From: Vision-List-Request@ADS.COM (Vision-List moderator Phil Kahn)
Newsgroups: comp.ai.vision
Subject: VISION-LIST digest 11.36
Date: 5 Oct 92 18:22:26 GMT
Reply-To: Vision-List@ads.com
Distribution: inet
Organization: The Internet

VISION-LIST Digest    Mon Oct 05 10:22:26 PDT 92     Volume 11 : Issue 36

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Today's Topics:

 Stereo without regularization code now available
 Need data to check segmentation of 3D space curves
 Looking for sequences of aircraft landing images
 Trinocular images
 Re: Contour growing algorithms
 what do you know about IDS model ?
 Dempster-Shafer Method
 WAVELET C or Fortran code
 Info. on CFP
 Tierra for DOS?
 Intelligient System for Image Recognition?
 Position Open: Postdoctoral Fellow
 Workshop on Active/Purposive Systems 
 VI'93 Call for Papers
 TOC: Machine Vision
 visually guided grasping: summary
 Re:  response to grasping inquiry (long)
 Range Image Biblio Survey - Results (long)
 CFP: World Congress on Neural Networks
----------------------------------------------------------------------

Date: Thu, 1 Oct 92 13:37:00 -0400
From: sunita@research.nj.nec.com	(Sunita Hingorani)
Subject: Stereo without regularization code now available

We have developed an algorithm for stereo without regularization.  We
would like to make the code public.  We would appreciate if you would
distribute the following message:

                    STEREO WITHOUT REGULARIZATION.
                                   
                            Ingemar J. Cox
                           Sunita Hingorani
                             Bruce Maggs
                              Satish Rao
                                   
                        NEC Research Institute
                          4 Independence Way
                              Princeton
                               NJ 08540
                                U.S.A.

We have developed a maximum likelihood stereo algorithm that avoids
the need for regularization based on smoothing of disparities or their
gradients.  The algorithm imposes uniqueness and monotonic ordering
constraints common to other algorithms.  A dynamic programming
algorithm allows matching of the two epipolar lines of length $N$ and
$M$ respectively in $O(NM)$ time and in $O(N)$ time if a disparity
limit is set.

The algorithm is independent of the feature primitives.  However for
experimental purposes we use individual pixel intensities.  This
has the advantages of
(1) Eliminating the feature extraction stage
(2) Eliminating the complex adaptive windows
(3) Producing dense depth maps

A high percentage of correct matches and little smearing of depth
discontinuities is obtained based on matching individual pixel
intensities.  Because feature extraction and adaptive windowing are
unnecessary, a fast implementation is possible.  A 512x480 image takes
approximately 50 seconds on a SPARC-2 workstation.

The algorithm was described at this years British Machine Vision
Conference, Leeds, Sept. 21-24, 1992, pp 337-346 (Editors: David Hogg
& Roger Boyle Publisher: Springer-Verlag).  A Technical Report is
available from NEC Research Institute.

If you are interested in obtaining a copy of the C code, please send
email to Sunita Hingorani at sunita@research.nec.nj.com

------------------------------

Date: Wed, 30 Sep 1992 19:38:58 +0800
From: Paul Rosin <rosin@cs.curtin.edu.au>
Subject: Need data to check segmentation of 3D space curves

We've recently designed some algorithms for segmenting 3D space
curves into straight lines and (planar) circular arcs. We've tested
then on predominantly synthetic data and now want to try them on
some real data. Some sources of 3D curve data that come to mind are
the output of curve based stero algorithms, curves derived from range
images, characteristic curves (e.g. ridge points) extracted from 3D
data sets (e.g. MRI, CAT). Can anyone provide us with such 3D curve
data?

Paul Rosin & Geoff West       INTERNET: rosin@marsh.cs.curtin.edu.au
School of Computing Science
Curtin University of Technology
Perth, Western Australia

------------------------------

Date: 	Mon, 28 Sep 1992 16:51:41 -0400
From: ytang@blue.crayola.cs.psu.edu (Yuan-Ling Tang)
Organization: Penn State Computer Science
Subject: Looking for sequences of aircraft landing images

    I am looking for images which contain the scene of the airport 
    (including runways, taxiways, buildings, etc.) as seen from a 
    landing aircraft. I'd appreciate if somebody can give me some
    information on where or how I can obtain the images or the like.
    Thanks.

Tang

------------------------------

Date: 2 Oct 1992 20:47:43 GMT
From: bandari@cs.ubc.ca (Esfandiar Bandari)
Organization: University of British Columbia, Vancouver, B.C., Canada
Subject: Trinocular images

Could someone please tell me where I can find some trinocular data? 
(I would prefer the image planes to be coplannar, but not colinear) 
Thanks in advance.

              				     --- Esfandiar

------------------------------

Date: Thu, 24 Sep 92 10:01:03 PDT
From: Eric De Mund <ead%cs@hub.ucsb.edu>
Organization: UC Santa Barbara
Subject: Re: Contour growing algorithms

[Raj Subbu <rsubbu@magnus.acs.ohio-state.edu>, in VISION-LIST 11.35]:
>   I was wondering if anyone could refer me to any publications/
>material in the field of contour growing.
>
>   I am faced with a problem of making a transition from one contour
>to another more isotropic by possible densification.  What I mean by
>densification is the establishment of contours in between the two
>given contours.

raj,

assuming that these are closed contours, i suggest you read the paper:

    On Shape-Based Interpolation
    G T Herman, C A Bucholtz and J Zheng
    Medical Image Processing Group
    Department of Radiology, University of Pennsylvania
    Blockley Hall, Fourth Floor, 418 Service Drive
    Philadelphia, PA  19104-6021  USA

from this very clearly written paper containing examples, i was able
to code a fast-running shape-based interpolation program in rather
short order. i recommend this paper highly.

the bad news is that my xerox copy of the paper doesn't indicate the
date it was published, nor the journal in which it was published (if
any). if anyone has this information, i'd appreciate it if they could
send it to me. otherwise, raj, i'll send you a copy via snail-mail if
you're interested.

eric de mund <ead@cs.ucsb.edu>

------------------------------

Date: Sun, 4 Oct 92 23:06:55 GMT
From: saeed@a.cs.okstate.edu (SAEED FAISEL)
Organization: Oklahoma State University, Computer Science, Stillwater
Subject: what do you know about IDS model ?

I need some info on the IDS model suggested by Cornsweet & Yellot.
And I want to start with a comprehensive bibliography on IDS.

Any email containing any pointers like any work done related to IDS,
specially any publications, etc will be appreciated.

I would also like to correspond with anyone currently working on it.

Faisel Saeed
Computer Science Department,   Oklahoma State University,   Stillwater, OK 

------------------------------

Date: 5 Oct 1992 10:25:40 GMT
From: nikolay@cs.tut.fi (Tchamov Nikolay)
Organization: Tampere University of Technology, Finland
Subject: Dempster-Shafer Method

Dear Coleagues,

I am very interested to know more about so called "Dempster-Shafer
Method" in statistics and hypothesises. Your comments, as well the
titles of books and papers will be greatly appriciated. Any one of you
working on this topic?

Thank you in advance for your attention,
Nikolay Tchamov, Signal Processing Laboratory     Tel: 358-31+16-1885
Tampere University of Technology                  FAX: 358-31+16-1857       
P.O.Box 553, SF-33101 Tampere, Finland       E-mail: nikolay@cs.tut.fi

------------------------------

Date: Fri, 25 Sep 92 12:04:15 -0700
From: yoon@cod.nosc.mil (Young R. Yoon)
Subject: WAVELET C or Fortran code

Do you know where I can get a 1-D wavelet C code ? If you have any information
about a wavelet, please let me know it.

Thank you.
Young.

------------------------------

Date: Mon, 28 Sep 92 14:50:02 -0400
From: "Baba Vemuri" <vemuri@scuba.cis.ufl.edu>
Subject: Info. on CFP

Does anyone out there know where I could find the call for papers for
the conference called, Information Processing in Medical Imaging
(IPMI)?

thanks, Baba Vemuri

------------------------------

Date: Thursday, 24 Sep 1992 21:51:21 EDT
From: GE0QC%CUNYVM.BITNET@mitvma.mit.edu
Organization: City University of New York/ University Computer Center
Subject: Tierra for DOS?

Hi,
Does anyone know how I can get Tierra for msDOS?  (free, hopefully :)

Please email me if you have any info.
Thanks.

Levi

------------------------------

Date: Thu, 1 Oct 1992 06:01:30 GMT
From: prong@iss.nus.sg (Lam Chian-Prong)
Organization: Institute Of Systems Science, NUS.
Subject: Intelligient System for Image Recognition?

Hi!  I am working in an applied R&D institute and is involved
primarily in graphics and image processing work.  I am interested in
finding out if there are any research institutions or individuals who
are involved in developing 'intelligient' systems (Expert System,
Neural_Net, Fuzzy Logic, or combinations of the different AI
techniques etc.) for image recognition.  Of special interests to me
are systems which are able to 'reason' and 'learn' to recognise
complex shapes after having been 'taught' to recogn ise basic shapes
like squares, circles, triangles.  I am also wondering about the
feasibility of building a system that can 'interpolate' from a given
incomplete shape (eg. occluded objects) like what the brain does when
it recognises objects.

All replies are deeply appreciated.  Thank you.

Chian Prong.

------------------------------

Date: Fri, 2 Oct 92 14:25:45 -0400
From: mike@PARK.BU.EDU (Michael Cohen)
Subject: Position Open: Postdoctoral Fellow

POSTDOCTORAL FELLOW

CENTER FOR ADAPTIVE SYSTEMS and
DEPARTMENT OF COGNITIVE AND NEURAL SYSTEMS
BOSTON UNIVERSITY

A postdoctoral fellow is sought to join the Center for Adaptive
Systems and the Department of Cognitive and Neural Systems, which are
research leaders in the development of biological and artificial
neural networks.  A person is sought who has a substantial research
and publication record om developing neural network models of image
processing and adaptive pattern recognition. Salary: $30,000+.
Excellent opportunities for broadening knowledge of neural
architectures through interactions with a faculty trained in
psychology, neurobiology, mathematics, computer science, physics, and
engineering. Well-equipped computer, vision, speech, word recognition,
and motor control laboratories are in the Department. Boston
University is an Equal Opportunity/Affirmative Action Employer. Please
send a curriculum vitae, 3 letters of recommendation, and illustrative
research articles by January 15, 1993 to:

Postdoctoral Search Committee 
Center for Adaptive Systems 
Boston University
111 Cummington Street 
Room 244 
Boston MA 02215 

------------------------------

Date: Thu, 24 Sep 1992 13:40:03 GMT
From: srsuresh@laser1.engr.utk.edu (Marapane Suresh)
Organization: University of Tennessee ECE dept.
Subject: Workshop on Active/Purposive Systems 
Keywords: Active Vision/Perception, Gaze Control, Fixation, Task Oriented Vision

		ADVANCED TECHNICAL PROGRAM 

    	Workshop on Intelligent Robotic Systems:  
		Design and Applications

		ACTIVE/PURPOSIVE SYSTEMS

                Hynes Convention Center
               Boston, Massachusetts, USA 
	      
               Monday November 16,  1992

Sponsored by:
        The International Society for Optical Engineering (SPIE)
In Cooperation with:
	IEEE Computer Society
	IEEE Systems, Man, and Cybernetics Society


Program Committee: Mohan Trivedi, Tennessee, Chair; Peter Allen,
Columbia; Dave Casasent, CMU; Martin Herman, NIST; Ramesh Jain, 
Michigan; Avi Kak, Purdue; Takeo Kanade, CMU; Paul Schenker, 
JPL/NASA.


For further information contact: trivedi@vms1.engr.utk.edu

		  PRESENTATIONS BY

   * CHRIS BROWN, UNIVERSITY OF ROCHESTER
	Task Oriented Vision and Action in Dynamic Domains.
   * ERIC KROTKOV, CARNEGIE MELLON UNIVERSITY
	 Active Perception of Material Properties
   * JOHN TSOTSOS, UNIVERSITY OF TORONTO
	Aspects of attention for eye/head control
   * LYNN ABBOTT,  VIRGINIA TECH
	Active Visual Pose Estimation of a Grasped Object.
   * JIM CLARK, HARVARD UNIVERSITY
   * XIAOPING YUN, UNIVERSITY OF PENNSYLVANIA
   * HENRIK CHRISTENSEN, AALBORG UNIVERSITY, DENMARK
   * MARTIN HERMAN, NATIONAL INST. OF STANDARDS AND TECHNOLOGY
	Visual Navigation Using Relevant 2-D Image Motion Cues
   * NARENDRA AHUJA, UNIVERSITY OF ILLINOIS, URBANA-CHAMPAIGN
   * DAVID KORTENKEMP, UNIVERSITY OF MICHIGAN
	Integrating High-Speed Obstacle Avoidance and Long-Range
             	Sensing to Accomplish a Find and Visit Task.
              
------------------------------

Date: 	Tue, 29 Sep 1992 19:29:41 -0400
From: "Minas Spetsakis" <minas@cs.yorku.ca>
Subject: VI'93 Call for Papers

                              CALL FOR PAPERS

                            VISION INTERFACE 93
     
                         YORK UNIVERSITY, TORONTO
                               (May 17-21)

Vision Interface '93 is the seventh Canadian Conference devoted  to
Computer Vision, Pattern Recognition, Signal and Image Processing.
This International Conference is sponsered by the Canadian Image
Processing and Pattern Recognition Society. The Conference will be
held in conjunction with Graphic Interface '93.

INVITED SPEAKERS:   Ching Y. Suen       Concordia University
                    Yiannis Aloimonos   University of Maryland
                    Bruce Nickerson     Ontario Hydro

IMPORTANT DATES:    . Nov. 30, '92:     Full Paper due (5 copies)
                    . Dec. 15, '92:     Tutorial Proposals due
                    . Feb. 1, '93:      Authors Notified
                    . Mar. 15, '93:     Final Paper due

AREAS:
Contributions are solicited (English or French) describing
unpublished research results and applications in Vision, including
but not restricted to:

Signal and Image Processing
Feature Selection & Pattern Analysis
Texture & Segmentation
Computational Geometry
Motion Representation & Analysis
3D Vision
Biomedical Vision

Model-Based Vision Systems
Knowledge Representation
Interactive Systems

Special Purpose Architectures
Parallel Processing for Vision
Neural Network

On-line and Off-line Document
Processing
Text Understanding
Signature Verification
Biomedical Applications
Robot Vision/Robotics
Industrial Applications
Remote Sensing Applications

PROGRAMME COMMITTEE:

C. Archibald (NRC)
A. Basu (Albertta U.)
A. Belaid (CRIN, France)
R.I. Campeanu (York U.)
P. Cohen (Ecole Polytechnique)
D. Fleet (Queen's U.)
M. Jenkin (York U.)
D. Laurendeau (U. Laval)
X. Li (Alberta U.)
J. Little (UBC)
E. Milios (York U.)
A. Mitiche (INRS)
F. Nouboud (UQTR)
R. Plamondon (Ecole Polytechnique)
H. Raafat (Regina U.)
R. Sabourin (ETS)
H. Shen (Waterloo U.
J. Tsotsos (Toronto U.)
K. Yamada (NEC Corp. Japan)

SUBMIT PAPERS TO:

JEAN-JULES BRAULT                 MINAS E. SPETSAKIS
VI'93 Programme Co-Chair          VI'93 Programme Co-Chair
Laboratoire Scribens              Dept. of Computer Science
Departement de Genie electrique   York University
et de Genie Informatique          4700, Keele Street
C.P. 6079, Succ. A                North York, Ontario
Montreal,Quebec                   Canada  M3J 1P3
Canada H3C 3A7
Tel.: (514)340-4880               Tel.: (416)736-5053
Fax:  (514)340-4147               Fax:  (416)736-5872
Email: brault@vlsi.polymtl.ca     Email: minas@cs.yorku.ca 

FOR GENERAL INFORMATION:
JOHN AMANATIDES/MICHAEL R. JENKINS
VI/GI'93 General Co-Chairs
Dept. of Computer Science
York University
4700, Keele Street
North York, Ontario
Canada  M3J 1P3

Tel.: (416)736-5053
Fax:  (416)736-5872
Email: gi-vi-93@cs.yorku.ca

------------------------------

Date: Sat, 26 Sep 92 12:14:42 PDT
From: clayton@almaden.ibm.com
Subject: TOC: Machine Vision

  The enclosed is the Table of Contents for the most recent issue of
Machine Vision

MACHINE VISION AND APPLICATIONS, An International Journal
This journal is published four times a year and has a personal
subscription rate of US $54.00 including postage and handling.  The
institutional rate is US $106.00 plus $11.00 postage and handling.  If
you would like a sample copy with information on how to order, or
information on submitting a paper for publication, please send email to
Donna Moore, Editorial Coordinator at the following address:
clayton@almaden.ibm.com.

The Fall, 1992 issue has just been published.  It is a special issue on
DOCUMENT IMAGE ANALYSIS TECHNIQUES.  The Guest Editors are Rangachar
Kasturi and Lawrence O'Gorman.

INTELLIGENT FORMS PROCESSING SYSTEMS by Richard Casy, David Ferguson, K.
Mohiuddin, and Eugene Walach

A COMPUTATIONAL MODEL FOR RECOGNITION OF MULTIFONT WORD IMAGES
by Tin Kam Ho, Jonathan J. Hull, and Sargur N. Srihari

TEXT SEGMENTATION USING GABOR FILTERS FOR AUTOMATIC DOCUMENT PROCESSING
by Anil K. Jain and Sushil Bhattacharjee

THINNING AND SEGMENTING HANDWRITTEN CHARACTERS BY LINE FOLLOWING
by Claude Chouinard and Rejean Plamondon

SEGMENTATION-RECOGNITION ALORITHM FOR ZIP CODE-FIELD RECOGNITION
by F. Kimura and M. Shridhar

EXTRACTION OF DATA FROM PREPRINTED FORMS
by Suzanne Leobowitz Taylor, Richard Fritzson, and Jon A. Pastor

SEGMENTATION AND PRELIMINARY RECOGNITION OF MADRIGALS NOTATED IN
WHITE MENSURAL NOTATION
by Nicholas P. Carter

DOCUMENT IMAGE ANALYSIS: A Bibliography
by Rangachar Kasturi and Lawrence O'Gorman

------------------------------

Date: 24 Sep 92 07:52:14 GMT
From: edelman@wisdom.weizmann.ac.il (Edelman Shimon)
Organization: Weizmann Institute of Science, Dept. of Applied Math & CS
Subject: visually guided grasping: summary

Thanks to all who responded to my query. A summary of the responses
follows.

Shimon

*****
Date: Sun, 13 Sep 92 12:13:46 CDT
From: krao@ra.csc.ti.com (Kashi Rao)

 > Date: 20 Aug 92 17:02:58 GMT
 > From: johnson@akula.llnl.gov (  Robert Johnson          )
 > Organization: Lawrence Livermore National Laboratory
 > Subject: 3D Grasp Planning

 >    I am looking for references (and/or software) on 3D representations
 > and algorithms suitable for robot grasp planning from range (or stereo)
 > images.

 > [ ... ]

We did some work on these lines. The reference below describes the
work.

@ARTICLE(Rao-etal89,
	AUTHOR = "K. Rao and G. Medioni and H. Liu and G. Bekey",
	TITLE = "Shape Description and Grasping for Robot Hand-Eye Coordination",
	JOURNAL = "IEEE Control Systems Magazine: Special Issue on Robotics and Automation",
	YEAR  	= "1989",
	MONTH   = feb,
        VOLUME  = 9,
        NUMBER  = 2,
        PAGES   = "22-29"
	)

 Kashi Rao
 Image Understanding
 Corporate Research, Texas Instruments
 Dallas, Texas 75265
 krao@csc.ti.com
 214-995-0335

*****
Date: Fri, 18 Sep 92 10:00:30 METDST
From: Franc.Solina@ninurta.fer.yu
University of Ljubljana
Faculty of Electrical and Computer Engineering, Ljubljana

[ ... ] I am aware about some work on grasping that involved my method
of recovering superquadric volumetric models from range data (IEEE
PAMI-12(2):131-147, 1990).  I am afraid that I don't have their papers
at hand but one group that worked on the problem of grasping is at
Columbia University (dr. Peter Allen) and another at Carnegie_Mellon
University (dr. Eric Krotkov). I am sure that they would be happy to
send you their latest work on that subject.

-Franc Solina

*****
Date: Fri, 18 Sep 92 08:45:24 -0400
From: "sal" <sal@touch.cis.upenn.edu>

[ ... ]
My dissertation (which I will defend next Friday)
"Learning and Forgetting for Perception Action: A Projection Pursuit
and Density Adaptive Approach," deals with learning
to grasp based on shape descriptors (superquadrics) and object pose
using  memory-based learning approaches.

[ ... ] There is very little other work in _shape_ driven
grasping that I have found. [ ... ]

Marcos Salganicoff
GRASP Lab
University of Pennsylvania
Philadelpha, PA

*****
Date: Fri, 18 Sep 1992 09:06:08 -0500
From: Whoi-Yul Kim <wyk@utdallas.edu>

I know the professor Seth Hutchinson at Univ. of Illinois has done
quite a bit of research in this area. He may be reached via e-mail at
seth@mingus.cs.uiuc.edu.

yura

*****
Date: Fri, 18 Sep 1992 12:16:11 -0400
From: Haim Levkowitz <haim@cs.ulowell.edu>

[ ... ]
Sharon Stansfield (formerly of UPenn, now at Sandia Nat'l Labs) did
some work on grasping in the mid-late eighties. Her's was more (I
think) from the tactile point of view but you might want to check how
much attention she paid to aspects of visual processing.  Also, I
don't know what exactly she's been doing in the last 4-5 years, so
check it out.

Haim Levkowitz, Ph. D.
Assistant Professor
Institute for Visualization and Perception Research
Graphics Research Laboratory
Department of Computer Science				
University of Massachusetts Lowell
One University Avenue					
Lowell, MA 01854					
								
*****

Date: 	Fri, 18 Sep 1992 15:50:31 -0400
From: Michael Julian Black <black@vis.toronto.edu>

You might look at the following:

@INPROCEEDINGS{cipolla,
	AUTHOR = {R.~Cipolla and A.~Blake},
	TITLE = {Surface orientation and time to contact from image
divergence and deformation},
	BOOKTITLE = {Proc.~of Second European Conference on Computer
Vision, ECCV-92},
	EDITOR = {G.~Sandini},
	SERIES = {LNCS-Series},
	VOLUME = {588},
	PUBLISHER = {Springer-Verlag},
	MONTH = may,
	PAGES = {187--202},
	YEAR = {1992}}

Hope it helps.

Michael Black
Department of Computer Science
University of Toronto

*****

Date: Fri, 18 Sep 92 17:14:48 EDT
From: jhc@watson.ibm.com

Sharon Stansfield published several papers on qualitative shape for
object locating and grasp pre-forming. Below are two references.   -- Jon

"Knowledge-based Robotic Grasping", Sharon Stansfield, Proceedings of the
1990 IEEE Conference on Robotics and Automation, pp. 1270-1275.

"A Robotic Perceptual System Utilizing Passive Vision and Active Touch",
Sharon Stansfield, The International Journal of Robotics Research,
vol. 7, No. 6, December 1988, pp. 138-161.

*****

Date: Sat, 19 Sep 92 14:34:16 bst
From: rbf@aifh.edinburgh.ac.uk

[ ... ]
I would also be interested in the references that you have collected.
[ ... ]
I have received some from other sources and these are included below.


Dr. Robert Fisher
Dept. of Artif. Intel., Univ. of Edinburgh

[ REF LIST FOLLOWS ]

Date: Sat, 22 Aug 92 00:19:00 +0200
From: tmb@idiap.ch (Thomas M. Breuel)

I think people at the MIT AI lab have done a lot of work on this.

Try sending mail to "publications@ai.mit.edu" to get a list of
technical reports (your library may also have them on microfilm).

					Thomas.

*****
Date: Fri, 21 Aug 92 21:05:50 EDT
From: Sing.Bing.Kang@IUS4.IUS.CS.CMU.EDU

I'm afraid I can give you only very sketchy references (based on memory) as
I am away this summer, but I can think of three possibilities:

1. Octree representation
   You should check out IROS 91 proceedings; it has a paper on grasp planning
   that you might be interested in. Basically the approach is to slice the
   volume and from analysis of adjacent slices, produces possible grasp sites.
   The authors are from Italy, if I am not mistaken.
2. Boundary/surface extraction
   Stansfield of Sandia Labs did her Ph.D. on grasp planning using range
   data. She has a paper in ICRA 87 or 88.
3. Superquadric representation
   This has been used at CMU. The project involves modeling rocks using
   superquadrics and aligning the gripper parallel to the major axis prior to
   picking up the rock. If you require more information, you can e-mail
   ki@cs.cmu.edu (Katsushi Ikeuchi).

SIng Bing Kang
The RObotics Institute
Carnegie Mellon University
Pittsburgh, PA 15213

NOTE:
     IROS = COnference on Intelligent Robots and Systems
 ?      1. Conference on Intelligent Robotic Systems for Space Exploration (3rd : 1991
           : Rensselaer Polytechnic Institute)
             Proceedings / Third Annual Conference on Intelligent Robotic Systems for
           Space Exploration, Rensselaer Polytechnic Institute, Troy, New York,
           November 18-19, 1991 ; sponsored by NASA Center for Intelligent...  Los
           Alamitos, Calif. : IEEE Computer Society Press, c1991.
               UCB   Engin     TL875 .C67 1991
               UCSC  Science   TL875.C67 1991
               UCSD  S & E     TL875 .C67 1991

     ICRA = Int'l conf. on robotics and automation
        2 ROBOTICS AND AUTOMATION        INTERNATIONAL CONFE  TJ211 I5 1986
        3 ROBOTICS AND AUTOMATION        INTERNATIONAL CONFE  TJ211 I5 1987

*****

Date: Mon, 24 Aug 92 9:31:55 PDT
From: Kenneth Goldberg <goldberg@iris.usc.edu>

[ ... ]  I have been working in this area for several years
and recently received a 3-year NSF award for "Reduced Complexity Manipulation
with the Parallel-Jaw Gripper".  I would like to discuss your problem
further so that I can send you some relevant papers.  Also, there may
be an opportunity for us to collaborate.  Please give me a call at

Ken Goldberg
Asst. Prof, CS and EE-Systems
USC

*****

Date: Mon, 24 Aug 92 16:13:20 -0400
From: John S. Zelek  <zelek@Thunder.McRCIM.McGill.EDU>
Subject: Re:  response

international journal of robotics reserch. vol.8, no.4,
pp. 92-112, aug. 1989.
Ronald C. Arkin 'Motor Schema Based Mobile robot Navigation

also look at the last few years of ieee Robotics and automation
conference proceedings

*****
Date: Tue, 25 Aug 92 15:13:19 BST
From: ph@physiology.oxford.ac.uk (Patrick Haggard)

I'm well out of touch with this area, but every time I open
IEEE robotics and automation I seem to see something on this.
The work of Kumar and Waldron always seems conceptually good
to me, and Cutkosky is worth reading to.  He wrote an
introductory book a few years ago, which has a lot of interesting
ideas.
1. Cutkosky, Mark R.
     Robotic grasping and fine manipulation / Mark R. Cutkosky.  Boston :
   Kluwer Academic Publishers, c1985.
     Series title:  Kluwer international series in engineering and computer
   science ; SECS 6.
     Series title:  The Kluwer international series in engineering and computer
   science ; Robotics.
       UCB   Engin     TJ211 .C871 1985
       UCD   Phys Sci  TJ211 .C87 1985
       UCLA  Engr/Math TJ 211 C87 1985
       UCSB  Library   TJ211 .C87 1985 Sci-Engrg
       UCSC  Science   TJ211.C87 1985
       UCSD  S & E     TJ211 .C87 1985

Patrick Haggard,
Oxford University Laboratory of Physiology,
Parks Road,
Oxford,
OX1 3PT
England

*****
Date: Wed, 26 Aug 92 11:44:42 +0200
From: zadel@fides.neuroinformatik.ruhr-uni-bochum.de (Stefan Zadel)

[ ... ]

I have started some work related to this, but I will use a simulation
of a multifingered robot hand, and I will use algorithms of the
domain of neural computation.
You are tackling a very difficult problem that has not been solved
yet. But for references you should check the last years' issues of
the Proceedings of the IEEE International Conference of Robotics and
Automation and try to find something with the Science Citation Index
(SCI).
Good luck!

Stefan Zadel
(zadel@neuroinformatik.ruhr-uni-bochum.de)
Inst. f. Neuroinformatik, ND 03 -- Ruhr-Universitaet Bochum
   Universitaetsstr. 150 -- D-W 4630 Bochum 1 -- Germany

*****
Date: Wed, 26 Aug 92 19:13:32 MDT
From: Lance Gatrell (303) 977-2052 <gatrell@saturn.den.mmc.com>

I saw your request for info on 3D grasp planning.
I did my MS thesis on CAD based grasp planning.  They were
3D models.  The parallel jaw gripper had to be able to plan a
grasp from any orientation.  What I did (to simplify the computations),
was to rotate the model as needed so that the pair of faces that I was
planning a grasp on were parallel to the XY plane.  After determining
the "quality" of the grasp, I unrotated the gripper.  This gives you
what you were asking for, I believe.

You can read about in the proceedings of the 1989 IEEE Conference on
Robotics and Automation, Vol. 1 (as I recall), entitled something like
"CAD-Based Grasp Planning Using Polygons, Edges, and Vertexes," author
Lance B. Gatrell.

I'm curious to know if this helps, and what happens with your work.

Lance B. Gatrell

**********************************************************************
Dr. Shimon Edelman             Internet: edelman@wisdom.weizmann.ac.il
Dept. of Applied Mathematics and Computer Science
The Weizmann Institute of Science
Rehovot 76100, ISRAEL

------------------------------

Date: Thu, 24 Sep 1992 11:11:20
From: gilberto.campos@cen.jrc.it (Gilberto Campos)
Subject: Range Image Biblio Survey - Results
Status: RO

Some days ago, I posted a request for pointers to the following subjects:
    1.Techniques for range finding and range image acquisition;
    2.Range Image segmentation;
    3.Geometrical reasoning for world modelling and model matching;

I got several pointers to subjects 2 and 3 and none for subjet 1. Follows a
list of theses references.

I want to thank the following people for their contribution:

    Michah Lerner         (lerner@division.cs.columbia.edu)
    Jose E. Hernandez     (jeh@llnl.gov)
    Andrew J. Stoddart    (a.stoddart@ee.surrey.ac.uk) 

Special thanks to:

    Li Ziqing             (ezli@ntu.ac.sg)
    Ales Leonardis        (ales@grip.cis.upenn.edu)

@InProceedings{Li-Tokyo-89,
  author = {S. Z. Li},
  title = {``{A} curve analysis approach to surface feature extraction
from range image''},
  booktitle = {Proceedings of International Workshop on Machine
Intelligence and Vision},
  year = {1989},
  pages = {},
  address = {Tokyo, Japan},
  month = {April}
}

@InProceedings{Li-Amsterdam-89,
  author = {S. Z. Li},
  title = {``{3D} object recognition from range images: Computational
framework and neural networks''},
  booktitle = { Proceedings of 2nd International Conference on
Intelligent Autonomous Systems},
  pages = {100-110},
  address = {Amsterdam, Netherlands},
  month = {December},
  year = {1989}
}


@Article{Li-IJCV-90,
  author = {S. Z. Li},
  title = {``{Invariant} surface segmentation through energy minimization
with...}
  journal = {IJCV},
  year = {1990},
  volume = {5},
  number = {2},
  pages = {161-194}
}


@InProceedings{Li-ICCV-90,
  author = {S. Z. Li},
  title = {``{Reconstruction} without Discontinuities''},
  booktitle = ICCV90,
  pages = {709-712},
  address = {Osaka, Japan},
  month = {December},
  year = {1990}
}


@InProceedings{Li-SCIA-91,
  author = {S. Z. Li},
  title = {``{Mapping} from pixels to models: {A} connectionist approach''},
  booktitle = {Proceedings of The 7th Scandinavian Conference on Image
Ananlysis},
  pages = {},
  address = {Copenhagen, Demark},
  month = {August},
  year = {1991}
}


@PhDThesis{Li-Thesis-91,
 author = {S. Z. Li},
 title = {{Towards 3D Vision from Range Images: An Optimisation Framework
and...}
 school = {University of Surrey},
 address = {Guilford, Surrey, UK},
 month={July},
 year = {1991}
}


@article{Li-IVC,
  author = {S. Z. Li},
  title = {``{Object} recognition from range data prior to segmentation''},
  journal = {Image and Vision Computing},
  volume=10,
  year = {1992}
%  number=4,
%  month={July},
}


@article{Li-IU,
  author = {S. Z. Li},
  title = {``{Towards 3D} vision from range images: An optimization
framework}
  journal = {CVGIP: Image Understaning},
  volume=55,
  number=3,
  pages={231-260},
  month={May},
  year = {1992}
}


@article{Li-PR,
  author = {S. Z. Li},
  title = {``{Matching:} invariant to translations, rotations and scale
changes''},
  volume=25,
  number=6,
  month={June},
  year = {1992}
}


@Book{besl88,
  author =      "P. J. Besl",
  title =       "Surfaces in Range Image Understanding",
  publisher =   "Springer-Verlag",
  year =        "1988",
  OPTeditor =   "",
  OPTvolume =   "",
  OPTseries =   "",
  OPTaddress =  "",
  OPTedition =  "",
  OPTmonth =    "",
  OPTnote =     ""
}

@Article{besl86,
  author =      "P. J. Besl and R. C. Jain",
  title =       "Invariant surface characteristics for  three
                 dimensional object recognition in range images",
  journal =     "Computer Vision, Graphics, and Image Processing",
  year =        "1986",
  volume =      "33",
  number =      "1",
  pages =       "33-88",
  OPTmonth =    "",
  OPTnote =     ""
}

@Article{taubin91,
  author =      "G. Taubin",
  title =       "Estimation of Planar Curves, Surfaces, and Nonplanar Space
Curves Defined by Implicit Equations with Applications to Edge and Range
Image Segmentation",
  journal =     "IEEE Transactions on Pattern Analysis and Machine
                 Intelligence",
  year =        "1991",
  volume =      "PAMI-13",
  number =      "11",
  pages =       "1115-1138",
  month =       "November",
  OPTnote =     ""
}

@Article{bolle86,
  author =      "R. M. Bolle and D. B. Cooper",
  title =       "On Optimally Combining Pieces of Information, with
Application to Estimating 3-D Complex-Object Position from Range Data",
  journal =     "IEEE Transactions on Pattern Analysis and Machine
                 Intelligence",
  year =        "1986",
  volume =      "8",
  number =      "5",
  pages =       "619-638",
  month =       "September",
  OPTnote =     ""
}

@Article{besl:acm,
  author =      "P. J. Besl and R. C. Jain",
  title =       "Three-Dimensional Object Recognition ",
  journal =     "ACM Computing Surveys",
  year =        "1985",
  volume =      "17",
  number =      "1",
  OPTpages =    "",
  month =       "March",
  OPTnote =     ""
}

@Article{besl:pami,
  author =      "P. J. Besl and R. C. Jain",
  title =       "Segmentation through variable-order surface fitting",
  journal =     "IEEE Transactions on Pattern Analysis and Machine
                 Intelligence",
  year =        "1988",
  volume =      "PAMI-10",
  number =      "2",
  OPTpages =    "",
  month =       "March",
  OPTnote =     ""
}

@PhdThesis{fan88,
  author =      "T. J. Fan",
  title =       "Describing and Recognizing 3-D Objects Using Surface
Properties",
  school =      "University of Southern California",
  year =        "1988",
  OPTaddress =  "",
  month =       "August",
  note =        "Technical report IRIS 237"
}


@InProceedings{leonardis90b,
  author =      "A. Leonardis and A. Gupta and R. Bajcsy",
  title =       "Segmentation as the Search for the Best Description of the
Image in Terms of Primitives",
  booktitle =   "Third International Conference on Computer Vision",
  year =        "1990",
  OPTeditor =   "",
  pages =       "121-125",
  organization = "IEEE",
  OPTpublisher = "",
  address =     "Osaka, Japan",
  month =       "December",
  OPTnote =     ""
}

Gilberto Campos                    |   
Joint Research Centre of Ispra     |   E-Mail: gilberto.campos@cen.jrc.it
T.P.270                            |   
21020 ISPRA (VA)                   |      Tel: + 39 + 332 + 785762
ITALY                              |      Fax: + 39 + 332 + 789185

------------------------------

Date: Fri, 25 Sep 92 19:33:12 -0400
From: mike@PARK.BU.EDU (Michael Cohen)
Subject: CFP: World Congress on Neural Networks

---CALL FOR PAPERS---

WORLD CONGRESS ON NEURAL NETWORKS
1993 INTERNATIONAL NEURAL NETWORK ANNUAL MEETING
July 11--15, 1993
Portland Convention Center
Portland, Oregon

This international research conference will be the largest and most 
interdisciplinary meeting in 1993 covering all the areas relevant to  
neural network research. Neural network models in psychology and 
cognitive science, neuroscience and neuropsychology, engineering and 
design, technology and applications, and computational and mathematical 
analysis will all be featured. The meeting structure will particularly 
emphasize the dynamic interplay of neurobiological modelling with 
advanced engineering and technological applications. Hybrid systems 
wherein neural network models are linked to fuzzy, genetic, and symbolic 
models are also most welcome. 

GENERAL CHAIR:                 George Lendaris
PROGRAM CHAIRS:                Stephen Grossberg and Bart Kosko 
COOPERATING SOCIETIES CHAIR:   Mark Kon 



Plenary Lectures include:

3-D VISION AND FIGURE-GROUND POP-OUT, Stephen Grossberg
COHERENCE AS AN ORGANIZING PRINCIPLE OF CORTICAL FUNCTION, Wolf Singer 
REAL-TIME ON-CHIP LEARNING IN ANALOG VLSI NETWORKS, Carver Mead 
INTELLIGENT CONTROL USING NEURAL NETWORKS, Kumpati Narendra 
NEURAL FUZZY SYSTEMS, Bart Kosko



Tutorials, which will be offered on Sunday, July 11, 1993, include: 

ADAPTIVE RESONANCE THEORY, Gail Carpenter 
BIOLOGICAL VISION, V.S. Ramachandran 
COGNITIVE SCIENCE, David Rumelhart 
COGNITIVE NEUROSCIENCE, Robert Desimone 
NEURAL COMPUTATION AND VLSI, Eric Schwartz 
NEURAL CONTROL AND ROBOTICS, Michael Kuperstein 
NEURAL FUZZY SYSTEMS, Fred Watkins 
NEUROBIOLOGY AND CHAOS, Walter Freeman 
PRACTICAL APPLICATIONS OF NEURAL NETWORK THEORY, Robert Hecht-Nielsen 
STRUCTURAL AND MATHEMATICAL APPROACHES TO SIGNAL PROCESSING, S.Y. Kung 
SUPERVISED LEARNING, Hal White 



PROGRAM COMMITTEE: 

D. Alkon, S. Amari, J. Anderson, P. Baldi, A. Barto, D. Bullock, J. Byrne, G.
Carpenter, D. Casasent, T. Caudell, R. Chellappa, M. Cohen, L. Cooper, W.
Daugherty, J. Daugman, J. Dayhoff, R. Desimone, R. Eckmiller, B. Ermentrout,
K. Fukushima, S. Gielen, L. Giles, P. Gochin, R. Granger, S. Grossberg, A.
Guez, D. Hammerstrom, R. Hecht-Nielsen, J. Houk, W. Karplus, S. Kelso, 
B. Kosko, S.Y. Kung, M. Kuperstein, D. Levine, C. von der Malsburg, E. Marder, 
A. Maren, J. Marshall, J. McClelland, E. Mingolla, K. Narendra, H. Ogmen, 
E. Oja, L. Optican, F. Pineda, V.S. Ramachandran, D. Rumelhart, E. Schwartz, 
M. Seibert, J. Shynk, D. Specht, H. Szu, R. Taber, Y. Takefugi, J. Taylor, 
P. Werbos, H. White, B. Widrow, R. Williams 



Technical Sessions include:

TOPIC                                SESSION CHAIRS 

Biological Vision                    C. von der Malsburg, V.S. Ramachandran 
Machine Vision                       R. Chellappa, K. Fukushima 
Speech and Language                  M. Cohen, D. Rumelhart 
Biological Sensory-Motor Control     A. Barto, S. Kelso 
Robotics and Control                 M. Kuperstein, K. Narendra 
Supervised Learning                  L. Cooper, P. Werbos 
Unsupervised Learning                G. Carpenter, E. Oja 
Pattern Recognition                  T. Kohonen, D. Specht 
Local Circuit Neurobiology           J. Byrne, J. Houk 
Cognitive Neuroscience               R. Desimone, L. Optican 
Intelligent Neural Systems           S. Grossberg, D. Levine 
Neural Fuzzy Systems                 W. Daugherty, B. Kosko 
Signal Processing                    S.Y. Kung, B. Widrow 
Neurodynamics                        S. Amari, H. White 
Electro-Optical Neurocomputers       L. Giles, H. Szu 
Associative Memory                   J. Anderson, J. Taylor 
Applications                         J. Dayhoff, R. Hecht-Nielsen 



International Neural Network Society 

President:                        Paul Werbos 
President-Elect & Treasurer:      Harold Szu 
Secretary:                        Judith Dayhoff 



Board of Governors 

Shun-ichi Amari          Stephen Grossberg
Richard Andersen         Mitsuo Kawato 
James A. Anderson        Christof Koch 
Andrew Barto             Teuvo Kohonen 
Gail Carpenter           Bart Kosko 
Walter Freeman           Christoph von der Malsburg 
Kunihiko Fukushima       David Rumelhart 
Lee Giles                Bernard Widrow 



Cooperating Societies include:

European Neural Network Society 
Japanese Neural Network Society 
IEEE Neural Networks Council 
IEEE Computer Society 
International Fuzzy Systems Association 



Call for Papers

Papers must be received by January 15, 1993. International authors should
submit their work via Air Mail or Express Courier so as to ensure timely
arrival. All submissions will be acknowledged by mail, and accepted papers
will be published as submitted. Papers will be reviewed by session co-chairs
and the program committee, and all authors will be informed of the decision.
All papers accepted for presentation will be published in full in the
Conference Proceedings, which is expected to be available at the conference
for distribution to all regular conference registrants. 

Six (6) copies (one original and five copies) of the paper are required for
submission. Do not fold or staple the original camera-ready copy. The paper
must be complete within 4 pages, including figures, tables, and references,
and should be written in English. There will be a charge of $20 per page for
papers exceeding 4 pages. Checks for over-length charges should be made
payable to WCNN'93, and must be included with the submitted paper; if the
paper is not accepted, the check will be returned. Only complete papers will
be considered. Papers must be submitted camera-ready on 8-1/2" x 11" white
paper with one-inch margins on all four sides. Papers should be prepared by
typewriter or letter quality printer in one-column format, single-spaced, in
Times Roman or similar type style of 10 points or larger, and printed on one
side of the page only. All text, figures, captions, and references must be
clean, sharp, readable, and high contrast. FAX submissions are not acceptable.
Centered at the top of the first page should be the complete title, author
name(s), affiliation(s), and mailing address(es). This is to be followed by a
blank space, then the abstract (up to 15 lines), followed by the text. In an
accompanying letter, the following information must be included:

Full title of the paper 
Corresponding author name, mailing address, telephone and fax numbers 
Technical session (1st and 2nd choices) 
Oral or poster session preferred 
Presenter name, mailing address, telephone and fax numbers 
Audio/Visual requirements 



Send papers to:


WCNN'93
Talley Management Group Inc.
1825 I Street NW
Suite 400
Washington, DC 20006
TEL: (609) 845-1720
FAX: (609) 853-0411



Registration Fees:


MEETING:
               Before          Before          After 
               01/15/93        06/15/93        06/15/93

Member         $175            $270            $350

Non-Member *   $275            $370            $450

Student         $50             $75             $95

* Includes a 1993 INNS membership and a 1-year subscription to the INNS 
  journal Neural Networks


TUTORIALS:
Member/        $225            $295            $345
Non-Member
Student         $50             $75             $95 
 
For additional information regarding the meeting, including special travel
rates, hotels, the planning of exhibits, or INNS membership please call or 
fax the numbers listed above. 

------------------------------

End of VISION-LIST digest 11.36
************************
Newsgroups: comp.ai,comp.ai.neural-nets,comp.theory