Date: 06 Apr 94 10:41:27-PST
From: Vision-List moderator Phil Kahn <Vision-List-Request@TELEOS.COM>
Errors-to: Vision-List-Errors@TELEOS.COM
Reply-to: Vision-List@TELEOS.COM
Subject: VISION-LIST digest 13.16
To: Vision-List@TELEOS.COM

VISION-LIST Digest    Wed Apr 06 10:41:28 PDT 94     Volume 13 : Issue 16

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Today's Topics:

 Face images
 Need pose estimation from line correspondences
 Lectureship in Vision Group at Univ of Surrey, U.K.
 CFP: IJCAI-95
 Advance Program: IEEE Workshop on Visualization and Machine Vision
 Preliminary Program: Workshop on Visual Behaviors (long)
 AI/GI/VI '94 Workshops/Tutorials - 16 to 17 May 1994
 COMPMED 94 FINAL SCHEDULE

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

Date: Tue, 5 Apr 1994 08:04:39 GMT
From: ackerman@iam.unibe.ch (Bernard Achermann)
Subject: Face images
Keywords: computer vision, face recognition

Hello everybody,

Several days ago I asked for informations about data bases containing
face images. And I promised a summary of my 'investigations'. Ok, here
it is.

First of all: Thanks to everyone who answered to my posting !!!

I found the following data bases:

1) MIT face database
   *****************

   ftp:         whitechapel.media.mit.edu
   
   directories: /pub/eigenfaces
                /pub/images

   short description:
   
   This database obviously has been established by M. Turk and
   Pentland. It contains 2592 images of 16 persons. For each person
   there are 27 images taken under different conditions (lighting,
   scale, ...). And for each image there are six levels of a 
   gaussian pyramid. 

   The images are stored in the file faceimages.tar.Z. 

   Additionally there's an example to the Eigenface paper of Turk/
   Pentland. It's stored in the files faceimages-sample.tar.Z and
   face-recognition.tar.Z.

   Until now this is the best database I found for face recognition
   purposes.


2) Imagery of the VISION-LIST-ARCHIVE
   **********************************

   ftp:         ftp.teleos.com

   directories: /VISION-LIST-ARCHIVE/IMAGERY/FACES

   short description:

   This database is a subset of the MIT face database. It contains
   68 images.


3) USENIX face database (main site)

   ftp:         ftp.uu.net
  
   directories: /published/usenix/faces

   short description:

   This is a database containing bitmaps of faces in a special format
   for programs that show an image of a particular Internet user (i.e.
   certain versions of finger). There are several archives (see below)
   containing such bitmaps of users. Each user is stored in separate
   file which contains additional information (name, institution ...).
   Until now I didn't yet take a closer look at these images, but it
   seems very probable that these USENIX collections are rather 
   heterogeneous (quality, illumination, ...).
   


4) USENIX face database (Indiana)

   ftp:         cs.indiana.edu

   directories: /pub/faces

   short description:

   see point 3)


5) USENIX face database (London)

   ftp:         doc.ic.ac.uk

   directories: /faces

   short description:

   see point 3)



I'm still looking for other sources of faces images. If
somebody finds some other data bases, please mail it to
me for I can update this list. Corrections and suggestions
are always appreciated!

See you


*  Bernard Achermann                                                      *
*                                                                         *
*  E-Mail:   ackerman@iam.unibe.ch                                        *
*  Tel.  :   + 41 31 631 49 02                                            *

*  Institut fuer Informatik und     *  Institute of Computer Science and  *
*         angewandte Mathematik     *                Applied Mathematics  *
*  Universitaet Bern                *  University of Bern                 *
*  Laenggass-Strasse 51             *  Laenggass-Strasse 51               *
*  CH-3012 Bern                     *  CH-3012 Bern (Switzerland)         *

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

Date: Wed, 30 Mar 1994 14:25:59 -0800
From: kapu@cs.washington.edu
Subject: Need pose estimation from line correspondences

I'm writing software for object recognition, and I need a piece of
software for pose estimation. I currently use software that gives
me pose estimation using pairs of corresponding points (3d model 
points and 2d image points).

The primitives that I would like to use are lines, as lines contain
more information than points. Would anyone know/have any software
that would compute pose using line correspondences?

Please reply with e-mail: kapu@cs.washington.edu

Thanks!

 --Kari Pulli

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

Date: Wed, 30 Mar 1994 10:25:42 +0100 (BST)
From: J.Illingworth@ee.surrey.ac.uk
Subject: Lectureship in Vision Group at Univ of Surrey, U.K.
 
                   UNIVERSITY OF SURREY
                   ====================

      Department of Electronic and Electrical Engineering

        Vision, Speech and Signal Processing Group
        ******************************************


The Department has a Lectureship vacancy for a high-quality, research active
candidate in the area of Computer Vision, Image Processing and Pattern
Recognition. The Department is a large grade-5 research rated Department,
(one of only 6 in Elec Eng). 

The Vision, Speech and Signal Processing Group is one of the largest computer 
vision groups in the U.K. (over 30 members including academic staff, 
Research Fellows and Research  Students). It is headed by
Professor Josef Kittler and has a large portfolio of projects funded both
nationally and internationally. Facilities are excellent and include several
specialist facilities such as an active stereo vision head, a range data
scanner and robotic facilities. The group runs an advanced MSc course entitled
``Signal Processing and Machine Intelligence''.

The successful candidate would be expected to teach in the general software
area.

The University of Surrey is situated 30 miles from London in Guildford. 
Guildford is a historic town with many excellent modern 
facilities: good shopping, extensive sports facilities and many cultural and
entertainment venues (cinemas, theatres, Philharmonic Orchestra etc).
There are excellent communications links by road and rail and the
town is situated about 30 minutes from both of Londons major international 
airports (Heathrow and Gatwick). The University is on a campus site only ten
minutes walk from the town centre.


The appointment will be on National Lecturers scales in the range 
13,601-25,107 GBP, dependent on age and experience.
The closing date for consideration is 22 April 1994.
Applications in the form of a curriculum vitae (2 copies) with the names and
addresses of 3 referees should be sent to the Personnel Office (CVC/mah),
University of Surrey, Guildford GU2 5XH.

Anyone requiring informal details may contact the senior group members:

Professor Josef Kittler (0483) 259294
Dr John Illingworth     (0483) 259835
Dr Maria Petrou         (0483) 259801

Dr. J. Illingworth,                    | Phone: (0483) 259835
V.S.S.P. Group,                        | Fax  : (0483) 34139	
Dept of Electronic and Electrical Eng, | Email: J.Illingworth@ee.surrey.ac.uk 
University of Surrey,                  |       
Guildford,                             |
Surrey GU2 5XH                         |  
United Kingdom                         |  

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

Date: Fri, 1 Apr 94 11:18:58 PST
From: Rick Skalsky <skalsky@aaai.org>
Subject: CFP: IJCAI-95


                     CALL FOR PARTICIPATION: IJCAI-95

IJCAI-95 will take  place at the  Palais de Congres,  Montreal, August  20-25
1995.

The biennial IJCAI  conferences are  the major forums  for the  international
scientific exchange and presentation of AI research. The Conference Technical
Program will include workshops, tutorials, panels and invited talks, as  well
as tracks for paper and videotape presentations.

PAPER TRACK: SUBMISSION REQUIREMENTS AND GUIDELINES

Topics of Interest

Submissions are invited on substantial, original, and previously unpublished
research in all aspects of AI, including, but not limited to:

* Architectures and languages for AI (e.g. parallel hardware and software for
  building AI systems)
* Artistic, entertainment and multimedia applications.
* Automated   reasoning   (e.g.  theorem   proving,   abduction,   automatic
  programming, search,  context  management  and  truth  maintenance systems,
  constraint satisfaction, satisfiability checking)
* Cognitive modeling (e.g. user models, memory models)
* Connectionist and PDP models
* Distributed AI, autonomous agents, multi-agent systems and real-time
  issues.
* Intelligent teaching systems
* Knowledge Engineering and Principles of AI applications (e.g. for design,
  manufacturing control, grand challenge applications)
* Knowledge representation  (e.g. logics  for knowledge,  action, belief  and
  intention, nonmonotonic  formalisms,  complexity  analysis,  languages
  and systems for representing knowledge)
* Learning, knowledge acquisition and case-based reasoning
* Logic programming (e.g. semantics, deductive databases, relationships to
  AI knowledge representation)
* Natural language (e.g. syntax, semantics, discourse, speech recognition
  and understanding, natural language front ends, generation systems,
  information extraction and retrieval)
* Philosophical foundations
* Planning and reasoning about action (including the relation between
  planning and control)
* Qualitative reasoning and naive physics (e.g. temporal and spatial
  reasoning, model-based reasoning, diagnosis)
* Reasoning under uncertainty (including fuzzy logic and fuzzy control)
* Robotic and artificial life systems (e.g. unmanned vehicles,
  vision/manipulation systems)
* Social, economic and legal implications
* Vision (e.g. color, shape, stereo, motion, object recognition, active
  vision, model-based vision, vision architectures and hardware, biological
  modeling).

Timetable

Submissions must be received by 6th January 1995. Submissions received  after
that date will be returned unopened.  Authors should note that ordinary  mail
can sometimes be considerably delayed,  especially over the new year  period,
and should take this into account when timing their submissions. Notification
of receipt will  be mailed to  the first author  (or designated author)  soon
after receipt.

Notification of acceptance or rejection: successful authors will be  notified
on or before 20th March 1995.  Unsuccessful authors will be notified by  27th
March 1995. Notification  will be  sent to  the first  author (or  designated
author).

Camera ready copies of the final versions of accepted papers must be received
by the publisher in the USA by 24th April 1995.

Note that at least one  author of each accepted  paper is required to  attend
the conference to present the work.

General

Authors should submit six (6) copies of  their papers in hard copy form.  All
paper submissions  should be  to  the following  address. Electronic  or  fax
submissions cannot be accepted.

IJCAI-95 Paper Submissions,
American Association for Artificial Intelligence,
445, Burgess Drive,
Menlo Park, CA. 94025, USA.

(telephone (415) 328-3123, email ijcai@aaai.org).

Appearance and Length

Papers should be printed on  8.5'' x 11'' or A4  sized paper. They must  be a
maximum of 15 pages long, each page having no more than 43 lines, lines being
at most  140mm long  and with  12 point  type. Title,  abstract, figures  and
references must be included within  this length limit. Papers breaking  these
rules will not be considered for presentation at the conference.

Letter quality  print is  required. (Normally,  dot-matrix printout  will  be
unacceptable unless  truly of  letter quality.  Exceptions will  be made  for
submissions from  countries  where  high  quality  printers  are  not  widely
available.)

Title Page

Each copy of the paper must include  a title page, separate from the body  of
the paper. This should contain:

* Title of the paper
* Full names, postal addresses, phone numbers, fax numbers and email
  addresses (where these exist) of all authors. The first postal address
  should be one that is suitable for delivery of items by courier service
* An abstract of 100-200 words
* A set of keywords giving the area/subarea of the paper and describing the
  topic of the paper. This information, together with the title of the paper,
  will be the main information used in allocating reviewers.
* The following declaration:
   ``This paper has not already been accepted by and is not currently under
     review for a journal or another conference. Nor will it be submitted
     for such during IJCAI's review period.''

Policy on Multiple Submissions

IJCAI will not accept any  paper which, at the  time of submission, is  under
review for a journal or another conference. Authors are also expected not  to
submit  their   papers  elsewhere   during  IJCAI's   review  period.   These
restrictions apply only  to journals  and conferences, not  to workshops  and
similar specialized presentations with a limited audience.

Review Criteria

Papers will be subject to peer review, but this review will not be  ``blind''
(that is, the reviewers will be aware of the names of the authors). Selection
criteria include accuracy and originality of ideas, clarity and  significance
of results and the quality of  the presentation. The decision of the  Program
Committee, taking into  consideration the individual  reviews, will be  final
and cannot be appealed.  Papers selected will  be scheduled for  presentation
and will be printed in the proceedings. Authors of accepted papers, or  their
representatives, are expected to present their papers at the conference.

Distinguished Paper Awards

The Program  Committee will  distinguish one  or more  papers of  exceptional
quality for special awards.  This decision will in  no way depend on  whether
the authors choose to enhance their paper with a video presentation.

Other Calls

Calls for  tutorial  and  workshop  proposals  and  video  presentations  for
IJCAI-95 will be issued shortly.


For questions or comments, (415) 328-3123, email ijcai@aaai.org

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

Date: Tue, 5 Apr 1994 16:22:55 -0400
From: rao@watson.ibm.com
Subject: Advance Program: IEEE Workshop on Visualization and Machine Vision

IEEE WORKSHOP ON VISUALIZATION AND MACHINE VISION

The Westin Hotel, Seattle, Washington June 24, 1994


ADVANCE PROGRAM


``Nonlinear models for representation, compression and
visualization of fluid flow images and velocimetry data,''
Ralph Ford and Robin Strickland
Dept. of Electrical and Computer Engineering
University of Arizona, Tucson, USA


``Boundary segmentation by detection of corner, inflection
and transition points''
Kazuhide Sugimoto                  and     Fumiaki Tomita
Real World Computing Partnership           Electrotechnical Laboratory
                              Ibaraki, Japan				

``Resolving the topological ambiguity in approximating the
isosurface of a scalar function''
Sergey V. Matveyev
Institute for High Energy Physics
Moscow, Russia

``Simulation and visualization of integrated sensory-motor systems''
Suresh B. Marapane and Mohan Trivedi
Electrical and Computer Engineering Department
The University of Tennessee, Knoxville, USA

``Magnetic Contour Tracing''
Carol Orange                     and      Francs Groen
Faculty of Applied Physics                Faculty of Math and Comp. Science
Technical University of Delft	          University of Amsterdam
                           The Netherlands

``Exploring feature detection techniques for time-varying volumetric data''
Zhifan Zhu and Robert Moorhead II
NSF Engineering Research Center for Computational Field Simulation
Mississippi State University, USA

``Feature Visualization''
Deborah Silver and Norman Zabusky
Laboratory for Visiometrics and Modeling
Rutgers University
Piscataway, USA


``From Visualization to Perceptual Organization''
Boon-Lock Yeo                    and      Shih-Ping Liou
Dept. of Electrical Engineering           Imaging Department
Princeton University                      Siemens Corporate Research Inc.
Princeton, USA                            Princeton, USA

``Recognition of human facial expressions using 2-dimensional
physical model,''
Katsuhiro Matsuno, Chil-Woo Lee and Saburo Tsuji
Laboratories of Image Information Science and Technology
Osaka, Japan

``A Markov random fields model for describing unhomogeneous
textures: generalized random stereograms,''
Milan Jovovic
Electrical and Computer Engineering Department
University of Miami, Coral Gables, USA

``Extracting spatio-temporal patterns from geoscience
datasets,''
Edmond Mesrobian, Richard Muntz, Jose Santos, Eddie Shek and William Cheng
Data Mining Laboratory
Computer Science Department
University of California, Los Angeles, USA


PANEL DISCUSSION: Future directions in Visualization and Machine Vision

Panelists:

Lambertus Hesselink, Stanford University
Timothy Newman, National Institute of Health
Ingrid Carlbom, DEC Research Labs
Behzad Kamgar-Parsi, Naval Research Labs

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

Date: Tue, 29 Mar 94 17:58:58 EST
From: iaprwks@horus.cs.virginia.edu
Subject: Preliminary Program: Workshop on Visual Behaviors (long)

                        IAPR / IEEE
                Workshop on Visual Behaviors

          The Westin Hotel --- Seattle, Washington
                       June 19, 1994
                in conjunction with CVPR'94


Few vision researchers question the statement,
 "Vision must be understood as a spatio-temporal process."
However,  there  is  still  considerable  debate  about  the
fundamental  nature  of  that  process.   One major approach
claims that vision (and any perceptual process) can only  be
understood  properly in the context of motivating actions or
tasks.  A  further  pragmatic  observation   is   that   the
complexity concerns require that limited system resources be
allocated dynamically in processing only restricted  spatial
and  temporal  regions  (at  restricted  resolutions).   The
purpose of this workshop is to foster debate and dialogue on
the  fundamental  issues  involved  in  systems that tightly
couple  perception  and  behavior  to  perform  tasks.   The
program   will   consist  of  the  papers  given  below  and
associated system demonstrations.

PROGRAM COMMITTEE:

  Worthy Martin  University of Virginia, General Chair
  Dana Ballard   University of Rochester
  Ruzena Bajcsy  University of Pennsylvania
  Tom Olson      University of Virginia
  Mike Swain     University of Chicago
  John Tsotsos   University of Toronto
  Linda Shapiro  University of Washington, Local Arrangements


             ===========================================
                           IAPR/IEEE
                    Workshop on Visual Behaviors
                 Registration Form - Register Today!
             ===========================================

To register, just send this form  and a check payable in US dollars to:

Prof. W.N. Martin
Department of Computer Science
Thornton Hall
University of Virginia
Charlottesville, Virginia 22093-2442

The check should be made out to: Workshop on Visual Behaviors.

For information send email to martin@virginia.edu
       or call (804) 982-2202 (sorry, no phone registrations).

****************************************************************************

please type or print

Name        ________________________________________________________________
            Last/Family          First         Middle             Badge Name

Company     ________________________________________________________________

Address/Mailstop  __________________________________________________________

City/State/Zip/Country   ___________________________________________________

Daytime Phone _____________________  FAX Number  ___________________________

Email ________________________________
       (special pre-workshop information will be sent via email)

IAPR or IEEE/CS
    Membership Number  _________________________________________________
                           (required for member discount)

Do you have any special needs?  ____________________________________________


Workshop Registration Fee

            Advance (until 5/20/94)     Late (after 5/20/94)
Member             $35                     $50
Nonmember          $50                     $65


Total Enclosed (in U.S. dollars) $ __________
Payment must be enclosed. Please make checks payable to:
   Workshop on Visual Behaviors
All payments must be in U.S. dollars, drawn on U.S. banks.

Method of Payment Accepted
Personal Check	Company Check	Traveler's Check

Registration fee includes workshop attendance and 
one copy of the workshop proceedings.


***************************************************************************

                        =================
                        Hotel Information
                        =================

The Seattle Westin is located in downtown Seattle within easy walking
distance of many restaurants and tourist attractions.
The workshop is being held in conjunction with CVPR in the Seattle Westin.

Transportation to the Seattle Westin from the Seattle-Tacoma Airport can be
booked through Gray Line Coach at the airport. The current price is $12 for
roundtrip transportation. A taxi from the airport to the hotel will cost
approximately $28 one way.

The CVPR conference rate for rooms at the Seattle Westin hotel will be $96
for a single and $111 for a double, plus taxes. The current tax rate is
15.2%. To obtain the conference rates at the Seattle Westin, make your
reservation by Monday May 30 at 5:00 pm Pacific time and mention that you
are attending CVPR.   Reservations made after this date will be accepted by
the hotel on a "space available" basis.  All major credit cards are accepted 
by the hotel.

To make your reservation contact the hotel directly:
The Westin Hotel
1900 Fifth Avenue
Seattle, WA 98101
Phone: (206) 728-1000
Fax: (206) 728-2007



############################################################
#                                                          #
#                 Papers to be Presented                   #
#                                                          #
#                                                          #
############################################################




          Memory Use During Hand-Eye Coordination

      Dana H. Ballard, Mary M. Hayhoe and Jeff B. Pelz
                  University of Rochester


Abstract:

     The very limited  capacity  of  short-term  or  working
memory  is  one  of  the  most  prominent  features of human
cognition.  Most studies have stressed delimiting the  upper
bounds  of this memory in memorization tasks rather than the
performance of everyday tasks.   We  designed  a  series  of
experiments  to  test  the  use  of short-term memory in the
course of a natural hand-eye task where  subjects  have  the
freedom  to  choose their own task parameters.  In this case
subjects choose not to operate at the  maximum  capacity  of
short-term  memory but instead seek to minimize its use.  In
particular, reducing the instantaneous  memory  required  to
perform  the  task  can be done by serializing the task with
eye  movements.   These  eye  movements  allow  subjects  to
postpone  the  gathering  of task-relevant information until
just before it is required.  The reluctance  to  use  short-
term  memory can be explained if such memory is expensive to
use with respect to the cost of the serializing strategy.





******-



Integration of Camera Motion Behaviours for Active Object Recognition

               David Wilkes and John Tsotsos
                   University of Toronto


Abstract:

     The concept of active object recognition, as introduced
in our previous work, relies on the use of image-data-driven
behaviours to drive the camera to special views.  We  review
the  arguments  for  an  active approach, then argue for our
particular choice of behaviours.  We address  the  issue  of
integrating  the  behaviours  into  a  complete  recognition
methodology, and demonstrate its effectiveness in moderately
cluttered environments.  Finally, areas for further work are
identified.





******-



Vision in Man-Made Environments: Looking for Syrup in all the
                         Right Places

                Daniel Fu and Michael Swain
                   University of Chicago


Abstract:

     People are often able to act efficiently in places like
various   grocery  stores,  libraries,  and  other  man-made
domains.  They do so  because  they  have  useful  knowledge
about  how  these  domains  are organized.  In this paper we
show that an everyday  domain,  a  grocery  store,  exhibits
useful regularities an agent can use both to simplify visual
tasks and to perform  efficiently.   We  do  this  by  first
identifying   the   organizations  principles  around  which
grocery  stores  are  structured,  identifying  the   visual
routines   involved,   and  then  showing  how  our  current
implementation, SHOPPER, uses these principles and  routines
to find items in GROCERY WORLD, a simulated grocery store.


******-



The Surface-Attribute Probe: A "Smart" Tool for 3-D Object Recognition

                   Y. Tan and H. Freeman
                     Rutgers University


Abstract:

     This paper describes a new approach  to  the  classical
machine  vision  problem  of 3-D object recognition and pose
determination.  The process  begins  by  extracting  contour
edges  from  a  given  patterned-light  image  of an unknown
object and postulates  an  initial  object  line  structure.
This  line  structure is used to guide placement of a set of
small    surface-attribute-determining    windows,    called
"surface-attribute   probes"   (SAPs),  over  the  image  to
determine whether the areas being examined show the presence
of  one  or more intersecting planar or curved regions.  The
resulting information is used to refine the  object  feature
description,  i.e.,  to determine all face intersections and
characterize each face.  The process is  repeated  until  no
further  refinement  in  region  segmentation  and  surface-
attribute  determination  appears  feasible.   The  ultimate
objective  is  to  obtain (1) an accurate description of the
object line structure, (2) the  orientation  of  all  planar
faces,  and (3) a qualitative characterization of all curved
surfaces.  The segmentation process is guided by recursively
accessing data from the object-model data base, in which the
permissible objects are stored in terms of indexed multiview
representations.  Experimental results are provided, showing
the status of the work to date.


******-



       Spherical Retinal Flow for a Fixating Observer

      Inigo Thomas, Eero Simoncelli and Ruzena Bajcsy
                 University of Pennsylvania


Abstract:

     When  a  human  observer  moves,  the  eye  continually
fixates  on  targets  in  the world.  Although fixation is a
common process in human vision, its role has  not  yet  been
established    for   computational   purposes.    The   main
contribution of this paper is to formalize the retinal  flow
for  a  fixating  observer.   A  further  contribution  -  a
potentially more practical one - is to explore the  role  of
the  periphery  in predicting collision.  Utilizing fixation
is expected to turn out to be especially fruitful  in  light
of  recent  advances  in  computer  vision  for constructing
active head/eye systems [?].

     In this work we make the following assumptions: (i) the
observer  moves  with  respect to the world and fixates on a
target; (ii) the  world  is  rigid,  with  no  independently
moving elements; and (iii) the possible rotation axes of the
eye  lie  on  a  plane  (comparable  to  Listing's   Plane).
Assumptions  (ii)  and (iii) make the problem of determining
retinal flow tractable.

     We first define retinal flow for a 2D universe and then
extend  it  to the full 3D case; the flow in 2D turns out to
form a component of the flow in 3.  The retinal flow  in  3D
will  be  decomposed into longitudinal and latitudinal flow;
the  behavior  of  longitudinal  flow  along   the   retinal
periphery   will   be   further   analyzed  for  interesting
properties.  Finally the results of a  simulated  experiment
on retinal flow at the periphery will be presented.


******-



    Integration and Control of Reactive Visual Processes

           James L Crowley and Jean Marc Bedrune
                         IMAG-LIFIA


Abstract:

     This paper describes a new approach to the  integration
and  control  of  continuously  operating  visual processes.
Visual processes are expressed as transformations which  map
signals  from  virtual  sensors  into  commands  for robotic
devices.  These transformations  define  reactive  processes
which   tightly   couple   perception   and   action.   Such
transformations may be used to control robotic devices,  and
may  also  be  used  to  control  the  fixation  and optical
parameters of  an  active  binocular  head  and  the  visual
processes which interpret visual data.

     Our   approach   takes   inspiration   from   so-called
"behavioural"   approaches  to  mobility  and  manipulation.
However, unlike  most  previous  work,  we  define  reactive
transformations  at  the level of virtual sensors and device
controllers.  This permits a system  to  integrate  a  large
number  of  perceptual  processes and to dynamically compose
sequences of such processes to perform  visual  tasks.   The
transition  between  visual processes is mediated by signals
from a supervisory controller as well  as  signals  obtained
from  perception.   This  method  offers  the possibility of
constructing vision systems with  large  numbers  of  visual
abilities in a manner which is both salable and learnable.

     After  a  review  of  related  work  in  mobility   and
manipulation,  we  adapt  the  reactive process framework to
computer vision.  We define reactive visual processes  which
map information from virtual sensors to device commands.  We
discuss  the  selection  and  control  of  reactive   visual
processes  to  accomplish  visual tasks.  We then illustrate
this approach with a system which  detects  and  fixates  on
moving objects and on human faces.


******-



    Representational Frames in Dynamic Scene Annotation

                      Aaron F. Bobick
                       MIT Media Lab


Abstract:

     One of the tenets of machine vision is that the  choice
of   representation  is  critical  in  describing  a  scene;
representations are selected that make important information
explicit  and that allow domain constraints to be brought to
bear.  For describing dynamics scenes, however, there may be
no  single  representation  appropriate  for  analysis;  the
imagery is changing and the choice  of  best  representation
may  vary  over  time.  We present two examples of where the
selection of representation frame - the coordinate system in
which the representation describes the scene - determined by
the dynamics of the scene.  In the  first  example,  we  use
multiple,   concurrent   representations  to  describe  some
action.  These representations are self-validating,  meaning
that  they  can test for their own applicability.  The final
description of the action is a composite where part  of  the
action  is  described  using  one  system, and the remainder
using another, as determined by the validity measures.   The
second   example  is  a  simple  demonstration  of  how  the
transformation of imagery into the natural coordinate system
of  the  domain  makes  the  application of domain knowledge
simple.  Though  this  has  always  been  the  case,  it  is
particularly    important    in   video   annotation   where
transforming domain  knowledge  into  the  imagery  is  more
difficult  since  the  reference frame of the imagery may be
constantly changing.


******-



 Perception and Action in a Dynamic Three-Dimensional World

                     Frank Z. Brill III
                   University of Virginia


Abstract:

     Part  of  the  artificial  intelligence  community  has
broken  away  from  the traditional approach and founded the
sub-discipline known as reactive planning.  Reactive systems
do not maintain a world model; instead, they perform actions
reflexively,   based   primarily   on   immediate    sensory
information  obtained  directly from the environment.  There
are, however, fundamental  limits  on  the  capabilities  of
systems that do not retain some information about the world.
In particular, a representation of the  local  space,  i.e.,
spatial  memory,  is  required to efficiently perform search
and avoidance tasks in a realistic environment.  Given  that
it  is  intractable  to  maintain  a  completely current and
accurate model of a dynamic world, research will investigate
the   extent  to  which  a  world  model  is  necessary  for
accomplishing  particular  tasks   in   a   dynamic   three-
dimensional world, and the form of that model.  These issues
are addressed by augmenting a reactive agent with a  minimal
retention   of  spatial  information  necessary  to  achieve
competence in specific  search  and  avoidance  tasks  in  a
dynamic   three-dimensional  environment.   Visual  routines
(top-down, goal-directed visual computations) will  be  used
to  implement  the  perceptual  strategy, which will produce
deictic (agent-centered, activity-oriented)  representations
of  the  world.   The  principal  research in this area will
address  the  application  of  visual  routines  to   three-
dimensional environments, the introduction of spatial memory
to deictic representations, and architectural techniques for
building autonomous agents which support these concepts.


******-



    A Novel Environment for Situated Vision and Behavior

Trevor Darrell, Pattie Maes, Bruce Blumberg, Alex P. Pentland
                       MIT Media Lab


Abstract:

     In this paper we present  a  new  environment  for  the
development  of situated vision and behavior algorithms.  We
demonstrate  a  system  which  allows   wireless   full-body
interaction  between  a  human  participant  and a graphical
world inhabited by  autonomous  agents.   An  image  of  the
participant  is composited together with the graphical world
and  projected  onto  a  large  screen  in   from   of   the
participant.   No  goggles,  gloves, or wires are needed for
interaction with  the  world:  agents  and  objects  in  the
graphical  world  can be acted upon by the human participant
through  the  use   of   domain-specific   computer   vision
techniques  that  analyze the silhouette and gestures of the
person.  The agents inhabiting  the  world  are  modeled  as
autonomous  behaving  entities  which have their own sensors
and goals  and  which  can  interpret  the  actions  of  the
participant  and  react  to  them  in  real-time.    We have
demonstrated and tested our  system  with  two  prototypical
worlds   and  describe  the  results  obtained  and  lessons
learned.


******-



          Task and Environment-Sensitive Tracking

  Peter N. Prokopowicz, Michael J. Swain and Roger E. Kahn
                   University of Chicago


Abstract:

     In a mobile robot, visual tracking, like  other  visual
behaviors, takes place in a context that includes aspects of
the task, the object being tracked, and the background.   In
this   work,  prior  knowledge  of  those  task  and  target
characteristics  that  either  enable  or  hinder  different
real-time  image-tracking algorithms, together with run-time
evaluation of the robot's environment, are used to select an
algorithm appropriate to the context.


******-



Directing Attention to Onset and Offset of Image - Events for
                  Eye-Head Movement Control

            Winky Y. K. Wai and John K. Tsotsos
                   University of Toronto


Abstract:

     This paper proposes a model  that  investigates  a  new
avenue  for  attention  control based on dynamic scenes.  We
have derived a computational model to detect abrupt  changes
and  have  examined  how  the  most  prominent change can be
determined.  With such a model, we explore  the  possibility
of  an  attentional  mechanism,  in  part  guided  by abrupt
changes, for gaze control.

     The computational model is derived from the  difference
of  Gaussian  (DOG)  model and it examines the change in the
response of the DOG  operator  over  time  to  determine  if
changes have occurred.  On and off-DOG operators are used to
detect "on" and "off" events respectively.  The response  of
these  operators  is  examined  over various temporal window
sizes so that changes at different rates can be found.   The
most  salient  "on" and "off" events are determined from the
corresponding winner-take=all (WTA) network.  The model  has
been  tested  with image sequences which have changes caused
by brightness or motion and the results are satisfactory.


******-



 An Active Visual Attention System to "Play Where's Waldo"

W. E. L. Grimson, A. Lakshmi Ratan, P. A. O'Donnell and G.  Klanderman
                         MIT AI Lab


Abstract:

     We present an attentive  active  vision  system,  which
integrates  visual  cues  to  attentively  fixate  candidate
regions in which to recognize a target object.   The  system
uses  a  combination  of  color  and  stereo cues to perform
figure/ground separation,  yielding  candidates  regions  in
which  to focus attention.  Within each image region, we use
stereo  to  extract  features  that  lie  within  a   narrow
disparity range about the fixation position.  These features
are used as input to an Alignment  recognition  system.   We
demonstrate  significant  reductions  in  the  complexity of
recognition using such methods.  Our system can successfully
scan  a  large  room,  fixating  and  recognizing  specified
targets.  We also argue that cues such as stereo can be used
for figure/ground separation without needing accurate camera
calibration.


******-



        Color Object Tracking with Adaptive Modeling

                       Rolf Schuster
          Technical University, Munich and Siemens


Abstract:

     The color representation of an  object  viewed  with  a
color  camera  is  influenced  by  many  parameters (ambient
light, object movement, camera characteristics,  etc.).   In
that  context  we  address the problem of tracking an object
over time using adaptive color and adaptive shape modeling.

     We develop two color  models  (Ellipsoid-  and  Mixture
Density  Model)  to  describe the color of an object in two-
and three-dimensional  color  histogram  space.   For  shape
modeling  we  suggest a simple moment based modeling scheme.
Finally,  we  propose  an  object  tracking  algorithm  that
compensates   for  object  color  variations  by  adaptively
changing both, color and shape models  (adaptive  modeling).
The  procedure  has  been  tested  on image sequences of the
human hand with changing ambient light, object movement  and
relatively   crowded  background.   The  results  show  that
adaptive  modeling  performs  reliable   and   fast   object
tracking.


******-



  Using Multiple Cues for Controlling an Agile Camera Head

    Claus Siggaard Andersen and Henrik Iskov Christensen
                     Aalborg University


Abstract:

     The interest in camera heads has been  ever  increasing
through  the past years, and more and more places have them.
The interest in agile sensor  systems  seems  promising  for
guiding  the vision research in new directions, one of these
being how to direct cameras to  obtain  a  given  goal.   At
Aalborg  University, we have implemented the second and much
improved version  of  a  camera  head,  which  has  lead  to
research   in  how  to  control  the  system,  using  visual
information.  We propose using  a  combination  of  multiple
cues  for  controlling  the camera head, enabling it to cope
with less restricted scenarios than otherwise possible.   By
integrating  accommodation and disparity cues we are able to
control the vergence of the camera head separated  from  the
version  mechanism,  which  allows  for  a  simple  and  yet
reliable method for doing smooth pursuit and base  shift,  a
central  problem  of  camera  head  control,  and  focus  of
attention.


******-



       Visual Servoing Using Image Motion Information

       V. Sundareswaran, F. Chaumette and P. Bouthemy
                        IRISA/INRIA


Abstract:

     Visual servoing is a framework for achieving the  tight
coupling  of  a  camera's  movements  and  information  from
images. We consider a typical visual servoing approach  that
uses   geometric   information   about  image  features  for
controlling the position and attitude of a camera.  We claim
that  image  motion  information  can  be  used as well.  We
substantiate  this  claim  by   presenting   two   different
approaches to visual tasks that use motion information.  The
first one uses motion data  which  manifests  as  positional
information;  in  particular, we use the focus of expansion.
The second one incorporates the  parameters  of  the  affine
motion  model  in the control equations.  We illustrate both
these approaches by means of a task  to  align  the  optical
axis  of  the  camera  with the translational direction, and
present results of experiments done with a  six  DOF  robot.
The  contribution  of  this  work is in showing that a tight
coupling between the camera behavior  and  image  motion  is
possible.


******-



            A $1000 Active Stereo Vision System

                        Ian Horswill
                         MIT AI Lab


Abstract:
     We describe a simple disparity-based vergence algorithm
running on an ultra-low-cost stereo vision system built from
off-the-shelf components, and present  performance  data  on
the  complete  system.   The  system  includes a 68020-class
processor, two low-resolution b/w cameras and a 4 degree  of
freedom  active  head.  The system runs at up to 16Hz, costs
less than $1000US, and weights less than  half  a  kilogram,
consumes only 3W of power, and is suitable for mounting on a
low cost mobile robot.

     We argue that sophisticated vision systems suitable for
mobile  robotics  are feasible, and that active head systems
need not be as complicated or expensive as was once thought.


******-



Vision-Based Behavior Acquisition For A Shooting Robot By Using
                   A Reinforcement Learning

Minoru Asada, Shoichi Noda, Sukoya Tawaratsumita and Koh Hosoda
                      Osaka University


Abstract:

     We propose a method which acquires a purposive behavior
for  a  mobile  robot to shoot a ball into the goal by using
the Q-learning, one of the reinforcement  learning  methods.
A  mobile  robot  (an  agent)  does  not  need  to  know any
parameters    of    the    3_d    environment     or     its
kinematics/dynamics.   Information  about the changes of the
environment is only the image  captured  from  a  single  TV
camera  mounted  on  the  robot.   Only  two parameters, the
velocity and orientation are control commands to be learned.
Image  positions  of the ball and the goal are used as state
variables which evaluate  the  effect  of  an  action  taken
during  the  learning  process.  After the learning process,
the robot tries to carry a ball near the goal and  to  shoot
it.  Both computer simulation and real robot experiments are
shown, and we discuss on the role of vision in  the  context
of the vision-based reinforcement learning.


******-



Localizing Un-Calibrated, Reactive Camera Motion in an Object
                  Centered Coordinate System

    Claus Brondgaard Madsen and Henrik Iskov Christensen
                     Aalborg University


Abstract:

     We present elements of an  analytic  framework  for  an
approach  to determining the angle between legs of junctions
in a polyhedral domain.  From geometrical analyses we define
a  set  of  qualitative  visual events induced by moving the
camera in a reactive manner.  These events provide means  of
determining  the  position  of  the camera in relation to an
object centered  coordinate  system.   The  sole  assumption
being  an  ability  to  perform  fixation,  the  approach is
completely  free  of  calibration,  matching  and   absolute
motion.

     An expression is derived relating  the  apparent  angle
(viewed  angle)  to  the  true  angle  and  the  view  point
specified in an object centered coordinate system.  We  show
that  this  relation has saddle surface characteristics.  We
then define  two  camera  motion  strategies  based  on  the
direction  of  the  bisecting  line in the image.  Resulting
general trajectories are computed.  Using  the  trajectories
we  analyze  the  rate-of-change  in  apparent angle and the
orientation of the bisecting line.  From these  analyses  we
define  a  set  of  visual  events  and  relate them to what
knowledge about view point can be deduced from them.

     Experiments are presented to illustrate the  effect  of
the  motion strategies and to exemplify positional knowledge
obtained from sequences of visual events.


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

Date: Thu, 31 Mar 94 14:16:10 -0500
From: Colin Archibald <colin@autpi.iitsg.nrc.ca>
Subject: AI/GI/VI '94 Workshops/Tutorials - 16 to 17 May 1994

[ I have edited this announcement to only topics related to Image 
  Processing and Computer Vision. Please email colin@autpi.iitsg.nrc.ca
  to get complete information.
						phil...	]

               AI/GI/VI '94 Workshops/Tutorials - 16 to 17 May 1994

These workshops are associated with the Artificial Intelligence, Graphics
Interface and Vision Interface conferences to be help in Banff, Alberta, 
Canada on May 18-20.  For more information on these three conferences
contact:

Tony Marsland Ph: (403) 492-3971, Fax: (403) 492-1071
email: tony@cs.ualberta.ca

Wayne Davis Ph: (604) 494-9056, Fax: (403) 494-4033
email:davis@cs.ualberta.ca


Distributed AI -- Mon 16 May -- 8:30 to 5:00
[ description omitted	]

Machine Learning -- Tue 17 May -- 8:30 to 5:00
[ description omitted	]

Tutorial - Image Processing with Khoros -- Tue 17 May -- 8:30 to 12:00
Gregory W Donohoe, University of New Mexico
Khoros is a portable software application environment that is especially
well suited to image processing.  Originally developed at the University
of New Mexico, Khoros is available free to end users.  There are between
10,000 and 20,000 users worldwide.  Khoros is easily extensible; about a
dozen toolboxes and 100 image processing routines have been contributed
by researchers in Europe, Asia and North and South America.  Like Khoros
itself, these are available free over the Internet by anonymous ftp.
This workshop will present an overview of Khoros and illustrate how
applications are constructed.


Tutorial - Evolutionary Algorithms -- Tue 17 May -- 1:30 to 5:00
Gerhard Roth, National Research Council
Evolutionary algorithms (EA) are powerful methods for solving various
search and optimization problems.  The EA field includes such diverse
approaches as genetic algorithms (GA), evolutionary programming (EP),
classifier systems (CFS) and genetic programming (GP).  All of these
different approaches are based on principles from the theory of
evolution.  We will discuss applications of each approach for practical
problems in such diverse areas as scheduling, image processing, and
engineering design.  Some commonly available public domain EA software
packages will be surveyed.


For more information for Image Processing & Evolutionary
Algorithms Workshops contact:  Colin Archibald
National Research Council of Canada, Montreal Road, Ottawa, Ontario K1A 0R6
Phone: 613-993-6580 Fax: 613-952-0215 email: archibald@iit.nrc.ca

*****************************************************************************

                      Workshop Registration Form
            AI/GI/VI '94 - Banff, Alberta - 16 to 20 May 1994
               AI/GI/VI '94 Workshops - 16 to 17 May 1994


Family Name______________________________ Given Name___________________________

Affiliation____________________________________________________________________

Address________________________________________________________________________

City________________________________Province/State_____________________________

Country______________________________________Postal Code_______________________

Phone________________Fax________________e-mail_________________________________

Select below the workshop(s) that you wish to attend.  The fee for each
workshop is $50.00 (CDN) for regular attendees and $25.00 (CDN) for
students.

    Distributed AI                _______
    Machine Learning              _______
    Image Processing with Khoros  _______
    Evolutionary Algorithms       _______        Total _______

Payment can be made by cheque or money order (made out to: AI/GI/VI'94)
or credit card (MasterCard or Visa only).  Payment can be made on site,
or in advance by mail, fax, or e-mail.  After May 2, please register on
site.

Credit Card:  VISA  M/C  (Circle one)

Credit Card Number___________________________________Expiry Date_______________

Name on Credit Card__________________________Signature_________________________

Mail completed form to:

    AI/GI/VI '94 Workshops
    c/o Peter van Beek
    Department of Computing Science
    University of Alberta
    Edmonton, Alberta, Canada  T6G 2H1

or fax to: 403-492-1071

or e-mail to: vanbeek@cs.ualberta.ca

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

Date: Tue, 5 Apr 1994 14:46:50 +0600
From: mwitten@chpc.utexas.edu
Subject: COMPMED 94 FINAL SCHEDULE

		   FINAL PROGRAM ANNOUNCEMENT

FIRST WORLD CONGRESS ON COMPUTATIONAL MEDICINE AND PUBLIC HEALTH
			24-28 April 1994
		Hyatt on the Lake, Austin, Texas

The final program for the First World Congress On Computational
Medicine and Public Health has now been set. Over 200 speakers
will be presenting work in a variety of applications areas
related to medicine and public health. Registration is still
open for attendees. Registration details and/or a copy of the
schedule at a glance, schedule-in-detail may be requested by
sending an email request to

	compmed94@chpc.utexas.edu

or by calling
	
	512-471-2472

or by faxing
	
	512-471-2445

There is no ftp form of the conference schedule due to the
size of the file. We will be happy to fax/send a copy to anyone
who requests it. The conference proceedings will appear as
a series of volumes published by World Scientific. If you are
interested in possibly submitting a paper for the proceedings,
please contact

	mwitten@chpc.utexas.edu

or call

	512-471-2457

The overwhelming response to this congress has already
justified having a second world congress in the future. The tentative
schedule is to have in in 3 years. If you are interested in
participating at the 2nd World Congress On Computational Medicine
and Public Health, please contact 

     Dr. Matthew Witten 
	Congress Chair
   mwitten@chpc.utexas.edu

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

End of VISION-LIST digest 13.16
************************
