Khiem Vuong

I'm a graduate student (MS in Robotics) at the Robotics Institute, Carnegie Mellon University. I'm advised by Prof. Srinivasa Narasimhan (supported by NSF-CPS) as part of the Imaging Group at CMU.

I received my Bachelor's degree in Computer Science from University of Minnesota where I was part of the Multiple Autonomous Robotic Systems (MARS) Lab under the supervision of Prof. Stergios Roumeliotis and Prof. Hyun Soo Park. I spent an amazing summer at Enfusion Systems as a software engineering intern during my sophomore year.

I'm interested in computer vision, machine learning, and robotics. Most of my research is about 3D perception and visual scene understanding.

Email  /  CV  /  Google Scholar  /  Github  /  LinkedIn

profile photo
  • [Mar. 2021] Our paper Deep Multi-view Depth Estimation with Predicted Uncertainty is accepted to ICRA 2021.
  • [Jul. 2020] Our paper Surface Normal Estimation of Tilted Images via Spatial Rectifier is accepted to ECCV 2020 as a spotlight presentation.
  • [Jun. 2020] Our paper Deep Depth Estimation from Visual-Inertial SLAM is accepted to IROS 2020.
project image Deep Multi-view Depth Estimation with Predicted Uncertainty
Tong Ke, Tien Do, Khiem Vuong, Kourosh Sartipi, and Stergios I. Roumeliotis
IEEE International Conference on Robotics and Automation (ICRA), 2021
[pdf] [code]

Estimating dense depth and its uncertainty from a sequence of images by leveraging a dense optical flow network to triangulate initial depth maps and refine them through an iterative refinement module.

project image Surface Normal Estimation of Tilted Images via Spatial Rectifier
Tien Do, Khiem Vuong, Stergios I. Roumeliotis, and Hyun Soo Park
European Conference on Computer Vision (ECCV), 2020

(Spotlight Presentation)

[pdf] [website] [video] [code]

Surface normal estimation of tilted images by leveraging a spatial rectifier that is learned to transform the surface normal distribution of a tilted image to the rectified one that matches the gravity-aligned training data distribution.

project image Deep Depth Estimation from Visual-Inertial SLAM
Kourosh Sartipi, Tien Do, Tong Ke, Khiem Vuong, and Stergios I. Roumeliotis
IEEE/RSJ International Conference on Intelligent Robots and System (IROS), 2020
[pdf] [code]

Dense depth estimation from sparse depth points (computed from a Visual-Inertial SLAM system) and RGB images of indoor scenes.

  Work Experience
project image Research Assistant Sep. 2019 - Jun. 2021
Multiple Autonomous Robotic Systems (MARS) Laboratory
Advisor: Prof. Stergios I. Roumeliotis & Prof. Hyun Soo Park
project image Software Engineering Intern Jun. 2019 - Aug. 2019
Enfusion Systems
Team: Backend services, Portfolio Management Systems (PMS)
project image Research Assistant Jun. 2018 - May 2019
GroupLens Research
Advisor: Prof. Lana Yarosh

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