Overview:

Clientele:

Content and Format:

Background Reading:

Computer Vision Compendium 
Trucco and Verri: Computer Vision
Ponce and Forsyth: Computer Vision: A Modern Approach
Ballard and Brown: Computer Vision (and older standby)

Related Links

Euron Summer School on Visual Servoing

Course Outline

This is the current plan for the course.  Links point to notes or to relevant papers.

Week 1:

Thursday: intro/Kumar lecture in ME
Friday: Imaging geometry and pose estimation

Reading:

• Review of cameras, imaging geometry, calibration (updated 1/31/03)

• Stan Birchfield's online intro to projective geometry (an excellent introduction to the basic concepts)

• Another discussion of Plucker coordinates for lines

• Jason Corso's notes on camera calibration

• Ezio Malis's introduction to camera geometry

Week 2:

Thursday: Projective geometry and calibration cont'd
Friday: CLASS CANCELLED!

Primary Reading:

• Lu, Hager, Mjolsness, Fast and Globally Convergent Pose Estimation from Video Images, IEEE Trans. PAMI, 22(6), pp. 610-622, 2002.

• Ansar and Danillidis, Linear Pose Etimation from Points or Lines, Proc. ECCV, pp/ 282-296. 2002.

Secondary Reading:

• Kumar and Hanson, Robust Methods for estimating Pose and a Sensitivity Analysis, CVIU 60(3), pp. 313-342, 1994.

Week 3:

Thursday: Object pose estimation as an example of point geometry (notes)
Friday: Introduction to Visual servoing; review of Jacobians for point and line motion

Primary Reading:

• Hutchinson, Hager, Corke, A Tutorial Visual Servo Control, IEEE Transactions on Robotics and Automation, 12(5) 1996.

• Philippe Martinet's EURON slides introducing the topic

Secondary Reading:

Nicolas Andreff's notes on Servoing from Lines and a related paper

Week 4:

Thursday: Basic monocular and stereo systems. 
Friday: Task constructions for stereo systems.

Reading:

• Hager, A Modular System for Robust Positioning Using Feedback from Stereo Vision

• Dodds, Hespanha, Hager, Morse. What Tasks can be Performed with an Uncalibrated Stereo Vision System. International Journal of Computer Vision 35(1), 65–85 (1999)

Week 5:

Thursday: Guest Lecture: Noah Cowan on provably convergent systems (ICRA 1999 paper)
Friday: Finish Stereo 

Primary Reading:

• Noah J. Cowan and Daniel E. Koditschek. Planar image based visual servoing as a navigation problem. In International Conference on Robotics and Automation, volume 1, pages 611-617, Detroit, MI USA, 1999. IEEE.

Secondary Reading:

• Noah J. Cowan, Joel Weingarten, and Daniel E. Koditschek. Vision-based Control via Navigation Functions. IEEE Transactions on Robotics and Automation. August, 2002.
• Noah J. Cowan and Dong Eui Chang. chapter Toward Geometric Visual Servoing in Second Workshop on Control Problems in Robotics and Automation, 2002.

Week 6:

Thursday: 2.5d visual servoing (James Kinsey)
Friday: Panoramic sensor (Darius Burschka)

Primary Reading:

• Ezio Malis, François Chaumette: 2 1/2 D Visual Servoing with Respect to Unknown Objects Through a New Estimation Scheme of Camera Displacement. International Journal of Computer Vision (1): 79-97 (2000)

• S. Baker and S.K. Nayar, "Single Viewpoint Catadioptric Cameras,"Panoramic Vision: Sensors, Theory, Applications, Ryad Benosman and Sing Bing Kang, ed., Springer-Verlag, 2001.

Secondary Reading:

• E. Malis  A Unified Approach to Model-based and Model-free Visual Servoing
  European Conference on Computer Vision, vol 4, pp. 433-447, Copenhagen, Denmark, May 2002.
    pdf 6.0 Mb  

• Corke and Hutchinson, "A New Parititioned Approach to Image-Based Visual Servo Control", IEEE TRA 17(4), pp 507-515, 2001.

• Daniliidis article on panoramic projection

• C.J. Taylor VideoPlus system

BREAK!

Week 7:

Thursday: Virtual fixtures (Nim/Ming)
Friday: Review of basic image processing, optical flow, edge detection, warping

Primary Reading:

• Gregory D. Hager. Human-machine cooperative manipulation with vision-based motion constraints. In Proc. Workshop on Visual Servoing, with IROS, 2002.
  

• A. Bettini, S. Lang, A. Okamura, and G. Hager. Vision assisted control for manipulation using virtual fixtures: Experiments at macro and micro scales. In International Conference on Robotics and Automation, 2002

Week 8: 

Thursday: Region tracking (Maneesh Dewan)
Friday: More region tracking

Primary Reading:

• Greg Hager and Peter Belhumeur, Efficient Region Tracking With Parametric Models of Geometry and Illumination . IEEE Transactions on Pattern Analysis and Machine Intelligence, 20(10), pp. 1125-1139, 1998.  

• Black, M. J. and Jepson, A., EigenTracking: Robust matching and tracking of articulated objects using a view-based representation,International Journal of Computer Vision, 26(1), pp. 63-84, 1998. also Xerox PARC, Technical Report P95-000515, Feb. 1996.

• Jurie and Dhome, Hyperplane Approximation for Template Matching.  IEEE PAMI 24(7), 996-1000, 2002.

• Bregler and Malik, Tracking People Using Exponential Maps and Twists, CVPR 1998.

Week 9:

Thursday: Snakes I (Jacques/Leven)
Friday: Dani Kragic guest lecture --- 3D model-based tracking

Reading:

• Drummond and Cipolla.  Real-Time Tracking of Complex Objects, IEEE PAMI 24(7), 2002.

Week 10:

Thursday: Snakes cleanup/Particle filters (Le/Donald)
Friday: more particle filters (Le/Donald)

Week 11:

Thursday: Mean shift/Jeremy Mullendore
Friday:  Pfinder and Active Blobs

• D. Comaniciu, P. Meer: Mean Shift: A Robust Approach toward Feature Space Analysis, IEEE Trans. Pattern Analysis Machine Intell., Vol. 24, No. 5, 603-619, 2002.

• D. Comaniciu, V. Ramesh, P. Meer: Real-Time Tracking of Non-Rigid Objects using Mean Shift, IEEE Conf. Computer Vision and Pattern Recognition (CVPR'00), Hilton Head Island, South Carolina, Vol. 2, 142-149, 2000.

•  D. Comaniciu, V. Ramesh, P. Meer: Kernel-Based Object Tracking, IEEE Trans. Pattern Analysis Machine Intell., Vol. 25, No. 5, 2003.

• Wren et al. PFinder: Real-Time Tracking of the Human Body, IEEE PAMI 19(7), pp. 780-785.

Other Reading

• D. M. Gavrila. The Visual Analysis of Human Movement: A Survey.  Computer Vision and Image Understanding Vol. 73, No. 1, January, pp. 82–98, 1999

Week 12:

Thursday: HCI with Vision (Corso)
Friday: Temporal modeling (Ye)

Reading:

•   Ye, Corse, Burschka, Hager ICVS 03 -- http://www.cs.jhu.edu/~jcorso/pubs/icvs03.pdf
•   Visual Panel visual-panel.pdf
•   Hinckley et al. Video Mouse  videomouse.pdf
• Guangqi Ye, Jason Corso, Darius Burschka, Gregory Hager, VICs: A Modular Vision-Based HCI Framework, Proceedings of 3rd International Conference on Computer Vision Systems(ICVS 2003),pp.257-267.
• Aggarwal and Cai, Human Motion Analysis: A Review

• Bobick and Wilson, A state-based technique for the summarization and recognition of gesture
• Lawrence r. Rabiner, A Tutorial on Hidden Markov Models and Selected applications in Speech Recognition

Week 13

Thursday: People tracking
Friday:  Wrap-up

• Sidenbladh, H. and Black, M. J., Int. Conf. on Computer Vision, ICCV-2001, Vancouver, BC, Vol. II, pp. 709-716.

• Toyama and Blake.  Probabilistic Tracking with Exemplars in a Metric Space, ICCV 2002. 

Previous Year's papers

Visual Tracking:

Incremental Focus of Attention for Robust Vision-Based Tracking (with K. Toyama) Accepted to appear in IJCV. (33 pages, 2.7M compressed postscript)
 

The XVision System: A General-Purpose Substrate for Portable Real-Time Vision Applications (with K. Toyama). In Computer Vision and Image Understanding 69(1) pp. 23 - 37. (32 pages, 1.5M compressed postscript).

C.Bregler, J.Malik, Video Motion Capure, UCB//CSD-97-973
Paper in gziped PS (843KB) or PDF (2.3MB)

Vision-Based Control:

What Tasks Can Be Performed with an Uncalibrated Stereo Vision System? (with J. Hespanha, Z.Dodds, and A.S. Morse) To appear, IJCV. (21 pages, 300K compressed postscript)
Read the Abstract.

Selected articles from The Confluence of Vision and Control (D. Kriegman, G.D. Hager and A.S. Morse, Editors) LNCIS series, Springer-Verlag, 1998.

Interaction:

Selected articles from Computer Vision for Human-Machine Interaction