@conference {17181,
	title = {Group-in-a-Box Layout for Multi-faceted Analysis of Communities},
	booktitle = {Privacy, Security, Risk and Trust (PASSAT), 2011 IEEE Third International Conference on and 2011 IEEE Third International Confernece on Social Computing (SocialCom)},
	year = {2011},
	month = {2011/10/09/11},
	pages = {354 - 361},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Communities in social networks emerge from interactions among individuals and can be analyzed through a combination of clustering and graph layout algorithms. These approaches result in 2D or 3D visualizations of clustered graphs, with groups of vertices representing individuals that form a community. However, in many instances the vertices have attributes that divide individuals into distinct categories such as gender, profession, geographic location, and similar. It is often important to investigate what categories of individuals comprise each community and vice-versa, how the community structures associate the individuals from the same category. Currently, there are no effective methods for analyzing both the community structure and the category-based partitions of social graphs. We propose Group-In-a-Box (GIB), a meta-layout for clustered graphs that enables multi-faceted analysis of networks. It uses the tree map space filling technique to display each graph cluster or category group within its own box, sized according to the number of vertices therein. GIB optimizes visualization of the network sub-graphs, providing a semantic substrate for category-based and cluster-based partitions of social graphs. We illustrate the application of GIB to multi-faceted analysis of real social networks and discuss desirable properties of GIB using synthetic datasets.},
	keywords = {Algorithm design and analysis, category based social graph partitions, clustered graphs, clustering, Clustering algorithms, Communities, data visualisation, force-directed, gender, geographic location, graph layout algorithms, graph theory, group-in-a-box, group-in-a-box layout, Image edge detection, Layout, meta-layout, multifaceted community analysis, network subgraph visualization, network visualization, pattern clustering, profession, semantic substrates, Social network services, social networking (online), social networks, treemap space filling technique, Visualization},
	isbn = {978-1-4577-1931-8},
	doi = {10.1109/PASSAT/SocialCom.2011.139},
	author = {Rodrigues,E.M. and Milic-Frayling,N. and Smith,M. and Shneiderman, Ben and Hansen,D.}
}
@conference {17306,
	title = {NetVisia: Heat Map \& Matrix Visualization of Dynamic Social Network Statistics \& Content},
	booktitle = {Privacy, Security, Risk and Trust (PASSAT), 2011 IEEE Third International Conference on and 2011 IEEE Third International Confernece on Social Computing (SocialCom)},
	year = {2011},
	month = {2011/10/09/11},
	pages = {19 - 26},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Visualizations of static networks in the form of node-link diagrams have evolved rapidly, though researchers are still grappling with how best to show evolution of nodes over time in these diagrams. This paper introduces NetVisia, a social network visualization system designed to support users in exploring temporal evolution in networks by using heat maps to display node attribute changes over time. NetVisia{\textquoteright}s novel contributions to network visualizations are to (1) cluster nodes in the heat map by similar metric values instead of by topological similarity, and (2) align nodes in the heat map by events. We compare NetVisia to existing systems and describe a formative user evaluation of a NetVisia prototype with four participants that emphasized the need for tool tips and coordinated views. Despite the presence of some usability issues, in 30-40 minutes the user evaluation participants discovered new insights about the data set which had not been discovered using other systems. We discuss implemented improvements to NetVisia, and analyze a co-occurrence network of 228 business intelligence concepts and entities. This analysis confirms the utility of a clustered heat map to discover outlier nodes and time periods.},
	keywords = {business intelligence concept, business intelligence entity, competitive intelligence, data visualisation, dynamic networks, dynamic social network, heat map, Heating, Image color analysis, Information Visualization, Layout, matrix visualization, measurement, NetVisia system, network evolution, network visualization, node-link diagrams, outlier node, social network content, Social network services, social network statistics, social networking (online), social networks, static network visualization, time period, topological similarity, Training, usability, user evaluation, User interfaces},
	isbn = {978-1-4577-1931-8},
	doi = {10.1109/PASSAT/SocialCom.2011.216},
	author = {Gove,R. and Gramsky,N. and Kirby,R. and Sefer,E. and Sopan,A. and Dunne,C. and Shneiderman, Ben and Taieb-Maimon,M.}
}
@conference {17484,
	title = {Visual Analysis of Temporal Trends in Social Networks Using Edge Color Coding and Metric Timelines},
	booktitle = {Privacy, Security, Risk and Trust (PASSAT), 2011 IEEE Third International Conference on and 2011 IEEE Third International Confernece on Social Computing (SocialCom)},
	year = {2011},
	month = {2011/10/09/11},
	pages = {549 - 554},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {We present Net EvViz, a visualization tool for analysis and exploration of a dynamic social network. There are plenty of visual social network analysis tools but few provide features for visualization of dynamically changing networks featuring the addition or deletion of nodes or edges. Our tool extends the code base of the Node XL template for Microsoft Excel, a popular network visualization tool. The key features of this work are (1) The ability of the user to specify and edit temporal annotations to the network components in an Excel sheet, (2) See the dynamics of the network with multiple graph metrics plotted over the time span of the graph, called the Timeline, and (3) Temporal exploration of the network layout using an edge coloring scheme and a dynamic Time slider. The objectives of the new features presented in this paper are to let the data analysts, computer scientists and others to observe the dynamics or evolution in a network interactively. We presented Net EvViz to five users of Node XL and received positive responses.},
	keywords = {Color, computer scientists, data analysts, data visualisation, Data visualization, dynamic social network, dynamic timeslider, edge color coding, excel sheet, Image coding, image colour analysis, Layout, measurement, metric timelines, Microsoft excel, multiple graph metrics, Net EvViz, network components, network layout, network visualization tool, NodeXL template, social networking (online), temporal trends, Twitter, Visualization},
	isbn = {978-1-4577-1931-8},
	doi = {10.1109/PASSAT/SocialCom.2011.212},
	author = {Khurana,U. and Nguyen,Viet-An and Hsueh-Chien Cheng and Ahn,Jae-wook and Chen,Xi and Shneiderman, Ben}
}
@conference {12479,
	title = {Moving vistas: Exploiting motion for describing scenes},
	booktitle = {2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
	year = {2010},
	month = {2010/06/13/18},
	pages = {1911 - 1918},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Scene recognition in an unconstrained setting is an open and challenging problem with wide applications. In this paper, we study the role of scene dynamics for improved representation of scenes. We subsequently propose dynamic attributes which can be augmented with spatial attributes of a scene for semantically meaningful categorization of dynamic scenes. We further explore accurate and generalizable computational models for characterizing the dynamics of unconstrained scenes. The large intra-class variation due to unconstrained settings and the complex underlying physics present challenging problems in modeling scene dynamics. Motivated by these factors, we propose using the theory of chaotic systems to capture dynamics. Due to the lack of a suitable dataset, we compiled a dataset of {\textquoteleft}in-the-wild{\textquoteright} dynamic scenes. Experimental results show that the proposed framework leads to the best classification rate among other well-known dynamic modeling techniques. We also show how these dynamic features provide a means to describe dynamic scenes with motion-attributes, which then leads to meaningful organization of the video data.},
	keywords = {Application software, Automation, Chaos, chaotic system, Computational modeling, Computer vision, dynamic scene categorization, Educational institutions, HUMANS, image recognition, in the wild dynamic scene, Layout, motion attribute, natural scenes, Physics, probability, scene recognition, Snow, video data},
	isbn = {978-1-4244-6984-0},
	doi = {10.1109/CVPR.2010.5539864},
	author = {Shroff, N. and Turaga,P. and Chellapa, Rama}
}
@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 {18477,
	title = {Imaging concert hall acoustics using visual and audio cameras},
	booktitle = {IEEE International Conference on Acoustics, Speech and Signal Processing, 2008. ICASSP 2008},
	year = {2008},
	month = {2008///},
	pages = {5284 - 5287},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Using a developed real time audio camera, that uses the output of a spherical microphone array beamformer steered in all directions to create central projection to create acoustic intensity images, we present a technique to measure the acoustics of rooms and halls. A panoramic mosaiced visual image of the space is also create. Since both the visual and the audio camera images are central projection, registration of the acquired audio and video images can be performed using standard computer vision techniques. We describe the technique, and apply it to the examine the relation between acoustical features and architectural details of the Dekelbaum concert hall at the Clarice Smith Performing Arts Center in College Park, MD.},
	keywords = {Acoustic imaging, acoustic intensity images, acoustic measurement, Acoustic measurements, Acoustic scattering, acoustic signal processing, acoustical camera, acoustical scene analysis, acquired audio registration, audio cameras, audio signal processing, CAMERAS, central projection, Computer vision, Educational institutions, HUMANS, image registration, Image segmentation, imaging concert hall acoustics, Layout, microphone arrays, panoramic mosaiced visual image, Raman scattering, reverberation, room acoustics, spherical microphone array beamformer, spherical microphone arrays, video image registration, visual cameras},
	isbn = {978-1-4244-1483-3},
	doi = {10.1109/ICASSP.2008.4518852},
	author = {O{\textquoteright}Donovan,A. and Duraiswami, Ramani and Zotkin,Dmitry N}
}
@conference {18483,
	title = {Sound field decomposition using spherical microphone arrays},
	booktitle = {IEEE International Conference on Acoustics, Speech and Signal Processing, 2008. ICASSP 2008},
	year = {2008},
	month = {2008///},
	pages = {277 - 280},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Spherical microphone arrays offer a number of attractive properties such as direction-independent acoustic behavior and ability to reconstruct the sound field in the vicinity of the array. Such ability is necessary in applications such as ambisonics and recreating auditory environment over headphones. We compare the performance of two scene reconstruction algorithms - one based on least-squares fitting the observed potentials and another based on computing the far-field signature function directly from the microphone measurements. A number of features important for the design and operation of spherical microphone arrays in real applications are revealed. Results indicate that it is possible to reconstruct the sound scene up to order p with p2 microphones.},
	keywords = {Acoustic applications, Acoustic arrays, Acoustic fields, acoustic position measurement, Acoustic propagation, acoustic signal processing, acoustic waves, array signal processing, Equations, far-field signature function, Layout, least-squares fitting, microphone arrays, scene reconstruction algorithms, Signal processing algorithms, sound field decomposition, spherical microphone arrays, Surface acoustic waves},
	isbn = {978-1-4244-1483-3},
	doi = {10.1109/ICASSP.2008.4517600},
	author = {Zotkin,Dmitry N and Duraiswami, Ramani and Gumerov, Nail A.}
}
@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}
}
@article {14182,
	title = {A 3D shape constraint on video},
	journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
	volume = {28},
	year = {2006},
	month = {2006/06//},
	pages = {1018 - 1023},
	abstract = {We propose to combine the information from multiple motion fields by enforcing a constraint on the surface normals (3D shape) of the scene in view. The fact that the shape vectors in the different views are related only by rotation can be formulated as a rank = 3 constraint. This constraint is implemented in an algorithm which solves 3D motion and structure estimation as a practical constrained minimization. Experiments demonstrate its usefulness as a tool in structure from motion providing very accurate estimates of 3D motion.},
	keywords = {3D motion estimation, algorithms, Artificial intelligence, CAMERAS, decoupling translation from rotation, Estimation error, Fluid flow measurement, Image Enhancement, Image Interpretation, Computer-Assisted, Image reconstruction, Imaging, Three-Dimensional, Information Storage and Retrieval, integration of motion fields, Layout, minimisation, Minimization methods, Motion estimation, multiple motion fields, parameter estimation, Pattern Recognition, Automated, Photography, practical constrained minimization, SHAPE, shape and rotation., shape vectors, stability, structure estimation, surface normals, Three-dimensional motion estimation, video 3D shape constraint, Video Recording, video signal processing},
	isbn = {0162-8828},
	doi = {10.1109/TPAMI.2006.109},
	author = {Hui Ji and Ferm{\"u}ller, Cornelia}
}
@conference {14224,
	title = {Integration of motion fields through shape},
	booktitle = {IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2005. CVPR 2005},
	volume = {2},
	year = {2005},
	month = {2005/06/20/25},
	pages = {663- 669 vol. 2 - 663- 669 vol. 2},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Structure from motion from single flow fields has been studied intensively, but the integration of information from multiple flow fields has not received much attention. Here we address this problem by enforcing constraints on the shape (surface normals) of the scene in view, as opposed to constraints on the structure (depth). The advantage of integrating shape is two-fold. First, we do not need to estimate feature correspondences over multiple frames, but we only need to match patches. Second, the shape vectors in the different views are related only by rotation. This constraint on shape can be combined easily with motion estimation, thus formulating motion and structure estimation from multiple views as a practical constrained minimization problem using a rank-3 constraint. Based on this constraint, we develop a 3D motion technique, which locates through color and motion segmentation, planar patches in the scene, matches patches over multiple frames, and estimates the motion between multiple frames and the shape of the selected scene patches using the image gradients. Experiments evaluate the accuracy of the 3D motion estimation and demonstrate the motion and shape estimation of the technique by super-resolving an image sequence.},
	keywords = {3D motion estimation, Automation, CAMERAS, computational geometry, Computer vision, constrained minimization problem, decoupling translation from rotation, Educational institutions, image colour analysis, image gradients, image resolution, Image segmentation, image sequence, Image sequences, integration of motion fields, Layout, minimisation, Motion estimation, motion field integration, motion segmentation, parameter estimation, planar patches, rank-3 constraint, scene patches, SHAPE, shape and rotation, shape estimation, structure estimation},
	isbn = {0-7695-2372-2},
	doi = {10.1109/CVPR.2005.190},
	author = {Ji,H. and Ferm{\"u}ller, Cornelia}
}
@conference {17288,
	title = {Meaningful presentations of photo libraries: rationale and applications of bi-level radial quantum layouts},
	booktitle = {Proceedings of the 5th ACM/IEEE-CS Joint Conference on Digital Libraries, 2005. JCDL {\textquoteright}05},
	year = {2005},
	month = {2005/06/07/11},
	pages = {188 - 196},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Searching photo libraries can be made more satisfying and successful if search results are presented in a way that allows users to gain an overview of the photo categories. Since photo layouts on computer displays are the primary way that users get an overview, we propose a novel approach to show more photos in meaningful groupings. Photo layouts can be linear strips, or zoomable three dimensional arrangements, but the most common form is the two-dimensional grid. This paper introduces a novel bi-level hierarchical layout with motivating examples. In a bilevel hierarchy, one region is designated for primary content - an image, text, or combination. Adjacent to that region, groups of photos are placed radially in an ordered fashion, such that the relationship of the single primary region to its many secondary regions is apparent. A compelling aspect is the interactive experience in which the layout is dynamically resized, allowing users to rapidly, incrementally, and reversibly alter the dimensions and content. It can accommodate hundreds of photos in dozens of regions, can be customized in a corner or center layout, and can scale from an element on a web page to a large poster size. On typical displays (1024 times 1280 or 1200 times 1600 pixels), bi-level radial quantum layouts can conveniently accommodate 2-20 regions with tens or hundreds of photos per region},
	keywords = {1024 pixel, 1200 pixel, 1280 pixel, 1310720 pixel, 1600 pixel, 1920000 pixel, Application software, bi-level radial quantum layouts, Computer displays, Computer science, digital libraries, Educational institutions, Image retrieval, Layout, layout generation, Lifting equipment, linear strips, Permission, photo layouts, photo library searching, photo management, Photography, Quantum computing, software libraries, Strips, two-dimensional grid, User interfaces, visual databases, visual presentation, zoomable three dimensional arrangements},
	isbn = {1-58113-876-8},
	doi = {10.1145/1065385.1065431},
	author = {Kustanowitz,J. and Shneiderman, Ben}
}
@article {14230,
	title = {Motion segmentation using occlusions},
	journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
	volume = {27},
	year = {2005},
	month = {2005/06//},
	pages = {988 - 992},
	abstract = {We examine the key role of occlusions in finding independently moving objects instantaneously in a video obtained by a moving camera with a restricted field of view. In this problem, the image motion is caused by the combined effect of camera motion (egomotion), structure (depth), and the independent motion of scene entities. For a camera with a restricted field of view undergoing a small motion between frames, there exists, in general, a set of 3D camera motions compatible with the observed flow field even if only a small amount of noise is present, leading to ambiguous 3D motion estimates. If separable sets of solutions exist, motion-based clustering can detect one category of moving objects. Even if a single inseparable set of solutions is found, we show that occlusion information can be used to find ordinal depth, which is critical in identifying a new class of moving objects. In order to find ordinal depth, occlusions must not only be known, but they must also be filled (grouped) with optical flow from neighboring regions. We present a novel algorithm for filling occlusions and deducing ordinal depth under general circumstances. Finally, we describe another category of moving objects which is detected using cardinal comparisons between structure from motion and structure estimates from another source (e.g., stereo).},
	keywords = {3D motion estimation, algorithms, Artificial intelligence, CAMERAS, Computer vision, Filling, hidden feature removal, Image Enhancement, Image Interpretation, Computer-Assisted, image motion, Image motion analysis, Image segmentation, Layout, MOTION, Motion detection, Motion estimation, motion segmentation, Movement, Object detection, occlusion, occlusions, optical flow, ordinal depth, Pattern Recognition, Automated, Photography, Reproducibility of results, segmentation, Semiconductor device modeling, Sensitivity and Specificity, video analysis., Video Recording},
	isbn = {0162-8828},
	doi = {10.1109/TPAMI.2005.123},
	author = {Ogale, A. S and Ferm{\"u}ller, Cornelia and Aloimonos, J.}
}
@article {14263,
	title = {The Argus eye: a new imaging system designed to facilitate robotic tasks of motion},
	journal = {IEEE Robotics \& Automation Magazine},
	volume = {11},
	year = {2004},
	month = {2004/12//},
	pages = {31 - 38},
	abstract = {This article describes an imaging system that has been designed to facilitate robotic tasks of motion. The system consists of a number of cameras in a network, arranged so that they sample different parts of the visual sphere. This geometric configuration has provable advantages compared to small field of view cameras for the estimation of the system{\textquoteright}s own motion and, consequently, the estimation of shape models from the individual cameras. The reason is, inherent ambiguities of confusion between translation and rotation disappear. Pairs of cameras may also be arranged in multiple stereo configurations, which provide additional advantages for segmentation. Algorithms for the calibration of the system and the three-dimensional (3-D) motion estimation are provided.},
	keywords = {Argus eye, Calibration, CAMERAS, computational geometry, Design automation, Eyes, image formation, imaging system, Information geometry, Layout, Motion estimation, multiple stereo configurations, panoramic robots, robot vision, Robot vision systems, robotic motion tasks, Robotics and automation, SHAPE, shape model estimation, system calibration},
	isbn = {1070-9932},
	doi = {10.1109/MRA.2004.1371606},
	author = {Baker, P. and Ogale, A. S and Ferm{\"u}ller, Cornelia}
}
@conference {12034,
	title = {The influence of shape on image correspondence},
	booktitle = {2nd International Symposium on 3D Data Processing, Visualization and Transmission, 2004. 3DPVT 2004. Proceedings},
	year = {2004},
	month = {2004/09/06/9},
	pages = {945 - 952},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {We examine the implications of shape on the process of finding dense correspondence and half-occlusions for a stereo pair of images. The desired property of the depth map is that it should be a piecewise continuous function which is consistent with the images and which has the minimum number of discontinuities. To zeroeth order, piecewise continuity becomes piecewise constancy. Using this approximation, we first discuss an approach for dealing with such a fronto-parallel shapeless world, and the problems involved therein. We then introduce horizontal and vertical slant to create a first order approximation to piecewise continuity. We highlight the fact that a horizontally slanted surface (ie. having depth variation in the direction of the separation of the two cameras) appears horizontally stretched in one image as compared to the other image. Thus, while corresponding two images, N pixels on a scanline in one image may correspond to a different number of pixels M in the other image, which has consequences with regard to sampling and occlusion detection. We also discuss the asymmetry between vertical and horizontal slant, and the central role of nonhorizontal edges in the context of vertical slant. Using experiments, we discuss cases where existing algorithms fail, and how the incorporation of new constraints provides correct results.},
	keywords = {Automation, CAMERAS, Computational modeling, first order approximation, Geometrical optics, hidden feature removal, image sampling, Image segmentation, Layout, occlusion detection, piecewise continuous function, Pixel, SHAPE, Simulated annealing, stereo image processing, surface fitting},
	isbn = {0-7695-2223-8},
	doi = {10.1109/TDPVT.2004.1335418},
	author = {Ogale, A. S and Aloimonos, J.}
}
@article {18459,
	title = {Rendering localized spatial audio in a virtual auditory space},
	journal = {IEEE Transactions on Multimedia},
	volume = {6},
	year = {2004},
	month = {2004/08//},
	pages = {553 - 564},
	abstract = {High-quality virtual audio scene rendering is required for emerging virtual and augmented reality applications, perceptual user interfaces, and sonification of data. We describe algorithms for creation of virtual auditory spaces by rendering cues that arise from anatomical scattering, environmental scattering, and dynamical effects. We use a novel way of personalizing the head related transfer functions (HRTFs) from a database, based on anatomical measurements. Details of algorithms for HRTF interpolation, room impulse response creation, HRTF selection from a database, and audio scene presentation are presented. Our system runs in real time on an office PC without specialized DSP hardware.},
	keywords = {-D audio processing, 3-D audio processing, Audio databases, audio signal processing, audio user interfaces, augmented reality, data sonification, Digital signal processing, head related transfer functions, head-related transfer function, Interpolation, Layout, perceptual user interfaces, Real time systems, Rendering (computer graphics), Scattering, spatial audio, Transfer functions, User interfaces, virtual audio scene rendering, virtual auditory spaces, virtual environments, Virtual reality, virtual reality environments},
	isbn = {1520-9210},
	doi = {10.1109/TMM.2004.827516},
	author = {Zotkin,Dmitry N and Duraiswami, Ramani and Davis, Larry S.}
}
@conference {14235,
	title = {New eyes for robotics},
	booktitle = {2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings},
	volume = {1},
	year = {2003},
	month = {2003/10/27/31},
	pages = {1018- 1023 vol.1 - 1018- 1023 vol.1},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {This paper describes an imaging system that has been designed to facilitate robotic tasks of motion. The system consists of a number of cameras in a network arranged so that they sample different parts of the visual sphere. This geometric configuration has provable advantages compared to small field of view cameras for the estimation of the system{\textquoteright}s own motion and consequently the estimation of shape models from the individual cameras. The reason is that inherent ambiguities of confusion between translation and rotation disappear. Pairs of cameras may also be arranged in multiple stereo configurations which provide additional advantages for segmentation. Algorithms for the calibration of the system and the 3D motion estimation are provided.},
	keywords = {3D motion estimation, Argus eye, array signal processing, Birds, Calibration, CAMERAS, Control systems, Eyes, geometric configuration, imaging, imaging system, Layout, Motion estimation, multiple stereo configurations, Robot kinematics, robot vision, Robot vision systems, ROBOTICS, Robotics and automation, SHAPE, shape models},
	isbn = {0-7803-7860-1},
	doi = {10.1109/IROS.2003.1250761},
	author = {Baker, P. and Ogale, A. S and Ferm{\"u}ller, Cornelia and Aloimonos, J.}
}
@conference {12055,
	title = {Polydioptric camera design and 3D motion estimation},
	booktitle = {2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings},
	volume = {2},
	year = {2003},
	month = {2003/06/18/20},
	pages = {II- 294-301 vol.2 - II- 294-301 vol.2},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Most cameras used in computer vision applications are still based on the pinhole principle inspired by our own eyes. It has been found though that this is not necessarily the optimal image formation principle for processing visual information using a machine. We describe how to find the optimal camera for 3D motion estimation by analyzing the structure of the space formed by the light rays passing through a volume of space. Every camera corresponds to a sampling pattern in light ray space, thus the question of camera design can be rephrased as finding the optimal sampling pattern with regard to a given task. This framework suggests that large field-of-view multi-perspective (polydioptric) cameras are the optimal image sensors for 3D motion estimation. We conclude by proposing design principles for polydioptric cameras and describe an algorithm for such a camera that estimates its 3D motion in a scene independent and robust manner.},
	keywords = {3D motion estimation, Algorithm design and analysis, Application software, CAMERAS, Computer vision, Eyes, field-of-view camera, Image motion analysis, image sampling, image sensor, Image sensors, Layout, light ray, Motion estimation, multiperspective camera, optimal camera, optimal image formation, optimal sampling pattern, pinhole principle, polydioptric camera design, ray space, scene independent estimation, space structure analysis, stereo image processing, visual information processing},
	isbn = {0-7695-1900-8},
	doi = {10.1109/CVPR.2003.1211483},
	author = {Neumann, J. and Ferm{\"u}ller, Cornelia and Aloimonos, J.}
}
@conference {14219,
	title = {Eyes from eyes: new cameras for structure from motion},
	booktitle = {Third Workshop on Omnidirectional Vision, 2002. Proceedings},
	year = {2002},
	month = {2002///},
	pages = {19 - 26},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {We investigate the relationship between camera design and the problem of recovering the motion and structure of a scene from video data. The visual information that could possibly be obtained is described by the plenoptic function. A camera can be viewed as a device that captures a subset of this function, that is, it measures some of the light rays in some part of the space. The information contained in the subset determines how difficult it is to solve subsequent interpretation processes. By examining the differential structure of the time varying plenoptic function we relate different known and new camera models to the spatiotemporal structure of the observed scene. This allows us to define a hierarchy of camera designs, where the order is determined by the stability and complexity of the computations necessary to estimate structure and motion. At the low end of this hierarchy is the standard planar pinhole camera for which the structure from motion problem is non-linear and ill-posed. At the high end is a new camera, which we call the full field of view polydioptric camera, for which the problem is linear and stable. In between are multiple-view cameras with large fields of view which we have built, as well as catadioptric panoramic sensors and other omni-directional cameras. We develop design suggestions for the polydioptric camera, and based upon this new design we propose a linear algorithm for ego-motion estimation, which in essence combines differential motion estimation with differential stereo.},
	keywords = {Algorithm design and analysis, Camera design, CAMERAS, Design automation, differential stereo, Educational institutions, ego-motion estimation, Eyes, Geometrical optics, IMAGE PROCESSING, Layout, Motion estimation, observed scene, Optical films, polydioptric camera, RETINA},
	isbn = {0-7695-1629-7},
	doi = {10.1109/OMNVIS.2002.1044486},
	author = {Neumann, J. and Ferm{\"u}ller, Cornelia and Aloimonos, J.}
}
@article {12060,
	title = {Visual space-time geometry - A tool for perception and the imagination},
	journal = {Proceedings of the IEEE},
	volume = {90},
	year = {2002},
	month = {2002/07//},
	pages = {1113 - 1135},
	abstract = {Although the fundamental ideas underlying research efforts in the field of computer vision have not radically changed in the past two decades, there has been a transformation in the way work in this field is conducted. This is primarily due to the emergence of a number of tools, of both a practical and a theoretical nature. One such tool, celebrated throughout the nineties, is the geometry of visual space-time. It is known under a variety of headings, such as multiple view geometry, structure from motion, and model building. It is a mathematical theory relating multiple views (images) of a scene taken at different viewpoints to three-dimensional models of the (possibly dynamic) scene. This mathematical theory gave rise to algorithms that take as input images (or video) and provide as output a model of the scene. Such algorithms are one of the biggest successes of the field and they have many applications in other disciplines, such as graphics (image-based rendering, motion capture) and robotics (navigation). One of the difficulties, however is that the current tools cannot yet be fully automated, and they do not provide very accurate results. More research is required for automation and high precision. During the past few years we have investigated a number of basic questions underlying the structure from motion problem. Our investigations resulted in a small number of principles that characterize the problem. These principles, which give rise to automatic procedures and point to new avenues for studying the next level of the structure from motion problem, are the subject of this paper.},
	keywords = {3-D motion estimation, Buildings, Computer vision, Geometry, Graphics, Image sequences, Layout, Mathematical model, mathematical theory, model building, Motion estimation, multiple view geometry, multiple views, Navigation, optical flow, optical illusions, patch correspondence, Rendering (computer graphics), Robotics and automation, Solid modeling, structure from motion, three-dimensional models, visual space-time},
	isbn = {0018-9219},
	doi = {10.1109/JPROC.2002.801440},
	author = {Ferm{\"u}ller, Cornelia and Baker, P. and Aloimonos, J.}
}
@conference {14188,
	title = {A spherical eye from multiple cameras (makes better models of the world)},
	booktitle = {Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2001. CVPR 2001},
	volume = {1},
	year = {2001},
	month = {2001///},
	pages = {I-576- I-583 vol.1 - I-576- I-583 vol.1},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {The paper describes an imaging system that has been designed specifically for the purpose of recovering egomotion and structure from video. The system consists of six cameras in a network arranged so that they sample different parts of the visual sphere. This geometric configuration has provable advantages compared to small field of view cameras for the estimation of the system{\textquoteright}s own motion and consequently the estimation of shape models from the individual cameras. The reason is that inherent ambiguities of confusion between translation and rotation disappear. We provide algorithms for the calibration of the system and 3D motion estimation. The calibration is based on a new geometric constraint that relates the images of lines parallel in space to the rotation between the cameras. The 3D motion estimation uses a constraint relating structure directly to image gradients.},
	keywords = {3D motion estimation, Calibration, camera network, CAMERAS, Computer vision, egomotion recovery, geometric configuration, geometric constraint, image gradients, image sampling, imaging system, Laboratories, Layout, Motion estimation, multiple cameras, Pixel, Robot vision systems, SHAPE, shape models, Space technology, spherical eye, system calibration, video, video cameras, video signal processing, visual sphere sampling},
	isbn = {0-7695-1272-0},
	doi = {10.1109/CVPR.2001.990525},
	author = {Baker, P. and Ferm{\"u}ller, Cornelia and Aloimonos, J. and Pless, R.}
}
@conference {14232,
	title = {Multi-camera networks: eyes from eyes},
	booktitle = {IEEE Workshop on Omnidirectional Vision, 2000. Proceedings},
	year = {2000},
	month = {2000///},
	pages = {11 - 18},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Autonomous or semi-autonomous intelligent systems, in order to function appropriately, need to create models of their environment, i.e., models of space time. These are descriptions of objects and scenes and descriptions of changes of space over time, that is, events and actions. Despite the large amount of research on this problem, as a community we are still far from developing robust descriptions of a system{\textquoteright}s spatiotemporal environment using video input (image sequences). Undoubtedly, some progress has been made regarding the understanding of estimating the structure of visual space, but it has not led to solutions to specific applications. There is, however, an alternative approach which is in line with today{\textquoteright}s {\textquotedblleft}zeitgeist.{\textquotedblright} The vision of artificial systems can be enhanced by providing them with new eyes. If conventional video cameras are put together in various configurations, new sensors can be constructed that have much more power and the way they {\textquotedblleft}see{\textquotedblright} the world makes it much easier to solve problems of vision. This research is motivated by examining the wide variety of eye design in the biological world and obtaining inspiration for an ensemble of computational studies that relate how a system sees to what that system does (i.e. relating perception to action). This, coupled with the geometry of multiple views that has flourished in terms of theoretical results in the past few years, points to new ways of constructing powerful imaging devices which suit particular tasks in robotics, visualization, video processing, virtual reality and various computer vision applications, better than conventional cameras. This paper presents a number of new sensors that we built using common video cameras and shows their superiority with regard to developing models of space and motion},
	keywords = {Biosensors, CAMERAS, Computer vision, Eyes, Image sequences, intelligent systems, Layout, Machine vision, Robot vision systems, Robustness, Spatiotemporal phenomena, video cameras, Virtual reality},
	isbn = {0-7695-0704-2},
	doi = {10.1109/OMNVIS.2000.853797},
	author = {Ferm{\"u}ller, Cornelia and Aloimonos, J. and Baker, P. and Pless, R. and Neumann, J. and Stuart, B.}
}
@conference {18464,
	title = {Smart videoconferencing},
	booktitle = {2000 IEEE International Conference on Multimedia and Expo, 2000. ICME 2000},
	volume = {3},
	year = {2000},
	month = {2000///},
	pages = {1597-1600 vol.3 - 1597-1600 vol.3},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {The combination of acoustical and video processing to achieve a smart audio and video feed from a set of N microphones and M cameras is a task that might conventionally be accomplished by camera persons and control room staff. However, in the context of videoconferencing, this process needs to be performed by control software. We discuss the use of a multi-camera multi-microphone set-up for unattended videoconferencing, and present details of a prototype implementation being developed},
	keywords = {acoustical processing, Automatic control, CAMERAS, computerised control, control software, Control systems, Intelligent sensors, Layout, Microphones, multi-camera multi-microphone set-up, multimedia systems, Protocols, prototype implementation, Prototypes, sensor fusion, smart videoconferencing, Switches, Teleconferencing, unattended videoconferencing, video processing},
	isbn = {0-7803-6536-4},
	doi = {10.1109/ICME.2000.871075},
	author = {Zotkin,Dmitry N and Duraiswami, Ramani and Philomin,V. and Davis, Larry S.}
}
@conference {18311,
	title = {Estimation of composite object and camera image motion},
	booktitle = {The Proceedings of the Seventh IEEE International Conference on Computer Vision, 1999},
	volume = {1},
	year = {1999},
	month = {1999///},
	pages = {190-197 vol.1 - 190-197 vol.1},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {An approach for estimating composite independent object and camera image motions is proposed. The approach employs spatio-temporal flow models learned through observing typical movements of the object, to decompose image motion into independent object and camera motions. The spatio-temporal flow models of the object motion are represented as a set of orthogonal flow bases that are learned using principal component analysis of instantaneous flow measurements from a stationary camera. These models are then employed in scenes with a moving camera to extract motion trajectories relative to those learned. The performance of the algorithm is demonstrated on several image sequences of rigid and articulated bodies in motion},
	keywords = {articulated bodies, camera image motion, camera image motions, CAMERAS, composite independent object, composite object estimation, Computer vision, Educational institutions, Image sequences, instantaneous flow measurements, Laboratories, Layout, Motion analysis, Motion estimation, motion trajectories, orthogonal flow bases, Principal component analysis, spatio-temporal flow models, tracking, Vehicles},
	isbn = {0-7695-0164-8},
	doi = {10.1109/ICCV.1999.791217},
	author = {Yacoob,Yaser and Davis, Larry S.}
}
@conference {11993,
	title = {Self-calibration from image derivatives},
	booktitle = {Sixth International Conference on Computer Vision, 1998},
	year = {1998},
	month = {1998/01/04/7},
	pages = {83 - 89},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {This study investigates the problem of estimating the calibration parameters from image motion fields induced by a rigidly moving camera with unknown calibration parameters, where the image formation is modeled with a linear pinhole-camera model. The equations obtained show the flow to be clearly separated into a component due to the translation and the calibration parameters and a component due to the rotation and the calibration parameters. A set of parameters encoding the latter component are linearly related to the flow, and from these parameters the calibration can be determined. However, as for discrete motion, in the general case it is not possible, to decouple image measurements from two frames only into their translational and rotational component. Geometrically, the ambiguity takes the form of a part of the rotational component being parallel to the translational component, and thus the scene can be reconstructed only up to a projective transformation. In general, for a full calibration at least four successive image frames are necessary with the 3D-rotation changing between the measurements. The geometric analysis gives rise to a direct self-calibration method that avoids computation of optical flow or point correspondences and uses only normal flow measurements. In this technique the direction of translation is estimated employing in a novel way smoothness constraints. Then the calibration parameters are estimated from the rotational components of several flow fields using Levenberg-Marquardt parameter estimation, iterative in the calibration parameters only. The technique proposed does not require calibration objects in the scene or special camera motions and it also avoids the computation of exact correspondence. This makes it suitable for the calibration of active vision systems which have to acquire knowledge about their intrinsic parameters while they perform other tasks, or as a tool for analyzing image sequences in large video databases},
	keywords = {3D-rotation, active vision, Calibration, CAMERAS, discrete motion, Encoding, Equations, image derivatives, image formation, image measurements, Image motion analysis, image motion fields, Image reconstruction, Image sequences, large video databases, Layout, Levenberg-Marquardt parameter estimation, linear pinhole-camera model, Motion estimation, Motion measurement, Optical computing, parameter estimation, projective transformation, rigidly moving camera, self-calibration, smoothness constraints, unknown calibration parameters},
	isbn = {81-7319-221-9},
	doi = {10.1109/ICCV.1998.710704},
	author = {Brodsky, T. and Ferm{\"u}ller, Cornelia and Aloimonos, J.}
}
@conference {12047,
	title = {Which shape from motion?},
	booktitle = {Sixth International Conference on Computer Vision, 1998},
	year = {1998},
	month = {1998/01/04/7},
	pages = {689 - 695},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {In a practical situation, the rigid transformation relating different views is recovered with errors. In such a case, the recovered depth of the scene contains errors, and consequently a distorted version of visual space is computed. What then are meaningful shape representations that can be computed from the images? The result presented in this paper states that if the rigid transformation between different views is estimated in a way that gives rise to a minimum number of negative depth values, then at the center of the image affine shape can be correctly computed. This result is obtained by exploiting properties of the distortion function. The distortion model turns out to be a very powerful tool in the analysis and design of 3D motion and shape estimation algorithms, and as a byproduct of our analysis we present a computational explanation of psychophysical results demonstrating human visual space distortion from motion information},
	keywords = {3D motion estimation, affine shape, Algorithm design and analysis, Computer vision, distorted version, distortion function, human visual space distortion, HUMANS, Image motion analysis, image representation, Information analysis, Layout, Motion analysis, Motion estimation, motion information, Psychology, rigid transformation, SHAPE, shape estimation, shape representations, State estimation, visual space},
	isbn = {81-7319-221-9},
	doi = {10.1109/ICCV.1998.710792},
	author = {Ferm{\"u}ller, Cornelia and Aloimonos, J.}
}
@conference {14264,
	title = {The confounding of translation and rotation in reconstruction from multiple views},
	booktitle = {, 1997 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 1997. Proceedings},
	year = {1997},
	month = {1997/06/17/19},
	pages = {250 - 256},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {If 3D rigid motion is estimated with some error a distorted version of the scene structure will in turn be computed. Of computational interest are these regions in space where the distortions are such that the depths become negative, because in order to be visible the scene has to lie in front of the image. The stability analysis for the structure-from-motion problem presented in this paper investigates the optimal relationship between the errors in the estimated translational and rotational parameters of a rigid motion, that results in the estimation of a minimum number of negative depth values. The input used is the value of the flow along some direction, which is more general than optic flow or correspondence. For a planar retina it is shown that the optimal configuration is achieved when the projections of the translational and rotational errors on the image plane are perpendicular. Furthermore, the projection of the actual and the estimated translation lie on a line passing through the image center. For a spherical retina given a rotational error, the optimal translation is the correct one, while given a translational error. The optimal rotational error is normal to the translational one at an equal distance from the real and estimated translations. The proofs, besides illuminating the confounding of translation and rotation in structure from motion, have an important application to ecological optics, explaining differences of planar and spherical eye or camera designs in motion and shape estimation},
	keywords = {3D rigid motion, CAMERAS, ecological optics, Error correction, Image motion analysis, Image reconstruction, Layout, Motion analysis, Motion estimation, multiple views, Optical distortion, optimal configuration, optimal rotational error, planar retina, RETINA, rigid motion, ROTATION, scene structure, shape estimation, spherical retina, Stability analysis, structure-from-motion problem, translation},
	isbn = {0-8186-7822-4},
	doi = {10.1109/CVPR.1997.609328},
	author = {Ferm{\"u}ller, Cornelia and Aloimonos, J.}
}
@conference {14168,
	title = {Global rigidity constraints in image displacement fields},
	booktitle = {, Fifth International Conference on Computer Vision, 1995. Proceedings},
	year = {1995},
	month = {1995/06/20/23},
	pages = {245 - 250},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Image displacement fields-optical flow fields, stereo disparity fields, normal flow fields-due to rigid motion possess a global geometric structure which is independent of the scene in view. Motion vectors of certain lengths and directions are constrained to lie on the imaging surface at particular loci whose location and form depends solely on the 3D motion parameters. If optical flow fields or stereo disparity fields are considered, then equal vectors are shown to lie on conic sections. Similarly, for normal motion fields, equal vectors lie within regions whose boundaries also constitute conics. By studying various properties of these curves and regions and their relationships, a characterization of the structure of rigid motion fields is given. The goal of this paper is to introduce a concept underlying the global structure of image displacement fields. This concept gives rise to various constraints that could form the basis of algorithms for the recovery of visual information from multiple views},
	keywords = {3D motion parameters, algorithms, Automation, Computer science, Computer vision, conic sections, curves, equal vectors, Fluid flow measurement, global geometric structure, global rigidity constraints, image displacement fields, Image motion analysis, Image segmentation, Image sequences, imaging surface, Laboratories, Layout, Motion estimation, Motion measurement, motion vectors, multiple views, normal flow fields, optical flow fields, regions, rigid motion, stereo disparity fields, Stereo vision, vectors, visual information recovery},
	isbn = {0-8186-7042-8},
	doi = {10.1109/ICCV.1995.466779},
	author = {Ferm{\"u}ller, Cornelia and Aloimonos, J.}
}
@conference {11982,
	title = {Global rigidity constraints in image displacement fields},
	booktitle = {Proceedings of Fifth International Conference on Computer Vision, 1995},
	year = {1995},
	month = {1995/06/20/23},
	pages = {245 - 250},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {Image displacement fields-optical flow fields, stereo disparity fields, normal flow fields-due to rigid motion possess a global geometric structure which is independent of the scene in view. Motion vectors of certain lengths and directions are constrained to lie on the imaging surface at particular loci whose location and form depends solely on the 3D motion parameters. If optical flow fields or stereo disparity fields are considered, then equal vectors are shown to lie on conic sections. Similarly, for normal motion fields, equal vectors lie within regions whose boundaries also constitute conics. By studying various properties of these curves and regions and their relationships, a characterization of the structure of rigid motion fields is given. The goal of this paper is to introduce a concept underlying the global structure of image displacement fields. This concept gives rise to various constraints that could form the basis of algorithms for the recovery of visual information from multiple views},
	keywords = {3D motion parameters, algorithms, Automation, Computer science, Computer vision, conic sections, curves, equal vectors, Fluid flow measurement, global geometric structure, global rigidity constraints, image displacement fields, Image motion analysis, Image segmentation, Image sequences, imaging surface, Laboratories, Layout, Motion estimation, Motion measurement, motion vectors, multiple views, normal flow fields, optical flow fields, regions, rigid motion, stereo disparity fields, Stereo vision, vectors, visual information recovery},
	isbn = {0-8186-7042-8},
	doi = {10.1109/ICCV.1995.466779},
	author = {Ferm{\"u}ller, Cornelia and Aloimonos, J.}
}
@article {17222,
	title = {Image-browser taxonomy and guidelines for designers},
	journal = {IEEE Software},
	volume = {12},
	year = {1995},
	month = {1995/03//},
	pages = {21 - 32},
	abstract = {In many applications users must browse large images. Most designers merely use two one-dimensional scroll bars or ad hoc designs for two-dimensional scroll bars. However, the complexity of two-dimensional browsing suggests that more careful analysis, design, and evaluation might lead to significant improvements. Our exploration of existing 2D browsers has led us to identify many features and a wide variety of tasks performed with the browsers. We introduce an informal specification technique to describe 2D browsers and a task taxonomy, suggest design features and guidelines, and assess existing strategies. We focus on the tools to explore a selected image and so do not cover techniques to browse a series of images or to browse large-image databases},
	keywords = {analysis, Computer Graphics, design, designer guidelines, Equations, Europe, Evaluation, Formal specifications, Graphical user interfaces, Guidelines, IMAGE PROCESSING, image-browser taxonomy, informal specification technique, Laboratories, large image browsing, Layout, Road transportation, selected image exploration, SHAPE, Software design, task taxonomy, Taxonomy, tools, two-dimensional browsing, user interface management systems, visual databases},
	isbn = {0740-7459},
	doi = {10.1109/52.368260},
	author = {Plaisant, Catherine and Carr,D. and Shneiderman, Ben}
}
@conference {14171,
	title = {The information in the direction of image flow},
	booktitle = {, International Symposium on Computer Vision, 1995. Proceedings},
	year = {1995},
	month = {1995/11/21/23},
	pages = {461 - 466},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {If instead of the full motion field, we consider only the direction of the motion field due to a rigid motion, what can we say about the information regarding the three-dimensional motion? In this paper it is shown that considering as the imaging surface the whole sphere, independently of the scene in view, two different rigid motions cannot give rise to the same directional motion field. If we restrict the image to half of a sphere (or an infinitely large image plane) two different rigid motions with instantaneous translational and rotational velocities (t1, ω1) and (t2, ω2) cannot give rise to the same directional motion field unless the plane through t1 and t2 is perpendicular to the plane through ω1 and ω2 (i.e., (t1{\texttimes}t2){\textperiodcentered}(ω1 {\texttimes}ω2)=0). In addition, in order to give a practical significance to these uniqueness results for the case of a limited field of view we also characterize the locations on the image where the motion vectors due to the different motions must have different directions. If (ω1{\texttimes}ω2){\textperiodcentered}(t1 {\texttimes}t2)=0 and certain additional constraints are met, then the two rigid motions could produce motion fields with the same direction. For this to happen the depth of each corresponding surface has to be within a certain range, defined by a second and a third order surface},
	keywords = {Automation, CAMERAS, Computer vision, Educational institutions, image flow, Image motion analysis, Image sequences, imaging surface, Laboratories, Layout, Motion analysis, Motion estimation, motion field, motion vectors, Optical imaging, rigid motion, rigid motions, three-dimensional motion},
	isbn = {0-8186-7190-4},
	doi = {10.1109/ISCV.1995.477071},
	author = {Brodsky, T. and Ferm{\"u}ller, Cornelia and Aloimonos, J.}
}
@conference {12031,
	title = {Iso-distortion contours and egomotion estimation},
	booktitle = {Proceedings of International Symposium on Computer Vision, 1995},
	year = {1995},
	month = {1995/11/21/23},
	pages = {55 - 60},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {This paper introduces the framework of iso-distortion contour to deal with the problem of depth distortion due to erroneous motion estimates, and various related aspects such as the effectiveness of the visibility constraint. The framework can also be used to inquire the uniqueness aspect of normal flow. Future work will examine the implications of the iso-distortion contours for the problem of multiple frame integration},
	keywords = {Automation, Computer vision, Degradation, depth distortion, Educational institutions, egomotion estimation, Equations, erroneous motion estimates, Error analysis, HUMANS, Image sequences, iso-distortion contours, Laboratories, Layout, Motion estimation, Robustness, visibility constraint},
	isbn = {0-8186-7190-4},
	doi = {10.1109/ISCV.1995.476977},
	author = {LoongFah Cheong and Aloimonos, J.}
}
@conference {14174,
	title = {Global 3D motion estimation},
	booktitle = {, 1993 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 1993. Proceedings CVPR {\textquoteright}93},
	year = {1993},
	month = {1993/06/15/17},
	pages = {415 - 421},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {It is shown how a monocular observer can estimate its 3D motion relative to the scene by using normal flow measurements in a global and qualitative way. It is proved that local normal flow measurements form global patterns in the image plane. The position of these patterns is related to the 3D motion parameters. By locating some of these patterns, which depend only on subsets of the motion parameters, through a simple search technique, the 3D motion parameters can be found. The proposed algorithmic procedure is very robust, since it is not affected by small perturbations in the normal flow measurements. The direction of translation and the axis of rotation can be estimated with up to 100\% error in the image measurements},
	keywords = {3D motion parameters, Automation, axis of rotation, Computer vision, direction of translation, Educational institutions, Equations, Fluid flow measurement, global 3D motion estimation, Laboratories, Layout, monocular observer, Motion estimation, Motion measurement, normal flow measurements, Robustness, Rotation measurement, search problems, search technique, State estimation},
	isbn = {0-8186-3880-X},
	doi = {10.1109/CVPR.1993.341097},
	author = {Ferm{\"u}ller, Cornelia}
}
@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.}
}
@article {15006,
	title = {Parallel Algorithms for Channel Routing in the Knock-Knee Model},
	journal = {SIAM Journal on Computing},
	volume = {20},
	year = {1991},
	month = {1991///},
	pages = {228 - 245},
	abstract = {The channel routing problem of a set of two-terminal nets in the knock-knee model is considered. A new approach to route all the nets within $d$ tracks, where $d$ is the density, such that the corresponding layout can be realized with three layers is developed. The routing and the layer assignment algorithms run in $O(\log n)$ time with $n / \log n$ processors on the CREW PRAM model under the reasonable assumption that all terminals lie in the range $[1,N]$, where $N = O(n)$.},
	keywords = {channel routing, Layout, left-edge algorithm, line packing, Parallel algorithms, VLSI design},
	doi = {10.1137/0220014},
	url = {http://link.aip.org/link/?SMJ/20/228/1},
	author = {JaJa, Joseph F. and Chang,Shing-Chong}
}
@conference {11990,
	title = {Relative depth from motion using normal flow: an active and purposive solution},
	booktitle = {Proceedings of the IEEE Workshop on Visual Motion, 1991},
	year = {1991},
	month = {1991/10/07/9},
	pages = {196 - 204},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {The authors show how an active observer can compute the relative depth of (stationary or moving) objects in the field of view using only the spatiotemporal derivatives of the time varying image intensity function. The solution they propose is purposive in the sense that it solves only the relative depth from motion problem and cannot be used for other problems related to motion; active in the sense that the activity of the observer is essential for the solution of the problem. Results indicate that exact computation of retinal motion does not appear to be a necessary first step for some problems related to visual motion. In addition, optic flow, whose computation is an ill-posed problem, is related to the motion of the scene only under very restrictive assumptions. As a result, the use of optic flow in some quantitative motion analysis studies is questionable},
	keywords = {3D information, Automation, Computer vision, Educational institutions, Image motion analysis, image recognition, Image sequences, Laboratories, Layout, Motion analysis, Motion estimation, Nonlinear optics, normal flow, optic flow, Optical computing, Optical sensors, relative depth, retinal motion, spatiotemporal derivatives, time varying image intensity function, visual motion},
	isbn = {0-8186-2153-2},
	doi = {10.1109/WVM.1991.212807},
	author = {Huang, Liuqing and Aloimonos, J.}
}
@conference {14939,
	title = {An efficient parallel algorithm for channel routing},
	booktitle = {Computer Design: VLSI in Computers and Processors, 1990. ICCD {\textquoteright}90. Proceedings., 1990 IEEE International Conference on},
	year = {1990},
	month = {1990/09//},
	pages = {400 - 403},
	abstract = {The channel-routing of a set of multiterminal nets in the standard two-layer model is considered. The sequential algorithms based on the greedy strategy do not seem to be easily parallelizable. Proposed is an efficient parallel algorithm for routing channels with cyclic constraints. The algorithm runs in time <e1>O</e1>(<e1>n</e1><sup>2</sup>/<e1>p</e1>+log<sup>2</sup><e1>p</e1>), with <e1>p</e1> processors, on a shared memory parallel random access machine (PRAM) model where 1 les;<e1>p</e1> les;<e1>n</e1><sup>2</sup> radic; and <e1>n</e1> is the size of the input. An efficient adaptation of this algorithm on a Sequent Balance 21000 multiprocessor system is reported},
	keywords = {21000;channel, access, algorithm;sequential, algorithms;, algorithms;shared, balance, CAD;computational, complexity;parallel, Layout, machine;standard, memory, model;circuit, nets;parallel, Parallel, PRAM;Sequent, random, routing;multiprocessor, system;multiterminal, two-layer},
	doi = {10.1109/ICCD.1990.130261},
	author = {Krishnamurthy, S. and JaJa, Joseph F.}
}
@conference {18307,
	title = {3D object recognition via simulated particles diffusion},
	booktitle = {IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 1989. Proceedings CVPR {\textquoteright}89},
	year = {1989},
	month = {1989/06//},
	pages = {442 - 449},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {A novel approach for 3D object recognition is presented. This approach is model-based, and assumes either 3D or 21/2 D scene acquisition. Transformation detection is accomplished along with an object identification (six degrees of freedom, three rotational and three translational, are assumed). The diffusion-like simulation recently introduced as a means for characterization of shape is used in the extraction of point features. The point features represent regions on the object{\textquoteright}s surface that are extreme in curvature (i.e. concavities and convexities). Object matching is carried out by examining the correspondence between the object{\textquoteright}s set of point features and the model{\textquoteright}s set of point features, using an alignment strategy. Triangles are constructed between all possible triples of object{\textquoteright}s point features, and then are aligned to candidate corresponding triangles of the model{\textquoteright}s point features. 21/2 range images are transformed into a volumetric representation through a parallel projection onto the 3-D space. The resultant volume is suitable for processing by the diffusion-like simulation},
	keywords = {3D object recognition, alignment strategy, Computational modeling, Computer science, data mining, Gold, Layout, Noise shaping, Object detection, Object recognition, parallel projection, pattern recognition, point features, radio access networks, scene acquisition, shape characterisation, Shape measurement, simulated particles diffusion, transformation detection},
	isbn = {0-8186-1952-x},
	doi = {10.1109/CVPR.1989.37886},
	author = {Yacoob,Yaser and Gold,Y. I}
}
@article {14996,
	title = {On routing two-terminal nets in the presence of obstacles},
	journal = {Computer-Aided Design of Integrated Circuits and Systems, IEEE Transactions on},
	volume = {8},
	year = {1989},
	month = {1989/05//},
	pages = {563 - 570},
	abstract = {Consideration is given to the problem of routing <e1>k</e1> two-terminal nets in the presence of obstacles in two models: the standard two-layer model and the knock-knee model. Determining routability is known to be NP-complete for arbitrary <e1>k</e1>. The authors introduce a technique that reduces the general problem into finding edge-disjoint paths in a graph whose size depends only on the size of the obstacles. Two optimization criteria are considered: the total length of the wires and the number of vias used},
	keywords = {CAD;, criteria;routability;routing, edge-disjoint, finding, Layout, length, model;number, model;total, nets;standard, of, paths;knock-knee, two-layer, two-terminal, vias;obstacles;optimization, wires;circuit},
	isbn = {0278-0070},
	doi = {10.1109/43.24884},
	author = {JaJa, Joseph F. and Wu,S.A.}
}
