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Gregory Scott Chirikjian

LAB DIRECTOR

Publications

Seminars and Short Courses

  • Stochastic Methods in Robotics (Probability, Fourier Analysis, Lie Groups and Applications). G.S. Chirikjian. Georgia Institute of Technology. June 12-22, 2017. Atlanta, GA. [Slides] [Video]
  • Stochastic Models in Robotics. G.S. Chirikjian. Georgia Institute of Technology. April 20, 2017. Atlanta, GA. [Slides] [Video]
  • Probabilistic Approaches to the AXB = YCZ Calibration Problem in Multi-Robot Systems. Q. Ma, Z. Goh, G.S. Chirikjian. RSS 2016. Ann Arbor, MI. [Slides]
  • New Probabilistic Approaches to the AX = XB Hand-Eye Calibration without Correspondence. Q. Ma, H. Li, G.S. Chirikjian. ICRA 2016. Stockholm, Sweden. [Slides]
  • Stochastic Kinematics. G.S. Chirikjian. ICRA 2009. Kobe, Japan. [Slides]

Books

  • Harmonic Analysis for Engineers and Applied Scientists: Updated and Expanded Edition. G. S. Chirikjian, A. B. Kyatkin. Dover Publications. July 2016.
  • Stochastic Models, Information Theory, and Lie Groups: Volume 2 Analytic Methods and Modern Applications. G. S. Chirikjian. Boston: Birkhäuser. Nov. 2011.
  • Stochastic Models, Information Theory, and Lie Groups: Volume 1 Classical Results and Geometric Methods. G. S. Chirikjian. Boston: Birkhäuser. Sept. 2009.
  • Engineering Applications of Noncommutative Harmonic Analysis. G. S. Chirikjian, A. B. Kyatkin. CRC Press. Oct. 2000.

Dissertation

  • Theory and applications of hyper-redundant robotic manipulators. G.S. Chirikjian. Ph.D. Dissertation, California Institute of Technology. 1992 [Download]

Papers

Publications by Research Topic

Preprint
  • H Wu, J Ye, X Meng, C Paxton, G Chirikjian, Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks [arxiv]
  • Z Lao, Y Han, GS Chirikjian, How Heavy Is It? Humanoid Robot Estimating Physical Properties of Unknown Objects Without Force/Torque Sensors [arxiv]
  • Y Han, R Li, GS Chirikjian, Look at my new blue force-sensing shoes! [arxiv]
  • GS Chirikjian, B Shiffman, Closed-Form Parametric Equation for the Minkowski Sum of m Ellipsoids in R^{n} and Associated Volume Bounds [arxiv]

2022 Publications
  • Y Wu, W Liu, S Ruan, G Chirikjian, Primitive-based Shape Abstraction via Nonparametric Bayesian Inference, ECCV2022 [arxiv]
  • Ruan, S., Wang, X. and Chirikjian, G.S., 2022. Collision detection for unions of convex bodies with smooth boundaries using closed-form contact space parameterization. IEEE Robotics and Automation Letters, 7(4), pp.9485-9492. [paper], [project]
  • Ruan, S., Poblete, K.L., Wu, H., Ma, Q. and Chirikjian, G.S., 2022. Efficient Path Planning in Narrow Passages for Robots with Ellipsoidal Components. IEEE Transactions on Robotics [paper], [project]
  • Ruan S., Ma Q., Poblete K.L., Yan Y., Chirikjian G.S., 2018. Path Planning for Ellipsoidal Robots and General Obstacles via Closed-form Minkowski Operations. In International Workshop on the Algorithmic Foundations of Robotics (pp. 3-18). Springer, Cham. [paper],
  • W Liu, Y Wu, S Ruan, G Chirikjian, Robust and Accurate Superquadric Recovery: a Probabilistic Approach, CVPR2022 [arxiv]
  • H Wu, X Meng, S Ruan, G Chirikjian, Put the Bear on the Chair! Intelligent Robot Interaction with Previously Unseen Objects via Robot Imagination, [arxiv]
  • S Ruan, GS Chirikjian, Closed-Form Minkowski Sums of Convex Bodies with Smooth Positively Curved Boundaries, Computer-Aided Design 143, 103133 [arxiv]

2021 Publications
  • W Liu, H Wu, G Chirikjian, LSG-CPD: Coherent Point Drift with Local Surface Geometry for Point Cloud Registration, Proceedings of the IEEE/CVF International Conference on Computer Vision, 2021, 15293-15302 [paper]
  • Y Sun, A Jayaraman, GS Chirikjian, Lie group solutions of advection-diffusion equations, Physics of Fluids, 33 (4), 046604 [paper], [pdf]
  • TW Mitchel, S Rusinkiewicz, GS Chirikjian, M Kazhdan, ECHO: Extended Convolution Histogram of Orientations for Local Surface Description, Computer Graphics Forum, 40(1), 180-194 [paper], [pdf]

2020 Publications
  • Y Han, R Li, GS Chirikjian, Can I lift it? Humanoid robot reasoning about the feasibility of lifting a heavy box with unknown physical properties, IROS2020, [arxiv]
  • H Wu, GS Chirikjian, Can I Pour Into It? Robot Imagining Open Containability Affordance of Previously Unseen Objects via Physical Simulations, IEEE Robotics and Automation Letters, 271-278, [paper], [arxiv], [video], [project]
  • H Chen, P Guo, P Li, GH Lee, G Chirikjian, Multi-person 3D Pose Estimation in Crowded Scenes Based on Multi-view Geometry ,European Conference on Computer Vision, 541-557 [paper], [arxiv], [code]
  • H Wu, D Misra, GS Chirikjian, Is that a chair? imagining affordances using simulations of an articulated human body, 2020 IEEE International Conference on Robotics and Automation (ICRA), 7240-7246 [arxiv], [code]
  • MS Moses, GS Chirikjian, Robotic self-replication, Annual Review of Control, Robotics, and Autonomous Systems, 3, 1-24 [paper]
  • Arash Ghaani Farashahi, Gregory S Chirikjian, Discrete spectra of convolutions of compactly supported functions on SE(2) using Sturm–Liouville theory, Integral Transforms and Special Functions, 31(1), 36-61 [paper]
  • He Chen, Gregory S Chirikjian, Curvature: A signature for Action Recognition in Video Sequences, Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops, 858-859 [paper]

2019 Publications
  • C Wülker, S Ruan, GS Chirikjian, Quantizing Euclidean motions via double-coset decomposition, Research, [paper]
  • H Wu, J Mu, T Da, M Xu, RH Taylor, I Iordachita, GS Chirikjian, Multi-mosquito object detection and 2D pose estimation for automation of PfSPZ malaria vaccine production, 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 411-417 [paper], [pdf]
  • S Ruan, J Ding, Q Ma, GS Chirikjian, The kinematics of containment for N-dimensional ellipsoids, Journal of Mechanisms and Robotics, 11(4) [paper], [pdf]
  • J Ding, S Lyu, T Da, C Wang, GS Chirikjian, Error space estimation of three degrees of freedom planar parallel mechanisms, Journal of Mechanisms and Robotics, 11 (3) [paper]
  • S Ruan, KL Poblete, Y Li, Q Lin, Q Ma, GS Chirikjian, Efficient Exact Collision Detection between Ellipsoids and Superquadrics via Closed-form Minkowski Sums, 2019 International Conference on Robotics and Automation (ICRA), 1765-1771 [paper], [pdf]
  • TW Mitchel, C Wulker, J Seob Kim, S Ruan, GS Chirikjian, Quotienting Impertinent Camera Kinematics for 3D Video Stabilization, Proceedings of the IEEE/CVF International Conference on Computer Vision Workshops [paper], [pdf]
  • GS Chirikjian, Information-Theoretic Matrix Inequalities and Diffusion Processes on Unimodular Lie Groups, Geometric Structures of Information, 213-249 [paper]

2018 Publications
  • S Ruan, Q Ma, KL Poblete, Y Yan, GS Chirikjian, Path planning for ellipsoidal robots and general obstacles via closed-form characterization of Minkowski operations, International Workshop on the Algorithmic Foundations of Robotics, 3-18 [paper], [pdf]
  • TW Mitchel, S Ruan, Y Gao, GS Chirikjian, The globally optimal reparameterization algorithm: an alternative to fast dynamic time warping for action recognition in video sequences, 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), 1290-1297 [paper], [arxiv]
  • Q Ma, Z Goh, S Ruan, GS Chirikjian, Probabilistic approaches to the AXB = YCZ calibration problem in multi-robot systems, Autonomous Robots, 42 (7), 1497-1520 [paper], [pdf]
  • M Xu, GS Chirikjian, Recovering a Rotation Matrix From Three Direction Cosines, International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 51814 [paper]
  • J Ding, S Lu, T Da, C Wang, GS Chirikjian, Conservative Error Space Estimation of 3-DoF Planar Parallel Mechanisms, International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 51814 [paper]
  • S Lu, X Ding, GS Chirikjian, Rotations in a Non-Orthogonal Frame, ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference [paper]
  • T Da, J Ding, L Yang, G Chirikjian, A method for fully automated particle picking in cryo-electron microscopy based on a cnn, Proceedings of the 2018 ACM International Conference on Bioinformatics, Computational Biology, and Health Informatics, 633-638 [paper]
  • DM Lux, C Wülker, GS Chirikjian, Parallelization of the FFT on SO (3) [arxiv]
  • GS Chirikjian, From Wirtinger to Fisher Information Inequalities on Spheres and Rotation Groups, 2018 21st International Conference on Information Fusion (FUSION), 730-736 [paper] [pdf]
  • GS Chirikjian, Principal Kinematic Inequalities, International Symposium on Advances in Robot Kinematics, 20-27 [paper] [pdf]
  • GS Chirikjian, R Mahony, S Ruan, J Trumpf, Pose changes from a different point of view, Journal of Mechanisms and Robotics, 10 (2) [pdf]
  • S Ruan, GS Chirikjian, J Ding, Lower bounds of the allowable motions of one n-dimensional ellipsoid contained in another, ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference [paper]
  • JS Kim, GS Chirikjian, Symmetrical Parameterization of Rigid Body Transformations for Biomolecular Structures, Journal of Computational Biology, 25 (1), 72-88 [paper] [pdf]

For previous pubilication, please refer to Dr. Chirikjian's Google Scholar