I am a professor in the Computer Science Department and a member of the Graphics Group and Princeton ImageX Labs (PIXL). I am also affiliated with the interdepartmental Robotics at Princeton Group and am associated faculty in the Program in Applied and Computational Mathematics. My work focuses on the interface between computers and the visual and tangible world: acquisition, representation, analysis, and fabrication of 3D shape, motion, surface appearance, and scattering. I am interested in topics including computational fabrication; 3D scan acquisition, registration, and reconstruction; learning for low-level image and shape analysis; robotic localization and planning; and BRDF capture and representation. Applications of this work include documentation of cultural heritage artifacts and sites, appearance and performance capture for digital humans, and illustrative depiction through line drawings and non-photorealistic shading models.

If you are interested in joining the PhD program at Princeton: Please be aware that application to the program is evaluated at the department level, and unfortunately I can neither make any promises about the outcome nor evaluate your qualifications outside of that process. Please look at https://www.cs.princeton.edu/grad/ for more information, and apply to Princeton if you are interested. I appreciate that you may have been told that it's a good idea to contact potential advisors ahead of time, but unfortunately I am not able to respond to such emails.

      Recent

• "TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning," (with Jimmy Wu, William Chong, Robert Holmberg, Aaditya Prasad, Yihuai Gao, Oussama Khatib, Shuran Song, and Jeannette Bohg), Conference on Robot Learning (CoRL), 2024.
  Also presented at the 2024 Workshop on Mastering Robot Manipulation in a World of Abundant Data.
• "Region-Aware Simplification and Stylization of 3D Line Drawings," (with Vivien Nguyen, Matt Fisher, and Aaron Hertzmann), Computer Graphics Forum (Proc. Eurographics) Vol. 43, No. 2, Apr. 2024.
• "TidyBot: Personalized Robot Assistance with Large Language Models," (with Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, and Thomas Funkhouser), Autonomous Robots, special issue on "Large Language Models in Robotics", Vol. 47, 2023.
  Also presented at the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), and at the RSS 2023 Articulate Robots and ICRA 2023 L-DOD workshops.
• "UltraGlove: Hand Pose Estimation with MEMS-Ultrasonic Sensors," (with Qiang Zhang, Yuanqiao Lin, and Yubin Lin), Proc. SIGGRAPH Asia, 2023.
• "Clutter Detection and Removal in 3D Scenes with View-Consistent Inpainting," (with Fangyin Wei and Thomas Funkhouser), International Conference on Computer Vision (ICCV), 2023.
• "Gradient-Based Dovetail Joint Shape Optimization for Stiffness," (with Xingyuan Sun, Chenyue Cai, and Ryan P. Adams), Proc. ACM Symposium on Computational Fabrication, 2023.
• "More Stiffness with Less Fiber: End-to-End Fiber Path Optimization for 3D-Printed Composites," (with Xingyuan Sun, Geoffrey Roeder, Tianju Xue, and Ryan P. Adams), Proc. ACM Symposium on Computational Fabrication, 2023.
• "Constructing Printable Surfaces with View-Dependent Appearance," (with Maxine Perroni-Scharf), Proc. SIGGRAPH, 2023.

   Older...

• "Differentiable Point-Based Radiance Fields for Efficient View Synthesis," (with Qiang Zhang, Seung-Hwan Baek, and Felix Heide), Proc. SIGGRAPH Asia, 2022.
• "Learning Pneumatic Non-Prehensile Manipulation with a Mobile Blower," (with Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, and Thomas Funkhouser), IEEE Robotics and Automation Letters, Vol. 7, No. 3, 2022.
• "Closed-Loop Control of Direct Ink Writing via Reinforcement Learning," (with Michal Piovarči, Michael Foshey, Jie Xu, Timothy Erps, Vahid Babaei, Piotr Didyk, Wojciech Matusik, and Bernd Bickel), ACM Transactions on Graphics (Proc. SIGGRAPH) Vol. 41, No. 4, 2022.
• "Self-supervised Neural Articulated Shape and Appearance Models," (with Fangyin Wei, Rohan Chabra, Lingni Ma, Christoph Lassner, Michael Zollhöfer, Chris Sweeney, Richard Newcombe, and Mira Slavcheva), Computer Vision and Pattern Recognition (CVPR), 2022.
• "Amortized Synthesis of Constrained Configurations Using a Differentiable Surrogate," (with Xingyuan Sun, Tianju Xue, and Ryan P. Adams), Advances in Neural Information Processing Systems (NeurIPS) spotlight, 2021.
• "Spatial Intention Maps for Multi-Agent Mobile Manipulation," (with Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, and Thomas Funkhouser), IEEE International Conference on Robotics and Automation (ICRA), 2021.
• "ECHO: Extended Convolution Histogram of Orientations for Local Surface Description," (with Thomas W. Mitchel, Gregory S. Chirikjian, and Michael Kazhdan), Computer Graphics Forum, Vol. 40, No. 1, 2021.
• "Learned Feature Embeddings for Non-Line-of-Sight Imaging and Recognition," (with Wenzheng Chen, Fangyin Wei, Kiriakos N. Kutulakos, and Felix Heide), ACM Transactions on Graphics (Proc. SIGGRAPH Asia) Vol. 39, No. 6, 2020.
• "SymmetryNet: Learning to Predict Reflectional and Rotational Symmetries of 3D Shapes from Single-View RGB-D Images," (with Yifei Shi, Junwen Huang, Hongjia Zhang, Xin Xu, and Kai Xu), ACM Transactions on Graphics (Proc. SIGGRAPH Asia) Vol. 39, No. 6, 2020.
• "Towards Spatially Varying Gloss Reproduction for 3D Printing," (with Michal Piovarči, Michael Foshey, Vahid Babaei, Wojciech Matusik, and Piotr Didyk), ACM Transactions on Graphics (Proc. SIGGRAPH Asia) Vol. 39, No. 6, 2020.
• "Learning to Infer Semantic Parameters for 3D Shape Editing," (with Fangyin Wei, Elena Sizikova, Avneesh Sud, and Thomas Funkhouser), International Conference on 3D Vision (3DV) 2020.
• "Poisson Surface Reconstruction with Envelope Constraints," (with Misha Kazhdan, Ming Chuang, and Hugues Hoppe), Computer Graphics Forum (Proc. Eurographics Symposium on Geometry Processing), Vol. 39, No. 5, 2020.
• "Spatial Action Maps for Mobile Manipulation," (with Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee, and Thomas Funkhouser), Robotics: Science and Systems (RSS), 2020.
• "Efficient Spatially Adaptive Convolution and Correlation," (with Thomas W. Mitchel, Benedict Brown, David Koller, Tim Weyrich, and Michael Kazhdan), arXiv:2006.13188, 2020.
• "Learning Local Descriptors with a CDF-Based Dynamic Soft Margin," (with Linguang Zhang), International Conference on Computer Vision (ICCV) oral presentation, 2019.
• "Accelerating Large-Kernel Convolution Using Summed-Area Tables," (with Linguang Zhang and Maciej Halber), arXiv:1906.11367, 2019.
• "A Symmetric Objective Function for ICP," ACM Transactions on Graphics (Proc. SIGGRAPH), Vol. 38, No. 4, 2019.
• "High-Precision Localization Using Ground Texture," (with Linguang Zhang and Adam Finkelstein), IEEE International Conference on Robotics and Automation (ICRA), 2019.
• "Deep Multispectral Painting Reproduction via Multi-Layer, Custom-Ink Printing," (with Liang Shi, Vahid Babaei, Changil Kim, Michael Foshey, Yuanming Hu, Pitchaya Sitthi-Amorn, and Wojciech Matusik), ACM Transactions on Graphics (Proc. SIGGRAPH Asia), Vol. 37, No. 6, 2018.
• "PlaneMatch: Patch Coplanarity Prediction for Robust RGB-D Reconstruction," (with Yifei Shi, Kai Xu, Matthias Nießner, and Thomas Funkhouser), European Conference on Computer Vision (ECCV) oral presentation, 2018.
• "ToonCap: A Layered Deformable Model for Capturing Poses From Cartoon Characters," (with Xinyi Fan, Amit H. Bermano, Vladimir G. Kim, and Jovan Popović), Proc. Expressive, 2018.
• Design, Representations, and Processing for Additive Manufacturing (with Marco Attene, Marco Livesu, Sylvain Lefebvre, Thomas Funkhouser, Stefano Ellero, Jonàs Martínez, and Amit H. Bermano), Synthesis Lectures on Visual Computing, Morgan & Claypool, 2018.
• "Learning to Detect Features in Texture Images," (with Linguang Zhang), Computer Vision and Pattern Recognition (CVPR) spotlight, 2018.
• "Printing Anisotropic Appearance with Magnetic Flakes," (with Thiago Pereira, Carolina L. A. Paes Leme, and Steve Marschner), ACM Transactions on Graphics (Proc. SIGGRAPH), Vol. 36, No. 4, 2017.
• "State of the Art in Methods and Representations for Fabrication-Aware Design," (with Amit H. Bermano and Thomas Funkhouser), Eurographics State of the Art Reports, April 2017.
• "Learning Detail Transfer based on Geometric Features," (with Sema Berkiten, Maciej Halber, Justin Solomon, Chongyang Ma, and Hao Li), Computer Graphics Forum (Proc. Eurographics), Vol. 36, No. 2, April 2017.
• "Shape Estimation from Shading, Defocus, and Correspondence Using Light-Field Angular Coherence," (with Michael Tao, Pratul Srinivasan, Jitendra Malik, and Ravi Ramamoorthi), IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), Vol. 39, No. 3, Mar. 2017.
• "Gradient-Domain Processing of Meshes," (with Ming Chuang, and Misha Kazhdan), Journal of Computer Graphics Techniques, Vol. 5, No. 4, 2016.
• "Automated View and Path Planning for Scalable Multi-Object 3D Scanning" (with Xinyi Fan, Linguang Zhang, and Benedict Brown), ACM Transactions on Graphics (Proc. SIGGRAPH Asia), Vol. 35, No. 6, 2016.
• "Data-Driven Iconification," (with Yiming Liu, Aseem Agarwala, and Jingwan Lu), Symposium on Non-Photorealistic Animation and Rendering (NPAR), 2016.
• "An RGBN Benchmark," (with Sema Berkiten), Technical Report TR-977-16, Princeton University Computer Science, 2016.
• "Semi-Automatic Digital Epigraphy from Images with Normals," (with Sema Berkiten and Xinyi Fan), Symposium on Non-Photorealistic Animation and Rendering (NPAR), 2015.
• "Depth from Shading, Defocus, and Correspondence Using Light-Field Angular Coherence," (with Michael Tao, Pratul Srinivasan, Jitendra Malik, and Ravi Ramamoorthi), Computer Vision and Pattern Recognition (CVPR), 2015.
• "Verification-Minimal Assembly of Fragmented Frescoes," (with Antonio García Castañeda, Benedict Brown, Thomas Funkhouser, and Tim Weyrich), Conference on Computer Applications and Quantitative Methods in Archaeology (CAA), 2015.
• "Merge2-3D: Combining Multiple Normal Maps with 3D Surfaces," (with Sema Berkiten and Xinyi Fan), International Conference on 3D Vision (3DV), 2014.
• "Modeling the Past Online: Interactive Visualisation of Uncertainty and Phasing," (with Joanna S. Smith, Silvana Alberti, Junjun Chen, Maricela Coronado, Garrett Disco, Anastasia Georgiou, Tamara Pico, George Touloumes, and Gina Triolo), LNCS 8740 (Proc. EuroMed), 2014.
• "Time-Lapse Photometric Stereo and Applications," (with Fangyang Shen, Kalyan Sunkavalli, Nicolas Bonneel, Hanspeter Pfister, and Xin Tong), Computer Graphics Forum (Proc. Pacific Graphics), Vol. 33, No. 7, 2014.
• "Reflectance Models," in Computer Vision: A Reference Guide (ed. Katsushi Ikeuchi), Springer, 2014.
• "Alignment of Images Captured Under Different Light Directions," (with Sema Berkiten), Technical Report TR-974-14, Princeton University Computer Science, 2014.
• "AutoStyle: Automatic Style Transfer from Image Collections to Users' Images," (with Yiming Liu, Michael Cohen, and Matt Uyttendaele), Computer Graphics Forum (Proc. Eurographics Symposium on Rendering), Vol. 33, No. 4, 2014.
• "Computational Light Routing: 3D Printed Optical Fibers For Sensing and Display," (with Thiago Pereira and Wojciech Matusik), ACM Transactions on Graphics, Vol. 33, No. 3, 2014.
• "A No-Reference Metric for Evaluating The Quality of Motion Deblurring" (with Yiming Liu, Jue Wang, Sunghyun Cho, and Adam Finkelstein), ACM Transactions on Graphics (Proc. SIGGRAPH Asia), Vol. 32, No. 6, 2013.
• "Design and Fabrication of Faceted Mirror Arrays for Light Field Capture" (with Martin Fuchs and Markus Kächele), Computer Graphics Forum, Vol. 32, No. 8, 2013.
• "Structure-Aware Hair Capture" (with Linjie Luo and Hao Li), ACM Transactions on Graphics (Proc. SIGGRAPH), Vol. 32, No. 4, 2013.
• "Wide-baseline Hair Capture using Strand-based Refinement" (with Linjie Luo, Cha Zhang, Zhengyou Zhang), Computer Vision and Pattern Recognition (CVPR), 2013.
• "Modeling the Past for Scholars and the Public," (with Joanna S. Smith), International Journal of Heritage in the Digital Era, Vol. 2, No. 1, 2013.
• "Chopper: Partitioning Models into 3D-Printable Parts" (with Linjie Luo, Ilya Baran, and Wojciech Matusik), ACM Transactions on Graphics (Proc. SIGGRAPH Asia), Vol. 31, No. 6, 2012.
• "Design and Fabrication of Faceted Mirror Arrays for Light Field Capture" (with Martin Fuchs and Markus Kächele), Workshop on Vision, Modeling and Visualization, 2012.
• "Analyzing and Simulating Fracture Patterns of Theran Wall Paintings" (with Hijung Shin, Christos Doumas, Thomas Funkhouser, Kenneth Steiglitz, Andreas Vlachopoulos, and Tim Weyrich), Journal on Computing and Cultural Heritage, Vol. 5, No. 3, 2012.
• "Modeling the Past: Digital Technologies and Excavations in Polis, Cyprus" (with Joanna S. Smith), LNCS 7616 (Proc. EuroMed), 2012.
• "Robust and Scientifically Reliable Rock Art Documentation from Digital Photographs" (with Mark Mudge, Carla Schroer, Tommy Noble, Neffra Matthews, and Corey Toler-Franklin), in A Companion to Rock Art (ed. Jo McDonald and Peter Veth), Wiley-Blackwell, 2012.
• "Tools for Virtual Reassembly of Fresco Fragments" (with Benedict Brown, Lara Laken, Philip Dutré, Luc Van Gool, and Tim Weyrich), International Journal of Heritage in the Digital Era, Vol. 1, No. 2, 2012.
• "Gamut Mapping Spatially Varying Reflectance with an Improved BRDF Similarity Metric" (with Thiago Pereira), Computer Graphics Forum (Proc. Eurographics Symposium on Rendering), Vol. 31, No. 4, 2012.
• "Multi-View Hair Capture Using Orientation Fields" (with Linjie Luo, Hao Li, Sylvain Paris, Thibaut Weise, and Mark Pauly), Computer Vision and Pattern Recognition (CVPR), 2012.
• "Temporally Coherent Completion of Dynamic Shapes" (with Hao Li, Linjie Luo, Daniel Vlasic, Pieter Peers, Jovan Popović, and Mark Pauly), ACM Transactions on Graphics, Vol. 31, No. 1, 2012.
• "Where Do People Draw Lines?" (with Forrester Cole, Aleksey Golovinskiy, Alex Limpaecher, Heather Stoddart Barros, Adam Finkelstein, and Thomas Funkhouser), Communications of the ACM, Vol. 55, No. 1, 2012.
• "Dynamic Hair Capture" (with Linjie Luo, Hao Li, Thibaut Weise, Sylvain Paris, and Mark Pauly), Technical Report TR-907-11, Princeton University Computer Science, 2011.
• "Learning How to Match Fresco Fragments" (with Thomas Funkhouser, Hijung Shin, Corey Toler-Franklin, Antonio García Castañeda, Benedict Brown, David Dobkin, and Tim Weyrich), Journal on Computing and Cultural Heritage, Vol. 4, No. 2, 2011.
• "Global Consistency in the Automatic Assembly of Fragmented Artefacts" (with Antonio García Castañeda, Benedict Brown, Thomas Funkhouser, and Tim Weyrich), International Symposium on Virtual Reality, Archaeology, and Cultural Heritage (VAST), 2011.
• "Goal-Based Caustics" (with Marios Papas, Wojciech Jarosz, Wenzel Jakob, Wojciech Matusik, and Tim Weyrich), Computer Graphics Forum (Proc. Eurographics), Vol. 30, No. 2, 2011.
• "Learning How to Match Fresco Fragments" (with Thomas Funkhouser, Hijung Shin, Corey Toler-Franklin, Antonio García Castañeda, Benedict Brown, David Dobkin, and Tim Weyrich), Eurographics Area Track on Cultural Heritage, 2011.
• "Multi-Feature Matching of Fresco Fragments" (with Corey Toler-Franklin, Benedict Brown, Tim Weyrich, and Thomas Funkhouser), ACM Transactions on Graphics (Proc. SIGGRAPH Asia), Vol. 29, No. 5, 2010.
• "Computational Highlight Holography" (with Christian Regg, Wojciech Matusik, and Markus Gross), ACM Transactions on Graphics (Proc. SIGGRAPH Asia), Vol. 29, No. 5, 2010.
• "Tools for Virtual Reassembly of Fresco Fragments" (with Benedict Brown, Lara Laken, Philip Dutré, Luc Van Gool, and Tim Weyrich), International Conference on Science and Technology in Archaeology and Conservations, 2010.
• "Density-based Outlier Rejection in Monte Carlo Rendering" (with Christopher DeCoro and Tim Weyrich), Computer Graphics Forum (Proc. Pacific Graphics), Vol. 29, No. 7, 2010.
• "Analyzing Fracture Patterns in Theran Wall Paintings" (with Hijung Shin, Christos Doumas, Thomas Funkhouser, Kenneth Steiglitz, Andreas Vlachopoulos, and Tim Weyrich), International Symposium on Virtual Reality, Archaeology, and Cultural Heritage (VAST), 2010.
• "Physical Reproduction of Materials with Specified Subsurface Scattering" (with Miloš Hašan, Martin Fuchs, Wojciech Matusik, and Hanspeter Pfister), ACM Transactions on Graphics (Proc. SIGGRAPH), Vol. 29, No. 3, 2010.
• "Printing Spatially-Varying Reflectance" (with Wojciech Matusik, Boris Ajdin, Jinwei Gu, Jason Lawrence, Hendrik P.A. Lensch, and Fabio Pellacini), ACM Transactions on Graphics (Proc. SIGGRAPH Asia), Vol. 28, No. 5, 2009.
• "Dynamic Shape Capture using Multi-View Photometric Stereo" (with Daniel Vlasic, Pieter Peers, Ilya Baran, Paul Debevec, Jovan Popović, and Wojciech Matusik), ACM Transactions on Graphics (Proc. SIGGRAPH Asia), Vol. 28, No. 5, 2009.
• "Principles of Appearance Acquisition and Representation" (with Tim Weyrich, Jason Lawrence, Hendrik P.A. Lensch, and Todd Zickler), Foundations and Trends in Computer Graphics and Vision, Vol. 4, No. 2, 2009.
• "Fabricating Microgeometry for Custom Surface Reflectance" (with Tim Weyrich, Pieter Peers, and Wojciech Matusik), ACM Transactions on Graphics (Proc. SIGGRAPH), Vol. 28, No. 3, 2009.
• "How Well Do Line Drawings Depict Shape?" (with Forrester Cole, Kevin Sanik, Doug DeCarlo, Adam Finkelstein, Thomas Funkhouser, and Manish Singh), ACM Transactions on Graphics (Proc. SIGGRAPH), Vol. 28, No. 3, 2009.
• "Estimating the Laplace-Beltrami Operator by Restricting 3D Functions" (with Ming Chuang, Linjie Luo, Benedict Brown, and Michael Kazhdan), Symposium on Geometry Processing (SGP), 2009.
• "A Layered, Heterogeneous Reflectance Model for Acquiring and Rendering Human Skin" (with Craig Donner, Tim Weyrich, Eugene d'Eon, and Ravi Ramamoorthi), ACM Transactions on Graphics (Proc. SIGGRAPH Asia), 2008.
• "Video Puppetry: A Performative Interface for Cutout Animation" (with Connelly Barnes, David E. Jacobs, Jason Sanders, Dan B Goldman, Adam Finkelstein, and Maneesh Agrawala), ACM Transactions on Graphics (Proc. SIGGRAPH Asia), 2008.
• "A System for High-Volume Acquisition and Matching of Fresco Fragments: Reassembling Theran Wall Paintings" (with Benedict Brown, Corey Toler-Franklin, Diego Nehab, Michael Burns, David Dobkin, Andreas Vlachopoulos, Christos Doumas, and Tim Weyrich), ACM Transactions on Graphics (Proc. SIGGRAPH), 2008.
• "Where Do People Draw Lines?" (with Forrester Cole, Aleksey Golovinskiy, Alex Limpaecher, Heather Stoddart Barros, Adam Finkelstein, and Thomas Funkhouser), ACM Transactions on Graphics (Proc. SIGGRAPH), 2008.
• "Dense 3D Reconstruction from Specularity Consistency" (with Diego Nehab and Tim Weyrich), Computer Vision and Pattern Recognition (CVPR), 2008.
• "Subtractive Shadows: A Flexible Framework for Shadow Level of Detail" (with Christopher DeCoro), Journal of Graphics Tools Vol. 13, No. 1, 2008.
• "Acquisition of Point-Sampled Geometry," in Point-Based Graphics (ed. Markus Gross and Hans-peter Pfister), Morgan Kaufmann, 2007.
• "Global Non-Rigid Alignment of 3-D Scans" (with Benedict Brown), ACM Transactions on Graphics (Proc. SIGGRAPH), 2007.
• "Digital Bas-Relief From 3D Scenes" (with Tim Weyrich, Jia Deng, Connelly Barnes, and Adam Finkelstein), ACM Transactions on Graphics (Proc. SIGGRAPH), 2007.
• "Multiscale Shape and Detail Enhancement from Multi-light Image Collections" (with Raanan Fattal and Maneesh Agrawala), ACM Transactions on Graphics (Proc. SIGGRAPH), 2007.
• "Factored Time-Lapse Video" (with Kalyan Sunkavalli, Wojciech Matusik, and Hanspeter Pfister), ACM Transactions on Graphics (Proc. SIGGRAPH), 2007.
• "Illustration of Complex Real-World Objects using Images with Normals" (with Corey Toler-Franklin and Adam Finkelstein), Symposium on Non-Photorealistic Animation and Rendering (NPAR), 2007.
• "Highlight Lines for Conveying Shape" (with Doug DeCarlo), Symposium on Non-Photorealistic Animation and Rendering (NPAR), 2007.
• "Stylized Shadows" (with Christopher DeCoro, Forrester Cole, and Adam Finkelstein), Symposium on Non-Photorealistic Animation and Rendering (NPAR), 2007.
• "Symmetry-Enhanced Remeshing of Surfaces" (with Joshua Podolak and Aleksey Golovinskiy), Symposium on Geometry Processing (SGP), 2007.
• "Viewpoint-Coded Structured Light" (with Mark Young, Erik Beeson, James Davis, and Ravi Ramamoorthi), Computer Vision and Pattern Recognition (CVPR), 2007.
• "Inverse Shade Trees for Non-Parametric Material Representation and Editing" (with Jason Lawrence, Aner Ben-Artzi, Christopher DeCoro, Wojciech Matusik, Hanspeter Pfister, and Ravi Ramamoorthi), ACM Transactions on Graphics (Proc. SIGGRAPH), 2006.
• "A Compact Factored Representation of Heterogeneous Subsurface Scattering" (with Pieter Peers, Karl vom Berge, Wojciech Matusik, Ravi Ramamoorthi, Jason Lawrence, and Philip Dutré), ACM Transactions on Graphics (Proc. SIGGRAPH), 2006.
• "A Planar-Reflective Symmetry Transform for 3D Shapes" (with Joshua Podolak, Philip Shilane, Aleksey Golovinskiy, and Thomas Funkhouser), ACM Transactions on Graphics (Proc. SIGGRAPH), 2006.
• "A Statistical Model for Synthesis of Detailed Facial Geometry" (with Aleksey Golovinskiy, Wojciech Matusik, Hanspeter Pfister, and Thomas Funkhouser), ACM Transactions on Graphics (Proc. SIGGRAPH), 2006.
• "Exaggerated Shading for Depicting Shape and Detail" (with Michael Burns and Doug DeCarlo), ACM Transactions on Graphics (Proc. SIGGRAPH), 2006.
• "Improved Sub-pixel Stereo Correspondences through Symmetric Refinement" (with Diego Nehab and James Davis), International Conference on Computer Vision (ICCV), 2005.
• "Efficiently Combining Positions and Normals for Precise 3D Geometry" (with Diego Nehab, James Davis, and Ravi Ramamoorthi), ACM Transactions on Graphics (Proc. SIGGRAPH), 2005.
• "Line Drawings from Volume Data" (with Michael Burns, Janek Klawe, Adam Finkelstein, and Doug DeCarlo), ACM Transactions on Graphics (Proc. SIGGRAPH), 2005.
• "Atomic Volumes for Mesh Completion" (with Joshua Podolak), Symposium on Geometry Processing (SGP), 2005.
• "Adaptive Numerical Cumulative Distribution Functions for Efficient Importance Sampling" (with Jason Lawrence and Ravi Ramamoorthi), Eurographics Symposium on Rendering (EGSR), 2005.
• "Pose-independent Simplification of Articulated Meshes" (with Christopher DeCoro), Symposium on Interactive 3D Graphics (I3D), 2005.
• "Spacetime Stereo: A Unifying Framework for Depth from Triangulation" (with James Davis, Diego Nehab, and Ravi Ramamoorthi), IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), Vol. 27, No. 2, Feb. 2005.
• "Non-Rigid Range Scan Alignment Using Thin-Plate Splines" (with Benedict Brown), Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT), 2004.
• "Estimating Curvatures and Their Derivatives on Triangle Meshes," Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT), 2004.
• "Efficient BRDF Importance Sampling Using a Factored Representation" (with Jason Lawrence and Ravi Ramamoorthi), ACM Transactions on Graphics (Proc. SIGGRAPH), 2004.
• "Shape Matching and Anisotropy" (with Michael Kazhdan and Thomas Funkhouser), ACM Transactions on Graphics (Proc. SIGGRAPH), 2004.
• "Modeling by Example" (with Thomas Funkhouser, Michael Kazhdan, Philip Shilane, Patrick Min, William Kiefer, Ayellet Tal, and David Dobkin), ACM Transactions on Graphics (Proc. SIGGRAPH), 2004.
• "Symmetry Descriptors and 3D Shape Matching" (with Michael Kazhdan and Thomas Funkhouser), Symposium on Geometry Processing (SGP), 2004.
• "Interactive Rendering of Suggestive Contours with Temporal Coherence" (with Doug DeCarlo and Adam Finkelstein), Symposium on Non-Photorealistic Animation and Rendering (NPAR), 2004.
• "A Reflective Symmetry Descriptor for 3D Models" (with Michael Kazhdan, Bernard Chazelle, David Dobkin, and Thomas Funkhouser), Algorithmica, Vol. 38, No. 1, Oct. 2003.
• "Geometrically Stable Sampling for the ICP Algorithm" (with Natasha Gelfand, Leslie Ikemoto, and Marc Levoy), International Conference on 3D Digital Imaging and Modeling (3DIM), 2003.
• "Suggestive Contours for Conveying Shape" (with Doug DeCarlo, Adam Finkelstein, and Anthony Santella), ACM Transactions on Graphics (Proc. SIGGRAPH), 2003.
• "Rotation Invariant Spherical Harmonic Representation of 3D Shape Descriptors" (with Michael Kazhdan and Thomas Funkhouser), Symposium on Geometry Processing (SGP), 2003.
• "Spacetime Stereo: A Unifying Framework for Depth from Triangulation" (with James Davis and Ravi Ramamoorthi), Computer Vision and Pattern Recognition (CVPR), 2003.
• "Real-Time 3D Model Acquisition" (with Olaf Hall-Holt and Marc Levoy), ACM Transactions on Graphics (Proc. SIGGRAPH), 2002.
• "Stripe Boundary Codes for Real-Time Structured-Light Range Scanning of Moving Objects" (with Olaf Hall-Holt), International Conference on Computer Vision (ICCV), 2001.
• "Efficient Variants of the ICP Algorithm" (with Marc Levoy), International Conference on 3D Digital Imaging and Modeling (3DIM), 2001.
• "Streaming QSplat: A Viewer for Networked Visualization of Large, Dense Models" (with Marc Levoy), Symposium on Interactive 3D Graphics (I3D), 2001.
• "The Digital Michelangelo Project: 3D Scanning of Large Statues" (with Marc Levoy, Kari Pulli, Brian Curless, Dave Koller, Lucas Pereira, Matt Ginzton, Sean Anderson, James Davis, Jeremy Ginsberg, Jonathan Shade, and Duane Fulk), Computer Graphics (Proc. SIGGRAPH), 2000.
• "QSplat: A Multiresolution Point Rendering System for Large Meshes" (with Marc Levoy), Computer Graphics (Proc. SIGGRAPH), 2000.
• "A New Change of Variables for Efficient BRDF Representation", Eurographics Workshop on Rendering, 1998.
• "Accurate Mass Spectrometry of Trapped Ions" (with Michael Bradley, Fred Palmer, D. Garrison, L. Ilich, and David E. Pritchard), Hyperfine Interactions, Vol. 108, No. 1-3, 1997.
• "Mass Spectroscopy at 0.1 Part Per Billion for Fundamental Metrology" (with Frank Difilippo, Vasant Natarjan, Michael Bradley, Fred Palmer, and David E. Pritchard), IEEE Transactions on Instrumentation and Measurement, April 1995.

• Course notes for "Computing Correspondences in Geometric Data Sets", presented at Eurographics 2011 (with Will Chang, Hao Li, Niloy Mitra, Mark Pauly, and Michael Wand).
• Course notes for "Line Drawings from 3D Models", presented at SIGGRAPH 2008 (with Forrester Cole, Doug DeCarlo and Adam Finkelstein).
• Course notes for "Principles of Appearance Acquisition and Representation", presented at SIGGRAPH 2008 (with Tim Weyrich, Jason Lawrence, Hendrik P. A. Lensch, and Todd Zickler).
• Course notes for "Principles of Appearance Acquisition and Representation", presented at ICCV 2007 (with Tim Weyrich, Jason Lawrence, Hendrik P. A. Lensch, and Todd Zickler).
• Course notes for "3D Scan Matching and Registration", presented at ICCV 2005 (with Benedict Brown and Michael Kazhdan).
• Course notes for "Line Drawings from 3D Models", presented at SIGGRAPH 2005 (with Doug DeCarlo and Adam Finkelstein).
• A quick writeup on deriving the equations of ICP and analyzing their stability for different surface shapes. Features the "psychedelic bunnies" - my contribution to the fine art of abusing the Stanford bunny. (Also see the geometrically stable sampling paper.)
• "Real-time Acquisition and Rendering of Large 3D Models", Ph.D. dissertation, Stanford University, 2001.
• "Visible Zone Maintenance for Real-Time Occlusion Culling" (with Olaf Hall-Holt).
• Course notes for "3D Photography", presented at CVPR 1999 (with Brian Curless, Steve Seitz, Jean-Yves Bouguet, and Paul Debevec).
• "Projecting Color onto Michelangelo's Statues", a description of the color processing pipeline for the Digital Michelangelo Project.
• "A Survey of BRDF Representation for Computer Graphics"
• $1.42 and Amethyst - some pictures I made several years ago (with Lucas Pereira).
• "Simultaneous Two-Ion Mass Spectroscopy", Undergraduate Thesis, MIT, 1995.
• Some photographs.

• Xshade is an implementation of Exaggerated Shading.
• RTSC is a sample implementation of Real-Time Suggestive Contours.
• trimesh2 is a library and a set of utilities for reading, writing, and manipulating 3D triangle meshes. An older version is also available.
• qsplat is a multiresolution point rendering system for large scanned models.
• bv is a browser for various analytical BRDF models.