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<!DOCTYPE html>
<html lang="en-us">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="theme" content="hugo-academic">
<meta name="generator" content="Hugo 0.29" />
<meta name="author" content="Carlos Jaramillo">
<meta name="description" content="Ph.D Candidate of Computer Science">
<link rel="stylesheet" href="/css/highlight.min.css">
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/twitter-bootstrap/3.3.7/css/bootstrap.min.css" integrity="sha512-6MXa8B6uaO18Hid6blRMetEIoPqHf7Ux1tnyIQdpt9qI5OACx7C+O3IVTr98vwGnlcg0LOLa02i9Y1HpVhlfiw==" crossorigin="anonymous">
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<link rel="stylesheet" href="//fonts.googleapis.com/css?family=Montserrat:400,700%7cRoboto:400,400italic,700%7cRoboto+Mono">
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<link rel="apple-touch-icon" type="image/png" href="/img/apple-touch-icon.png">
<link rel="canonical" href="https://ubuntuslave.github.io/">
<title>Vision 2π</title>
</head>
<body id="top" data-spy="scroll" data-target="#navbar-main" data-offset="71">
<nav class="navbar navbar-default navbar-fixed-top" id="navbar-main">
<div class="container">
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<button type="button" class="navbar-toggle collapsed" data-toggle="collapse"
data-target=".navbar-collapse" aria-expanded="false">
<span class="sr-only">Toggle navigation</span>
<span class="icon-bar"></span>
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</button>
<a class="navbar-brand" href="/">Vision 2π</a>
</div>
<div class="collapse navbar-collapse">
<ul class="nav navbar-nav navbar-right">
<li class="nav-item">
<a href="/#about" data-target="#about">
<span>Home</span>
</a>
</li>
<li class="nav-item">
<a href="/#publications_selected" data-target="#publications_selected">
<span>Publications</span>
</a>
</li>
<li class="nav-item">
<a href="/#projects" data-target="#projects">
<span>Projects</span>
</a>
</li>
<li class="nav-item">
<a href="/#teaching" data-target="#teaching">
<span>Teaching</span>
</a>
</li>
<li class="nav-item">
<a href="/#contact" data-target="#contact">
<span>Contact</span>
</a>
</li>
</ul>
</div>
</div>
</nav>
<span id="homepage" style="display: none"></span>
<section id="about" class="home-section">
<div class="container">
<div class="row" itemprop="author" itemscope itemtype="http://schema.org/Person" itemref="person-email person-address">
<div class="col-xs-12 col-md-4">
<div id="profile">
<div class="portrait" style="background-image: url('https://ubuntuslave.github.io/img/portrait.jpg');"></div>
<meta itemprop="image" content="https://ubuntuslave.github.io/img/portrait.jpg">
<div class="portrait-title">
<h2 itemprop="name">Carlos Jaramillo</h2>
<h3 itemprop="jobTitle">Ph.D Candidate of Computer Science</h3>
<h3 itemprop="worksFor" itemscope itemtype="http://schema.org/Organization">
<a href="http://cs.gc.cuny.edu/" target="_blank" itemprop="url">
<span itemprop="name">CUNY Graduate Center</span>
</a>
</h3>
</div>
<link itemprop="url" href="https://ubuntuslave.github.io/">
<ul class="network-icon" aria-hidden="true">
<li>
<a itemprop="sameAs" href="mailto:omnistereo@gmail.com" target="_blank">
<i class="fa fa-envelope big-icon"></i>
</a>
</li>
<li>
<a itemprop="sameAs" href="https://scholar.google.co.uk/citations?hl=en&user=0VrnEjcAAAAJ" target="_blank">
<i class="ai ai-google-scholar big-icon"></i>
</a>
</li>
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<a itemprop="sameAs" href="//github.com/ubuntuslave" target="_blank">
<i class="fa fa-github big-icon"></i>
</a>
</li>
</ul>
</div>
</div>
<div class="col-xs-12 col-md-8" itemprop="description">
<h1 id="biography">Biography</h1>
<p>Carlos Jaramillo is currently a doctorate student of <a href="http://cs.gc.cuny.edu" target="_blank">computer science</a> at the <a href="https://www.gc.cuny.edu" target="_blank">City University of New York</a> under the supervision of <a href="http://www-ee.ccny.cuny.edu/www/web/jxiao/jxiao.html" target="_blank">Dr. Jizhong Xiao</a> at the <a href="http://robotics.ccny.cuny.edu/" target="_blank">CCNY Robotics Lab</a>.
His research interests include computer vision applied to robotic sensing for navigation, mobile autonomous robots and omnidirectional vision sensors.
He enjoys researching science, hacking technology, and programming in any language that gets the job done, but his preferences are Python, C and C++.
He has participated in various international events, conferences, and competitions.
For instance, in 2009, he joined the <a href="https://ubuntuslave.github.io/project/cityalien/" target="_blank">CityALIEN team</a>, which won the
<a href="https://ubuntuslave.github.io/img/IGVC/CityALIEN/CityALIEN-design_first_place_certificate.jpg" target="_blank">Design Competition</a>
during the <a href="http://www.igvc.org" target="_blank">Intelligent Ground Vehicle Competition (IGVC)</a> and led a new team in <a href="https://ubuntuslave.github.io/project/cata/" target="_blank">2011</a>.
He interned at Mitsubishi Electric Research Laboratories (<a href="http://merl.com" target="_blank">MERL</a>) for a year (2016-2017) where he was able to collaborate with <a href="http://www.merl.com/people/taguchi" target="_blank">Dr. Yuichi Taguchi</a> on developing algorithms for SLAM (simultaneous localization and mapping) and 3D reconstruction.
He is scheduled for his dissertation defense for May 24, 2018.</p>
<a href="https://ubuntuslave.github.io/files/Carlos_Jaramillo-resume.pdf">Download my CV</a>
<div class="row">
<div class="col-sm-5">
<h3>Interests</h3>
<ul class="ul-interests">
<li>Computer Vision</li>
<li>Robotics Autonomous Navigation</li>
<li>Omnidirectional Vision</li>
<li>Catadioptrics</li>
<li>Aerospace</li>
</ul>
</div>
<div class="col-sm-7">
<h3>Education</h3>
<ul class="ul-edu fa-ul">
<li>
<i class="fa-li fa fa-graduation-cap"></i>
<div class="description">
<p class="course">Ph.D. Candidate in Computer Science, 2016</p>
<p class="institution">CUNY Graduate Center</p>
</div>
</li>
<li>
<i class="fa-li fa fa-graduation-cap"></i>
<div class="description">
<p class="course">M.S. in Computer Science, 2011</p>
<p class="institution">City College of New York</p>
</div>
</li>
<li>
<i class="fa-li fa fa-graduation-cap"></i>
<div class="description">
<p class="course">B.E. in Computer Engineering, 2009</p>
<p class="institution">City College of New York</p>
</div>
</li>
<li>
<i class="fa-li fa fa-graduation-cap"></i>
<div class="description">
<p class="course">A.S. in Computer Science, 2003</p>
<p class="institution">SUNY Westchester Community College</p>
</div>
</li>
</ul>
</div>
</div>
</div>
</div>
</div>
</section>
<section id="publications_selected" class="home-section">
<div class="container">
<div class="row">
<div class="col-xs-12 col-md-4 section-heading">
<h1>Selected Publications</h1>
</div>
<div class="col-xs-12 col-md-8">
<div class="pub-list-item" itemscope itemtype="http://schema.org/CreativeWork">
<div class="row">
<div class="col-md-12">
<a href="https://ubuntuslave.github.io/publication/2018-vo_sos/">
<img src="/img/VO-SOS/noncentral_absolute_pose_registration-50.png" class="pub-banner"
itemprop="image">
</a>
</div>
<div class="col-md-12">
<h3 class="article-title" itemprop="name">
<a href="https://ubuntuslave.github.io/publication/2018-vo_sos/" itemprop="url">Visual Odometry with a Single-Camera Stereo Omnidirectional System</a>
</h3>
<div class="pub-abstract" itemprop="text">
This paper presents the advantages of a single-camera stereo omnidirectional system (SOS) in estimating egomotion in real-world environments. Dynamic conditions and the lack of features to track in the observable scene affect the pose estimation of all narrow-view systems. We compare the tracking accuracy and stability of the single-camera SOS versus an RGB-D device under various real circumstances. Our numerical evaluation is performed with respect to ground truth 3D data obtained from a motion capture system. The datasets and experimental results we provide are unique due to the nature of our catadioptric omnistereo rig, and the situations in which we captured these motion sequences. We have implemented a tracking system with proven correctness for both synthetic and real scenes. This implementation does not make any motion model assumptions, and it maintains a consistent configuration among the compared sensors. Our experimental outcomes confer the robustness in 3D metric visual odometry estimation that the single-camera SOS can achieve under normal and special conditions in which other perspective view systems such as RGB-D cameras would fail.
</div>
<div class="pub-authors" itemprop="author">
<strong>Carlos Jaramillo</strong>, Liang Yang, J. Pablo Munoz, Yuichi Taguchi, Jizhong Xiao
</div>
<div class="pub-publication">
In <em>under review</em>, 2018.
</div>
<div class="pub-links">
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2018-vo_sos/">
Details
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://youtu.be/c5tyHqEkKQA">
Video
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://github.com/ubuntuslave/vo_single_camera_sos">
Code
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/project/vo_sos/#datasets">
Dataset
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/project/vo_sos/">
Project
</a>
</div>
</div>
</div>
</div>
<div class="pub-list-item" itemscope itemtype="http://schema.org/CreativeWork">
<div class="row">
<div class="col-md-12">
<a href="https://ubuntuslave.github.io/publication/2017-3dv-dmt/">
<img src="/img/DMT/DMT-pipeline-50.png" class="pub-banner"
itemprop="image">
</a>
</div>
<div class="col-md-12">
<h3 class="article-title" itemprop="name">
<a href="https://ubuntuslave.github.io/publication/2017-3dv-dmt/" itemprop="url">Direct Multichannel Tracking</a>
</h3>
<div class="pub-abstract" itemprop="text">
We present direct multichannel tracking, an algorithm for tracking the pose of a monocular camera (visual odometry) using high-dimensional features in a direct image alignment framework.
</div>
<div class="pub-authors" itemprop="author">
<strong>Carlos Jaramillo</strong>, Yuichi Taguchi, Chen Feng
</div>
<div class="pub-publication">
In <em>3DV</em>, 2017.
</div>
<div class="pub-links">
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2017-3dv-dmt/">
Details
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/files/DMT/DMT-3DV2017.pdf">
PDF
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://youtu.be/WA55baA23Zs">
Video
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/project/dmt/">
Project
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/files/DMT/DMT-supplementary-3DV2017.pdf">
Supplementary Materials
</a>
</div>
</div>
</div>
</div>
<div class="pub-list-item" itemscope itemtype="http://schema.org/CreativeWork">
<div class="row">
<div class="col-md-12">
<a href="https://ubuntuslave.github.io/publication/2016-iros-gums/">
<img src="/img/GUMS/gums-coaxially_constrained-50.png" class="pub-banner"
itemprop="image">
</a>
</div>
<div class="col-md-12">
<h3 class="article-title" itemprop="name">
<a href="https://ubuntuslave.github.io/publication/2016-iros-gums/" itemprop="url">GUMS: A Generalized Unified Model for Stereo Omnidirectional Vision</a>
</h3>
<div class="pub-abstract" itemprop="text">
GUMS is a complete projection model for omnidirectional stereo vision systems. GUMS is based on the existing generalized unified model (GUM), which we extend for fixed baseline sensors.
</div>
<div class="pub-authors" itemprop="author">
<strong>Carlos Jaramillo</strong>, Roberto G. Valenti, Jizhong Xiao
</div>
<div class="pub-publication">
In <em>IROS</em>, 2016.
</div>
<div class="pub-links">
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2016-iros-gums/">
Details
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/files/GUMS/GUMS-IROS2016.pdf">
PDF
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://youtu.be/Y2-XqTRJ_pQ">
Slides
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://youtu.be/8c7fTHMSUFM">
Video
</a>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/project/gums/">
Project
</a>
</div>
</div>
</div>
</div>
<div class="pub-list-item" itemscope itemtype="http://schema.org/CreativeWork">
<div class="row">
<div class="col-md-12">
<a href="https://ubuntuslave.github.io/publication/2016-sensors-omnistereo_sensor/">
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<h3 class="article-title" itemprop="name">
<a href="https://ubuntuslave.github.io/publication/2016-sensors-omnistereo_sensor/" itemprop="url">Design and Analysis of a Single-Camera Omnistereo Sensor for Quadrotor Micro Aerial Vehicles (MAVs)</a>
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<div class="pub-abstract" itemprop="text">
We describe the design and 3D sensing performance of an omnidirectional stereo (omnistereo) vision system applied to Micro Aerial Vehicles (MAVs).
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<div class="pub-authors" itemprop="author">
<strong>Carlos Jaramillo</strong>, Roberto G. Valenti, Ling Guo, Jizhong Xiao
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<div class="pub-publication">
In <em>Sensors</em>, 2016.
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<div class="pub-links">
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2016-sensors-omnistereo_sensor/">
Details
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<a class="btn btn-primary btn-outline btn-xs" href="http://www.mdpi.com/1424-8220/16/2/217/pdf">
PDF
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<a class="btn btn-primary btn-outline btn-xs" href="https://github.com/ubuntuslave/omnistereo_sensor_design">
Code
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<section id="publications" class="home-section">
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<h1>All Publications</h1>
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<span itemprop="author">
<strong>Carlos Jaramillo</strong>, Liang Yang, J. Pablo Munoz, Yuichi Taguchi, Jizhong Xiao</span>.
<span itemprop="name">Visual Odometry with a Single-Camera Stereo Omnidirectional System</span>.
In <em>under review</em>, 2018.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2018-vo_sos/">
Details
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<a class="btn btn-primary btn-outline btn-xs" href="https://youtu.be/c5tyHqEkKQA">
Video
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<a class="btn btn-primary btn-outline btn-xs" href="https://github.com/ubuntuslave/vo_single_camera_sos">
Code
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<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/project/vo_sos/#datasets">
Dataset
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Project
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<strong>Carlos Jaramillo</strong>, Yuichi Taguchi, Chen Feng</span>.
<span itemprop="name">Direct Multichannel Tracking</span>.
In <em>3DV</em>, 2017.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2017-3dv-dmt/">
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<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/files/DMT/DMT-3DV2017.pdf">
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<a class="btn btn-primary btn-outline btn-xs" href="https://youtu.be/WA55baA23Zs">
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Supplementary Materials
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<strong>Carlos Jaramillo</strong>, Roberto G. Valenti, Jizhong Xiao</span>.
<span itemprop="name">GUMS: A Generalized Unified Model for Stereo Omnidirectional Vision</span>.
In <em>IROS</em>, 2016.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2016-iros-gums/">
Details
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<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/files/GUMS/GUMS-IROS2016.pdf">
PDF
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Slides
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<span itemprop="author">
<strong>Carlos Jaramillo</strong>, Roberto G. Valenti, Ling Guo, Jizhong Xiao</span>.
<span itemprop="name">Design and Analysis of a Single-Camera Omnistereo Sensor for Quadrotor Micro Aerial Vehicles (MAVs)</span>.
In <em>Sensors</em>, 2016.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2016-sensors-omnistereo_sensor/">
Details
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<a class="btn btn-primary btn-outline btn-xs" href="http://www.mdpi.com/1424-8220/16/2/217/pdf">
PDF
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<a class="btn btn-primary btn-outline btn-xs" href="https://github.com/ubuntuslave/omnistereo_sensor_design">
Code
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<span itemprop="author">
Roberto G. Valenti, Ivan Dryanovski, <strong>Carlos Jaramillo</strong>, Daniel Perea Strom, Jizhong Xiao</span>.
<span itemprop="name">Autonomous Quadrotor Flight Using Onboard RGB-D Visual Odometry</span>.
In <em>ICRA</em>, 2014.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2014-icra-uav/">
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<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/files/others/Valenti-ICRA2014.pdf">
PDF
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<a class="btn btn-primary btn-outline btn-xs" href="https://youtu.be/v5Jq6SVClpY">
Video
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<a class="btn btn-primary btn-outline btn-xs" href="https://github.com/ccny-ros-pkg/mav_tools">
Code
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<span itemprop="author">
<strong>Carlos Jaramillo</strong>, Ivan Dryanovski, Roberto G. Valenti, Jizhong Xiao</span>.
<span itemprop="name">6-DoF Pose Localization in 3D Point-Cloud Dense Maps Using a Monocular Camera</span>.
In <em>ROBIO</em>, 2013.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2013-robio-6dof/">
Details
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<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/files/others/Jaramillo-ROBIO2013.pdf">
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<span itemprop="author">
<strong>Carlos Jaramillo</strong>, Ling Guo, Jizhong Xiao</span>.
<span itemprop="name">A Single-Camera Omni-Stereo Vision System for 3D Perception of Micro Aerial Vehicles (MAVs)</span>.
In <em>ICIEA</em>, 2013.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2013-iciea-omnistereo/">
Details
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<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/files/others/Jaramillo-ICIEA2013.pdf">
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Ivan Dryanovski, <strong>Carlos Jaramillo</strong>, Jizhong Xiao</span>.
<span itemprop="name">Incremental Registration of RGB-D Images</span>.
In <em>ICRA</em>, 2012.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2012-icra-incremental/">
Details
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<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/files/others/Dryanovski-ICRA2012.pdf">
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<span itemprop="author">
Igor Labutov, <strong>Carlos Jaramillo</strong>, Jizhong Xiao</span>.
<span itemprop="name">Generating near-spherical range panoramas by fusing optical flow and stereo from a single-camera folded catadioptric rig</span>.
In <em>MVAP</em>, 2011.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2011-mvap-spherical_omnistereo/">
Details
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<a class="btn btn-primary btn-outline btn-xs" href="https://link.springer.com/article/10.1007%2Fs00138-011-0368-2">
PDF
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<div class="pub-list-item" style="margin-bottom: 1rem" itemscope itemtype="http://schema.org/CreativeWork">
<i class="fa fa-file-text-o pub-icon" aria-hidden="true"></i>
<span itemprop="author">
Igor Labutov, <strong>Carlos Jaramillo</strong>, Jizhong Xiao</span>.
<span itemprop="name">Fusing Optical Flow and Stereo in a Spherical Depth Panorama Using a Single-Camera Folded Catadioptric Rig</span>.
In <em>ICRA</em>, 2011.
<p>
<a class="btn btn-primary btn-outline btn-xs" href="https://ubuntuslave.github.io/publication/2011-icra-fusing_optical_flow/">
Details
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