I am interested in building working vision systems, both in robots and for using visual information for science, medicine, and other applications. Building fast, capable, and responsive vision systems leads into robotics, machine architecture, programming languages and numerical methods. I am especially interested in early vision, especially computation of scene structure through stereo and motion, and the integration of vision modules to produce robust systems.

I am studying the architecture of responsive vision systems by assembling hardware and software that operate robots in dynamic environments, under a variety of operating constraints, from simple autonomous systems to complex situated agents requiring substantial computational power. The problems to be solved are not just system configuration; there are many open issues in determining the proper interactions between the vision component of a robot and the reasoning and action components. This requires investigating how world modeling requirements and computing system facilities can be combined into a vision-based operating system. These concepts are embodied in tracking systems, navigating mobile robots and other robotic systems.

Vision lets computing devices see and interact with the world; it is a challenging area that fosters research into a broad range of scientific areas.

I have been heavily involved in the Spinoza and Robot Partners projects. Both have come to an end but our work continues on robots that collaborate with other robots and people.