Dr. Gary Witus Profile

Dr. Gary Witus

Vice-President R&D at Turing Associates Inc

SPIE Involvement:

Author

Publications (36)

Proceedings Article | 4 February 2013 Paper

Development of dog-like retrieving capability in a ground robot

Douglas MacKenzie, Rahul Ashok, James Rehg, Gary Witus

Proceedings Volume 8662, 86620M (2013) https://doi.org/10.1117/12.2010679

KEYWORDS: Image segmentation, Cameras, Image processing, Stereoscopic cameras, Inspection, Bone, Machine vision, Computer vision technology, Object recognition, Imaging systems

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Proceedings Article | 24 May 2011 Paper

Zipper mast for enhanced communications and surveillance

George Woodruff, Paul Muench, Gary Witus

Proceedings Volume 8045, 804512 (2011) https://doi.org/10.1117/12.885525

KEYWORDS: Surveillance, Failure analysis, Robots, Teeth, Antennas, Sensors, RF communications, Robotic systems, Data modeling, Astatine

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Proceedings Article | 24 May 2011 Paper

Methods for UGV teleoperation with high latency communications

Gary Witus, Shawn Hunt, Phil Janicki

Proceedings Volume 8045, 80450N (2011) https://doi.org/10.1117/12.886058

KEYWORDS: Video, Control systems, Visualization, Virtual reality, Augmented reality, MATLAB, Human-machine interfaces, Image compression, 3D modeling, Navigation systems

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Proceedings Article | 23 May 2011 Paper

Robot training through incremental learning

Robert Karlsen, Shawn Hunt, Gary Witus

Proceedings Volume 8045, 804504 (2011) https://doi.org/10.1117/12.884092

KEYWORDS: Sensors, Data storage, Video, Fuzzy logic, Algorithm development, Distance measurement, LIDAR, Robotics, Machine learning, Data modeling

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Proceedings Article | 8 May 2010 Paper

Comparison of tele-operation and supervisory control for navigation and driving with degraded communications

Gary Witus, R. Darin Ellis, Robert Karlsen, Shawn Hunt

Proceedings Volume 7692, 769207 (2010) https://doi.org/10.1117/12.851467

KEYWORDS: Visualization, Optical tracking, Video, Inspection, Cameras, Control systems, Detection and tracking algorithms, Digital image processing, Unmanned ground vehicles, Telecommunications

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Proceedings Article | 30 April 2009 Paper

Sequential learning for robot vision terrain classification

Gary Witus, Robert Karlsen, Shawn Hunt

Proceedings Volume 7332, 73320W (2009) https://doi.org/10.1117/12.819473

KEYWORDS: Data modeling, Visualization, Fuzzy logic, Machine learning, Error analysis, Robot vision, Algorithm development, Light sources and illumination, Feature extraction, Video

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Proceedings Article | 16 October 2008 Paper

On a new approach to reduction of data for ANFIS application to unmanned robotic vehicles

Harpreet Singh, Adam Mustapha, Shashank Kamthan, Arati Dixit, Deok Nam, Gary Witus, Grant Gerhart

Proceedings Volume 7112, 711213 (2008) https://doi.org/10.1117/12.802590

KEYWORDS: Factor analysis, Sensors, Fuzzy logic, Classification systems, Statistical analysis, Infrared sensors, Fuzzy systems, Robotics, Unmanned vehicles, Algorithm development

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Proceedings Article | 16 April 2008 Paper

Development of an extendable arm and software architecture for autonomous and tele-operated control for mobile platforms

Yung-Sen Li, Shawn Hunt, Cosmin Popovici, Steven Walter, Gary Witus, R. Darin Ellis, Gregory Auner, Alex Cao, Abhilash Pandya

Proceedings Volume 6962, 69621U (2008) https://doi.org/10.1117/12.778059

KEYWORDS: Sensors, Cameras, Inspection, Video, Control systems, Prototyping, Microcontrollers, Electromechanical design, Wireless communications, Software development

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Proceedings Article | 16 April 2008 Paper

Adaptive learning applied to terrain recognition

Robert Karlsen, Gary Witus

Proceedings Volume 6962, 69620H (2008) https://doi.org/10.1117/12.777289

KEYWORDS: Data modeling, Fuzzy logic, Visualization, Performance modeling, Video, Image segmentation, Cameras, Image classification, Image resolution, Optical filters

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Proceedings Article | 16 April 2008 Paper

Monocular visual ranging

Gary Witus, Shawn Hunt

Proceedings Volume 6962, 696204 (2008) https://doi.org/10.1117/12.778686

KEYWORDS: Cameras, Visualization, Optical tracking, Video surveillance, Inspection, Video, Linear filtering, Detection and tracking algorithms, Ranging, Image processing

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Proceedings Article | 16 April 2008 Paper

Computer assisted robotic examination swab sampling (CARESS)

Shawn Hunt, Gary Witus, Darin Ellis

Proceedings Volume 6962, 69620O (2008) https://doi.org/10.1117/12.783229

KEYWORDS: Servomechanisms, Control systems, Robotics, Statistical analysis, Resistance, Inspection, Chemical analysis, Robotic systems, Mobile robots, Sensors

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Proceedings Article | 15 October 2007 Paper

Integration of new communications and mast subsystems on an Omni-Directional Inspection Robot (ODIS)

Shawn Hunt, Yung-Sen Li, Gary Witus, Steven Walter, R. Darin Ellis, Gregory Auner, Alex Cao, Abhilash Pandya

Proceedings Volume 6736, 67360A (2007) https://doi.org/10.1117/12.738078

KEYWORDS: Inspection, Data modeling, Cameras, Video, Sensors, Calibration, Motion models, Electromechanical design, Data communications, Control systems

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Proceedings Article | 5 October 2007 Paper

Sensor deployment on unmanned ground vehicles

Grant Gerhart, Gary Witus

Proceedings Volume 6736, 673603 (2007) https://doi.org/10.1117/12.736109

KEYWORDS: Sensors, Ultraviolet radiation, Unattended ground sensors, Inspection, Surveillance, Robots, Unmanned ground vehicles, Navigation systems, Dismounted soldiers, Environmental sensing

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Proceedings Article | 14 May 2007 Paper

Experiments in augmented teleoperation for mobile robots: I

Gary Witus, Shawn Hunt, R. Darrin Ellis

Proceedings Volume 6561, 65610R (2007) https://doi.org/10.1117/12.720850

KEYWORDS: Inspection, Cameras, Tolerancing, Onboard cameras, Robots, Visualization, Mobile robots, Robotics, Sensors, Motion controllers

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Teleoperated mobile robots are beginning to be used for a variety of tasks that require movement in close quarters in the vicinity of moving and parked vehicles, buildings and other man-made structures, and the target object for inspection or manipulation. The robots must be close enough to deploy short-range sensors and manipulators, and must be able to maneuver without potentially damaging collisions. Teleoperation is fatiguing and stressful even without the requirement for close positioning. In cooperation with the TARDEC Robotic Mobility Laboratory (TRML), we are investigating approaches to reduce workload and improve performance through augmented teleoperation. Human-robot interfaces for teleoperation commonly provide two degrees-of-freedom (DoF) motion control with visual feedback from an on-board egocentric camera and no supplemental distance or orientation cueing. This paper reports on the results of preliminary experiments to assess the effects on man-machine task performance of several options for augmented teleoperation: (a) 3 DoF motion control (rotation and omni-directional translation) versus 2 DoF control (rotation and forward/reverse motion), (b) on-board egocentric camera versus fixed-position overwatch camera versus dual egocentric-and-overwatch cameras, and (c) presence or absence of distance and orientation visual cueing. We examined three dimensions of performance: completion time, spatial accuracy, and workspace area. We investigated effects on the expected completion time and on the variance in completion time. Spatial accuracy had three components: orientation, aimpoint, and distance. We collected performance under different task conditions: (a) three position-and-orientation tolerance or accuracy objectives, and (b) four travel distances between successive inspection points. We collected data from three subjects. We analyzed the main effects and conditional interaction effects among the teleoperation options and task conditions. We were able to draw some definitive conclusions regarding the relative performance of design alternatives, and conditions under which their performance degraded. We made some observations regarding operator behaviors, which suggested some potential augmented teleoperation enhancements.

Proceedings Article | 2 May 2007 Paper

Terrain perception for robot navigation

Robert Karlsen, Gary Witus

Proceedings Volume 6561, 65610A (2007) https://doi.org/10.1117/12.720829

KEYWORDS: Image segmentation, Resistance, Visualization, Image processing, Cameras, Sensors, Image visualization, Fuzzy logic, Light sources and illumination, Image filtering

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Proceedings Article | 9 May 2006 Paper

Vision-based terrain learning

Robert Karlsen, Gary Witus

Proceedings Volume 6230, 623005 (2006) https://doi.org/10.1117/12.664427

KEYWORDS: Image segmentation, Image classification, Cameras, RGB color model, Reconstruction algorithms, Visualization, Image processing, Image processing algorithms and systems, Fuzzy logic, Classification systems

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Proceedings Article | 9 May 2006 Paper

Robotic inspection for vehicle-borne contraband

Gary Witus, Grant Gerhart, W. Smuda, H. Andrusz

Proceedings Volume 6230, 623004 (2006) https://doi.org/10.1117/12.668987

KEYWORDS: Robots, Inspection, Sensors, Robotics, Cameras, Optical inspection, Visualization, Mobile robots, Explosives, Improvised explosive devices

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Proceedings Article | 27 October 2005 Paper

Visual tracking for mobile robot pursuit

Gary Witus, Robert Karlsen, James Overholt, Grant Gerhart

Proceedings Volume 5986, 59860F (2005) https://doi.org/10.1117/12.634478

KEYWORDS: Optical tracking, Automatic tracking, Control systems, Navigation systems, Visualization, Detection and tracking algorithms, Mobile robots, Algorithm development, Cameras, Visual process modeling

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Proceedings Article | 27 May 2005 Paper

Terrain trafficability characterization with a mobile robot

Lauro Ojeda, Johann Borenstein, Gary Witus

Proceedings Volume 5804, (2005) https://doi.org/10.1117/12.601499

KEYWORDS: Mobile robots, Sensors, Gyroscopes, Interference (communication), Computer programming, Mechanical engineering, Soil science, Video, Cameras, Mechanical sensors

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Proceedings Article | 27 May 2005 Paper

Forecasting off-road trafficability from terrain appearance

Gary Witus, Robert Karlsen, James Overholt, Grant Gerhart

Proceedings Volume 5804, (2005) https://doi.org/10.1117/12.606393

KEYWORDS: Roads, Visualization, Data modeling, Resistance, Image classification, Velocity measurements, Instrument modeling, Statistical analysis, Unmanned ground vehicles, Sensors

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Proceedings Article | 27 May 2005 Paper

Chaos, an intelligent ultra-mobile SUGV: combining the mobility of wheels, tracks, and legs

Paul Lewis, Nicholas Flann, Mitchel Torrie, Eric Poulson, Thomas Petroff, Gary Witus

Proceedings Volume 5804, (2005) https://doi.org/10.1117/12.604774

KEYWORDS: Chaos, Prototyping, Gait analysis, Control systems, Unmanned ground vehicles, Robots, Sensors, Software development, Biomimetics, Homeland security

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Proceedings Article | 2 September 2004 Paper

Navigation supervisory control for small UGVs

Gary Witus

Proceedings Volume 5422, (2004) https://doi.org/10.1117/12.540980

KEYWORDS: Optical tracking, Visualization, Cameras, Video, Sensors, Human-machine interfaces, Motion controllers, Near field, Control systems, Navigation systems

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Proceedings Article | 2 September 2004 Paper

On-the-fly assessment of terrain effects on UGV handling

Robert Karlsen, Gary Witus, James Overholt

Proceedings Volume 5422, (2004) https://doi.org/10.1117/12.544345

KEYWORDS: Data modeling, Resistance, Roads, Motion models, Stars, Sensors, Computer programming, Solids, Unmanned ground vehicles, Control systems

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Proceedings Article | 5 August 2004 Paper

Exploring model-based target discrimination metrics

Gary Witus, Marshall Weathersby

Proceedings Volume 5431, (2004) https://doi.org/10.1117/12.544201

KEYWORDS: Visual process modeling, Model-based design, 3D modeling, Visualization, Cognitive modeling, Object recognition, Computer vision technology, Machine vision, Statistical modeling, Solid modeling

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Proceedings Article | 20 September 2001 Paper

Preliminary investigation into the use of stereo illumination to enhance mobile robot terrain perception

Gary Witus, Robert Karlsen, David Gorsich, Grant Gerhart

Proceedings Volume 4364, (2001) https://doi.org/10.1117/12.439988

KEYWORDS: Cameras, Stereoscopy, Light sources and illumination, Light sources, Mobile robots, Image processing, Stereo vision systems, Sensors, 3D modeling, Calibration

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Proceedings Article | 18 September 2001 Paper

Visual search and cued detection performance

Gary Witus, R. Darin Ellis

Proceedings Volume 4370, (2001) https://doi.org/10.1117/12.440071

KEYWORDS: Data modeling, Visualization, Target detection, Performance modeling, Visual process modeling, Calibration, Air contamination, Camouflage, Image resolution, Palladium

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SPIE Journal Paper | 1 September 2001

Contrast model for three-dimensional vehicles in natural lighting and search performance analysis

Gary Witus, Grant Gerhart, R. Darin Ellis

OE, Vol. 40, Issue 09, (September 2001) https://doi.org/10.1117/12.10.1117/1.1389867

KEYWORDS: 3D modeling, Target detection, 3D acquisition, Data modeling, Received signal strength, Error analysis, 3D image processing, Performance modeling, Calibration, Visual process modeling

Proceedings Article | 27 March 2001 Paper

System to build fuzzy logic models from databases and application to multisensor data

Gary Witus

Proceedings Volume 4384, (2001) https://doi.org/10.1117/12.421071

KEYWORDS: Data modeling, Fuzzy logic, Error analysis, Sensors, Databases, Fuzzy systems, Systems modeling, Composites, Knowledge discovery, Data mining

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Proceedings Article | 24 July 2000 Paper

Perception testing for development of computer models of ground vehicle visual discrimination performance

Gary Witus, R. Darin Ellis

Proceedings Volume 4029, (2000) https://doi.org/10.1117/12.392521

KEYWORDS: Data modeling, 3D modeling, Visualization, Computer simulations, Calibration, 3D acquisition, Data acquisition, Target acquisition, Camouflage, Visual process modeling

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Proceedings Article | 10 July 2000 Paper

Mobility potential of a robotic six-wheeled omnidirectional drive vehicle (ODV) with z-axis and tire inflation control

Gary Witus

Proceedings Volume 4024, (2000) https://doi.org/10.1117/12.391620

KEYWORDS: Robotics, Resistance, Vehicle control, Sensors, Actuators, Motion controllers, Control systems, Mobile robots, Unmanned systems, Space operations

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Proceedings Article | 22 July 1999 Paper

Mobility and dynamics modeling for unmanned ground vehicle motion planning

Gary Witus

Proceedings Volume 3693, (1999) https://doi.org/10.1117/12.354459

KEYWORDS: Motion models, Sensors, Mathematical modeling, Resistance, Electro optical modeling, Performance modeling, Data modeling, Unmanned ground vehicles, Sensor performance, Control systems

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Proceedings Article | 14 July 1999 Paper

Internal texture or object boundary? Disambiguating the interpretation of spatial modulation

Gary Witus, R. Darin Ellis, Grant Gerhart, Robert Karlsen

Proceedings Volume 3699, (1999) https://doi.org/10.1117/12.352941

KEYWORDS: Image segmentation, Modulation, Image processing algorithms and systems, Visualization, Bandpass filters, Spatial filters, Visual process modeling, Image processing, Spatial frequencies, Linear filtering

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Proceedings Article | 12 August 1998 Paper

U.S. Army TARDEC R&D program on intelligent subsystems for enhanced mobility

Gary Witus, Grant Gerhart, Richard Goetz

Proceedings Volume 3366, (1998) https://doi.org/10.1117/12.317551

KEYWORDS: Sensors, Robotics, Control systems, Computer simulations, System integration, Data modeling, Navigation systems, Packaging, Robotic systems, Feedback control

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Proceedings Article | 20 June 1997 Paper

Background characterization and visualization based on visual neurophysiology

Gary Witus, Paul Gottschalk, Mitchell Cohen, Grant Gerhart, Robert Karlsen, Thomas Meitzler, Richard Goetz, Eui Sohn, Darryl Bryk

Proceedings Volume 3062, (1997) https://doi.org/10.1117/12.276679

KEYWORDS: Visualization, Visual process modeling, Linear filtering, Bandpass filters, Detection and tracking algorithms, Modulation, Spatial filters, Image filtering, Visual analytics, Image processing

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Proceedings Article | 22 May 1995 Paper

Early vision model for target detection

Grant Gerhart, Thomas Meitzler, Eui Sohn, Gary Witus, George Lindquist, J. Richard Freeling

Proceedings Volume 2470, (1995) https://doi.org/10.1117/12.210049

KEYWORDS: Visual process modeling, Visualization, Target acquisition, Target detection, Calibration, Spatial frequencies, Image filtering, Bandpass filters, Signal to noise ratio, Image analysis

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Proceedings Article | 8 July 1994 Paper

Target discrimination using computational vision human perception models

George Lindquist, Gary Witus, Thomas Cook, J. Richard Freeling, Grant Gerhart

Proceedings Volume 2224, (1994) https://doi.org/10.1117/12.180085

KEYWORDS: Visual process modeling, Visualization, Target detection, Spatial frequencies, Performance modeling, Image processing, Image filtering, Digital filtering, 3D modeling, Detection theory

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Showing 5 of 36 publications

Conference Committee Involvement (19)

Unmanned Systems Technology XIX

11 April 2017 | Anaheim, CA, United States

Unmanned Systems Technology XVIII

20 April 2016 | Baltimore, MD, United States

Unmanned Systems Technology XVII

21 April 2015 | Baltimore, MD, United States

Unmanned Systems Technology XVI

6 May 2014 | Baltimore, MD, United States

Unmanned Systems Technology XV

1 May 2013 | Baltimore, Maryland, United States

Unmanned Systems Technology XIV

25 April 2012 | Baltimore, Maryland, United States

Unmanned Systems Technology XIII

27 April 2011 | Orlando, Florida, United States

Unmanned Systems Technology XII

6 April 2010 | Orlando, Florida, United States

Unmanned Systems Technology XI

14 April 2009 | Orlando, Florida, United States

Unmanned Systems Technology X

17 March 2008 | Orlando, Florida, United States

Unmanned Systems Technology IX

9 April 2007 | Orlando, Florida, United States

Targets and Backgrounds XII: Characterization and Representation

17 April 2006 | Orlando (Kissimmee), Florida, United States

Unmanned Systems Technology VIII

17 April 2006 | Orlando (Kissimmee), Florida, United States

Unmanned Ground Vehicle Technology VII

29 March 2005 | Orlando, Florida, United States

Targets and Backgrounds XI: Characterization and Representation

28 March 2005 | Orlando, Florida, United States

Unmanned Ground Vehicle Technology VI

13 April 2004 | Orlando, Florida, United States

Targets and Backgrounds X: Characterization and Representation

12 April 2004 | Orlando, Florida, United States

Unmanned Ground Vehicle Technology V

22 April 2003 | Orlando, Florida, United States

Targets and Backgrounds IX: Characterization and Representation

21 April 2003 | Orlando, Florida, United States

Showing 5 of 19 Conference Committees

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