@conference {14193,
	title = {Active segmentation for robotics},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009},
	year = {2009},
	month = {2009/10/10/15},
	pages = {3133 - 3139},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {The semantic robots of the immediate future are robots that will be able to find and recognize objects in any environment. They need the capability of segmenting objects in their visual field. In this paper, we propose a novel approach to segmentation based on the operation of fixation by an active observer. Our approach is different from current approaches: while existing works attempt to segment the whole scene at once into many areas, we segment only one image region, specifically the one containing the fixation point. Furthermore, our solution integrates monocular cues (color, texture) with binocular cues (stereo disparities and optical flow). Experiments with real imagery collected by our active robot and from the known databases demonstrate the promise of the approach.},
	keywords = {binocular cues, image colour analysis, Image segmentation, Image texture, Intelligent robots, Layout, Machine vision, monocular cues, Navigation, optical flow, Orbital robotics, Robot sensing systems, robot vision, Robot vision systems, robotics active segmentation, Robotics and automation, semantic robot, Simultaneous localization and mapping, stereo disparity, stereo image processing},
	isbn = {978-1-4244-3803-7},
	doi = {10.1109/IROS.2009.5354325},
	author = {Mishra,A. and Aloimonos, J. and Ferm{\"u}ller, Cornelia}
}
@conference {14208,
	title = {Combining powerful local and global statistics for texture description},
	booktitle = {IEEE Conference on Computer Vision and Pattern Recognition, 2009. CVPR 2009},
	year = {2009},
	month = {2009/06/20/25},
	pages = {573 - 580},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {A texture descriptor is proposed, which combines local highly discriminative features with the global statistics of fractal geometry to achieve high descriptive power, but also invariance to geometric and illumination transformations. As local measurements SIFT features are estimated densely at multiple window sizes and discretized. On each of the discretized measurements the fractal dimension is computed to obtain the so-called multifractal spectrum, which is invariant to geometric transformations and illumination changes. Finally to achieve robustness to scale changes, a multi-scale representation of the multifractal spectrum is developed using a framelet system, that is, a redundant tight wavelet frame system. Experiments on classification demonstrate that the descriptor outperforms existing methods on the UIUC as well as the UMD high-resolution dataset.},
	keywords = {Computer science, discretized measurements, fractal geometry, Fractals, geometric transformations, global statistics, Histograms, illumination transformations, image classification, image resolution, Image texture, lighting, local measurements SIFT features, local statistics, MATHEMATICS, multifractal spectrum, multiscale representation, Power engineering and energy, Power engineering computing, Robustness, Solids, Statistics, texture description, UMD high-resolution dataset, wavelet frame system, Wavelet transforms},
	isbn = {978-1-4244-3992-8},
	doi = {10.1109/CVPR.2009.5206741},
	author = {Yong Xu and Si-Bin Huang and Hui Ji and Ferm{\"u}ller, Cornelia}
}
@conference {14207,
	title = {Combining motion from texture and lines for visual navigation},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. IROS 2007},
	year = {2007},
	month = {2007/11/29/Oct. },
	pages = {232 - 239},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Two novel methods for computing 3D structure information from video for a piecewise planar scene are presented. The first method is based on a new line constraint, which clearly separates the estimation of distance from the estimation of slant. The second method exploits the concepts of phase correlation to compute from the change of image frequencies of a textured plane, distance and slant information. The two different estimates together with structure estimates from classical image motion are combined and integrated over time using an extended Kalman filter. The estimation of the scene structure is demonstrated experimentally in a motion control algorithm that allows the robot to move along a corridor. We demonstrate the efficacy of each individual method and their combination and show that the method allows for visual navigation in textured as well as un-textured environments.},
	keywords = {3D structure information, CAMERAS, Computer vision, extended Kalman filter, Frequency, image frequencies, Image motion analysis, Image texture, Kalman filters, Layout, motion control, Motion estimation, Navigation, Optical computing, phase correlation, piecewise planar scene, Robustness, Simultaneous localization and mapping, Speech processing, textured plane, video signal processing, visual navigation},
	isbn = {978-1-4244-0912-9},
	doi = {10.1109/IROS.2007.4399568},
	author = {Bitsakos,K. and Li Yi and Ferm{\"u}ller, Cornelia}
}
@conference {14187,
	title = {A Projective Invariant for Textures},
	booktitle = {2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition},
	volume = {2},
	year = {2006},
	month = {2006///},
	pages = {1932 - 1939},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Image texture analysis has received a lot of attention in the past years. Researchers have developed many texture signatures based on texture measurements, for the purpose of uniquely characterizing the texture. Existing texture signatures, in general, are not invariant to 3D transforms such as view-point changes and non-rigid deformations of the texture surface, which is a serious limitation for many applications. In this paper, we introduce a new texture signature, called the multifractal spectrum (MFS). It provides an efficient framework combining global spatial invariance and local robust measurements. The MFS is invariant under the bi-Lipschitz map, which includes view-point changes and non-rigid deformations of the texture surface, as well as local affine illumination changes. Experiments demonstrate that the MFS captures the essential structure of textures with quite low dimension.},
	keywords = {Computer science, Computer vision, Educational institutions, Fractals, Geometry, Image texture, Level set, lighting, Robustness, Surface texture},
	isbn = {0-7695-2597-0},
	doi = {10.1109/CVPR.2006.38},
	author = {Yong Xu and Hui Ji and Ferm{\"u}ller, Cornelia}
}
