**~**

usman qayyum

 

mrusmanqayyum[at]gmail[dot]com                {Youtube Channel for Demos}                      

PhD   Visual-Inertial SLAM for Small Scale Aerial Vehicles, ANU. 2010-2014                                                                                                               

Researcher Computer Vision Center, Barcelona 2010                                                                                                               

MS (CSE) Computer Vision, NUST. 2006, CGPA: 4.0/4.0                                                                                                              

BE (CSE) Image Processing, 2004, CGPA: 3.7/4.0

 

 Honours and Awards 

President's Gold Medal for securing 1st position in MS(CSE), 2006.

Silver Medal for securing 2nd position in BE(CSE), 2004.

2nd Prize in Software Competition (SOFTCOM 03) held at GIKI, September, 2003.

Awarded Full Scholarship for PhD/MS and Partial Scholarship for BE

Research Interests

Visual Navigation and intelligent transportation (Visual Odometry/SLAM)

Convex optimization/Global optimization

• Multi-modality data fusion 

Publications

 

Books

• A real-time Approach to Face Detection and tracking, Lambert publisher, 2011, http://www.amazon.com/Notch-Detection-Facial-Feature-Localization/dp/3848429357 

Book Chapter

• Usman, Q & Kim, Global Optimization for 2D SLAM Problem LNEE Springer Book Chapter 2014.

International Journals

 • Usman, Q. & Kim, Real-time 6DOF Aerial SLAM with 2D-3D Visual Features, Journal for Field Robotics, 2014 (submitted).

• Usman, Q. & Kim, Analysis of Local Minima in 3D SLAM Problem (In preparation). 

• Usman, Q. Qaisar Ahsan and Javed, M.Y., "FUSION OF NEURAL NETWORK and PHASE ONLY CORRELATION FOR FACE RECOGNITION",An International Journal

of Research an Innovation, 2007, ISSN 1976-3700, Volume 2, pp.154-159

Jahan, Z., Javed, M.Y. and Usman, Q., "LOW RESOLUTION SINGLE NEURAL NETWORK BASED FACE RECOGNITION ", International Journal of

Biomedical Sciences, Vol 2 Number 3, 2007 ISSN 1306-1216.

Usman, Q., "FACE DETECTION AND FACIAL FEATURE LOCALIZATION USING NOTCH BASED TEMPLATES", Journal of Engineering & Applied

Sciences, ISSN: 1023-862, July 2007 , Vol 26, Nov 2, pp.13-21

 
Usman, Q., "EFFICIENCY ENHANCEMENT OF NEURAL NETWORK WITH PHASSE ONLY CORRELATION", JDCTA (International Journal of Digital

Content Technology and its Applications),ISSN:1975-9339,Vol. 2 ,pp.42-47 july 2008 .

Usman, Q. and Javed, M.Y., "Mean based Linear Classifier For Lane transition detection",  (Accepted)

 

International Conferences

• Sparse Depth Odometry: 3D Keypoint based pose estimation from dense depth data (ICRA 2015 Accepted).  

 • Online URTS Smoother for 6DOF Vehicle Localization (IEEE ICARCV 2014).  

• Precise localization and mapping for large scale autonomous vehicle (IROS 2015 Submitted).  

• Usman, Q & Kim, Graceful Degradation of IMU-Kinect Fusion for Outdoor Aerial Navigation and Mapping, (IROS 2015 Submitted). 

Usman, Q & Kim, Analysis on the Number of Local Minima for Inertial-SLAM Problem, Submitted, IEEE ROBIO 2013.

 • Usman, Q & Kim, IMU aided RGB-D SLAM (Submitted)

• Usman, Q & Kim, Omni Visual-Laser 3D Scanner for Outdoor Mapping, Accepted ACRA 2013, Australia. 

• Usman, Q & Kim, Inertial-Kinect Fusion for Outdoor 3D Navigation, Accepted ACRA 2013, Australia. 

•  Usman, Q & Kim, Omni-VISER: 3D Omni Vision-Laser Scanner Australasian Conference on Robotics and Automation (ACRA 2012) Australia 

•  Usman, Q. and Kim, J, Seamless Aiding of Inertial-SLAM using Visual Directional Constraints from a Monocular Vision IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Portugal 

• Usman, Q. and Kim, J, Global Optimal Solution to SLAM problem for unknown initial estimates,Regular paper (11% Acceptance rate), ICINCO 2012. (Nominated for Best Paper Award), Italy

• Usman, Q & Kim, J 2011, 'Visual-Odometry Integrated Inertial-SLAM', International Global Navigation Satellite Systems Society  2011 (IGNSS 2011), pp. 1-11. Australia

Accelerometer aided Visual Priors for Robust Monocular SLAM, 12th International Conference Towards Autonomous Robotics (TAROS), 2011, UK.

Usman Q, and Qaisar A, Visual correspondence based trajectory estimation ,IEEE IBCAST 2010, Pakistan

 Imran H, Qaisar A, and Usman Q., Ensembling ANN with SVM for reducing false positive in Face Detection,  ,IEEE IBCAST 2010, Pakistan

Azhar .I, Javed, M. Y. and Usman, Q., "CURVELET BASED IMAGE COMPRESSION", 2007 International Conference on Convergence Information

Technology, IEEE Computer Society, Gyeongju, South Korea. 2007, pp.961-965 [IEEE Explorer]
Usman, Q. and Javed, M.Y., "Lane Change Detection using Fusion of IPM and SVM", Proceedings of the 8th IASTED International Conference on

Intelligent systems and control, October 31-November 02, 2005, Cambridge, MA,USA, pp. 126-131 [Acta Press]

Usman, Q. "Phase Efficient Neural Network Using Curvelet Features for Face Recognition",  12th IEEE International Multi-topic Conference

(INMIC 2008), 23-24 Dec, 2008,  [IEEE Explorer]

Usman, Q. and Javed, M.Y., "Notch based Face Detection, Tracking and Facial Feature Localization",  IEEE 2nd International conference on

Emerging Technologies, 13-14 November, 2006, pp. 70-75.  Islamabad Pakistan [IEEE Explorer]

Jahan, Z., Javed, M.Y. and Usman, Q., “Low Resolution Single Neural Network Based Face Recognition”, Proceedings of the World Academy of Science,

Engineering and Technology (WASET) : 4th International Conference on Computer, Image and Signal Processing (CISP 2007), Volume 22, (ISSN: 1307-6884),

July 27-29, 2007, Prague, Czech Republic, pp. 189-193. [Waset]

Usman, Q. and Javed, M.Y., "Vehicle Tracking using Sub-holistic based wavelet Technique", IEEE 3rd international Workshop on Frontier of

Information Technology (HEC & IEEE cooperation), 28-29 December, 2005, Islamabad, Pakistan.  [IEEE Explorer]

Akhlaq, A., Javed, M. Y. and Usman, Q., "A Robust Fuzzy Logic Based Approach for Skin Detection in Colored Images", Proceedings of the 11th IASTED

International Conference on Artificial Intelligence and Soft Computing (ASC 2007), August 29-31, 2007, Palma De Mallorca,Spain  pp. 295-301. [Acta Press]

Fazle Basit, Javed, M.Y. and Usman, Q., "FACE RECOGNITION USING PROCESSED HISTOGRAM AND PHASE ONLY CORRELATION", Proceedings of the

3rd IEEE International Conference on Emerging Technologies (ICET-2007), November 12-13, 2007, Islamabad, Pakistan, pp. 238 -242. [IEEE Explorer]

ROS (Robot Operating System) Tutorial 

Lecture Slides, Course Conducted at ANU (ENG4627/6627).

Personal Details 

       Father's Name            :         Abdul Qayyum

       Date of Birth               :         23rd May 1982

       Marital status              :         Married

       Hobbies                      :         Flying RC Helicopter and Multi-rotos, Reading Books, Watching Documentaries & Science-Fiction Movies

       Games                        :         Playing badminton, Cricket

       Languages                   :        English, Urdu, Arabic(R), Spanish (Basic), Punjabi 

 

Thesis Co-supervised

•  Face Detection using Fuzzy based Color Space Fusion

• Face Recognition using Neural Network

• Image Compression with Curvelet transform with Sphit  

• Enhanced Watershed segmentation using edge connectivity   

• Phase only Correlation fused with histogram information for face recognition

Thesis

 • MS(CSE)  ---Real Time Notch Based Face Detection, Tracking and Facial Feature Localization

• BE(CSE)  ----Vision based Safe Driving on Motorway (VISDOM)

Projects       

• Face Detection, Tracking, Facial Feature Localization                                 (Vc++)

• Vehicle Detection and Tracking                                                                  (Vc.Net )

• Supervised Vehicle Tracking                                                                      (Vc.Net )

• Lane Detection and Tracking                                                                      (Vc.Net )

• Hand Geometry recognition                                                                       (Vc + DirectX)

• Virtual Mouse/Keyboard                                                                            (Vc + DirectX)

• Road turn Prediction                                                                                 (MATLAB)

• Scorbot 5-DOF robotic arm based writing letters/alphabets                           (ACL)     

• Bit ware                                                                                                   (C++/ Graphics)

• Follow Me Robot                                                                                        (8051)

• Tone Generation and retrieval of polyphonic tunes                                         (Java) 

• Scoreboard                                                                                                 (C)

• 3D College View                                                                                         (3D Max)

 

Code Contribution   
Mathsworks code contribution ranked:=> 370 (dated:09-01-2009)

Phase Based Template Matching

Processed Histogram based Face Recognition

Speak the recognitized character

 

Youtube Channel (Demos)