Simon Leonard

Assistant Research Professor (Computer Science) Johns Hopkins University

128 Hackerman Hall
3400 North Charles Street
Baltimore MD 21218


Personal Information


Blackcomb

Courses

EN.600.436/636 Algorithms for Sensor-Based Robotics

Research

My research interests are visual servoing and hand-eye coordination. My research involves approximating the visuomotor function relating variations in the visual space to variations in the motor space at a global scale. The approximating method is based on machine learning where the system performs an online hand eye calibration by interacting with its environment or performing a task.


Publications

Leonard, S., Sinha, A., Reiter, A., Ishii, M., Gallia, G.G., Taylor, R.H., Hager, G.D., "Evaluation and Stability Analysis of Video-Based Navigation System for Functional Endoscopic Sinus Surgery on In-Vivo Clinical Data", IEEE Transactions on Medical Imaging, To appear
Le, H.N.D., Nguyen, H., Wang, Z., Opfermann, J.D., Leonard, S., Krieger, A., Kang, J.U., "Demonstration of a laparoscopic structured-illumination three-dimensional imaging system for guiding reconstructive bowel anastomosis", Journal of Biomedical Optics, 2018
Le, H.N.D., Opfermann, J.D., Kam, M., Raghunathan, S., Saeidi, H., Leonard, S., Kang, J.U., Krieger, A., "Semi-Autonomous Laparoscopic Robotic Electro-surgery with a Novel 3D Endoscope", 2018 IEEE International Conference on Robotics and Automation (ICRA 2018)
Le, H.N.D., Nguyen, H., Wang, Z., Opfermann, J., Leonard, S., Krieger, A., Kang, J.U., "An endoscopic 3D structured illumination imaging system for robotic anastomosis surgery", SPIE Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems 2018
Saeidi, H., Opfermann, J.D., Kam, M., Raghunathan, S., Leonard, S., Krieger, A., "A Confidence-Based Shared Control Strategy for the Smart Tissue Autonomous Robot (STAR)", 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Vagvolgyi, B.P., Pryor, W., Reedy, R., Niu, W., Deguet, A., Whitcomb, L.L., Leonard, S., Kazanzides, P., "Scene Modeling and Augmented Virtuality Interface for Telerobotic Satellite Servicing ", 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Opfermann, J.D., Leonard, S., Decker, R.S., Uebele, N., Bayne, C.E., Joshi, A.S., Krieger, A., "Semi-autonomous electrosurgery for tumor resection using a multi-degree of freedom electrosurgical tool and visual servoing", 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) Frank, T., Krieger, A., Leonard, S., Patel, N.A., Tokuda, J., "ROS-IGTL-Bridge: an open network interface for image-guided therapy using the ROS environment", International journal of computer assisted radiology and surgery, 2017
Decker, R.S., Shademan, A., Opfermann, J.D., Leonard, S., Kim, P.C.W., Krieger, A., " Biocompatible Near-Infrared Three-Dimensional Tracking System", IEEE Transactions on Biomedical Engineering, March 2017, 64(3)
Shademan, A., Decker, R.S., Opfermann, J.D., Leonard, S., Krieger, A., Kim, P.C.W. "Supervised autonomous robotic soft tissue surgery", Science Translational Medecine 04 May 2016
Leonard, S., Reiter, A., Sinha, A., Ishii, M., Taylor RH, Hager GD, "Image-based navigation for functional endoscopic sinus surgery using structure from motion", SPIE Medical Imaging 2016
Reiter, A., Leonard, S., Sinha, A., Ishii, M., Taylor RH, Hager GD, "Endoscopic-CT: learning-based photometric reconstruction for endoscopic sinus surgery", SPIE Medical Imaging 2016
Sinha, A., Leonard, S., Reiter, A., Ishii, M., Taylor RH, Hager GD, "Automatic segmentation and statistical shape modeling of the paranasal sinuses to estimate natural variations", SPIE Medical Imaging 2016
Leonard., S., "Registration of Planar Virtual Fixtures by Using Augmented Reality with Dynamic Textures", 2015 IEEE International Conference on Robotics and Automation (ICRA 2015)
Vozar, S., Leonard, S., Kazanzides, P., Whitcomb, L.L., "Experimental Evaluation of Force Control for Virtual-Fixture-Assisted Teleoperation for On-Orbit Manipulation of Satellite Thermal Blanket Insulation", 2015 IEEE International Conference on Robotics and Automation (ICRA 2015)
Otake, Y., Leonard, S., Reiter, A., Rajan, P., Siewerdsen, J.H., Ishii, M., Taylor, R.H., Hager, G.D, "Rendering-based video-CT registration with physical constraints for image-guided endoscopic sinus surgery", SPIE Medical Imaging 2015: Endoscopy/Laparoscopy
Decker, R., Shademan, A., Opfermann, J., Leonard, S., Kim, P.C.W., Krieger, A., "Performance Evaluation and Clinical Applications of 3D Plenoptic Cameras", SPIE Defense, Security and Sensing: Sensors for Next-Generation Robotics 2015
Leonard, S., Shademan, A., Kim, Y., Krieger, A., Kim, P.C.W., "Smart Tissue Anastomosis Robot (STAR): Accuracy Evaluation for Supervisory Suturing Using Near-Infrared Fluorescent Markers", 2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
Leonard, S., Wu, K., Kim., Y., Krieger, A., Kim, P.C.W, "Smart Tissue Anastomosis Robot (STAR): A Vision-Guided Robotics System for Laparoscopic Suturing", IEEE Transactions on Biomedical Engineering, April 2014, 61(4), pp. 1305-1317
Y. Kim, S. Leonard, A. Shademan, A. Kriger, P. C. W. Kim, "Kinect Technology for Hand Tracking Control of Surgical Robots: Technical and Surgical Skill Comparison to Current Robotic Masters," Surgical Endoscopy, Springer, June 2014, 28(6), pp. 1993-2000
A. Shademan, M. F. Dumont, S. Leonard, A. Krieger, P. C. W. Kim, "Feasibility of near-infrared markers for guiding surgical robots," Proc. of SPIE vol. 8840, Optical Engineering + Applications
Xia, T., Leonard, S., Kandaswamy, I., Blank, A., Whitcomb, L., Kazanzides, P., "Model-Based Telerobotic Control with Virtual Fixtures For Satellite Servicing Tasks" 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), May 2013
Xia, T., Leonard, S., Deguet, A., Whitcomb, L., Kazanzides, P., "Augmented Reality Environment with Virtual Fixtures for Robotic Telemanipulation in Space", 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), October 2012
Brucker, M., Leonard, S., Bodenmueller, T., Hager, G., "Sequential Scene Parsing Using Range and Intensity Information", 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), May 2012
Chan, A., Leonard, S., Croft, E.A., Little, J.J., "Collision-free visual servoing of an eye-in-hand manipulator via constraint-aware planning and control", 2011 American Control Conference (ACC 2011), June 2011
Baumann, M., Leonard, S., Croft, E.A., Little, J.J., "Path Planning for Improved Visibility Using a Probabilistic Road Map", IEEE Transactions on Robotics, January 2010, 26(10) pp. 195-200
De Carli, D., Hohert, E., Parker, C., Zoghbi, S., Leonard, S., Croft, E., Bicchi, A., "Measuring Intent in Human-Robot Cooperative Manipulation", IEEE International Workshop on Haptic Audio Visual Environments and Games (HAVE 2009), November 2009
Leonard, S., Croft, E., Little, J.J., "Planning Collision-Free and Occlusion-Free Paths for Industrial Manipulators with Eye-to-Hand Configuration", 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), October 2009
Bauman, M., Dupuis, D.C., Leonard, S., Croft, E., Little, J.J., "Occlusion-Free Path Planning with a Probabilistic Roadmap", 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), September 2008
Dupuis, D., Leonard, S., Baumann, M., Croft, E.A., Little, J.J., "Two-Fingered Grasp Planning for Randomized Bin-Picking", Robotics: Science and Systems - Robot Manipulation: Intelligence in Human Environments, June 2008
Leonard, S., Croft, E.A., Little, J.J., "Dynamic Visibility Checking for Vision-Based Motion Planning", 2008 IEEE International Conference on Robotics and Automation (ICRA 2008), May 2008
Leonard, S., Chan, A., Croft, E.A., Little, J.J., "Robust Motion Generation for Vision-Guided Robot Bin-Picking", 2007 ASME International Mechanical Engineering Congress and Exposition November 2007
Leonard, S., Jagersand, M., "On with the Visuomotor Function: A 6DOF Adaptive Approach for Modeling Image-Based Variations and Visual Servoing", 2007 IEEE International Conference on Robotics and Automation (ICRA 2007) April 2007
Leonard, S., Jagersand, M., "Adaptive Control for Estimating Translations from Image-Based Variations", 2006 IEEE International Conference on Robotics and Automation (ICRA 2006), May 2006
Leonard, S., Jagersand, M., "Incremental Learning for Mapping Image Variations to Actions", International Conference on Robotics and Automation (ICRA 2005), April 2005
Leonard, S., Jagersand, M., "Learning Based Visual Servoing", 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), September 2004
Leonard, S., Jagersand, M., "Approximating the Visuomotor Function for Visual Servoing" Canadian Conference on Computer and Robot Vision (CRV 2004) May 2004
Leonard S., Jagersand M., "Tracking the Pose of Objects through Subspace", Scandinavian Conference on Image Analysis (SCIA 2003), July 2003
Leonard, S., Lepage, R., Redarce, T., "Associative memory for geon-based object identification", 2011 International Joint Conference on Neural Networks (IJCNN 1999) July 1999


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