Carter Sifferman

I am a Computer Science PhD student at University of Wisconsin - Madison, advised by Michael Gleicher and Mohit Gupta. My research utilizes low-level techniques from computational imaging to improve machine perception in resource-constrained settings.

I'm proud of the videos I've made communicating my research, which have graciously been picked up by the YouTube algorithm. You can check them out here, here, and here.

Experience

Publications

ICCV 2025

Recovering Parametric Scenes from Very Few Time-of-Flight Pixels

Carter Sifferman*, Yiquan Li*, Yiming Li, Fangzhou Mu, Michael Gleicher, Mohit Gupta, Yin Li

PaperProject PageVideo

We recover 3D parametric scenes (e.g. 6D object pose, human hand pose) from 15 or fewer total time-of-flight pixels.

RA-L 2025

Efficient Detection of Objects Near a Robot Manipulator via Miniature Time-of-Flight Sensors

Carter Sifferman, Mohit Gupta, Michael Gleicher

PaperProject PageVideo

We use low-level time-of-flight data to enable efficient sensor positions not previously possible.

RA-L, In Proc. ICRA 2025

Using a Distance Sensor to Detect Deviations in a Planar Surface

Carter Sifferman, William Sun, Mohit Gupta, Michael Gleicher

PaperProject PageVideo

We detect deviations in a planar surface over a wide field-of-view using an off-the-shelf proximity sensor.

CVPR 2024

Towards 3D Vision with Low-Cost Single-Photon Cameras

Fangzhou Mu*, Carter Sifferman*, Sacha Jungerman, Yiquan Li, Mark Han, Michael Gleicher, Mohit Gupta, Yin Li

PaperProject PageVideo

We reconstruct 3D geometry from measurements of a miniature proximity sensor.

ICRA 2024

IKLink: End-Effector Trajectory Tracking with Minimal Reconfigurations

Yeping Wang, Carter Sifferman, Michael Gleicher

Paper

A method for tracking end effector trajectories while taking minimal breaks to reconfigure the arm position.

RA-L, In Proc. ICRA 2023

Unlocking the Performance of Proximity Sensors by Utilizing Transient Histograms

Carter Sifferman, Yeping Wang, Mohit Gupta, Michael Gleicher

PaperProject PageVideo

Directly utilizing low-level information generated by optical time-of-flight sensors allows recovery of planar geometry and albedo from a single sensor measurement.

IROS 2023

Exploiting Task Tolerances in Mimicry-based Telemanipulation

Yeping Wang, Carter Sifferman, Michael Gleicher

Paper

Allowing a robot to move freely in non task-relevant degrees of freedom improves the telemanipulation experience.

RA-L, in Proc. IROS 2022

Geometric Calibration of Single Pixel Distance Sensors

Carter Sifferman, Dev Mehrotra, Mohit Gupta, Michael Gleicher

PaperProject PageVideo

A depth sensor attached to a robot arm can be extrinsically calibrated relative to that robot arm using only an unknown planar surface.

Bioinformatics and Biomedicine (BIBM) 2019

Depth Sensor-Based In-Home Daily Activity Recognition and Assessment System for Stroke Rehabilitation

Zoë Moore*, Carter Sifferman*, Shaniah Tullis*, Mengxuan Ma, Rachel Proffitt, Marjorie Skubic

Paper

A system for automatic assessment of stroke patient recovery (e.g. range of motion), using an in-home depth camera.