@conference {14251,
	title = {Real-time shape retrieval for robotics using skip Tri-Grams},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009},
	year = {2009},
	month = {2009/10/10/15},
	pages = {4731 - 4738},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {The real time requirement is an additional constraint on many intelligent applications in robotics, such as shape recognition and retrieval using a mobile robot platform. In this paper, we present a scalable approach for efficiently retrieving closed contour shapes. The contour of an object is represented by piecewise linear segments. A skip Tri-Gram is obtained by selecting three segments in the clockwise order while allowing a constant number of segments to be {\~A}{\^A}{\textquestiondown}skipped{\~A}{\^A}{\textquestiondown} in between. The main idea is to use skip Tri-Grams of the segments to implicitly encode the distant dependency of the shape. All skip Tri-Grams are used for efficiently retrieving closed contour shapes without pairwise matching feature points from two shapes. The retrieval is at least an order of magnitude faster than other state-of-the-art algorithms. We score 80\% in the Bullseye retrieval test on the whole MPEG 7 shape dataset. We further test the algorithm using a mobile robot platform in an indoor environment. 8 objects are used for testing from different viewing directions, and we achieve 82\% accuracy.},
	keywords = {Bullseye retrieval test, Clocks, closed contour shape retrieval, Image retrieval, Image segmentation, Indexing, Information retrieval, Intelligent robots, Jacobian matrices, mobile robot, Mobile robots, MPEG 7 shape dataset, piecewise linear segments, Piecewise linear techniques, Real time systems, real-time shape retrieval, robot vision, SHAPE, shape recognition, shape representation, skip Tri-Grams, Testing},
	isbn = {978-1-4244-3803-7},
	doi = {10.1109/IROS.2009.5354738},
	author = {Li,Yi and Bitsakos,K. and Ferm{\"u}ller, Cornelia and Aloimonos, J.}
}
@conference {11897,
	title = {Identifying and segmenting human-motion for mobile robot navigation using alignment errors},
	booktitle = {12th International Conference on Advanced Robotics, 2005. ICAR {\textquoteright}05. Proceedings},
	year = {2005},
	month = {2005/07//},
	pages = {398 - 403},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {This paper presents a new human-motion identification and segmentation algorithm, for mobile robot platforms. The algorithm is based on computing the alignment error between pairs of object images acquired from a moving platform. Pairs of images generating relatively small alignment errors are used to estimate the fundamental frequency of the object{\textquoteright}s motion. A decision criterion is then used to test the significance of the estimated frequency and to classify the object{\textquoteright}s motion. To verify the validity of the proposed approach, experimental results are shown on different classes of objects},
	keywords = {Computer errors, Educational institutions, Frequency estimation, human-motion identification, human-motion segmentation, HUMANS, Image motion analysis, Image segmentation, mobile robot navigation, Mobile robots, Motion estimation, Navigation, Object detection, robot vision, SHAPE},
	isbn = {0-7803-9178-0},
	doi = {10.1109/ICAR.2005.1507441},
	author = {Abd-Almageed, Wael and Burns,B. J and Davis, Larry S.}
}
@conference {19670,
	title = {What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs},
	booktitle = {Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005},
	year = {2005},
	month = {2005/04//},
	pages = {4182 - 4187},
	abstract = {In this paper, we study the problem of going from a real-world, multi-agent system to the generation of control programs in an automatic fashion. In particular, a computer vision system is presented, capable of simultaneously tracking multiple agents, such as social insects. Moreover, the data obtained from this system is fed into a mode-reconstruction module that generates low-complexity control programs, i.e. strings of symbolic descriptions of control-interrupt pairs, consistent with the empirical data. The result is a mechanism for going from the real system to an executable implementation that can be used for controlling multiple mobile robots.},
	keywords = {Animals, Automatic generation control, Biological information theory, Computer vision, Control systems, Mobile robots, Probability distribution, Robot control, target tracking, Trajectory},
	author = {Egerstedt, M. and Balch, T. and Dellaert, F. and Delmotte, F. and Zia Khan}
}
@conference {12033,
	title = {3D motion representations in visual servo control},
	booktitle = {Proceedings of International Symposium on Computer Vision, 1995},
	year = {1995},
	month = {1995/11/21/23},
	pages = {61 - 66},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {A new approach to visual servoing and vision-guided robotics is introduced. This approach uses visual information for autonomous behavior. It amounts to using robust, global spatiotemporal representations easily extracted from the dynamic imagery. Specifically, the geometrical patterns of normal flows are used as the input to the servo mechanism. It is shown that the positions of these patterns are related to the three dimensional motion parameters. By locating the positions of these patterns, we can solve a variety of navigational problems with little computational effort},
	keywords = {3D motion representations, autonomous behavior, CAMERAS, computational effort, Computer vision, dynamic imagery, global spatiotemporal representations, image representation, Mobile robots, motion control, Navigation, navigational problems, Optical computing, Robot kinematics, Robot sensing systems, robot vision, Robot vision systems, Robotics and automation, servomechanisms, Servosystems, Spatiotemporal phenomena, vision-guided robotics, visual information, visual servo control, visual servoing},
	isbn = {0-8186-7190-4},
	doi = {10.1109/ISCV.1995.476978},
	author = {Ferm{\"u}ller, Cornelia and LoongFah Cheong and Aloimonos, J.}
}
@conference {12020,
	title = {Exploratory active vision: theory},
	booktitle = {Proceedings of 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 1992},
	year = {1992},
	month = {1992/06/15/18},
	pages = {10 - 15},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {An active approach to the integration of shape from x modules-here shape from shading and shape from texture-is proposed. The question of what constitutes a good motion for the active observer is addressed. Generally, the role of the visual system is to provide depth information to an autonomous robot; a trajectory module will then interpret it to determine a motion for the robot, which in turn will affect the visual information received. It is suggested that the motion can also be chosen so as to improve the performance of the visual system},
	keywords = {active observer, Active shape model, active vision, Automation, autonomous robot, CAMERAS, Computer science, Computer vision, depth information, Laboratories, Layout, Mobile robots, Motion analysis, optical flow, Robots, shape from shading, shape from texture, shape from x modules, trajectory module, Visual system},
	isbn = {0-8186-2855-3},
	doi = {10.1109/CVPR.1992.223234},
	author = {Herve,J. -Y and Aloimonos, J.}
}
