Book

Dezhen Song, Sharing a Vision: Systems and Algorithms for Collaboratively-Teleoperated Robotic Cameras , a Monograph in Springer Tracts on Advanced Robotics , Vol. 51, ISBN: 978-3-540-88064-6, 2009, Springer. Available at Springer Amazon.com

Journal Papers

1. Di Wang, Xiaoyu Duan, Shu-Hao Yeh, Jun Zou, and Dezhen Song, Calibration System and Algorithm Design for a Soft Hinged Micro Scanning Mirror with a Triaxial Hall Effect Sensor, IEEE Robotics and Automation Letters (RA-L) 2024, Vol. 9, No. 3, March 2024, pp. 2447 - 2454. [Download from IEEE]

2. Zohreh Shaghaghian, Heather Burte, Dezhen Song, and Wei Yan An augmented reality application and experiment for understanding and learning spatial transformation matrices, Virtual Reality, vol. 28, no. 12 Jan. 2024. [Download from Springer Link]

3. Eric Zou, Cheng Fang, and Dezhen Song, A Low-Cost Handheld Photoacoustic (PA) Probe for Rapid and Non-Destructive Detection of Watermelon Ripeness, IEEE Sensors Journal, vol. 23, no. 21, Nov. 2023, pp. 26636 - 26642. [Download from IEEE]

4. Kun Hu, Zhiyong Wang, Guy Coleman, Asher Bender, Tingting Yao, Shan Zeng, Dezhen Song, Anold Schumann, Michael Walsh, Deep learning techniques for in-crop weed recognition in large-scale grain production systems: a review, Precision Agriculture, Sep. 2023, pp. 1573-1618. [Open Access from Springer]

5. Nansha Li, Renbiao. Wu, Haifeng. Li, Huaichao Wang, Zhongchen Gui, and Dezhen. Song, M²FNet: Multimodal Fusion Network for Airport Runway Subsurface Defect Detection Using GPR Data, IEEE Transactions on Geoscience and Remote Sensing, vol. 61, Aug. 2023, pp. 1-16. [Download from IEEE]

6. Gaofeng Li, Shan Xu, Dezhen Song, Fernando Caponetto, Ioannis Sarakoglou, Jingtai Liu, and Nikos Tsagarakis, On Perpendicular Curve-based Task Space Trajectory Tracking Control with Incomplete Orientation Constraint, IEEE Transactions on Automation Science and Engineering (T-ASE), vol. 20, no. 2, April 2023, pp. 1244 - 1261. [Download from IEEE]

7. Kuo Chen, Jingang Yi, and Dezhen Song, Gaussian Processes-based Control of Underactuated Balance Robots with Guaranteed Performance, IEEE Transactions on Robotics (T-RO), vol. 39, no. 1, Feb. 2023, pp. 572 - 589. [Download from IEEE]

8. Chengsong Hu, Shuangyu Xie, Dezhen Song, Alex J. Thomasson, Robert Hardin IV, and Muthukumar Bagavathiannan, Algorithm and System for Robotic Micro-dose Herbicide Spray for Precision Weed Management, IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 4, Oct. 2022, pp. 11633 – 11640. [Download from IEEE]

9. Aaron Kingery and Dezhen Song, Improving Ego-Velocity Estimation of Low-cost Doppler Radars for Vehicles, IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 4, October 2022, pp. 9445 - 9452. [Download from IEEE]

10. Nansha Li, Renbiao Wu, Haifeng Li, Huaichao Wang, Zhongcheng Gui, and Dezhen Song, MV-GPRNet: Multi-View Subsurface Defect Detection Network for Airport Runway Inspection Based on GPR, Remote Sensing, vol. 14, no. 18, Sept. 2022, pp. 4472. [Open Access]

11. Gaofeng Li, Dezhen Song, Lei Sun, Shan Xu, Hongpeng Wang, and Jingtai Liu, Static force-based modeling and parameter estimation for a deformable link composed of passive spherical joints with preload forces, IEEE/CAA Journal of Automatica Sinica, vol. 8, no. 11, Nov. 2021, pp. 1817 - 1826 [Download from IEEE]

12. Shuangyu Xie, Chengsong Hu, Muthukumar Bagavathiannan, and Dezhen Song, Toward Robotic Weed Control: Detection of Nutsedge Weed in Bermudagrass Turf Using Inaccurate and Insufficient Training Data, IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 4, Oct. 2021, pp. 7365 - 7372. [Download from IEEE][Video Attachment].

13. Hsin-Min Cheng and Dezhen Song, Graph-based Proprioceptive Localization Using a Discrete Heading-Length Feature Sequence Matching Approach, IEEE Transactions on Robotics (T-RO), vol. 37, no. 4, August 2021, pp. 1268-1281. [Download from IEEE]

14. Feng Lu, Baifan Chen, Xiang-Dong Zhou, and Dezhen Song, STA-VPR: Spatio-temporal Alignment for Visual Place Recognition, IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 3, July 2021, pp. 4297-4304 [Download from IEEE]

15. Gaofeng Li, Dezhen Song, Shan Xu, Lei Sun, and Jingtai Liu, On Perpendicular Curve-based Model-less Control Considering Incomplete Orientation Constraint, IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 26, no. 3, June 2021, pp. 1479-1489. [Download from IEEE]

16. Haifeng Li, Nansha Li, Renbiao Wu, Huaichao Wang, Zhongcheng Gui, and Dezhen Song, GPR-RCNN: An Algorithm of Subsurface Defect Detection for Airport Runway based on GPR, IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, April 2021, pp. 3001-3008 [Download from IEEE] [Video Attachment]

17. Hsin-Min Cheng, Chieh Chou, Dezhen Song, Vehicle-to-Vehicle Collaborative Graph-based Proprioceptive Localization, IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, April 2021, pp. 990-997 [Download from IEEE]

18. Chieh Chou, Haifeng Li, and Dezhen Song, Encoder-Camera-Ground Penetrating Radar Sensor Fusion: Bimodal Calibration and Subsurface Mapping, IEEE Transactions on Robotics (T-RO), Vol. 37, No. 1, pp. 67-81, Feb. 2021. [Download from IEEE][Video 65MB Mp4]

19. Haifeng Li, Chieh Chou, Longfei Fan, Binbin Li, Di Wang, and Dezhen Song, Toward Automatic Subsurface Pipeline Mapping by Fusing a Ground-Penetrating Radar and a Camera, IEEE Transactions on Automation Science and Engineering (T-ASE), Vol. 17, No. 2 , April 2020, pp 722-734. [Download from IEEE]

20. Haifeng Li, Dezhen Song, Yu Liu, and Binbin Li, Automatic Pavement Crack Detection by Multi-Scale Image Fusion, IEEE Transactions on Intelligent Transportation Systems (T-ITS), vol. 20, no. 6, June 2019, pp. 2025 - 2036. [Download from IEEE]

21. Gaofeng Li, Dezhen Song, Shan Xu, Lei Sun, and Jingtai Liu, A Hybrid Model and Model-free Position Control for a Reconfigurable Manipulator, IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 24, no. 2, April 2019, pp. 785 - 795. [Download from IEEE].

22. Hsin-Min Cheng, Dezhen Song, Aaron Angert, Binbin Li, and Jingang Yi, Proprioceptive Localization Assisted by Magnetoreception: A Minimalist Intermittent Heading-based Approach, IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp.586-593, Apr. 2019, pp. 586-593. [Download from IEEE][Video Attachment]

23. Gaofeng Li, Dezhen Song, Shan Xu, Lei Sun, and Jingtai Liu, Kinematic-free Orientation Control for a Deformable Manipulator based on the Geodesic in Rotation Group SO(3), IEEE Robotics and Automation Letters (RA-L), 2018, vol. 3, No. 3, July 2018, pp. 2432-2438. [Download from IEEE].

24. Yan Lu and Dezhen Song, Visual Navigation Using Heterogeneous Landmarks and Unsupervised Geometric Constraints, IEEE Transactions on Robotics (T-RO), vol. 31, no. 3, June 2015, pp. 736 – 749. [Download from IEEE]

25. Chang Young Kim, Dezhen Song, Jingang Yi, and Xinyu Wu, Decentralized Searching of Multiple Unknown and Transient Radio Sources with Paired Robots, Engineering, vol. 1, no. 1, July 2015, pp. 58-65.  [Open Access]

26. Wen Li and Dezhen Song, Automatic Bird Species Filtering Using A Multi-Model Approach, IEEE Transactions on Automation Science and Engineering (T-ASE), vol.12, no.2, pp.553 - 564, April 2015. [Download from IEEE]

27. Chang Young Kim, Dezhen Song, Yiliang Xu, Jingang Yi, and Xinyu Wu, Cooperative Search of Multiple Unknown Transient Radio Sources Using Multiple Paired Mobile Robots, IEEE Transactions on Robotics (T-RO), vol. 30, no. 5, Oct. 2014, pp. 1161 - 1173. [Download from IEEE] [Video file 15MB WMV MP4]

28. Wen Li and Dezhen Song, Automatic Bird Species Detection from Crowd Sourced Videos, IEEE Transactions on Automation Science and Engineering (T-ASE), vol. 11, no. 2, April 2014, pp. 348 - 358, [Download from IEEE]

29. Dezhen Song, Chang Young Kim, and Jingang Yi, Simultaneous Localization of Multiple Unknown and Transient Radio Sources Using a Mobile Robot, IEEE Transactions on Robotics (T-RO), vol. 28, no. 3, June 2012, pp. 668-680. [Download from IEEE]

30. Rappole, J. H., S. Glasscock, K. Goldberg, D. Song, and S. Faridani, Range Change among New World Tropical and Subtropical Birds, In Tropical vertebrates in a changing world (K.-L. Schuchmann, ed.), Bonner Zoologische Monographien, Nr 57, 2011, Bonn, Germany, pp. 151-167. [Pdf 4.8M]

31. Dezhen Song, Chang Young Kim, and Jingang Yi, On the Time to Search for an Intermittent Signal Source Under a Limited Sensing Range , IEEE Transactions on Robotics (T-RO), vol. 27, no. 2, 2011, pp. 313-323. [Download from IEEE]

32. Wai Kin Victor Chan, Shengwei Ding, Jingang Yi, and Dezhen Song, Optimal Scheduling of Multi-Cluster Tools with Constant Robot Moving Times, Part II: Tree-Like Topology Configurations, IEEE Transactions on Automation Science and Engineering (T-ASE), vol. 8, no. 1, Jan. 2011, pp. 17-28. [Download from IEEE]

33. Dezhen Song and Yiliang Xu, A Low False Negative Filter for Detecting Rare Bird Species from Short Video Segments using a Probable Observation Data Set-based EKF Method, IEEE Transactions on Image Processing (T-IP), vol. 19, no. 9, Sept. 2010, pp. 2321-2331. [Download from IEEE]

34. Yiliang Xu and Dezhen Song, Systems and Algorithms for Autonomous and Scalable Crowd Surveillance Using Robotic PTZ Cameras Assisted by a Wide-Angle Camera, Autonomous Robots, Volume 29, Number 1 / July, 2010, pp.53-66. [Download from Springer]

35. Dezhen Song, Yiliang Xu, and Ni Qin, Aligning Windows of Live Video from an Imprecise Pan-Tilt-Zoom Camera into a Remote Panoramic Display for Remote Nature Observation, Journal of Real Time Image Processing, Vol. 5, Issue 1, 2010, pp. 57-71. [Download from Springer]

36. Dezhen Song, Chang Young Kim, and Jingang Yi, Simultaneous Localization of Multiple Unknown CSMA-based Wireless Sensor Network Nodes Using a Mobile Robot with a Directional Antenna, Journal of Intelligent Service Robots, Vol. 2, No. 4, October, 2009, pp. 219-233. [Download from Springer]

37. Jingang Yi, Hongpeng Wang, Junjie Zhang, Dezhen Song, Suhada Jayasuriya, and Jingtain Liu, Kinematic Modeling and Analysis of Skid-Steered Mobile Robots With Applications to Low-Cost Inertial-Measurement-Unit-Based Motion Estimation, IEEE Transactions on Robotics (T-RO), Vol. 25, No. 5, October, 2009, pp. 1087-1097. [Download from IEEE]

38. Dezhen Song, Ni Qin, and Ken Goldberg, Systems, Control Models, and Codec for Collaborative Observation of Remote Environments with an Autonomous Networked Robotic Camera, Autonomous Robots, May 2008, Vol. 24, No. 4, pp. 435-449. [Download from Springer]

39. Jingang Yi, Shengwei Ding, Dezhen Song, and Mike Tao Zhang, Steady-State Throughput and Scheduling Analysis of Multi-Cluster Tools: A Decomposition Approach, IEEE Transactions on Automation Science and Engineering (T-ASE), Vol. 5, No. 2, pp 321-336, April 2008. [Download from IEEE]

40. Dezhen Song, Hyun Nam Lee, Jingang Yi, and Anthony Levandowski, Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Roads, Autonomous Robots, Vol. 23, No. 3, Oct. 2007,  pp. 197-212. [Download from Springer ]

41. Dezhen Song and Ken Goldberg, Approximate Algorithms for a Collaboratively Controlled Robotic Camera, IEEE Transactions on Robotics (T-RO), Vol. 23, No. 5, Oct. 2007, pp. 1061-1070. [Download from IEEE]

42. Dezhen Song, A Frank van der Stappen, and Ken Goldberg, Exact Algorithms for Single Frame Selection on Multi-Axis Satellites, IEEE Transactions on Automation Science and Engineering, Vol. 3, No. 1. January 2006, pp.16-28. [Download from IEEE]

43. Goldberg K., Pashkevich A., Song D. Geometrical calibration of robotic web-cameras, Transactions of Belarusian Engineering Academy, vol. 1(15)/1, 2003, pp. 12-14. [pdf 1.0M]

44. Ken Goldberg, Dezhen Song, and Anthony Levandowski, Collaborative Teleoperation Using Networked Spatial Dynamic Voting, The Proceedings of THE IEEE, Vol 91, Number 3, March 2003, pp. 430-439. [Download from IEEE]

45. D. Song and L. Dai (1996) Online adaptive estimation and control of raw gas endpoint. Journal of Zhejiang University. Special issue in process control., pp:404-407 (In Chinese)

Refereed Conference Papers

46. Haifeng Li, Jiajun Guo, and Dezhen Song, Subsurface Feature-based Ground Robot/Vehicle Localization Using a Ground Penetrating Radar, IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 13-17, 2024 [pdf]

47. Shuangyu Xie, Chengsong Hu, Di Wang, Joe Johnson, Muthukumar Bagavathiannan, and Dezhen Song, Coupled Active Perception and Manipulation Planning for a Mobile Manipulator in Precision Agriculture Applications, IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 13-17, 2024 [pdf] [video]

48. Aguilar, S.D., Burte, H., Yasskin, P., Liew, J. Yeh, S., Qian, C. Song, D., Monjoree, U. and W. Yan, AR-Classroom: Usability of AR educational technology for learning rotations using three-dimensional matrix algebra, IEEE/ASEE Frontier in Education Conference (FIE), College Statin, Texas, USA, Oct. 18-21, 2023

49. Yeh, S., Qian, C., Song, D., Aguilar, S.D., Burte, H., Yasskin, P., Ashour, Z., Shaghaghian, Z., Monjoree, U. and Yan, W, AR-Classroom: Augmented Reality Technology for Learning 3D Spatial Transformations and Their Matrix Representation, IEEE/ASEE Frontier in Education Conference (FIE), College Statin, Texas, USA, Oct. 18-21, 2023

50. Fengzhi Guo, Shuangyu Xie, Di Wang, Cheng Fang, Jun Zou, and Dezhen Song, A Pretouch Perception Algorithm for Object Material and Structure Mapping to Assist Grasp and Manipulation Using a DMDSM Sensor, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, USA, Oct. 1-5, 2023 [pdf].

51. Shu-Hao Yeh, Shuangyu Xie, Wei Yan, Dezhen Song, Vision-Based Camera/Robot Pose Estimation Using Both Semantic and Geometric Features on LEGO Baseplates, IEEE International Conference on Automation Science and Engineering (CASE), Auckland, New Zealand, August 26 – 30, 2023 [pdf].

52. Cheng Fang, Shuangliang Li, Di Wang, Fengzhi Guo, Dezhen Song, and Jun Zou, The Third Generation (G3) Dual-Modal and Dual Sensing Mechanisms (DMDSM) Pretouch Sensor for Robotic Grasping, IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, May 29-June 2nd, 2023 [pdf].

53. Haifeng Li, Jianping Zong, Rui Huang, Zhongcheng Gui, and Dezhen Song, AggCrack: An Aggregated Attention Model for Robotic Crack Detection in Challenging Airport Runway Environment, IEEE International Conference on Automation Science and Engineering (CASE), Mexico City, Mexico, August 2022 [pdf].

54. Di Wang, Fengzhi Guo, Cheng Fang, Jun Zou, and Dezhen Song, Design of an Object Scanning System and a Calibration Method for a Fingertip-Mounted Dual-Modal and Dual Sensing Mechanisms (DMDSM)-based Pretouch Sensor for Grasping, IEEE International Conference on Automation Science and Engineering (CASE), Mexico City, Mexico, August 2022 [pdf][presentation].

55. Shu-Hao Yeh, Di Wang, Wei Yan, and Dezhen Song, Detection of Camera Model Inconsistency and the Existence of Optical Image Stabilization System, IEEE International Conference on Automation Science and Engineering (CASE), Mexico City, Mexico, August 2022 [pdf][presentation].

56. Cheng Fang, Di Wang, Dezhen Song, and Jun Zou, The Second Generation (G2) Fingertip Sensor for Near-Distance Ranging and Material Sensing in Robotic Grasping, IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, May 2022 [pdf].

57. Zohreh Shaghaghian, Heather Burte, Dezhen Song, and Wei Yan, Learning Spatial Transformations and their Math Representations through Embodied Learning in Augmented Reality, in the proceedings of the 24th International Conference on Human-Computer Interaction (HCII 2022), virtual, June 26 - July 1, 2022. (the Best Paper Award of the LCT 2022 Affiliated Conference)

58. Zohreh Shaghaghian, Wei Yan, and Dezhen Song, Learning Geometric Transformations for Parametric Design: An AR-Powered Approach, in the proceedings of the 2021 CAAD Futures Conference, Los Angeles, CA, July 16-18, 2021.

59. Xiaoyu Duan, Di Wang, Dezhen Song, and Jun Zou, Device Design and System Integration of a Two-Axis Water-immersible Micro Scanning Mirror (WIMSM) to Enable Dual-modal Optical and Acoustic Communication and Ranging for Underwater Vehicles, IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, May 30-June 6, 2021. [pdf]

60. Cheng Fang, Di Wang, Dezhen Song, and Jun Zou, Fingertip Pulse-Echo Ultrasound and Optoacoustic Dual-Modal and Dual Sensing Mechanisms Near-Distance Sensor for Ranging and Material Sensing in Robotic Grasping, IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, May 30-June 6, 2021. [pdf]

61. Zohreh Shaghaghian, Wei Yan, and Dezhen Song, Towards Learning Geometric Transformations through Play: An AR-powered approach, the 5th International Conference on Virtual and Augmented Reality Simulations (ICVARS 2021), Melbourne, Australia, Mar. 20-22, 2021 [pdf]

62. Shu-Hao Yeh, Yan Lu, and Dezhen Song, Model Quality Aware RANSAC: A Robust Camera Motion Estimator, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Oct. 25-29, 2020. [pdf]

63. Cheng Fang, Di Wang, Dezhen Song, and Jun Zou, Fingertip Non-Contact Optoacoustic Sensor for Near-Distance Ranging and Thickness Differentiation for Robotic Grasping, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Oct. 25-29, 2020. [pdf]

64. Binbin Li, Dezhen Song, Aaron Kingery, Dongfang Zheng, Yiliang Xu, and Huiwen Guo, Lane Marking Verification for High Definition Map Maintenance Using Crowdsourced Images, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Oct. 25-29, 2020. [pdf]

65. Binbin Li, Dezhen Song, Ankit Ramchandani, Hsin-Min Cheng, Di Wang, Yiliang Xu, and Baifan Chen, Virtual Lane Boundary Generation for Human-Compatible Autonomous Driving: A Tight Coupling between Perception and Planning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, Nov. 4-8, 2019. [pdf] [video mp4]

66. Chieh Chou, Di Wang, Dezhen Song, and Timothy A. Davis, On the Tunable Sparse Graph Solver for Pose Graph Optimization in Visual SLAM Problems, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, Nov. 4-8, 2019. [pdf]

67. Ting Sun, Dezhen Song, Dit-Yan Yeung, and Ming Liu, Semi-semantic Line-Cluster Assisted Monocular SLAM for Indoor Environments. The 12th International Conference on Computer Vision Systems (ICVS), Thessaloniki, Greece, Sept. 23-25, 2019, pp. 63-74 [pdf]

68. Xiaoyu Duan, Dezhen Song, and Jun Zou, Steering Co-centered and Co-directional Optical and Acoustic Beams with a Water-immersible MEMS Scanning Mirror for Underwater Ranging and Communication, IEEE International Conference on Robotics and Automation (ICRA), Montreal, Quebec, Canada, May 20-24, 2019. [pdf]

69. Cheng Fang, Di Wang, Dezhen Song, and Jun Zou, Toward Fingertip Non-Contact Material Recognition and Near-Distance Ranging for Robotic Grasping, IEEE International Conference on Robotics and Automation (ICRA), Montreal, Quebec, Canada, May 20-24, 2019. [pdf]

70. Kuo Chen, Jingang Yi, and Dezhen Song, Gaussian Processes Model-Based Control of Underactuated Balance Robots, IEEE International Conference on Robotics and Automation (ICRA), Montreal, Quebec, Canada, May 20-24, 2019 [pdf] [Video Attachment]

71. Haifeng Li, Chieh Chou, Longfei Fan, Binbin Li, Di Wang, and Dezhen Song, Robotic Subsurface Pipeline Mapping with a Ground-penetrating Radar and a Camera, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October, 1-5, 2018. [pdf 1M] [Video Attachment]

72. Binbin Li, Dezhen Song, Haifeng Li, Paul Carlson, and Adam Pike, Lane Marking Quality Assessment for Autonomous Driving, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October, 1-5, 2018. [pdf 2.2M] [Video Attachment]

73. Shan Xu, Gaofeng Li, Dezhen Song, Lei Sun, and Jingtai Liu, Real-time Shape Recognition of a Deformable Link by Using Self-Organizing Map, The 14th IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 20-24, 2018. [pdf 734k]

74. Chieh Chou, Aaron Kingery, Di Wang, Haifeng Li, and Dezhen Song, Encoder-Camera-Ground Penetrating Radar Tri-Sensor Mapping for Surface and Subsurface Transportation Infrastructure Inspection, IEEE International Conference on Robotics And Automation (ICRA), Brisbane, Australia, May 21-25, 2018. [pdf 492k] [Video Attachment]

75. Hsin-Min Cheng and Dezhen Song, Localization in Inconsistent WiFi Environments, International Symposium on Robotics Research (ISRR), Puerto Varas, Chile, Dec. 11-14, 2017. [pdf 1.2M]

76. Yan Lu, Joseph Lee, Shu-Hao Yeh, Hsin-Min Cheng, Baifan Chen, and Dezhen Song, Sharing Heterogeneous Spatial Knowledge: Map Fusion between Asynchronous Monocular Vision and Lidar or Other Prior Inputs, International Symposium on Robotics Research (ISRR), Puerto Varas, Chile, Dec. 11-14, 2017. [pdf 4.3M]

77. Binbin Li and Dezhen Song, Probabilistic Boundary Coverage for Unknown Target Fields with Large Perception Uncertainty and Limited Sensing Range, International Symposium on Robotics Research (ISRR), Puerto Varas, Chile, Dec. 11-14, 2017. [pdf 659k]

78. Chieh Chou, Shu-Hao Yeh, and Dezhen Song, Mirror-Assisted Calibration of a Multi-modal Sensing Array with a Ground Penetrating Radar and a Camera, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, Sept. 24-28, 2017. [pdf 660k]

79. Joseph Lee, Yan Lu, Yiliang Xu, Dezhen Song, Visual Programming for Mobile Robot Navigation Using High-level Landmarks, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, Oct. 9-14, 2016. [pdf 1.5M]

80. Aliasghar Arab, Kaiyan Yu, Jingang Yi, and Dezhen Song, Motion Planning for Aggressive Autonomous Vehicle Maneuvers, IEEE Conference on Automation Science and Engineering (CASE), Fort Worth, TX, USA, August 21-24, 2016. [pdf 728k]

81. Chieh Chou, Shu-Hao Yeh, Jingang Yi, Dezhen Song, Extrinsic Calibration of a Ground Penetrating Radar,  IEEE Conference on Automation Science and Engineering (CASE), Fort Worth, TX, USA, August 21-24, 2016. [pdf 605k]

82. Gaofeng Li, Lei Sun, Shan Xu, Dezhen Song, Jingtai Liu, A Hybrid Model and Kinematic-free Control Framework for a Low-cost Deformable Manipulator Using in Home Service, IEEE Conference on Automation Science and Engineering (CASE), Fort Worth, TX, USA, August 21-24, 2016. [pdf 1.9M]

83. Yan Lu and Dezhen Song, Robust RGB-D Odometry Using Point and Line Features , IEEE International Conference on Computer Vision (ICCV), Santiago, Chile, Dec. 13-16, 2015 [pdf 590k] [Video 34MB] [Source Code & Datasets]

84. Yan Lu and Dezhen Song, Robustness to Lighting Variations: An RGB-D Indoor Visual Odometry Using Line Segments, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 28 - October 02, 2015. [pdf 2.2M]

85. Kuo Chen, Mitja Trkov, Jingang Yi, Yizhai Zhang, Tao Liu, and Dezhen Song, A Robotic Bipedal Model for Human Walking with Slips, IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, May, 2015. [pdf 416k]

86. Yiliang Xu, Dezhen Song, and Anthony Hoogs, An Efficient Online Hierarchical Supervoxel Segmentation Algorithm for Time-critical Applications, British Machine Vision Conference (BMVC), Sep. 2014, Nottingham, UK [pdf 1.0M]

87. Wen Li and Dezhen Song, Featureless Motion Vector-based Simultaneous Localization, Planar Surface Extraction, and Moving Obstacle Tracking, The Eleventh International Workshop on the Algorithmic Foundations of Robotics (WAFR), İstanbul, Turkey, August 2014. [pdf 6.3M]

88. Joseph Lee, Yan Lu, and Dezhen Song, Planar Building Facade Segmentation and Mapping Using Appearance and Geometric Constraints, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, US, Sept., 2014. [pdf 1.2M]

89. Wen Li and Dezhen Song, Toward Featureless Visual Navigation: Simultaneous Localization and Planar Surface Extraction Using Motion Vectors in Video Streams, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May-June, 2014. [pdf 2.4M]

90. Yan Lu, Dezhen Song, and Jingang Yi, High Level Landmark-Based Visual Navigation Using Unsupervised Geometric Constraints in Local Bundle Adjustment, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May-June, 2014. [pdf 742k]

91. Yizhai Zhang, Pengcheng Wang, Jingang Yi, and Dezhen Song, Balance Control of a Bikebot for Studying Human Dynamic Postural Balance Motor Control, IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May-June, 2014. [pdf 542k]

92. Yan Lu, Dezhen Song, Haifeng Li, and Jingtai Liu, Automatic Recognition of Spurious Surface in Building Exterior Survey, IEEE International Conference on Automation Science and Engineering Madison (CASE), Wisconsin, USA, August 17-21, 2013. [pdf 1.26M]

93. Yan Lu, Dezhen Song, Yiliang Xu, A. G. Amitha Perera, and Sang Min Oh, Automatic Building Exterior Mapping Using Multilayer Feature Graphs, IEEE International Conference on Automation Science and Engineering Madison (CASE), Wisconsin, USA, August 17-21, 2013. [pdf 473k]

94. Dan Xu, Xinyu Wu, Dezhen Song, Nannan Li, and Yen-Lun Chen, Hierachical Activity Discovery within Spatio-Temporal Context for Video Anomaly Detection, IEEE International Conference on Image Processing (ICIP), Melbourne, Australia, Sep. 2013. [pdf 608k]

95. Chang Young Kim, Dezhen Song, and Jingang Yi, Decentralized Searching of Multiple Unknown and Transient Radio Sources, IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013. [pdf 274k]

96. Wen Li and Dezhen Song, Automatic Bird Species Detection Using Periodicity of Salient Extremities, IEEE International Conference on Robotics and Automation (ICRA), May 6-10, 2013, Karlsruhe, Germany [pdf 552k]

97. Yuanyuan Liu, Xinyu Wu, Dezhen Song, Ruiqing Fu, Duan Zheng, Yangsheng Xu, Path Planning for Clothes Climbing Robots on Deformable Clothes Surface, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 7-12, 2012, Vilamoura, Algarve, Portugal [pdf 572k]

98. Haifeng Li, Dezhen Song, Yan Lu, and Jingtai Liu, A Two-View based Multilayer Feature Graph for Robot Navigation, IEEE International Conference on Robotics and Automation (ICRA), May 14-18, 2012, St. Paul, MN [pdf 4.2M]

99. Chang Young Kim, Dezhen Song, Yiliang Xu, and Jingang Yi, Localization of Multiple Unknown Transient Radio Sources using Multiple Paired Mobile Robots with Limited Sensing Ranges, IEEE International Conference on Robotics and Automation (ICRA), May 9-13, 2011, Shanghai, China [pdf 384k]

100. Ali-akbar Agha-mohammadi and Dezhen Song, Robust Recognition of Planar Mirrored Walls Using a Single View, IEEE International Conference on Robotics and Automation (ICRA), May 9-13, 2011, Shanghai, China [pdf 1.3M]

101. Yizhai Zhang, Jingliang Li, Jingang Yi, and Dezhen Song, Balance Control and Analysis of Stationary Riderless Motorcycles, IEEE International Conference on Robotics and Automation (ICRA), May 9-13, 2011, Shanghai, China [pdf 600k]

102. Yiliang Xu, Dezhen Song, and Jingang Yi, Exact Algorithms for Non-Overlapping 2-Frame Problem with Non-Partial Coverage for Networked Robotic Cameras , the 6th annual IEEE Conference on Automation Science and Engineering (CASE 2010), August 21-24, 2010, Toronto, Ontario, Canada [pdf 911k]

103. Dezhen Song, Chang Young Kim, and Jingang Yi, Stochastic Modeling of the Expected Time to Search for an Intermittent Signal Source Under a Limited Sensing Range , The 2010 Robotics: Science and Systems (RSS) Conference, June 27-June 30, 2010, Zaragoza, Spain [pdf 411k]

104. Ji Zhang and Dezhen Song, Error Aware Monocular Visual Odometry using Vertical Line Pairs for Small Robots in Urban Areas , Special Track on Physically Grounded AI (PGAI), the Twenty-Fourth AAAI Conference on Artificial Intelligence (AAAI-10), Atlanta, Georgia, USA, July 11-15, 2010 [pdf 350k]

105. Dezhen Song and Yiliang Yu, A Low False Negative Filter for Detecting Rare Bird Species from Short Video Segments using a Probable Observation Data Set-based EKF Method , Special Track on Physically Grounded AI (PGAI), the Twenty-Fourth AAAI Conference on Artificial Intelligence (AAAI-10), Atlanta, Georgia, USA, July 11-15, 2010 [pdf 362k]

106. Jingang Yi, Yizhai Zhang, Dezhen Song, Autonomous Motorcycles for Agile Maneuvers, Part I: Dynamic Modeling, the 48th IEEE Conference on Decision and Control (CDC), Shanghai, Dec. 16-18, 2009. [pdf 262k]

107. Jingang Yi, Yizhai Zhang, Dezhen Song, Autonomous Motorcycles for Agile Maneuvers, Part II: Control Systems Design, the 48th IEEE Conference on Decision and Control (CDC), Shanghai, Dec. 16-18, 2009. [pdf 500k]

108. Siamak Faridani, Bryce Lee, Selma Glasscock, John Rappole, Dezhen Song, Ken Goldberg, A Networked Telerobotic Observatory for Collaborative Remote Observation of Avian Activity and Range Change , the IFAC workshop on networked robots, Oct. 6-8, 2009, Golden, Colorado [pdf 1.4M]

109. Yiliang Xu and Dezhen Song, Systems and Algorithms for Autonomously Simultaneous Observation of Multiple Objects Using Robotic PTZ Cameras Assisted by a Wide-Angle Camera , The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, USA, Oct. 11-15, 2009 [pdf 510k]

110. Ji Zhang and Dezhen Song, On the Error Analysis of Vertical Line Pair-based Monocular Visual Odometry in Urban Area , The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, USA, Oct. 11-15, 2009  [pdf 750k]

111. Dezhen Song, Chang Young Kim, Jingang Yi, Monte Carlo Simultaneous Localization of Multiple Unknown Transient Radio Sources Using a Mobile Robot with a Directional Antenna , IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009 [pdf 372k].

112. Hongpeng Wang, Junjie Zhang, Jingang Yi, Dezhen Song, Suhada Jayasuriya, Jingtai Liu, Modeling and Analysis of Skid-Steered Mobile Robots, IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009 [pdf 1400k].

113. Dezhen Song, Hyunnam Lee, and Jingang Yi, On the Analysis of the Depth Error on the Road Plane for Monocular Vision-Based Robot Navigation , The Eighth International Workshop on the Algorithmic Foundations of Robotics (WAFR), Dec. 7-9, 2008, Guanajuato, Mexico [pdf 374k]

114. Jingang Yi, Hongpeng Wang, Jingtai Liu, Dezhen Song, LMST-Based Safety-Preserved Consensus Control of Multi-Robot Systems with Kinodynamic Constraints , Dynamic Systems and Control Conference (DSCC), Ann Arbor, Michigan, October 20-22, 2008 [pdf 347K]

115. Wai Kin Victor Chan, Jingang Yi, Shengwei Ding, and Dezhen Song, Optimal Scheduling of K-Unit Production of Multi-Cluster Tools with Single-Blade Robots , IEEE International Conference on Automation Science and Engineering (CASE), Washington DC, August, 2008 (Finalist, Best Conference Paper Award) [pdf 268k]

116. Dezhen Song, Ni Qin, Yiliang Xu, Chang Young Kim, David Luneau, and Ken Goldberg, System and Algorithms for an Autonomous Observatory Assisting the Search for the Ivory-Billed Woodpecker , IEEE International Conference on Automation Science and Engineering (CASE), Washington DC, August, 2008 [pdf 1400k]

117. Jeremy Schiff, Anand P. Kulkarni, Danny Bazo, Vincent Duindam, Ron Alterovitz, Dezhen Song, Ken Goldberg, Actuator networks for navigating an unmonitored mobile robot , IEEE International Conference on Automation Science and Engineering (CASE), Washington DC, August, 2008 [pdf 1500k]

118. Yiliang Xu, Dezhen Song, Jingang Yi, and A.Frank van der Stappen, An Approximation Algorithm for the Least Overlapping p-Frame Problem with Non-Partial Coverage for Networked Robotic Cameras, IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, May 2008. [pdf 310k]

119. Ni Qin and Dezhen Song, On-Demand Sharing of a High-Resolution Panorama Video from Networked Robotic Cameras, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct, 2007, San Diego, CA [pdf 260k]

120. Jingang Yi, Junjie Zhang, Dezhen Song, and Suhada Jayasuriya, IMU-based Localization and Slip Estimation for Skid-Steered Mobile Robots ,  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct, 2007, San Diego, CA [pdf 1.68M]

121. Jingang Yi, Dezhen Song, Junjie Zhang, and Zane Goodwin, Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots , IEEE International Conference on Robotics and Automation (ICRA), April, 2007, Roma, Italy [pdf 739k]

122. Jingang Yi, Shengwei Ding, Dezhen Song, and Mike Tao Zhang, Multi-Robot Scheduling in Cluster Tools with Buffer/Process Modules , IEEE International Conference on Robotics and Automation (ICRA), April, 2007, Roma, Italy [pdf 875k]

123. Dezhen Song, Jingang Yi, and Zane Goodwin, Localization of Unknown Networked Radio Sources Using a Mobile Robot with a Directional Antenna , American Control Conference (ACC), July 2007, New York, NY [pdf 473k]

124. Dezhen Song, Hyun Nam Lee, Jingang Yi, and Anthony Levandowski, Vision-based Motion Planning for an Autonomous Motorcycle on Ill-Structured Road , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2006, Beijing, China [pdf 793k]

125. Dezhen Song, Ni Qin, and Ken Goldberg, A Minimum Variance Calibration Algorithm for Pan-Tilt Robotic Cameras in Natural Environments , IEEE International Conference on Robotics and Automation (ICRA), May. 2006, Orlando, Florida [pdf 250k]

126. Ni Qin, Dezhen Song, and Ken Goldberg, Aligning Windows of Live Video from an Imprecise Pan-Tilt-Zoom Robotic Camera into a Remote Panoramic Display , IEEE International Conference on Robotics and Automation (ICRA), May. 2006, Orlando, Florida [pdf 380k]

127. Jingang Yi, Dezhen Song, and Anthony Levandowski, Trajectory Tracking and Balance Stabilization Control of Autonomous Motorcycles , IEEE International Conference on Robotics and Automation (ICRA), May. 2006, Orlando, Florida [pdf 700k]

128. Dezhen Song and Ken Goldberg, Networked Robotic Cameras for Collaborative Observation of Natural Environments , The 12th International Symposium of Robotics Research (ISRR 2005), October 12th-15th, 2005, San Francisco, CA, USA [pdf 480k]

129. Dezhen Song, Qiang Hu, Ni Qin, and Ken Goldberg, Automating Inspection and Documentation of Remote Building Construction using a Robotic Camera , IEEE International Conference on Automation Science and Engineering (CASE) 2005,  August 1 & 2, 2005, Edmonton, Canada [pdf 550k]

130. Jingang Yi, Shengwei Ding, and Dezhen Song,  Steady-State Throughput and Scheduling Analysis of Multi-Cluster Tools for Semiconductor Manufacturing: A Decomposition Approach, (Kayamori Best Paper Award), IEEE International Conference on Robotics and Automation, Barcelona, Spain, April, 2005 [pdf 153k]

131. Dezhen Song, A. Frank van der Stappen, and Ken Goldberg, An Exact Algorithm Optimizing Coverage-Resolution for Automated Satellite Frame Selection , IEEE International Conference on Robotics and Automation (ICRA) 2004 [pdf 809k]

132. Ken Goldberg, Dezhen Song, In Yong Song, Jane McGonigal, Wei Zheng, and Dana Plautz, Unsupervised Scoring for Scalable Internet-Based Collaborative Teleoperation, IEEE International Conference on Robotics and Automation (ICRA) 2004 [pdf 588k]

133. Dezhen Song, Algorithms and Systems for Shared Access to a Robotic Streaming Video Camera, Doctoral Symposium, ACM Multimedia 2003 (MM2003), Berkeley, California, Nov., 2003 [pdf  125k]

134. D. Song and K. Goldberg, ShareCam Part I: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam , IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, Oct. 2003. [pdf 737k] ( Finalist, NTF Award on Entertainment Robots and Systems )

135. D. Song, K. Goldberg, and A. Pashkevich, ShareCam Part II: Approximate and Distributed Algorithms for a Collaboratively Controlled Robotic Webcam , IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, Oct.2003. [pdf 326k]

136. S. Har-Peled, V. Koltun, D. Song, and K. Goldberg, Efficient Algorithms for Shared Camera Control , In Proceedings of the 19th ACM Symposium on Computational Geometry, 2003. [pdf 380k]

137. D. Song, A.F. van der Stappen, and K. Goldberg, Exact and Distributed Algorithms for Collaborative Camera Control , the Fifth International Workshop on Algorithmic Foundations of Robotics. Nice, France, Dec 15~17, 2002. [pdf 600k]

138. K. Goldberg, D. Song, Y. Khor, D. Pescovitz, A. Levandowski, J. Himmelstein, J. Shih, A. Ho, E. Paulos, J. Donath, Collaborative Online Teleoperation with Spatial Dynamic Voting and a Human ``Tele-Actor'' , the IEEE International Conference on Robotics and Automation, Washington D.C. May 11~15, 2002. [pdf 720k]

139. D. Song and D. B. Kaber (2000). Web-based interface design for teleoperation. In the Proceedings of the XIVth Triennial Congress of the International Ergonomics Association and 44th Annual Meeting of the Human Factors and Ergonomics Society (pp. 449-452). Human Factors and Ergonomics Society: Santa Monica, CA. [pdf 496k]

140. D. Song and D. B. Kaber, (1999) Teleoperation test-bed development for human factors research . The 2nd Annual Student's Symposium on Human Factors & Ergonomics of Complex Systems. Greensboro, NC, April

141. D. B. Kaber, R. Zhou, and D. Song, (1999). Design and prototyping of an economical teleoperations test-bed for human factors research: Cost, resource requirements and capability assessment. The 25th International Conference on Computers & Industrial Engineering. New Orleans, LA, Mar. 27-29

142. D. Song and L. Dai, (1997) A hybrid model based soft-sensor and application. Proceedings of the 4th International Conference on Measurement and Control of Granular Materials, MCGM97, Shenyang, P R China, 17-19 September 1997, pp:171-177

Video

1. A. Levandowski, A. Schultz, C. Smart, A. Krasnov, H. Chau, B. Majusiak, F. Wang, D. Song, J.Yi., H. Lee, and A. Parish Autonomous Motorcycles, IEEE International Conference on Robotics and Automation (ICRA), 2005, May. 2006, Orlando, Florida [WMV 46MB] [MP4 43MB]

Book Chapters

1. Dezhen Song, Ajay Kumar Tanwani, and Ken Goldberg, Chapter 24: Networked-, Cloud- and Fog-Robotics, Robotics goes MOOC, Springer Nature MOOCs, Bruno Siciliano (Editor), Springer 2021.

2. Dezhen Song, Ken Goldberg, and Nak-Young Chong, Chapter 44: Networked Robots , Springer Handbook of Robotics, 2nd Edition, Siciliano, Bruno; Khatib, Oussama (Eds.), Springer, 2016, Pages 1109-1134.

3. W. Li and D. Song, Featureless Motion Vector-Based Simultaneous Localization, Planar Surface Extraction, and Moving Obstacle Tracking , Algorithmic Foundations of Robotics XI, H. Levent Akin, Nancy M. Amato, Volkan Isler, A. Frank van der Stappen (Eds.), Springer, 2015, Pages 245-261.

4. Y. Lu and D. Song, Chapter 4.3: Robust Recognition of Planar Mirrored Walls , Household Service Robotics, 1st Edition, Yangsheng Xu, Huihuan Qi, and Xinyu Wu (Eds.), Elsevier, 2014

5. Yiliang Xu and Dezhen Song, Collaborative Crowd Surveillance Using Networked Robotic Cameras , Bentham E-books: Networking Humans, Robots, and Environments, Editor: Nak-Young Chong, Bentham Science, 2013

6. Yizhai Zhang, Jingang Yi, and Dezhen Song, (2013). Dynamic Modeling of Riderless Motorcycles for Agile Manoeuvres , Modelling, Simulation and Control of Two-Wheeled Vehicles, M. Tanelli (Ed.), John Wiley & Sons, Ltd, London, UK.

7. Yizhai Zhang, Jingang Yi, and Dezhen Song, (2013). Autonomous Control of Riderless Motorcycles , Modelling, Simulation and Control of Two-Wheeled Vehicles, M. Tanelli (Ed.), John Wiley & Sons, Ltd, London, UK.

8. Dezhen Song, Hyunnam Lee, and Jingang Yi, On the Analysis of the Depth Error on the Road Plane for Monocular Vision-Based Robot Navigation , Algorithmic Foundations for Robotics VIII, Springer tracts on advanced robotics, Springer, 2008

9. D. Song, K. Goldberg, and N. Y. Chong, Chapter 32: Networked Telerobots , Springer Handbook of Robotics, Siciliano, Bruno; Khatib, Oussama (Eds.), Springer, 2008 [ Award for Excellence in Physical Sciences & Mathematics, Association of American Publishers ]

10. Dezhen Song and Ken Goldberg, Networked Robotic Cameras for Collaborative Observation of Natural Environments , Robotics Research, The 12th International Symposium, Editors: Sebastian Thrun, Hugh Durrant-Whyte, and Rodney Brooks, Springer tracts on advanced robotics, Springer, 2007

11. D. Song, A.F. van der Stappen, and K. Goldberg, Exact and Distributed Algorithms for Collaborative Camera Control , Editors:J.-D. Boissonnat, J. Burdick, K. Goldberg, and S. Hutchinson, Algorithmic Foundations of Robotics V, Springer tracts on advanced robotics, Springer, 2002

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Technical Reports and Preprints

1. Shuangyu Xie, Chengsong Hu, Muthukumar Bagavathiannan, and Dezhen Song, Toward Robotic Weed Control: Detection of Nutsedge Weed in Bermudagrass Turf Using Inaccurate and Insufficient Training Data, [arXiv:2106.08897], June. 16, 2021.

2. Kun Hu, Zhiyong Wang, Guy Coleman, Asher Bender, Tingting Yao, Shan Zeng, Dezhen Song, Arnold W. Schumann, and Michael Walsh, Deep Learning Techniques for In-Crop Weed Identification: A Review, [arXiv:2103.14872], Mar. 27, 2021.

3. Kuo Chen, Jingang Yi, and Dezhen Song, Gaussian Processes Model-Based Control of Underactuated Balance Robots, [arXiv:2010.15320], Oct. 29, 2020.

4. Hsin-Min Cheng and Dezhen Song, Graph-based Proprioceptive Localization Using a Discrete Heading-Length Feature Sequence Matching Approach, [arXiv:2005.13704], May. 27, 2020.

5. Shu-Hao Yeh and Dezhen Song, Model Quality Aware RANSAC: A Robust Camera Motion Estimator, [arXiv:1911.11884], Nov. 27, 2019.

6. Ting Sun, Dezhen Song, Dit-Yan Yeung, and Ming Liu, Semi-Semantic Line-Cluster Assisted Monocular SLAM for Indoor Environments, [arXiv:1811.01592], Nov. 5, 2018.

7. Haifeng Li, Dezhen Song, Yu Liu, and Binbin Li, Automatic Pavement Crack Detection by Multi-Scale Image Fusion, TR 2017-11-1, Department of Computer Science and Engineering, Texas A&M University, 2017.

8. Chieh Chou, Shu-Hao Yeh, and Dezhen Song, Mirror-Assisted Calibration of a Multi-modal Sensing Array with a Ground Penetrating Radar and a Camera, TR 2017-6-1, Department of Computer Science and Engineering, Texas A&M University, 2017.

9. Wen Li and Dezhen Song, Toward Featureless Visual Navigation: Simultaneous Localization and Planar Surface Extraction Using Motion Vectors in Video Streams, TR 2014-2-2, Department of Computer Science and Engineering, Texas A&M University, 2014.

10. Yan Lu, Dezhen Song, Yiliang Xu, A. G. Amitha Perera, and Sangmin Oh, Automatic Building Exterior Mapping Using Multilayer Feature Graphs, TR 2013-6-1, Department of Computer Science and Engineering, Texas A&M University, 2013.

11. Chang-Young Kim, Dezhen Song, and Jingang Yi, Decentralized Searching of Multiple Unknown and Transient Radio Sources, TR 2013-1-1, Department of Computer Science and Engineering, Texas A&M University, 2013.

12. Wen Li and Dezhen Song, Automatic Video-based Bird Species Filtering Using Periodicity of Salient Extremities, TR 2012-08-2, Department of Computer Science and Engineering, Texas A&M University, 2012.

13. Chang-Young Kim, Dezhen Song, Yiliang Xu, and Jingang Yi, Localization of Multiple Unknown Transient Radio Sources using Multiple Paired Mobile Robots with Limited Sensing Ranges, TR 2010-11-2, Department of Computer Science and Engineering, Texas A&M University, 2010.

14. Dezhen Song, Chang Young Kim, and Jingang Yi, Monte Carlo Simultaneous Localization of Multiple Unknown Transient Radio Sources Using a Mobile Robot with a Directional Antenna, TR 2008-11-1, Department of Computer Science and Engineering, Texas A&M University, 2008.

15. Dezhen Song and Yiliang Xu, Monocular Vision-based Detection of a Flying Bird, TR 2008-11-3, Department of Computer Science and Engineering , Texas A&M University, 2008.

16. Dezhen Song, Ni Qin, and Ken Goldberg, Technical report, Algorithms for Maintaining a High-Resolution Panoramic Display with a Tele-Operated Robotic Camera, TR 2005-5-1, Department of Computer Science, Texas A&M University, 2005.

17. Dezhen Song, Probabilistic Modeling of Leach Protocol and Computing Sensor Energy Consumption Rate in Sensor Networks . Technical report, TR 2005-2-2, Department of Computer Science, Texas A&M University, 2005.

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Workshop Presentations, Technical Demonstrations, and Art Exhibitions

1. Dezhen Song, Cloud Mediated Nature Observation, The Worshop on Crossing the Reality Gap: Control, Human Interaction and Cloud Technology for Multi- and Many- Robot Systems, IEEE International Conference on Robotics and Automation (ICRA), June 1st, 2014, Hong Kong, China ,

2. Bryce Lee, Anand Kulkarni, Ken Goldberg, Dezhen Song, and Deanna Wilkes-Gibbs, Science and Social TV: Collaborative Observatories for Field Biology, First International Conference on Designing Interactive User Experiences for TV and Video (uxTV), October 22 - 24, 2008, Silicon Valley (San Francisco Bay Area), California, USA

3. Dezhen Song and Ken Goldberg, ShareCam: Shared Access to a Robotic Streaming Video Camera, Technical Demos, ACM Multimedia 2003 (MM2003) Nov, 2003. [pdf  210k]

4. Ken Goldberg, Dezhen Song, In Yong Song, Jane McGonigal, Wei Zheng, Collaborative Tele-Experiences: Tele-Actor, Co-Opticon and Tele-Twister , dorkbot-sf, rxGallery, Oct, 2003

5. Ken Goldberg, Dezhen Song et al., The Tele-Actor Project, Teleopolis, 2nd Wednesdays Art Series at the Exploratorium, San Francisco, February 13, 2002

Theses and Theses Supervised

1. Shuangyu Xie, Master thesis, Toward Robotic Weed Control: Detection of Nutsedge Weed in Bermudagrass Turf Using Inaccurate and Insufficient Training Data, Department of Computer Science and Engineering, Texas A&M University, May 2021

2. Hsin-Min Cheng, Ph.D. thesis, Proprioceptive Localization for Robots, Department of Computer Science and Engineering, Texas A&M University, May 2021

3. Binbin Li, Ph.D. thesis, Belief Space-Guided Navigation for Robots and Autonomous Vehicles, Department of Computer Science and Engineering, Texas A&M University, Dec. 2020

4. Chieh "Jay" Chou, Ph.D. thesis, Sensor Fusion for Robotic Surface and Subsurface Infrastructure Inspection, Department of Computer Science and Engineering, Texas A&M University, May 2019

5. Joseph Lee, Ph.D. thesis, Appearance and Geometry Assisted Visual Navigation in Urban Areas, Department of Computer Science and Engineering, Texas A&M University, May 2016

6. Yan Lu, Ph.D. thesis, Visual Navigation for Robots in Urban and Indoor Environments, Department of Computer Science and Engineering, Texas A&M University, Aug. 2015

7. Wen Li, Ph.D. thesis, Exploring Motion Signatures for Vision-based Tracking, Recognition and Navigation, Department of Computer Science and Engineering, Texas A&M University, Aug. 2014

8. Chang-Young Kim, Ph.D. thesis, Robotic Searching for Stationary, Unknown, and Transient Radio Sources, Department of Computer Science and Engineering, Texas A&M University, May 2012

9. Yiliang Xu, Ph.D. thesis, Systems and Algorithms for Automated Collaborative Observation Using Networked Robotic Cameras, Department of Computer Science and Engineering, Texas A&M University, May 2011

10. Ji Zhang, Master thesis, Two Case Studies on Vision-based Moving Objects Measurement, Department of Computer Science and Engineering, Texas A&M University, May 2011

11. Hyunnam Lee, Ph.D. thesis, Vision-based Navigation for Mobile Robots on Ill-Structured Roads, Department of Electrical  and Computer Engineering, Texas A&M University, August 2008.

12. Ni Qin, Ph.D. thesis, Algorithms, Protocols, and Systems for Remote Observation Using Networked Robotics Cameras, Department of Computer Science and Engineering, Texas A&M University, May 2008

13. Qiang Hu, Master thesis, Robotic Localization of Hostile Networked Radio Sources Using a Directional Antenna, Department of Electrical and Computer Engineering, Texas A&M University, Dec. 2005

14. Dezhen Song, Ph.D. thesis: Systems and Algorithms for Collaborative Tele-Operation, Department of Industrial Engineering and Operations Research, University of California, Berkeley, Aug 2004.

15. Dezhen Song, Master thesis: A Soft Sensor and Its Applications, Department of Control Science and Engineering, Zhejiang University, Mar. 1998 

Patent

1. Remote collaborative control and direction, U.S. Pat. No. 7,937,285, With Goldberg, Kenneth Y.; (San Francisco, CA) ; Donath, Judith; (Boston, MA) ; Paulos, Eric J.; (San Francisco, CA) ; Pescovitz, David; (San Francisco, CA) ; Dobson, Kelly; (Cambridge, MA) ; Lee, Matthew; (Cambridge, MA) ; Levandowski, Anthony; (Albany, CA) ; Spiegel, Dana; (Boston, MA) ; Tang, Derek; (Cambridge, MA)

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