Philippos Mordohai (pmordoha)

Philippos Mordohai

Professor

School of Computing

Gateway Center S355
(201) 216-5611
(201) 216-8249
Website

Research

Binocular, multiple-view and video-based 3D reconstruction
Robotic perception
3D shape representation and object recognition
Perceptual organization
Machine learning
Active vision

General Information

I have been an Assistant, an Associate and now a Full Professor in the Department of Computer Science at Stevens Institute of Technology since 2008. Prior to joining Stevens, I earned a Ph.D. in Electrical Engineering from the University of Southern California. Between 2005 and 2008, I held postdoctoral research associate positions in the Department of Computer and Information Science of the University of Pennsylvania, and in the Department of Computer Science of the University of North Carolina at Chapel Hill. My research is on geometric computer vision and builds upon machine learning and parallel programming techniques. I am an associate/area editor for the IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI) currently, and for the Computer Vision and Image Understanding (CVIU) and Image and Visual Computing (IVCJ) journals in the past. I have also served as area chair of the three top-tier computer vision conferences (CVPR, ICCV and ECCV), program co-chair of the International Conference on 3D Vision (3DV) 2019, and I will serve as program co-chair of the IEEE/CVF International Conference on Computer Vision (ICCV) in 2027. [Note: I was very late in updating this paragraph to reflect the change of schedule in the upcoming editions of ICCV. I was not a PC of ICCV 2025.]

Institutional Service

  • SIAI Steering Committee Member
  • Provost Fellowship Nomination Committee Member

Professional Service

  • IEEE Transactions on Pattern Analysis and Machine Intelligence Associate Editor
  • Various international conferences Conference Reviewer
  • NSF Panelist

Appointments

Assistant Professor, Dept. of Computer Science, Stevens Institute of Technology, 2008-2015
Associate Professor, Dept. of Computer Science, Stevens Institute of Technology, 2015-2020
Professor, Dept. of Computer Science, Stevens Institute of Technology, 2020-present

Professional Societies

  • IEEE – IEEE Member

Selected Publications

Conference Proceeding

  1. Chatzispyrou, M.; Horgan, L.; Hwang, H.; Sathishchandra, H.; Burgul, C.; Roznere, M.; Quattrini Li, A.; Mordohai, P.; Rekleitis, I. (2026). Mapping Pamir: Multi-Session Visual-Inertial SLAM and 3D Reconstruction of an Underwater Shipwreck.. ICRA. IEEE.
  2. Chen, L.; Zhan, H.; Yin, H.; Xu, Y.; Mordohai, P. (2025). Understanding while Exploring: Semantics-driven Active Mapping. Advances in Neural Information Processing Systems 38 (pp. 37293-37320). Neural Information Processing Systems Foundation, Inc. (NeurIPS).
    https://doi.org/10.52202/085713-1113.
  3. Joyce, E. C.; Zhao, Q.; Burgdorfer, N.; Wang, L.; Mordohai, P. (2025). Consensus-Driven Uncertainty for Robotic Grasping based on RGB Perception. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 19522-19529). Hangzhou, China: IEEE.
    https://researchwith.stevens.edu/en/publications/consensus-driven-uncertainty-for-robotic-grasping-based-on-rgb-pe/.
  4. Joyce, E. C.; Zhao, Q.; Burgdorfer, N.; Wang, L.; Mordohai, P. (2025). Consensus-Driven Uncertainty for Robotic Grasping based on RGB Perception. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 19522-19529). IEEE.
    https://doi.org/10.1109/iros60139.2025.11247333.
  5. Wang, W.; Chou, C.; Sevagamoorthy, G.; Chen, K.; Chen, Z.; Feng, Z.; Xia, Y.; Cai, F.; Xu, Y.; Mordohai, P. (2024). Stereo-NEC: Enhancing Stereo Visual-Inertial SLAM Initialization with Normal Epipolar Constraints. Proceedings - IEEE International Conference on Robotics and Automation (pp. 2691-2697).
  6. Wang, W.; Li, J.; Ming, Y.; Mordohai, P. (2023). EDI: ESKF-based Disjoint Initialization for Visual-Inertial SLAM Systems. IEEE International Conference on Intelligent Robots and Systems (pp. 1466-1472).
  7. Burgdorfer, N.; Mordohai, P. (2023). V-FUSE: Volumetric Depth Map Fusion with Long-Range Constraints. Proceedings of the IEEE International Conference on Computer Vision (pp. 3426-3435).
  8. Chen, L.; Wang, W.; Mordohai, P. (2023). Learning the Distribution of Errors in Stereo Matching for Joint Disparity and Uncertainty Estimation. IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR). IEEE/CVF.
  9. Wang, W.; Joshi, B.; Burgdorfer, N.; Batsos, K.; Quattrini Li, A.; Mordohai, P.; Rekleitis, I. (2023). Real-Time Dense 3D Mapping of Underwater Environments. International Conference on Robotics and Automation. IEEE.
  10. Roznere, M.; Mordohai, P.; Rekleitis, I.; Li, A. Q. (2023). 3-D Reconstruction Using Monocular Camera and Lights: Multi-View Photometric Stereo for Non-Stationary Robots. Proceedings - IEEE International Conference on Robotics and Automation (vol. 2023-May, pp. 1026-1032).
  11. Sun, B.; Kuen, J.; Lin, Z.; Mordohai, P.; Chen, S. (2023). PRN: Panoptic Refinement Network. Proceedings - 2023 IEEE Winter Conference on Applications of Computer Vision, WACV 2023 (pp. 3952-3962).
  12. Xanthidis, M.; Joshi, B.; Roznere, M.; Wang, W.; Burgdorfer, N.; Li, A. Q.; Mordohai, P.; Nelakuditi, S.; Rekleitis, I. (2023). Towards Mapping of Underwater Structures by a Team of Autonomous Underwater Vehicles. Springer Proceedings in Advanced Robotics (vol. 27 SPAR, pp. 170-185).
  13. Xanthidis, M.; Joshi, B.; Roznere, M.; Burgdorfer, N.; Wang, W.; Quattrini Li, A.; Mordohai, P.; Nelakuditi, S.; Rekleitis, I. (2022). Mapping of Underwater Structures by a Team of Autonomous Underwater Vehicles. International Symposium of Robotics Research (ISRR). International Foundation of Robotic Research.
  14. Joshi, B.; Xanthidis, M.; Roznere, M.; Burgdorfer, N.; Mordohai, P.; Quattrini Li, A.; Rekleitis, I. (2022). Underwater Exploration and Mapping. Autonomous Underwater Vehicles Symposium (AUV). IEEE/OES.
  15. Xanthidis; Joshi, B.; Karapetyan, N.; Roznere, M.; Wang, W.; Johnson, J.; Quattrini Li, A.; Casana, J.; Mordohai, P.; Nelakuditi, S.; Rekleitis, I. (2021). Towards Multi-Robot Shipwreck Mapping. First Advanced Marine Robotics TC Workshop: Active Perception.
  16. Cai, C.; Mordohai, P. (2020). Do End-to-end Stereo Algorithms Under-utilize Information?. Proceedings - 2020 International Conference on 3D Vision, 3DV 2020 (pp. 374-383).
  17. Cai, C.; Poggi, M.; Mattoccia, S.; Mordohai, P. (2020). Matching-space Stereo Networks for Cross-domain Generalization. Proceedings - 2020 International Conference on 3D Vision, 3DV 2020 (pp. 364-373).
  18. Mordohai, P.; Batsos, K.; Makadia, A.; Snavely, N. (2020). NBVC: A benchmark for depth estimation from narrow-baseline video clips. IEEE International Conference on Intelligent Robots and Systems (pp. 10076-10083).
  19. Tsekourakis, I.; Mordohai, P. (2019). Measuring the Effects of Temporal Coherence in Depth Estimation for Dynamic Scenes. Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition Workshops (pp. 0--0).
  20. Kutbi, M.; Chang, Y.; Sun, B.; Mordohai, P. (2019). Learning to Navigate Robotic Wheelchairs from Demonstration: Is Training in Simulation Viable?. International Workshop on Assistive Computer Vision and Robotics (ACVR) (pp. 2522-2531.). IEEE.
  21. Abruzzo, B.; Cappelleri, D.; Mordohai, P. (2019). A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team with Non-Overlapping Perspectives. International Design Engineering Technical Conferences (IDETC). ASME.
  22. Tsekourakis, I.; Mordohai, P. (2019). Measuring the Effects of Temporal Coherence in Depth Estimation for Dynamic Scenes. 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW) (pp. 2867-2875). IEEE.
    https://doi.org/10.1109/cvprw.2019.00346.
  23. Sun, B.; Mordohai, P. (2019). Oriented Point Sampling for Plane Detection in Unorganized Point Clouds. 2019 International Conference on Robotics and Automation (ICRA). IEEE.
    https://ieeexplore.ieee.org/document/8793487.
  24. Dai, K. X.; Guo, H.; Mordohai, P.; Marinello, F.; Pezzuolo, A.; Feng, Q. L.; Niu, Q. D. (2019). NON-RIGID MULTI-BODY TRACKING in RGBD STREAMS. ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences (2/W5 ed., vol. 4, pp. 341-348).
  25. Batsos, K.; Mordohai, P. (2018). RecResNet: A Recurrent Residual CNN Architecture for Disparity Map Enhancement. International Conference on 3D Vision. IEEE.
    https://ieeexplore.ieee.org/abstract/document/8490974.
  26. Xu, L.; Dinh, H. Q.; Mordohai, P.; Ramsay, T. (2011). Detecting Patterns in Vector Fields. 49th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition. American Institute of Aeronautics and Astronautics.
    https://doi.org/10.2514/6.2011-1136.
  27. Hu, X.; Mordohai, P. (2010). Evaluation of stereo confidence indoors and outdoors. 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (pp. 1466-1473). IEEE.
    https://doi.org/10.1109/cvpr.2010.5539798.
  28. Gallup, D.; Frahm, J.; Mordohai, P.; Pollefeys, M. (2008). Variable baseline/resolution stereo. 2008 IEEE Conference on Computer Vision and Pattern Recognition (pp. 1-8). IEEE.
    https://doi.org/10.1109/cvpr.2008.4587671.
  29. Gallup, D.; Frahm, J.; Mordohai, P.; Yang, Q.; Pollefeys, M. (2007). Real-Time Plane-Sweeping Stereo with Multiple Sweeping Directions. 2007 IEEE Conference on Computer Vision and Pattern Recognition (pp. 1-8). IEEE.
    https://doi.org/10.1109/cvpr.2007.383245.

Journal Article

  1. Sun, B.; Kang, H.; Guan, L.; Li, H.; Mordohai, P.; Hua, G. (2025). Glissando-Net: Deep Single View Category Level Pose Estimation and 3D Reconstruction. IEEE Transactions on Pattern Analysis and Machine Intelligence (4 ed., vol. 47, pp. 2298-2312).
  2. Joyce, E. C.; Chen, Y.; Neeter, E.; Mordohai, P. (2023). SmallTAL: Real-Time Egocentric Online Temporal Action Localization for the Data-Impoverished. Presence: Teleoperators and Virtual Environments (vol. 32, pp. 179-203).
  3. Kutbi, M.; Li, H.; Chang, Y.; Sun, B.; Li, X.; Cai, C.; Agadakos, N.; Hua, G.; Mordohai, P. (2023). Egocentric Computer Vision for Hands-Free Robotic Wheelchair Navigation. Journal of Intelligent and Robotic Systems: Theory and Applications (1 ed., vol. 107).
  4. Mane, T.; Bayramova, A.; Daniilidis, K.; Mordohai, P.; Bernardis, E. (2022). Single-camera 3D head fitting for mixed reality clinical applications. Computer Vision and Image Understanding (vol. 218).
  5. Kutbi, M.; Chang, Y.; Mordohai, P. (2021). Inlier clustering based on the residuals of random hypotheses. Pattern Recognition Letters (vol. 150, pp. 101-107).
  6. Kutbi, M.; Du, X.; Chang, Y.; Sun, B.; Agadakos, N.; Li, H.; Hua, G.; Mordohai, P. (2021). Usability Studies of an Egocentric Vision-Based Robotic Wheelchair. ACM Transactions on Human-Robot Interaction (1 ed., vol. 10, pp. 1-23). Association for Computing Machinery (ACM).
    https://doi.org/10.1145/3399434.
  7. Poggi, M.; Tosi, F.; Batsos, K.; Mordohai, P.; Mattoccia, S. (2021). On the Synergies between Machine Learning and Binocular Stereo for Depth Estimation from Images: a Survey. IEEE Transactions on Pattern Analysis and Machine Intelligence.
  8. Yuan, C.; Liao, M.; Hu, X.; Mordohai, P. (2012). 18.2: Depth Sensing and Augmented Reality Technologies for Mobile 3D Platforms. SID Symposium Digest of Technical Papers (1 ed., vol. 43, pp. 233-236). Wiley.
    https://doi.org/10.1002/j.2168-0159.2012.tb05756.x.