Robert T. Collins Associate Professor Computer Science & Engineering Department The Pennsylvania State University Email: rcollins at cse dot psu dot edu

Selected Publications

Note: This version of my publications is no longer maintained. My recent list of publications is HERE.

Tracking via Classification/Segmentation

• W.Ge and R.Collins, "Multi-target Data Association by Tracklets with Unsupervised Parameter Estimation," British Machine Vision Conference (BMVC'08), University of Leeds, September 2008, 10 pages.

• Z.Yin and R.Collins, "Online Figure-ground Segmentation with Edge Pixel Classification," British Machine Vision Conference (BMVC'08), University of Leeds, September 2008, 10 pages.

• M.Park, Y.Liu and R.Collins, "Efficient Mean-shift Belief Propagation for Vision Tracking," IEEE Computer Vision and Pattern Recognition (CVPR '08), Anchorage, Alaska, June 2008, 8 pages.

• Z.Yin and R.Collins, "Object Tracking and Detection after Occlusion via Numerical Hybrid Local and Global Mode Seeking," IEEE Computer Vision and Pattern Recognition (CVPR '08), Anchorage, Alaska, June 2008, 8 pages.

• Z.Yin and R.Collins, "Belief Propagation in a 3D Spatio-temporal MRF for Moving Object Detection," IEEE Computer Vision and Pattern Recognition (CVPR '07), Minneapolis, MN, June 2007, 8 pages.

• Z.Yin and R.Collins, "On-the-fly Object Modeling while Tracking," IEEE Computer Vision and Pattern Recognition (CVPR '07), Minneapolis, MN, June 2007, 8 pages.

• Z.Yin and R.Collins, "Spatial Divide and Conquer with Motion Cues for Tracking through Clutter," Computer Vision and Pattern Recognition Conference (CVPR '06), New York City, NY, June 2006, pp.570-577.

• Z.Yin and R.Collins, "Moving Object Localization in Thermal Imagery by Forward-backward MHI," Third IEEE Workshop on Object Tracking and Classification in and Beyond the Visible Spectrum (OTCBVS'05), New York City, NY, June 2006.

• David Tolliver, Gary Miller, and Robert T. Collins, "Corrected Laplacians: closer cuts and segmentation with shape priors," IEEE Computer Vision and Pattern Recognition (CVPR'05), San Diego, CA, June 2005, pp.92-98.

• Marius Leordeanu, Robert T. Collins, and Martial Hebert, "Unsupervised Learning of Object Features from Video Sequences," IEEE Computer Vision and Pattern Recognition (CVPR'05), San Diego, CA, June 2005, pp.1142-1149.

• Hulya Yalcin, Robert T. Collins, and Martial Hebert, "Background Estimation under Rapid Gain Change in Thermal Imagery," Second IEEE Workshop on Object Tracking and Classification in and Beyond the Visible Spectrum (OTCBVS'05), San Diego, CA, June 2005, pp.1142-1149. *BEST PAPER AWARD*

• R.Collins, X.Zhou and S.Teh, "An Open Source Tracking Testbed and Evaluation Web Site," IEEE Workshop on Performance Evaluation of Tracking and Surveillance, (PETS'05), Breckenridge CO, Jan 2005.

• D.Tolliver, R.Collins and S.Baker, "Multilevel Spectral Partitioning for Efficient Image Segmentation and Tracking," IEEE Workshop on Applications of Computer Vision, WACV'05, Breckenridge CO, Jan 2005, pp:414-420.

• R.Collins, "Mean-shift Blob Tracking through Scale Space," IEEE Computer Vision and Pattern Recognition (CVPR03), Madison, WI, June 16-22, 2003, pp 234-240.

Human Identification and Activity Analysis

• S.Lee, Y.Liu and R.Collins, "Shape Variation-Based Frieze Pattern for Robust Gait Recognition," IEEE Computer Vision and Pattern Recognition (CVPR '07), Minneapolis, MN, June 2007, 8 pages.

• C.Jaynes and R.Collins, editors, Computer Vision for Interactive and Intelligent Environments, IEEE Computer Society, ISBN 0-7695-2524-5, 2006. The proceedings is now available from IEEE Computer Society. Read our introduction to learn more about the workshop topics and presentations.

• J. Zhang, J.Luo, R. Collins, and Y. Liu, Body Localization in Still Images Using Hierarchical Models and Hybrid Search," Computer Vision and Pattern Recognition Conference (CVPR '06), New York City, NY, June 2006, pp.1536-1543.

• J. Zhang, R. Collins, and Y. Liu, "Bayesian Body Localization Using Mixture of Nonlinear Shape Models," International Conference on Computer Vision (ICCV'05), Beijing China, October 2005, pp.725-732.

• J.Zhang, R.Collins and Y.Liu, "Representation and Matching of Articulated Shapes," IEEE Computer Vision and Pattern Recognition, CVPR'04, Washington, DC, 2004, pp:342-349.

• J.Gao, R.Collins, A.Hauptmann and H.Wactler, "Articulated Motion Modeling for Activity Analysis," IEEE Workshop on Articulated and NonRigid Motion, held in conjunction with CVPR'04, Washington, DC, 2004.

• X.Zhou, R.Collins, T.Kanade and P.Metes, "A Master-Slave System to Acquire Biometric Imagery of Humans at a Distance," ACM SIGMM 2003 Workshop on Video Surveillance , Berkeley, CA, Nov 7, 2003, pp.113-120.

• R.Collins, Y.Liu and M.Leordeanu, "On-Line Selection of Discriminative Tracking Features," IEEE Trans Pattern Analysis and Machine Intelligence (PAMI), Vol 27(10),October 2005, pp.1631-1643. Shorter version appeared previously as Collins and Liu, IEEE International Conference on Computer Vision, ICCV'03, Nice, France, October 2003, pp.346-352. Also appeared as Technical Report CMU-RI-TR-03-12, Robotics Institute, Carnegie Mellon University, April 2003.

• D.Tolliver and R.Collins, "Gait Shape Estimation for Identification," 4th Int'l Conf on Audio and Video-Based Biometric Person Authentication, Univ Surrey, Guildford, UK, June 9-11, 2003, pp.734-742.

• Y.Liu, R.Collins and Y.Tsin, "Gait Sequence Analysis using Frieze Patterns," European Conference on Computer Vision, Copenhagen, May 2002, pp.657-671. Also, Technical Report CMU-RI-TR-01-38, Robotics Institute, Carnegie Mellon University, December, 2001.

• R.Collins, R.Gross and J.Shi, "Silhouette-based Human Identification from Body Shape and Gait," Intl' Conference on Face and Gesture, October 2002, pp.351-356.

• R.Collins, O.Amidi and T.Kanade, "An Active Camera System for Acquiring Multi-View Video," International Conference on Image Processing (ICIP'02), Rochester, NY, September 2002, pp.517-520.

• R.Collins and T.Kanade, "Multi-Camera Tracking and Visualization for Surveillance and Sports," Fourth International Workshop on Cooperative Distributed Vision, Kyoto Japan, March 22-24, 2001, pp.27-55.

Video Surveillance and Monitoring

• F. Snyder, D.Morris, P.Haley, R.Collins, and A.Okerholm, "Autonomous river navigation," Proceedings of SPIE -- Volume 5609 Mobile Robots XVII>, Douglas W. Gage, Editor, December 2004, pp. 221-232.

• R.Collins, A.Lipton, H.Fujiyoshi and T.Kanade, "Algorithms for Cooperative Multi-Sensor Surveillance," Proceedings of the IEEE, Vol 89(10), October 2001, pp.1456-1477.

• Y. Tsin, R. Collins, V. Ramesh, and T. Kanade, "Bayesian Color Constancy for Outdoor Object Recognition," IEEE Computer Vision and Pattern Recognition, Kauai, Hawaii, December 2001, pp.1132-1139.

• R. Collins, A. Lipton, and T. Kanade, "Introduction to the special section on video surveillance," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.22(8), August, 2000, pp.745-746.

• F.Dellaert and R.Collins, "Fast Image-Based Tracking by Selective Pixel Integration," ICCV 99 Workshop on Frame-rate Applications, Corfu, Greece, September, 1999.

• R.Collins and Y.Tsin, "Calibration of an Outdoor Active Camera System," IEEE Computer Vision and Pattern Recognition (CVPR99), Fort Collins, CO, June 23-25, 1999, pp. 528-534.

• R.Collins, A.Lipton and T.Kanade, "A System for Video Surveillance and Monitoring," Proc. American Nuclear Society (ANS) Eighth International Topical Meeting on Robotics and Remote Systems, Pittsburgh, PA, April 25-29, 1999.

• T.Kanade, R.Collins, A.Lipton, P.Burt and L.Wixson, "Advances in Cooperative Multi-Sensor Video Surveillance," DARPA Image Understanding Workshop, Monterey, CA, November 1998, pp. 3-24.

• R.Collins, Y.Tsin, J.R.Miller and A.Lipton, "Using a DEM to Determine Geospatial Object Trajectories," DARPA Image Understanding Workshop, Monterey, CA, November 1998, pp. 115-122. Also CMU Robotics Institute technical report CMU-RI-TR-98-19, July 1998.

• T.Kanade, R.Collins, A.Lipton, P.Anandan, P.Burt and L.Wixson, "Cooperative Multi-Sensor Video Surveillance," DARPA Image Understanding Workshop, New Orleans, LA, May 11-14, 1997, pp. 3-10.

Multi-Image Stereo / Matching / Correspondence Problem

• Y.Q.Cheng, X.G.Wang, R.T.Collins, E.Riseman and A.Hanson, "Three-Dimensional Reconstruction of Points and Lines with Unknown Correspondence across Images," International Journal of Computer Vision (IJCV), Vol 45(2), Nov 2001, pp.129-156.

• S.Vedula, S.Baker, P.Rander, R.Collins and T.Kanade, "Three-Dimensional Scene Flow," IEEE Trans Pattern Analysis and Machine Intelligence (PAMI), Vol 27(3), March 2005, pp.475-480. Previous version appeared International Conference on Computer Vision (ICCV'99), Corfu, Greece, September 1999, pp. 722-729.

• R.Collins, "Multi-Image Focus of Attention for Rapid Site Modeling," IEEE Computer Vision and Pattern Recognition (CVPR97), San Juan, Puerto Rico, June 1997.

• R.Collins, "A Space-Sweep Approach to True Multi-Image Matching," IEEE Computer Vision and Pattern Recognition (CVPR96), San Francisco, CA, June 18-20, 1996, pp. 358-363. Also appeared in Arpa Image Understanding Workshop, Palm Springs, CA, February 1996, pp. 1213-1220.

• X.Wang, Y.Cheng, R.Collins and A.Hanson, "Determining Correspondences and Rigid Motion of 3-D Point Sets with Missing Data," IEEE Computer Vision and Pattern Recognition (CVPR96), San Francisco, CA, June 18-20, 1996, pp. 252-257.

• Y. Cheng, V. Wu, R. Collins, A. Hanson, and E. Riseman. "Maximum-Weight Bipartite Matching Technique and Its Application in Image Feature Matching," SPIE Conference on Visual Communication and Image Processing, Orlando, FL, 1996.

• Y. Cheng, R. Collins, A. Hanson, and E. Riseman. "Triangulation Without Correspondences," Arpa Image Understanding Workshop, Monterey, CA, November 1994, pp. 993-1000.

• R.Collins and J.R.Beveridge, "Matching Perspective Views of Coplanar Structures using Projective Unwarping and Similarity Matching,"
  • IEEE Computer Vision and Pattern Recognition (CVPR93), New York City, June 1993, pp. 240-245.
  • Arpa Image Understanding Workshop, Washington, DC, April 1993, pp. 459-463.
  • CMPSCI TR94-06, Department of Computer Science, UMass, February 1994.

Computational Geometry / Symmetry

• S.Lee, R.Collins and Y.Liu, "Rotation Symmetry Group Detection Via Frequency Analysis of Frieze-Expansions," IEEE Computer Vision and Pattern Recognition (CVPR '08), Anchorage, Alaska, June 2008, 8 pages.

• Y.Liu, R.Collins and Y.Tsin, "A Computational Model for Periodic Pattern Perception based on Frieze and Wallpaper Groups," IEEE Journal on Pattern Analysis and Machine Intelligence (PAMI), Vol 26(3), March 2004, pp. 354-371.

• Yanxi Liu and Robert T. Collins, "Skewed Symmetry Groups," IEEE Computer Vision and Pattern Recognition, Kauai, Hawaii, December 2001, pp.872-879.

• Yanxi Liu, Robert T. Collins, and William E. Rothfus, ``Robust Midsagittal Plane Extraction from Normal and Pathological 3D Neuroradiology Images'', IEEE Transactions on Medical Imaging, Vol. 20(3), March, 2001, pp.175-192.

• Yanxi Liu and Robert T. Collins. ``A Computational Model for Repeated Pattern Perception using Frieze and Wallpaper Groups'', IEEE Computer Vision and Pattern Recognition (CVPR 2000), Hilton Head, NC, June 2000, pp. 537-544.

• Yanxi Liu and Robert T. Collins. ``Frieze and Wallpaper Symmetry Groups Classification under Affine and Perspective Distortion'', Technical Report CMU RI-98-37, Robotics Institute, Carnegie Mellon University, December 1998.

• Yanxi Liu, Robert Collins and William E. Rothfus (M.D.). ``Automatic Extraction of the Central Symmetry (Mid-Sagittal) Plane from Pathological Neuroradiology Images'', Technical Report CMU RI-96-40, Robotics Institute, Carnegie Mellon University, November 1996.

RADIUS - Aerial Site Modeling

• R.Collins, C.Jaynes, Y.Cheng, X.Wang, F.Stolle,E.Riseman and A.Hanson, "The Ascender System: Automated Site Modeling from Multiple Aerial Images," Computer Vision and Image Understanding (CVIU), Vol.72(2), November 1998, pp.143-162.

• X.Wang, A.Hanson, R.Collins and J.DeHart, "Surface Microstructure Extraction from Multiple Aerial Images," Aerosense '97 - SPIE's 11th Annual International Symposium on Aerosense/Defense Sensing, Simulation and Controls, Orlando, FL, 1997.

• R.Collins, C.Jaynes, Y.Cheng, X.Wang, F.Stolle,A.Hanson and E.Riseman, "The UMass Ascender System for 3D Site Model Construction," RADIUS: Image Understanding for Imagery Intelligence, O.Firschein and T.Strat, eds, Morgan Kaufmann, 1996, pp. 209-222.

• C.Jaynes, R.Collins, Y.Cheng, X.Wang, F.Stolle,A.Hanson and E.Riseman, "Automatic Construction of Three-Dimensional Models of Buildings," RADIUS: Image Understanding for Imagery Intelligence, O.Firschein and T.Strat, eds, Morgan Kaufmann, 1996, pp. 223-236.

• R.Collins, A.Hanson, E.Riseman, C.Jaynes, F.Stolle, X.Wang, and Y.Cheng, "UMass Progress in 3D Building Model Acquisition," Arpa Image Understanding Workshop, Palm Springs, CA, February 1996, pp. 305-315.

• C.Jaynes, F.Stolle, H.Schultz, R.Collins, A.Hanson, and E.Riseman, "Three-Dimensional Grouping and Information Fusion for Site Modeling from Aerial Images," Arpa Image Understanding Workshop, Palm Springs, CA, February 1996, pp. 479-490.

• X.Wang, J.Lim, R.Collins and A.Hanson, "Automated Texture Extraction from Multiple Images to Support Site Model Refinement and Visualization," Proc.Computer Graphics and Visualization, Plzen, Czech Republic,1996.

• R.Collins, Y.Cheng, C.Jaynes, F.Stolle, X.Wang, A.Hanson and E.Riseman, "Site Model Acquisition and Extension from Aerial Images," International Conference on Computer Vision (ICCV95), Cambridge, MA, June 1995, pp. 888-893.

• R.Collins, C.Jaynes, F.Stolle, X.Wang, Y.Cheng, A.Hanson and E.Riseman, "A System for Automated Site Model Acquisition," Integrating Photogrammetric Techniques with Scene Analysis and Machine Vision II, SPIE Proceedings Vol. 7617, Orlando, FL, April 1995.

• R.Collins, A.Hanson, E.Riseman and H.Schultz, "Automatic Extraction of Buildings and Terrain from Aerial Images," International Workshop on Automatic Extraction of Man-Made Objects from Aerial and Space Images, Ascona, Switzerland, April 1995, pp. 169-178.

• C.Jaynes, F.Stolle and R.Collins, "Task Driven Perceptual Organization for Extraction of Rooftop Polygons,"
  • IEEE Workshop on Applications of Computer Vision (WACV94), Sarasota, FL, December 1994, pp. 152-159.
  • Arpa Image Understanding Workshop, Monterey, CA, November 1994, pp. 359-365.

• R.Collins, A.Hanson and E.Riseman, "Site Model Acquisition under the UMass RADIUS Project," Arpa Image Understanding Workshop, Monterey, CA, November 1994, pp. 351-358.

• E.Riseman, A.Hanson, R.Collins, B.Draper and R.Weiss, "Progress in Computer Vision at the University of Massachusetts," Arpa Image Understanding Workshop, Monterey, CA, November 1994, pp. 43-51.

• R.Collins, A.Hanson, E.Riseman and Y.Cheng, "Model Matching and Extension for Automated 3D Site Modeling," Arpa Image Understanding Workshop, Washington, DC, April 1993, pp. 197-203.

Projective Geometry/Invariants

• R.Collins, "On the Adequacy of Projective Camera Models," Reply to Pizlo, Rosenfeld and Weiss, Computer Vision, Graphics and Image Processing : Image Understanding, Vol. 65, No. 3, March 1997, pp. 434-435.

• R.Collins, "A Bayesian Analysis of Projective Incidence," Applications of Invariance in Computer Vision II, Ponta Delgada, Azores, October 1993, pp. 151-163

• R.Collins, "Model Acquisition Using Stochastic Projective Geometry," Ph.D. Thesis, Department of Computer Science, University of Massachusetts, September 1993. Also published as UMass Computer Science Technical Report TR95-70.

• R.Collins and J.R.Beveridge, "Matching Perspective Views of Coplanar Structures using Projective Unwarping and Similarity Matching,"
  • IEEE Computer Vision and Pattern Recognition (CVPR93), New York City, June 1993, pp. 240-245.
  • Arpa Image Understanding Workshop, Washington, DC, April 1993, pp. 459-463.
  • CMPSCI TR94-06, Department of Computer Science, UMass, February 1994.

• R.Collins, "Projective Reconstruction of Approximately Planar Scenes," in Interdisciplinary Computer Vision: An Exploration of Diverse Applications, Jane Harmon, Editor, Proc. SPIE No. 1838, October 1992, pp. 174-185.

• R.Collins, "Single Plane Model Extension using Projective Transformations and Data Fusion,"
  • IEEE Computer Vision and Pattern Recognition (CVPR92), Champaign, IL, June 1992, pp. 752-754.
  • Darpa Image Understanding Workshop, San Diego, January 1992, pp. 917-923.

• R.Collins and R.Weiss, "Vanishing Point Calculation as a Statistical Inference on the Unit Sphere," International Conference on Computer Vision (ICCV90), Osaka, Japan, December 1990, pp. 400-403.

• R.Collins and R.Weiss, "Deriving Line and Surface Orientation by Statistical Methods," Darpa Image Understanding Workshop, Pittsburgh, September 1990, pp. 433-438.

• R.Collins and R.Weiss, "An Efficient and Accurate Method for Computing Vanishing Points," Topical Meeting on Image Understanding and Machine Vision, 1989 Technical Digest Series, Vol. 14, (Optical Society of America, Washington, D.C.) pp. 92-94.

Knowledge-based Object Recognition

• B.Draper, R.Collins, J.Brolio, A.Hanson and E.Riseman, "The Schema System," The International Journal of Computer Vision (IJCV), Vol. 2, No. 3, January 1989, pp. 209-250.

• B.Draper, R.Collins, J.Brolio, A.Hanson and E.Riseman, "Issues in the Development of a Blackboard-Based Schema System for Image Understanding," in Blackboard Systems, R.S.Engelmore and A.J.Morgan, Editors, Addison Wesley, 1988.

• B.Draper, J.Brolio, R.Collins, A.Hanson and E.Riseman, "Image Interpretation by Distributed Cooperative Processes," IEEE Computer Vision and Pattern Recognition (CVPR88), Ann Arbor, MI, June 1988, pp. 129-135.

• B.Draper, R.Collins, J.Brolio, J.Griffith, A.Hanson and E.Riseman, "Tools and Experiments in the Knowledge-Directed Interpretation of Road Scenes," Darpa Image Understanding Workshop, Los Angeles, CA, February 1987, pp. 178-193.

Artificial Intelligence; Legal Reasoning

• E.Rissland and R.Collins, "The Law as a Learning System," Proceedings of the Eighth Annual Conference of the Cognitive Science Society, Amherst, MA, August 1986.

• R.Collins, "LEX JUSTICE : A Version Space Approach to Legal Reasoning," Counselor Project Technical Memo 16, Department of Computer Science, University of Massachusetts, Amherst, MA, December 1986.