Stuart Heinrich, PhD


Curriculum vitae

Real time camera tracking and 3D reconstruction

I am quite interested in real-time reconstruction methods, and am working towards implementing a complete system for dense 3D reconstruction from uncalibrated video in real time. Here is a demo video showing some of my current work in real-time anisotrpoic optical flow, and here is another demo video of my system for real-time KLT feature tracking and pose reconstruction from uncalibrated video using the five-point method, bundle adjustment, and my autocalibration.

Autocalibration tutorial lecture

A free video lecture explaining the principles of autocalibration.

AuthMA for Secure Key Exchange

I have always wished that my communications were protected with end-to-end encryption, but the hassle of exchanging public keys is just too great. I knew that in order for end-to-end encryption to take off, a protocol was needed for automatically exchanging public keys that was invulnerable to man in the middle attacks. That's why I invented AuthMA. I maintain a public keyserver providing this service free of charge for anyone interested in bringing secure communication into their applications.

Reports & Publications:

S. Heinrich. Nonlinear methods (tutorial). [PDF], April 2015.

S. Heinrich. Public Key Infrastructure based on Authentication of Media Attestments. ArXiv e-prints (arXiv:1311.7182), Dec 2013.

S. Heinrich. Efficient and Robust Model Fitting with Unknown Noise Scale. Image and Vision Computing (accepted July 20, 2013). (online) [PDF]

S. Heinrich. Physical Relativism as an Interpretation of Existence. Submitted to the Foundational Questions Institute's (FQXi) essay contest, "It from Bit or Bit from It." (Jun 23, 2013) [PDF]

S. Heinrich. Maximum a Posteriori (MAP) Estimation of the Route Taken Through a Street Graph. Technical report, Feb 2012. [PDF]

S. Heinrich. A Multivariate Two-Sample Test using the Jaccard Distance. Journal of Multivariate Analysis (submitted Feb 2012, in review). [PDF] [Source]

S. Heinrich. The Relativity of Existence. Studies in History and Philosophy of Modern Physics (submitted Feb 2012, in review). [PDF] [Feedback]

S. Heinrich, W. Snyder, and J.-M. Frahm. Maximum Likelihood Autocalibration. Image and Vision Computing (IVC) (submitted Jan, 2011, accepted Aug, 2011). (online) [PDF][Source]

S. Heinrich. Maximum Likelihood Methods for Hierarchical Structure from Motion of Uncalibrated Video. PhD Dissertation, North Carolina State University, March 2011. [PDF]

S. Heinrich and W. Snyder. Robust Estimation of the Trifocal Tensor: A Performance Evaluation (in preparation) [PDF]

S. Heinrich and W. Snyder. Robust Maximum Likelihood Structure Invariant Merging of Projective Reconstructions. Computer Vision and Image Understanding (CVIU), in review (submitted Feb, 2011). [PDF]

S. Heinrich and W. Snyder. Internal Constraints of the Trifocal Tensor. ArXiv e-prints (arXiv:1103.6052), March 2011.

S. Heinrich and W. Snyder. Improved Edge Awareness in Discontinuity Preserving Smoothing Algorithms. ArXiv e-prints (arXiv:1103.5808), March 2011.

K. Krish, S. Heinrich, W. Snyder, H. Cakir, and S. Khorram. Global Registration of Overlapping Images Using Accumulative Image Features. Pattern Recognition Letters, 31 (2) : 112-118, 2010. (online)

S. Heinrich, K. Krish, W. Snyder, and S. Khorram. A Method for Automatic Recognition of Small Mobile Targets in Aerial Images. Technical report, Center for Earth Observation (CEO), North Carolina State University, 2009. [PDF]

K. Krish, S. Heinrich, W. Snyder, H. Cakir, and S. Khorram. A New Feature Based Image Registration Algorithm. In Proceedings of the 2008 American Society for Photogrammetry and Remote Sensing (ASPRS '08), Portland, Oregon, 2008.

S. Heinrich K. Krish, W. Snyder, S. Khorram, and H. Cakir. Matching of Mobile Targets in Overlapping Aerial Images. In Proceedings of the 2008 American Society for Photogrammetry and Remote Sensing (ASPRS '08), Portland, Oregon, 2008.

W. Snyder, S. Khorram, S. Heinrich, K. Krish, and H. Cakir. On-The-Fly Scene-Dependent ATR. Center for Earth Observation (CEO) Technical Report 223, North Carolina State University, 2008.

S. Heinrich. Determination of a Sensible Number of Gaussians in a Gaussian Mixture Model. Technical report, North Carolina State University, 2008. [PDF]

S. Heinrich and Y. Choe. Formation of Orientation-Selective Receptive Fields and Learning of Field Orientations in Realistic Environments Using Sensory-Invariant Driven Action (SIDA). Technical report, Texas A&M University, 2005. [PDF] [Poster]