The Community for Technology Leaders
2013 IEEE Workshop on Robot Vision (WORV 2013) (2013)
Clearwater Beach, FL
Jan. 15, 2013 to Jan. 17, 2013
ISBN: 978-1-4673-5646-6
TABLE OF CONTENTS

Subspace and motion segmentation via local subspace estimation (Abstract)

A. Sekmen , Dept. of Comput. Sci., Tennessee State Univ., Nashville, TN, USA
A. Aldroubi , Dept. of Math., Vanderbilt Univ., Nashville, TN, USA
pp. 27-33

Sensitivity evaluation of embedded code detection in imperceptible structured light sensing (Abstract)

Jingwen Dai , Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China
R. Chung , Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China
pp. 34-39

Real-time Collision Risk Estimation based on Pearson's Correlation Coefficient (Abstract)

A. Miranda Neto , Autonomous Mobility Lab. (LMA), FEM/UNICAMP, Brazil
A. C. Victorino , Heudiasyc Lab., UTC, France
I. Fantoni , Heudiasyc Lab., UTC, France
J. V. Ferreira , Autonomous Mobility Lab. (LMA), FEM/UNICAMP, Brazil
pp. 40-45

Human-object-object-interaction affordance (Abstract)

Shaogang Ren , Univ. of South Florida, Tampa, FL, USA
Yu Sun , Univ. of South Florida, Tampa, FL, USA
pp. 1-6

Segment-based robotic mapping in dynamic environments (Abstract)

R. T. Creed , Temple Univ., Temple, TX, USA
R. Lakaemper , Temple Univ., Temple, TX, USA
pp. 46-53

Monocular visual odometry from frame to frame intensity differences for planetary exploration mobile robots (Abstract)

G. Martinez , Image Process. & Comput. Vision Res. Lab. (IPCV-Lab.), Univ. de Costa Rica, San Jose, Costa Rica
pp. 54-59

Fast iterative five point relative pose estimation (Abstract)

J. Hedborg , Comput. Vision Lab., Linkoping Univ., Linkoping, Sweden
M. Felsberg , Comput. Vision Lab., Linkoping Univ., Linkoping, Sweden
pp. 60-67

Why would i want a gyroscope on my RGB-D sensor? (Abstract)

H. Ovren , Dept. of Electr. Eng., Linkoping Univ., Linköping, Sweden
P. Forssen , Dept. of Electr. Eng., Linkoping Univ., Linköping, Sweden
D. Tornqvist , Dept. of Electr. Eng., Linkoping Univ., Linköping, Sweden
pp. 68-75

Design of microassembly system and research on coarse-to-fine alignment strategy in combination with active zooming (Abstract)

Zhengtao Zhang , Inst. of Autom., Beijing, China
Juan Zhang , Inst. of Autom., Beijing, China
De Xu , Inst. of Autom., Beijing, China
pp. 76-81

Meal support system with spoon using laser range finder and manipulator (Abstract)

Y. Ohshima , Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan
Y. Kobayashi , Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan
T. Kaneko , Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan
A. Yamashita , Dept. of Precision Eng., Univ. of Tokyo, Tokyo, Japan
H. Asama , Dept. of Precision Eng., Univ. of Tokyo, Tokyo, Japan
pp. 82-87

Efficient 7D aerial pose estimation (Abstract)

B. Grelsson , Saab Dynamics, Linkoping, Sweden
M. Felsberg , Comput. Vision Lab., Linkoping Univ., Linkoping, Sweden
F. Isaksson , Vricon Syst., Saab, Linkoping, Sweden
pp. 88-95

Near surface light source estimation from a single view image (Abstract)

Wu Yuan Xie , Mech. & Autom. Eng. Dept., Chinese Univ. of Hong Kong, Hong Kong, China
Chi-kit Ronald Chung , Mech. & Autom. Eng. Dept., Chinese Univ. of Hong Kong, Hong Kong, China
pp. 96-101

Moving pedestrian detection based on motion segmentation (Abstract)

Shanshan Zhang , Univ. of Bonn, Bonn, Germany
C. Bauckhage , Fraunhofer IAIS, St. Augustin, Germany
D. A. Klein , Univ. of Bonn, Bonn, Germany
A. B. Cremers , Univ. of Bonn, Bonn, Germany
pp. 102-107

Panorama creation using a team of robots (Abstract)

Yongqiang Huang , North Carolina State Univ., Raleigh, NC, USA
W. Snyder , North Carolina State Univ., Raleigh, NC, USA
pp. 108-113

Active view planing for human observation through a RGB-D camera (Abstract)

Jianhao Du , Sch. of Electr. & Comput. Eng., Oklahoma State Univ., Tulsa, OK, USA
Weihua Sheng , Sch. of Electr. & Comput. Eng., Oklahoma State Univ., Tulsa, OK, USA
pp. 114-119

Color-based detection robust to varying illumination spectrum (Abstract)

M. Linderoth , Dept. of Autom. Control, Lund Univ., Lund, Sweden
A. Robertsson , Dept. of Autom. Control, Lund Univ., Lund, Sweden
R. Johansson , Dept. of Autom. Control, Lund Univ., Lund, Sweden
pp. 120-125

Detecting partially occluded objects via segmentation and validation (Abstract)

M. Levihn , Georgia Inst. of Technol., Atlanta, GA, USA
M. Dutton , Georgia Inst. of Technol., Atlanta, GA, USA
A. J. B. Trevor , Georgia Inst. of Technol., Atlanta, GA, USA
M. Silman , Georgia Inst. of Technol., Atlanta, GA, USA
pp. 7-13

A compositional approach for 3D arm-hand action recognition (Abstract)

I. Gori , Robot., Brain & Cognitive Sci. Dept., Ist. Italiano di Tecnol., Genoa, Italy
S. R. Fanello , Robot., Brain & Cognitive Sci. Dept., Ist. Italiano di Tecnol., Genoa, Italy
F. Odone , Dept. of Inf. Bioeng. Robot. & Syst. Eng., Univ. degli Studi di Genova, Genoa, Italy
G. Metta , Robot., Brain & Cognitive Sci. Dept., Ist. Italiano di Tecnol., Genoa, Italy
pp. 126-131

Incorporating local and global information using a novel distance function for scene recognition (Abstract)

E. Farahzadeh , Nanyang Technol. Univ., Singapore, Singapore
Tat-jen Cham , Nanyang Technol. Univ., Singapore, Singapore
Wanqing Li , Univ. of Wollongong, Wollongong, NSW, Australia
pp. 132-137

Dense range images from sparse point clouds using multi-scale processing (Abstract)

Luat Do , Eindhoven Univ. of Technolog, Eindhoven, Netherlands
Lingni Ma , Eindhoven Univ. of Technolog, Eindhoven, Netherlands
P. H. N. de With , Eindhoven Univ. of Technolog, Eindhoven, Netherlands
pp. 138-143

Autonomous navigation and sign detector learning (Abstract)

L. Ellis , CVL, Linkoping Univ., Linkoping, Sweden
N. Pugeault , CVSSP, Univ. of Surrey, Guildford, UK
K. Ofjall , CVL, Linkoping Univ., Linkoping, Sweden
J. Hedborg , CVL, Linkoping Univ., Linkoping, Sweden
R. Bowden , CVSSP, Univ. of Surrey, Guildford, UK
M. Felsberg , CVL, Linkoping Univ., Linkoping, Sweden
pp. 144-151

Visual-inertial navigation with guaranteed convergence (Abstract)

F. Di Corato , Dept. of Energy & Syst. Eng., Univ. of Pisa, Pisa, Italy
M. Innocenti , Dept. of Energy & Syst. Eng., Univ. of Pisa, Pisa, Italy
L. Pollini , Dept. of Energy & Syst. Eng., Univ. of Pisa, Pisa, Italy
pp. 152-157

A wireless robotic video laparo-endoscope for minimal invasive surgery (Abstract)

A. Alqassis , Dept. of Electr. Eng., Univ. of South Florida, Tampa, FL, USA
C. A. Castro , Dept. of Electr. Eng., Univ. of South Florida, Tampa, FL, USA
S. Smith , Dept. of Ind. Eng., Univ. of South Florida, Tampa, FL, USA
T. Ketterl , Dept. of Electr. Eng., Univ. of South Florida, Tampa, FL, USA
Yu Sun , Dept. of Comput. Sci., Univ. of South Florida, Tampa, FL, USA
P. P. Savage , Innovatia Med. Syst. LLC, Tampa, FL, USA
R. D. Gitlin , Dept. of Electr. Eng., Univ. of South Florida, Tampa, FL, USA
pp. 158-164

Rapid explorative direct inverse kinematics learning of relevant locations for active vision (Abstract)

K. Ofjall , Linkoping Univ., Linkoping, Sweden
M. Felsberg , Linkoping Univ., Linkoping, Sweden
pp. 14-19

Spatial structure analysis for autonomous robotic vision systems (Abstract)

Kai Zhou , Autom. & Control Inst., Vienna Univ. of Technol., Vienna, Austria
K. M. Varadarajan , Autom. & Control Inst., Vienna Univ. of Technol., Vienna, Austria
M. Zillich , Autom. & Control Inst., Vienna Univ. of Technol., Vienna, Austria
M. Vincze , Autom. & Control Inst., Vienna Univ. of Technol., Vienna, Austria
pp. 165-170

Automated tuning of the nonlinear complementary filter for an Attitude Heading Reference observer (Abstract)

O. De Silva , Fac. of Eng. & Appl. Sci., Memorial Univ. of Newfoundland, St. John's, NL, Canada
G. K. I. Mann , Fac. of Eng. & Appl. Sci., Memorial Univ. of Newfoundland, St. John's, NL, Canada
R. G. Gosine , Fac. of Eng. & Appl. Sci., Memorial Univ. of Newfoundland, St. John's, NL, Canada
pp. 171-176

RMSD: A 3D real-time mid-level scene description system (Abstract)

K. Georgiev , Temple Univ., Temple, TX, USA
R. Lakaemper , Temple Univ., Temple, TX, USA
pp. 177-183

Calibration of a network of Kinect sensors for robotic inspection over a large workspace (Abstract)

R. Macknojia , Sch. of Electr. Eng. & Comput. Sci., Univ. of Ottawa, Ottawa, ON, Canada
A. Chavez-Aragon , Sch. of Electr. Eng. & Comput. Sci., Univ. of Ottawa, Ottawa, ON, Canada
P. Payeur , Sch. of Electr. Eng. & Comput. Sci., Univ. of Ottawa, Ottawa, ON, Canada
R. Laganiere , Sch. of Electr. Eng. & Comput. Sci., Univ. of Ottawa, Ottawa, ON, Canada
pp. 184-190

Autonomous robot exploration and cognitive map building in unknown environments using omnidirectional visual information only (Abstract)

R. Marie , Modelisation, Inf. & Syst. Lab., Univ. of Picardie Jules Verne, Amiens, France
O. Labbani-Igbida , Modelisation, Inf. & Syst. Lab., Univ. of Picardie Jules Verne, Amiens, France
P. Merveilleux , Modelisation, Inf. & Syst. Lab., Univ. of Picardie Jules Verne, Amiens, France
El-Mustapha Mouaddib , Modelisation, Inf. & Syst. Lab., Univ. of Picardie Jules Verne, Amiens, France
pp. 191-196

Real-time obstacle detection and avoidance in the presence of specular surfaces using an active 3D sensor (Abstract)

B. Peasley , Dept. of Electr. & Comput. Eng., Clemson Univ., Clemson, SC, USA
S. Birchfield , Dept. of Electr. & Comput. Eng., Clemson Univ., Clemson, SC, USA
pp. 197-202

Clustering of image features based on contact and occlusion among robot body and objects (Abstract)

T. Somei , Dept. of Electr. & Electron. Eng., Tokyo Univ. of Agric. & Technol., Koganei, Japan
Y. Kobayashi , Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan
A. Shimizu , Dept. of Electr. & Electron. Eng., Tokyo Univ. of Agric. & Technol., Koganei, Japan
T. Kaneko , Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan
pp. 203-208

Visual servo control of electromagnetic actuation for a family of microrobot devices (Abstract)

J. A. Piepmeier , Weapons & Syst. Eng., U.S. Naval Acad., Annapolis, MD, USA
S. L. Firebaugh , Electr. & Comput. Eng., U.S. Naval Acad., Annapolis, MD, USA
pp. 209-214

Ceiling analysis of pedestrian recognition pipeline for an autonomous car application (Abstract)

H. Roncancio , Mobile Robot. Lab. (LabRoM), Univ. of Sao Paulo, Sao Carlos, Brazil
A. C. Hernandes , Mobile Robot. Lab. (LabRoM), Univ. of Sao Paulo, Sao Carlos, Brazil
M. Becker , Mobile Robot. Lab. (LabRoM), Univ. of Sao Paulo, Sao Carlos, Brazil
pp. 215-220

Probabilistic analysis of incremental light bundle adjustment (Abstract)

V. Indelman , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
R. Roberts , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
F. Dellaert , Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
pp. 221-228

Trinocular visual odometry for divergent views with minimal overlap (Abstract)

Jaeheon Jeong , Univ. of Colorado, Boulder, CO, USA
J. Mulligan , Flashback Technol., USA
N. Correll , Univ. of Colorado, Boulder, CO, USA
pp. 229-236

Quasi-perspective stereo-motion for 3D reconstruction (Abstract)

Mu Fang , Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China
Ronald Chung , Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong, China
pp. 237-242

Active object recognition using vocabulary trees (Abstract)

N. Govender , MIAS (CSIR), South Africa
J. Claassens , MIAS (CSIR), South Africa
F. Nicolls , Univ. of Cape Town, Cape Town, South Africa
J. Warrell , Univ. of Oxford Brookes, Oxford, UK
pp. 20-26
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