Rahul Swaminathan

GRASP Lab, University of Pennsylvania

1206 Pine Street, Apt 2

3330 Walnut Street, Levine Hall L402

Philadelphia, PA 19107

Philadelphia, PA 19104

srahul@grasp.cis.upenn.edu

(646) 981-3039

http://www.grasp.upenn.edu/~srahul

 

Education:

Columbia University, New York, NY.

PhD. “Non-Perspective Imaging Systems”, August 2003.

M.Phil. Computer Science, February 2002.

M.S. Computer Science, February 1999.

Pune University, Pune, India,

B.E. Computer Science, August 1996.

Work Experience:

GRASP Lab, University of Pennsylvania, Philadelphia, PA
Post-doctoral Fellow, Vision and Robotics group, 10/2003- present.
Started work at the General Robotics, Automation, Sensing and Perception (GRASP) Lab at the University of Pennsylvania. Currently working on aerial surveillance and localization for the MARS project. Also working on simple method for camera calibration of  general imaging systems. This is work in progress.  

Department of Computer Science, Columbia University, New York, NY
Graduate Research Assistant, Vision group, 9/1997 – 2003.
Perform independent research with Professor Shree K. Nayar. Interests lie within computer vision and graphics including 3D reconstruction, image based rendering and imaging system design. Have experience  in real-time omni-directional multi-body tracking, camera calibration, designing camera clusters and catadioptric cameras.

Microsoft Research, Redmond , WA
Summer Intern, 6/2001 – 8/2001.
Performed research with Sing-Bing Kang and Rick Szeliski on the geometric and photometric effects of specularities in video sequences with a moving camera. Using this study I developed a simple technique using the EPI  framework to separate the diffuse component from the specular reflections in video sequences.

RemoteReality, New York, NY
Summer Intern, 6/2000 – 7/2000.
Developed a system to capture and create a very high-resolution spherical panorama (360x360) including stereoscopic information. The system utilized a new “slice-camera” to capture a thin slice of the scene. Multiple slices are automatically mosaiced  to create a spherical stereo panorama.

Department of Computer Science, Columbia University, New York, NY
Instructor, Introduction to Programming, 9/1999 –5/2000
Designed and delivered lectures on Objected Oriented Programming and design in C++ to a class of  60 graduate and undergraduate students.  The class was also made available for the distance learning programs via CVN.

Teaching Experience:

Department of Computer Science and Columbia Video Network(CVN) , New York, NY 
Instructor, Introduction to Programming (OOP/C++), 9/1999 –5/2000
This was the first time the computer science department offered the introductory course on object oriented programming  in C++. My responsibilities included designing the course syllabus, structure and exams and projects. The class included seasoned programmers as well as beginners of about 60 graduate and undergraduate students.  The syllabus was therefore needed to balance both, introductory principles as well as details on object oriented design and programming. Apart from teaching the course I also mentored a teaching assistant to help in grading the projects and exams.

Department of Computer Science, Columbia University, New York, NY 
Teaching Assistant, Advanced Computer Vision. 2000 –2001
I assisted Prof. Shree K. Nayar in delivering lectures on advanced topics in computer vision as well as grading projects for the course.  This course was an advanced graduate level course for students with knowledge of computer vision methods.

Invited Talks:

Beyond Perspective Imaging- Geometry and Designg”, Schloß Dagstuhl Workshop, Germany, June 2004.

Non-Perspective Imaging Systems”, GRASP Lab, University of Pennsylvania, April 2003.

Geometry of Non-Single Viewpoint Cameras”, New York University, February 2003.

Novel Imaging Systems: Camera Clusters to Catadioptrics”, Columbia University, December 2001.

Stereo – What can we say about the scene from two images”, Columbia University Lecture,  2000.

Publications:

B. Grocholsky, R. Swaminathan, J. Keller, V. Kumar and G. Pappas. “Information Driven Coordinated Air-Ground Proactive Sensing”. In Proc.  International  Conf. on Robotics and Automation, Barcelona, 2005.

A Criminisi, S.B.Kang, R. Swaminathan , R Szeleski and P. Anandan. “Extracting Layers and Analysing their Specular Properties using EPI Anlysis”.  In Computer Vision and Image Understanding, Elsevier. Vol 95, 2005.

Rahul Swaminathan, Michael D. Grossberg and Shree K. Nayar. “Designing Mirrors for Catadioptric Systems that Reduce Image Errors”. In Proc.  European Conf. on Computer Vision-OMNIVIS, Prague, 2004.

Rahul Swaminathan, Shree K. Nayar and Michael D. Grossberg. “Framework for Designing Catadioptric Projection and Imaging Systems”. In Proceedings IEEE Conf. on Computer Vision-PROCAMS, Nice, France 2003.

Rahul Swaminathan, Michael D. Grossberg and Shree K. Nayar. “A Perspective on Distortions”. In Proceedings IEEE Conf. Computer Vision and Pattern Recognition, Madison, 2003.

Rahul Swaminathan, Michael D. Grossberg and Shree K. Nayar. “Non-Single Viewpoint Catadioptric Cameras: Geometry and Calibration”.  Submitted revisions to the International Journal on Computer Vision.

Rahul Swaminathan, Sing-Bing Kang, Rick Szeliski, Antonio Criminisi and Shree K. Nayar. “On the Motion and Appearnce of Specularities In Image Sequences”.  In Proc.  European Conf. on Computer Vision, Copenhagen, 2002.

Rahul Swaminathan, Michael D. Grossberg and Shree K. Nayar. “Caustics of Catadioptric Cameras.”  Proc. IEEE International Conf.  on Computer Vision ,Vancouver,  2001.

Rahul Swaminathan and Shree K. Nayar. “Non-Metric Calibration of Wide Angle Lenses and Polycameras.” In IEEE Journal on Pattern Analysis and Machine Intelligence, October 2000.

Rahul Swaminathan, Shree K. Nayar and Joshua Gluckman. “A combined wide angle narrow angle imaging system and method for surveillance and monitoring,” Accepted for US Patent App. No. 09/034,745.

Rahul Swaminathan and Shree K. Nayar. “Non-Metric Calibration of Wide Angle Lenses and Polycameras.” In Proceedings IEEE Conf. Computer Vision and Pattern Recognition, Fort Collins, 1999.

Nayar, S.K., Gluckman, J., Swaminathan, R., Lok, S., Boult, T.E., Catadioptric Video Sensors, WACV, 1998.

Skills and Courses:

C/C++, Visual C++/C#, Matlab, Mathematica. Environments: Unix and Windows.

Computer Vision, Adv. Computer Vision, Appearance Models in Graphics, Advanced Vision for Graphics.

Others: Artificial Intelligence, Complexity Theory, Computer Architecture, Adv. Operating Systems Design.

Professional Activities:

Reviewer for : PAMI, IJCV, Optical Engineering, ECCV 2003/02, ICCV 2003/1999, CVPR 2001/00.

Program Committee for : ECCV 2004, CVPR 2004/05.