time Stereo System, June Programming Skills Extensive programming experience in C/C++, LISP, FORTRAN, MasPar MPL. Extensive experience with MacOS, Solaris, VxWorks, Windows NT, UNIX, X window, MATLAB, Mathematica. Professional Activities Reviewing and Refereeing: International Journal of Computer Vision IEEE Transactions on Pattern Analysis and Machine Intelligence. IEEE Journal of Robotics and Automation Journal of Optical Society of America A IEEE Conference of Computer Vision and Pattern Recognition (92, 93, 94, 95, 96, 97, 98) International Conference on Computer Vision (93, 95) Professional Society Memberships: Institute of Electrical and Electronic Engineers (Computer Society) Association of Computing Machinery (SIGGRAPH) Others: Organized 1994 VASC Retreat. Served in other PhD students Research Qualifier Committees.