At Stanford I was a member of Prof. Jean-Claude
Latombe's research group in the Robotics Lab (which has been
renamed the Stanford Artificial Intelligence Lab.) I also
worked closely with Prof. Ken
I worked on and/or was involved
research on sensing and modeling deformable objects, surgical
simulation, and climbing robots.
I appreciate a BibTex file for easy citations. So, here is a BibTex file with citations for
the papers listed on this page.
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Capturing and Rendering Behavior of
Elastic Deformable Objects
I used the 3D sensor described below and a PHANtOM haptic
device as a robot to capture the behavior of elastic deformable
objects. The measurements are transformed into a data-based model for
- Philip Fong. "Sensing, Acquisition, and Interactive
Playback of Data-based Models for Elastic Deformable Objects," The International Journal of Robotics
Research, 2009 28: 622-629. [Unfortunately IJRR prohibits
posting articles on-line for one year. You must buy a copy from
them. I suggest looking at my thesis which I based this article
- See also my thesis
High Speed 3D Sensing
I designed and built a high speed 3D sensor.
This system is used in various applications including sensing
deformations while a robot is exciting an object (see above). The
generates one range map per video frame and can be used to study fast
and deforming objects.
These videos are compressed with Xvid.
(2.6 MB) showing a water balloon bouncing around. It was shot at
100 fps but plays back at 15 fps so you can see what's happening.
(1.8 MB) showing a person moving a popcorn tin around.
(2.0 MB) showing a flag being waved side to side.
I was also part of the Stanford
Racing Team which is Stanford's DARPA Grand Challenge
effort. We won the 2005 DARPA Grand Challenge.
- S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron,
J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffmann, K. Lau, C.
Oakley, M. Palatucci, V. Pratt, P. Stang, S. Strohband, C. Dupont,
L.-E. Jendrossek, C. Koelen, C. Markey, C. Rummel, J. van Niekerk, E.
Jensen, P. Alessandrini, G. Bradski, B. Davies, S. Ettinger, A.
Kaehler, A. Nefian, and P. Mahoney. "Winning
the DARPA Grand Challenge," Journal
of Field Robotics, Vol 23, Issue 9 2006
My thesis describes the design and implementation of an
automated system to create and render models of elastic deformable
objects in interactive haptics-enabled environments. The version here
uses JPEG compression on some figures in order to reduce the download
During my internship at Lawrence
Livermore National Laboratory, I worked on modeling digitizers and
image processing for the National Ignition Facility.
- P. Fong, A. Teruya, and M. Lowry. "Characterization and
Compensation of High Speed Digitizers," IEEE
Instrumentation and Measurement Technology Conference (IMTC),
Ottawa, Canada. May 2005
- L.M. Kegelmeyer, P. Fong, S.M. Glenn, and J. Liebman.
“Local Area Signal-to-Noise Ratio
(LASNR) algorithm for Image Segmentation”, SPIE: Applications of Digital Image
Processing XXX. San Diego. August 2007.
2007 Society of Photo-Optical Instrumentation Engineers.
This paper was published in Proc. SPIE Vol. 6696 - Applications of
Digital Image Processing XXX and is made available as an electronic
reprint with permission of SPIE. One print or electronic copy may be
made for personal use only. Systematic or multiple reproduction,
distribution to multiple locations via electronic or other means,
duplication of any material in this paper for a fee or for commercial
purposes, or modification of the content of the paper are prohibited.
At Carnegie Mellon, I built a robotic
blimp for my Honor's research project and continued work on it in
18-474 Feedback Controls. The project won the Lockheed Martin
Judge's Choice award at the 2001 Meeting of the Minds.