Image Understanding Research at Columbia University

This is an overview of image understanding research at Columbia’s Center for Research in Intelligent Systems since the 1993 IU workshop. It reviews our work on the following topics: 1. Physical Models and Sensors (a) Seeing Beyond Lambert’s Law (b) Impossible Shape from Shading (c) Specular Reflection and Stereo Vision (d) Color and Polarization (e) Active Shape from Focus 2. Visual Learning and Recognition (a) Learning Object Appearance Models (b) Real-Time Object Recognition System (c) Software Library for Appearance Matching 3. Sensor and Illumination Planning (a) Illumination Planning for Recognition (b) Model Based Sensor Planning

[1]  Hiroshi Murase,et al.  Learning Object Models from Appearance , 1993, AAAI.

[2]  Hiroshi Murase,et al.  Learning, positioning, and tracking visual appearance , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[3]  Peter K. Allen,et al.  Hand-Eye Coordination for Robotic Tracking and Grasping , 1993 .

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[5]  Roger Y. Tsai,et al.  Analytical characterization of the feature detectability constraints of resolution, focus, and field-of-view for vision sensor planning , 1994 .

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[7]  John R. Kender,et al.  Conveying Spatial Information Using Vision and , 1994 .

[8]  Peter K. Allen,et al.  Automated tracking and grasping of a moving object with a robotic hand-eye system , 1993, IEEE Trans. Robotics Autom..

[9]  Shree K. Nayar,et al.  Stereo in the presence of specular reflection , 1995, Proceedings of IEEE International Conference on Computer Vision.

[10]  John R. Kender,et al.  Using isolated landmarks and trajectories in robot navigation , 1993, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[11]  Peter K. Allen,et al.  Alignment using an uncalibrated camera system , 1995, IEEE Trans. Robotics Autom..

[12]  Peter K. Allen,et al.  CAD model acquisition using BSP trees , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[13]  Alok Gupta,et al.  A periodic generalized cylinder model with local deformations for tracking closed contours exhibiting repeating motion , 1994, Proceedings of 12th International Conference on Pattern Recognition.

[14]  Peter K. Allen,et al.  Visual control of grasping and manipulation tasks , 1994, Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems.

[15]  Hiroshi Murase,et al.  Illumination planning for object recognition in structured environments , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[16]  Takeo Kanade,et al.  Surface Reflection: Physical and Geometrical Perspectives , 1989, IEEE Trans. Pattern Anal. Mach. Intell..

[17]  Peter K. Allen,et al.  Computing Swept Volumes for Sensor Planning Tasks , 1994 .

[18]  Terrance E. Boult,et al.  Dynamic Attributes , Code Generation and the IUE , 1994 .

[19]  Peter K. Allen,et al.  Object Recognition Using Active Tactile Sensing , 1992 .

[20]  John R. Kender,et al.  Qualitatively describing objects using spatial prepositions , 1993, [1993] Proceedings IEEE Workshop on Qualitative Vision.

[21]  John R. Kender,et al.  Topological Direction-Giving and Visual Navigation in Large Environments , 1995, Artif. Intell..

[22]  Shree K. Nayar,et al.  Seeing Beyond Lambert's Law , 1994, ECCV.

[23]  Konstantinos A. Tarabanis,et al.  Dynamic sensor planning , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[24]  Shree K. Nayar,et al.  Shape from Focus , 1994, IEEE Trans. Pattern Anal. Mach. Intell..

[25]  Konstantinos A. Tarabanis,et al.  The MVP sensor planning system for robotic vision tasks , 1995, IEEE Trans. Robotics Autom..

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[27]  Shree K. Nayar,et al.  Microscopic shape from focus using active illumination , 1994, Proceedings of 12th International Conference on Pattern Recognition.

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[29]  Peter K. Allen,et al.  Probability-driven motion planning for mobile robots , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[30]  Shree K. Nayar,et al.  Computing reflectance ratios from an image , 1993, Pattern Recognit..

[31]  Peter K. Allen,et al.  Active, uncalibrated visual servoing , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

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[33]  Peter K. Allen,et al.  Forming complex dextrous manipulations from task primitives , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[34]  Roger Y. Tsai,et al.  Automated sensor planning for robotic vision tasks , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[35]  Hiroshi Murase,et al.  General learning algorithm for robot vision , 1994, Optics & Photonics.

[36]  Peter K. Allen,et al.  Acquisition and interpretation of 3-D sensor data from touch , 1990, IEEE Trans. Robotics Autom..

[37]  Alok Gupta,et al.  The extruded generalized cylinder: a deformable model for object recovery , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

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[39]  Peter K. Allen,et al.  Shared autonomy in a robot hand teleoperation system , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[40]  Shree K. Nayar,et al.  Reflectance ratio: A photometric invariant for object recognition , 1993, 1993 (4th) International Conference on Computer Vision.

[41]  Shree K. Nayar,et al.  Removal of specularities using color and polarization , 1993, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.