• C
  • CVPR
  • 1996
  • 1996 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'96)
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1996 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'96)
San Francisco, Ca.
June 18-June 20
ISBN: 0-8186-7258-7
Table of Contents
Invited Talk
Progress in Machine Vision for Motion Control
Session TM1:Segmentation and Low-Level Processing
S.Z. Li, Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
K.L. Chan, Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
H. Wang, Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
pp. 0001
Mike Donahue, University of Minnesota
Davi Geiger, Courant Institute New York University
Tyng-Luh Liu, Courant Institute New York University
Robert Hummel, Courant Institute New York University
pp. 0007
Koen L. Vincken, Imaging Center Utrecht University Hospital Utrecht E-mail: koen@cv.ruu.nl
Wiro J. Niessen, Imaging Center Utrecht University Hospital Utrecht E-mail: koen@cv.ruu.nl
Max A. Viergever, Imaging Center Utrecht University Hospital Utrecht E-mail: koen@cv.ruu.nl
pp. 0021
Session TM2: Object Recognition and Pose Recovery
Claus B. Madsen, Laboratory of Image Analysis, Institute of Electronic Systems Aalborg University Email: cbm@vision.auc.dk
pp. 41
Richard C. Wilson, University of York wilson@minster.york.ac.uk, erh@minster.york.ac.uk
Edwin R. Hancock, University of York wilson@minster.york.ac.uk, erh@minster.york.ac.uk
pp. 47
J. Krumm, Intelligent Syst. & Robotics Centre, Sandia Nat. Labs., Albuquerque, NM, USA
pp. 55
Anand S. Bedekar, University of Washington {anand,haralick}@ee.washington.edu
Robert M. Haralick, University of Washington {anand,haralick}@ee.washington.edu
pp. 61
Session TN1: Human and Articulated Motion
Trevor Darrell, Vision and Modeling Group MIT Media Laboratory
Baback Moghaddam, Vision and Modeling Group MIT Media Laboratory
Alex P. Pentland, Vision and Modeling Group MIT Media Laboratory
pp. 67
D.M. Gavrila, Computer Vision Laboratory, CfAR University of Maryland gavrila,lsd@cfar.umd.edu
L.S. Davis, Computer Vision Laboratory, CfAR University of Maryland gavrila,lsd@cfar.umd.edu
pp. 73
Y. Cui, Dept. of Comput. Sci., Michigan State Univ., East Lansing, MI, USA
J.J. Weng, Dept. of Comput. Sci., Michigan State Univ., East Lansing, MI, USA
pp. 88
D. Sinclair, Inst. for Comput. Graphics, Tech. Univ. Graz, Austria
K. Zesar, Inst. for Comput. Graphics, Tech. Univ. Graz, Austria
pp. 94
Session TN2: Target Recognition and Applications
K. Ikeuchi, Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
T. Shakunaga, Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
M.D. Wheeler, Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
T. Yamazaki, Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
pp. 100
P. Burlina, Comput. Vision Lab., Maryland Univ., College Park, MD, USA
B. Lin, Comput. Vision Lab., Maryland Univ., College Park, MD, USA
R. Chellappa, Comput. Vision Lab., Maryland Univ., College Park, MD, USA
pp. 120
Session TA1: Contour Reconstruction
Mike Heath, University of South Florida kwb@csee.usf.edu
Sudeep Sarkar, University of South Florida kwb@csee.usf.edu
Thomas Sanocki, University of South Florida kwb@csee.usf.edu
Kevin Bowyer, University of South Florida kwb@csee.usf.edu
pp. 143
Davi Geiger, Courant Institute New York University
Krishnan Kumaran, Smith Kettlewell Institute
Laxmi Parida, Courant Institute New York University
pp. 155
Session TA2
Panel 1: Education for Computer Vision Organizer
Human Assisted Computer Vision and Artificial Intelligence - Why Not?
Session WM1: Active and Real-Time Vision
H.P. Rotstein, Technion-Israel Inst. of Technol., Haifa, Israel
E. Rivlin, Technion-Israel Inst. of Technol., Haifa, Israel
pp. 177
Takeo Kanade, masayat@cs.cmu.edu Robotics Institute Carnegie Mellon University
Atsushi Yoshida, masayat@cs.cmu.edu Robotics Institute Carnegie Mellon University
Kazuo Oda, masayat@cs.cmu.edu Robotics Institute Carnegie Mellon University
Hiroshi Kano, masayat@cs.cmu.edu Robotics Institute Carnegie Mellon University
Masaya Tanaka, masayat@cs.cmu.edu Robotics Institute Carnegie Mellon University
pp. 196
Session WM2: Face Detection and Recognition
Douglas DeCarlo, University of Pennsylvania dmd@gradient.cis.upenn.edu dnm@central.cis.upenn.edu
Dimitris Metaxas, University of Pennsylvania dmd@gradient.cis.upenn.edu dnm@central.cis.upenn.edu
pp. 231
Session WN1: Matching and Calibration
S. Gold, Dept. of Comput. Sci., Yale Univ., New Haven, CT, USA
A. Rangarajan, Dept. of Comput. Sci., Yale Univ., New Haven, CT, USA
pp. 239
Jean-Philippe Thirion, INRIA Sophia-Antipolis thirion@sophia.inria.fr http://www.inria.fr/epidaure/Epidaure-eng.html
pp. 245
Xiaoguang Wang, University of Massachusetts xwang@cs.umass.edu
Yong-Qing Cheng, University of Massachusetts xwang@cs.umass.edu
Robert T. Collins, University of Massachusetts xwang@cs.umass.edu
Allen R. Hanson, University of Massachusetts xwang@cs.umass.edu
pp. 252
Haim Schweitzer, University of Texas at Dallas haim@utdallas.edu
Radha Krishnan, University of Maryland radha@engr.umbc.edu
pp. 258
F. Devernay, INRIA, Sophia Antipolis, France
O. Faugeras, INRIA, Sophia Antipolis, France
pp. 264
Session WN2: Shape Representation
P.N. Belhumeur, Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
D.J. Kriegman, Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 270
P. Havaldar, Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
G. Medioni, Inst. for Robotics & Intelligent Syst., Univ. of Southern California, Los Angeles, CA, USA
pp. 278
Luc Van Gool, Katholieke Universiteit Leuven Luc.VanGool@esat.kuleuven.ac.be
Theo Moons, Katholieke Universiteit Leuven Luc.VanGool@esat.kuleuven.ac.be
Marc Proesmans, Katholieke Universiteit Leuven Luc.VanGool@esat.kuleuven.ac.be
pp. 285
Thomas O'Donnell, {odonnell;alok}@scr.siemens.com tboult@eecs.lehigh.edu
Terrance Boult, {odonnell;alok}@scr.siemens.com tboult@eecs.lehigh.edu
Alok Gupta, {odonnell;alok}@scr.siemens.com tboult@eecs.lehigh.edu
pp. 293
James V. Miller, millerj@cs.rpi.edu stewart@cs.rpi.edu
Charles V. Stewart, millerj@cs.rpi.edu stewart@cs.rpi.edu
pp. 300
Session WA1: Motion Estimation and Structure from Motion
Shanon X. Ju, (1) Dept. of Comp. Sci., Univ. of Toronto, Toronto, Ontario M5S 1A4 (2) Xerox PARC, 3333 Coyote Hill Rd., Palo Alto, CA 94304 (3) Canadian Institute for Advanced Research
pp. 307
Tina Y. Tian, Department of Psychology and Computer Science Department Stanford University, Stanford, CA 94305
Carlo Tomasi, Department of Psychology and Computer Science Department Stanford University, Stanford, CA 94305
David J. Heeger, Department of Psychology and Computer Science Department Stanford University, Stanford, CA 94305
pp. 315
Yair Weiss, Dept. of Brain and Cognitive Sciences {yweiss,adelson}@psyche.mit.edu}
Edward H. Adelson, Dept. of Brain and Cognitive Sciences {yweiss,adelson}@psyche.mit.edu}
pp. 321
B. Vijayakumar, Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
D.J. Kriegman, Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
J. Ponce, Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
pp. 327
Session WA2
Panel 2: Industry Needs for Computer Vision and Pattern Recognition
High Resolution PET and High Field Magnetic Resonance in Study of Human Physiology and Disease
Session RM1: Stereo
Daniel Scharstein, schar@cs.cornell.edu szeliski@microsoft.com
Richard Szeliski, schar@cs.cornell.edu szeliski@microsoft.com
pp. 343
Dinkar N. Bhat, Columbia University, NY {bhat,nayar}@cs.columbia.edu
Shree K. Nayar, Columbia University, NY {bhat,nayar}@cs.columbia.edu
pp. 351
Yuichi Nakamura, 1-1-1 Tennodai, Tsukuba, Ibaraki, 305, Japan Institute of Information Sciences and Electronics, University of Tsukuba
Tomohiko Matsuura, 1-1-1 Tennodai, Tsukuba, Ibaraki, 305, Japan Institute of Information Sciences and Electronics, University of Tsukuba
Kiyohide Satoh, 1-1-1 Tennodai, Tsukuba, Ibaraki, 305, Japan Institute of Information Sciences and Electronics, University of Tsukuba
Yuichi Ohta, 1-1-1 Tennodai, Tsukuba, Ibaraki, 305, Japan Institute of Information Sciences and Electronics, University of Tsukuba
pp. 371
Session RM2: Systems and Integration
Arun Krishnan, Imaging and Visualization Department Siemens Corporate Research e-mail: arunki@scr.siemens.com
Narendra Ahuja, Beckman Institute ahuja@vision.ai.uiuc.edu
pp. 379
Sanghoon Sull, NASA, Ames Research Center sull@windchime.arc.nasa.gov banavar@windchime.arc.nasa.gov
Banavar Sridhar, NASA, Ames Research Center sull@windchime.arc.nasa.gov banavar@windchime.arc.nasa.gov
pp. 385
T. N. Tan, University of Reading Email: T.Tan@reading.ac.uk
G. D. Sullivan, University of Reading Email: T.Tan@reading.ac.uk
K. D. Baker, University of Reading Email: T.Tan@reading.ac.uk
pp. 397
G.D. Hager, Dept. of Comput. Sci., Yale Univ., New Haven, CT, USA
P.N. Belhumeur, Dept. of Comput. Sci., Yale Univ., New Haven, CT, USA
pp. 403
Session RN1: Texture and Shading
A. James Stewart, University of Toronto, jstewart@cs.toronto.edu
Michael S. Langer, Computer Science Division NEC Research Institute, Inc. langer@research.nj.nec.com
pp. 411
L. Wang, Comput. Vision Lab., California Univ., Irvine, CA, USA
G. Healey, Comput. Vision Lab., California Univ., Irvine, CA, USA
pp. 419
W. Y. Ma, University of California, Santa Barbara, CA wei@chandra.ece.ucsb.edu manj@surya.ece.ucsb.edu
B. S. Manjunath, University of California, Santa Barbara, CA wei@chandra.ece.ucsb.edu manj@surya.ece.ucsb.edu
pp. 425
Session RN2: Image Database and Document Analysis
Thomas P. Minka, Vision and Modeling Group MIT Media Laboratory {tpminka, picard}@media.mit.edu
Rosalind W. Picard, Vision and Modeling Group MIT Media Laboratory {tpminka, picard}@media.mit.edu
pp. 447
Ales Leonardis, Technical University Vienna ales@prip.tuwien.ac.at bis@prip.tuwien.ac.at
Horst Bischof, Technical University Vienna ales@prip.tuwien.ac.at bis@prip.tuwien.ac.at
pp. 453
Gyeonghwan Kim, Center of Excellence for Document Analysis and Recognition (CEDAR) State University of New York at Buffalo Amherst, New York 14228-2567
Venu Govindaraju, Center of Excellence for Document Analysis and Recognition (CEDAR) State University of New York at Buffalo Amherst, New York 14228-2567
pp. 459
Session RA1: Feature Extraction and Detection
Shree K. Nayar, Department of Computer Science, Columbia University, {nayar,simonb}@cs.columbia.edu
Simon Baker, Department of Computer Science, Columbia University, {nayar,simonb}@cs.columbia.edu
Hiroshi Murase, Department of Computer Science, Columbia University, {nayar,simonb}@cs.columbia.edu
pp. 471
Sudeep Sarkar, sarkar@cs.csee.usf.edu kim@ee.eng.ohio-state.edu
Kim L. Boyer, sarkar@cs.csee.usf.edu kim@ee.eng.ohio-state.edu
pp. 478
Xavier Pennec, Epidaure Project - INRIA Sophia-Antipolis
Nicholas Ayache, Epidaure Project - INRIA Sophia-Antipolis
pp. 484
Giorgio Bonmassar, Boston University giorgio@bu.edu eric@thing4.bu.edu
Eric L. Schwartz, Boston University giorgio@bu.edu eric@thing4.bu.edu
pp. 492
Session RA2
Panel 3: Content-Based Retrieval: Research Issues and Directions
Session TP1: Shape Representation
Yuan Hsieh, Digital Mapping Laboratory Carnegie Melloon University
pp. 499
K. Siddiqi, Dept. of Electr. Eng., McGill Univ., Montreal, Que., Canada
B.B. Kimia, Dept. of Electr. Eng., McGill Univ., Montreal, Que., Canada
pp. 507
Zhibin Lei, Div. of Eng., Brown Univ., Providence, RI, USA
D.B. Cooper, Div. of Eng., Brown Univ., Providence, RI, USA
pp. 514
Peter J. Olver, University of Minnesota Minneapolis, MN 55455
Guillermo Sapiro, Hewlett-Packard Labs. Palo Alto, CA 94304
Allen Tannenbaum, University of Minnesota Minneapolis, MN 55455
pp. 520
Session TP2: Pattern Recognition
H. Shekarforoush, INRIA - 2004 route des Lucioles hshekar@sophia.inria.fr
M. Berthod, INRIA - 2004 route des Lucioles hshekar@sophia.inria.fr
J. Zerubia, INRIA - 2004 route des Lucioles hshekar@sophia.inria.fr
pp. 532
Jing Peng, College of Engineering University of California
Bir Bhanu, College of Engineering University of California
pp. 538
Pattern Rejection (Abstract)
Simon Baker, Columbia University {simonb,nayar}@cs.columbia.edu
Shree K. Nayar, Columbia University {simonb,nayar}@cs.columbia.edu
pp. 544
Hichem Frigui, Univeristy of Missouri Frigui or raghu@sun1.ece.missouri.edu
Raghu Krishnapuram, Univeristy of Missouri Frigui or raghu@sun1.ece.missouri.edu
pp. 550
Yaorong Ge, Bowman Gray Sch. of Med., Wake Forest Univ., Winston-Salem, NC, USA
M. Fitzpatrick, Bowman Gray Sch. of Med., Wake Forest Univ., Winston-Salem, NC, USA
pp. 556
Daniel Reisfeld, INRIA Sophia-Antipolis, France reisfeld@sophia.inria.fr or reisfeld@math.tau.ac.il
pp. 562
Per G. Auran, Department of Engineering Cybernetics, The Norwegian University of Science and Technology pga@itk.unit.no
Kjell E. Malvig, Department of Engineering Cybernetics, The Norwegian University of Science and Technology pga@itk.unit.no
pp. 580
Session TP3: Applications
J.F. Arias, Sci. & Technol., NYNEX Corp., White Plains, NY, USA
A. Chhabra, Sci. & Technol., NYNEX Corp., White Plains, NY, USA
V. Misra, Sci. & Technol., NYNEX Corp., White Plains, NY, USA
pp. 600
S.R. Kundur, Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
D. Raviv, Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
pp. 606
Kwok-Wai Cheung, The Hong Kong University of Science and Technology
Dit-Yan Yeung, The Hong Kong University of Science and Technology
Roland T. Chin, The Hong Kong University of Science and Technology
pp. 613
Gareth Funka-Lea, Siemens Corp. Research lea@scr.siemens.com
Alok Gupta, Siemens Corp. Research lea@scr.siemens.com
pp. 625
R. Manmatha, University of Massachusetts email: manmatha@cs.umass.edu
Chengfeng Han, University of Massachusetts email: manmatha@cs.umass.edu
E. M. Riseman, University of Massachusetts email: manmatha@cs.umass.edu
pp. 631
B. Moghaddam, Media Lab., MIT, Cambridge, MA, USA
C. Nastar, Media Lab., MIT, Cambridge, MA, USA
A. Pentland, Media Lab., MIT, Cambridge, MA, USA
pp. 638
Simone Santini, University of California, San Diego
Ramesh Jain, University of California, San Diego
pp. 646
Session WP1: Edge, Contour and Surface Detection and Recovery
Jason Merron, Robotics Research Group
Michael Brady, Robotics Research Group
pp. 652
Djemel Ziou, Universite de Sherbrooke Sherbrooke, Qc, Canada J1K 2R1
Shengrui Wang, Universite de Sherbrooke Sherbrooke, Qc, Canada J1K 2R1
pp. 660
Laurent D. Cohen, CEREMADE, URA CNRS 749 Universite Paris 9-Dauphine cohen@ceremade.dauphine.fr
Ron Kimmel, Lawrence Berkeley Laboratory University of California, Berkeley ron@csr.lbl.gov
pp. 666
Christos Davatzikos, (1) Division of Neuroradiology, Department of Radiology (2) Department of Electrical and Computer Engineering Johns Hopkins University
Jerry L. Prince, (1) Division of Neuroradiology, Department of Radiology (2) Department of Electrical and Computer Engineering Johns Hopkins University
pp. 674
Jiping Lu, Laboratory for Computational Intelligence The Univ. of British Columbia, Canada
Jim Little, Laboratory for Computational Intelligence The Univ. of British Columbia, Canada
pp. 694
Session WP2: Active and Real-Time Vision
F.G. Callari, McGill Res. Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
F.P. Ferrie, McGill Res. Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
pp. 701
Konstantinos Daniilidis, Computer Science Institute Kiel University kd@informatik.uni-kiel.de
Joerg Ernst, Computer Science Institute Kiel University kd@informatik.uni-kiel.de
pp. 708
Sugata Ghosal, Machine Vision Department Amherst Systems Inc. E-mail: {ghosal, mckee}@amherst.com
Douglas C. McKee, Machine Vision Department Amherst Systems Inc. E-mail: {ghosal, mckee}@amherst.com
pp. 714
Fenglei Du, Amherst Systems Inc. fld,aji,cba@amherst.com
Andrew Izatt, Amherst Systems Inc. fld,aji,cba@amherst.com
Cesar Bandera, Amherst Systems Inc. fld,aji,cba@amherst.com
pp. 720
R.E. Kahn, Dept. of Comput. Sci., Chicago Univ., IL, USA
M.J. Swain, Dept. of Comput. Sci., Chicago Univ., IL, USA
P.N. Prokopowicz, Dept. of Comput. Sci., Chicago Univ., IL, USA
R.J. Firby, Dept. of Comput. Sci., Chicago Univ., IL, USA
pp. 734
Session WP3: Physics and Geometry for Low-Level Vision
Bruce A. Maxwell, Carnegie Mellon University stevensh@microsoft.com maxwell@ri.cmu.edu
Steven A. Shafer, Carnegie Mellon University stevensh@microsoft.com maxwell@ri.cmu.edu
pp. 742
G. Healey, Comput. Vision Lab., California Univ., Irvine, CA, USA
A. Jain, Comput. Vision Lab., California Univ., Irvine, CA, USA
pp. 750
Zarina Myles, Computer Science Department University of Central Florida
Niels da Vitoria Lobo, Computer Science Department University of Central Florida
pp. 756
M. Gokmen, Dept. of Comput. Sci., Istanbul Tech. Univ., Turkey
A.K. Jain, Dept. of Comput. Sci., Istanbul Tech. Univ., Turkey
pp. 764
D. Slater, Comput. Vision Lab., California Univ., Irvine, CA, USA
G. Healey, Comput. Vision Lab., California Univ., Irvine, CA, USA
pp. 770
Jean Ponce, University of Illinois Email: ponce@cs.uiuc.edu.
Yakup Genc., University of Illinois Email: ponce@cs.uiuc.edu.
pp. 776
P. Breton, McGill Res. Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
S.W. Zucker, McGill Res. Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
pp. 782
Ruth Rosenholtz, Utrecht University rruth@vision.arc.nasa.gov
Jan J. Koenderink, Utrecht University rruth@vision.arc.nasa.gov
pp. 790
Session RP1: Motion Analysis
B. Rousso, Institute of Computer Science The Hebrew University of Jerusalem
S. Avidan, Institute of Computer Science The Hebrew University of Jerusalem
A. Shashua, Institute of Computer Science The Hebrew University of Jerusalem
S. Peleg, Institute of Computer Science The Hebrew University of Jerusalem
pp. 796
Long Quan, The Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213
Takeo Kanade, The Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213
pp. 803
Yacov Hel-Or, NASA Ames Research Center toky@white.Stanford.EDU teo@white.Stanford.EDU
Patrick C. Teo, NASA Ames Research Center toky@white.Stanford.EDU teo@white.Stanford.EDU
pp. 809
S. Soatto, California Inst. of Technol., Pasadena, CA, USA
P. Perona, California Inst. of Technol., Pasadena, CA, USA
pp. 817
S. Soatto, California Inst. of Technol., Pasadena, CA, USA
P. Perona, California Inst. of Technol., Pasadena, CA, USA
pp. 825
Kalle A Astroem, Department of mathematics Lund University kalle@maths.lth.se, heyden@maths.lth.se
Anders Heyden, Department of mathematics Lund University kalle@maths.lth.se, heyden@maths.lth.se
pp. 833
Francois G. Meyer, Yale University School of Medicine meyer@noodle.med.yale.edu
R. Todd Constable, Yale University School of Medicine meyer@noodle.med.yale.edu
Albert J. Sinusas, Yale University School of Medicine meyer@noodle.med.yale.edu
James. S. Duncan, Yale University School of Medicine meyer@noodle.med.yale.edu
pp. 839
Session RP2: Recognition and Pose Recovery
Sameer A. Nene, Department of Computer Science Columbia University, NY, NY 10027 {sameer,nayar}@cs.columbia.edu
Shree K. Nayar, Department of Computer Science Columbia University, NY, NY 10027 {sameer,nayar}@cs.columbia.edu
pp. 859
Yoshihiko Nomura, Nagoya University, Nagoya, 464-01 Japan nomura@mitsuya.nuem.nagoya-u.ac.jp
Dili Zhang, Nagoya University, Nagoya, 464-01 Japan nomura@mitsuya.nuem.nagoya-u.ac.jp
Yuko Sakaida, Nagoya University, Nagoya, 464-01 Japan nomura@mitsuya.nuem.nagoya-u.ac.jp
Seizo Fujii, Nagoya University, Nagoya, 464-01 Japan nomura@mitsuya.nuem.nagoya-u.ac.jp
pp. 866
Anthony N. A. Schwickerath, Colorado State University schwicke/ross@cs.colostate.edu Colorado State University
J. Ross Beveridge, Colorado State University schwicke/ross@cs.colostate.edu Colorado State University
pp. 899
Jin-Long Chen, Michigan State University chenjj@cps.msu.edu, stockman@cps.msu.edu
George C. Stockman, Michigan State University chenjj@cps.msu.edu, stockman@cps.msu.edu
pp. 913
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