Robert T. Collins
Associate Professor
Computer Science & Engineering Department
The Pennsylvania State University

Email: rcollins at cse dot psu dot edu

Selected Publications

(last updated Mar 11, 2023)

Robert Collins, "A Light-Weight Contrastive Approach for Aligning Human Pose Sequences," arXiv:2303.04244 [cs.CV], 16 pages, March 2023, doi: 10.48550/arXiv.2303.04244.
Jesse Scott, John Challis, Robert Collins and Yanxi Liu, "Image-Based Stability Quantification," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 31, pp. 564-573, December 2022, doi: 10.1109/TNSRE.2022.3226191.
Shimian Zhang, Skanda Bharadwaj, Keaton Kraiger, Yashasvi Asthana, Hong Zhang, Robert Collins and Yanxi Liu, "Novel 3D Scene Understanding Applications from Recurrence in a Single Image," arXiv:2210.07991 [cs.CV], 27 pages, Oct 2022, doi: 10.48550/arXiv.2210.07991.
Jesse Scott, Barry Ravichandran, Christopher Funk, Robert Collins and Yanxi Liu, "From Image to Stability: Learning Dynamics from Human Pose," European Conference on Computer Vision (ECCV), August 2020, pp.536-554.
Jesse Scott, Christopher Funk, Bharadwaj Ravichandran, John Challis, Robert Collins and Yanxi Liu, "From Kinematics To Dynamics: Estimating Center of Pressure and Base of Support from Video Frames of Human Motion," arXiv:2001.00657 [cs.CV], 20 pages, Jan 2020, doi: 10.48550/arXiv.2001.00657.
Chris Funk, Savinay Nagendra, Jesse Scott, Bharadwaj Ravichandran, John Challis, Robert Collins and Yanxi Liu, "Learning Dynamics from Kinematics: Estimating 2D Foot Pressure Maps from Video Frames," arXiv:1811.12607v4 [cs.CV], 14 pages, May 2019, doi: 10.48550/arXiv.1811.12607.
Jesse Scott, Robert Collins, Christopher Funk and Yanxi Liu, "4D Model-based Spatiotemporal Alignment of Scripted Taiji Quan Sequences," PeopleCAP: ICCV Workshop on Capturing and Modeling Human Bodies, Faces and Hands, October 23 2017, Venice, Italy, pp.795-804.
Mark Wolff, Robert Collins and Yanxi Liu, "Regularity-Driven Building Facade Matching between Aerial and Street Views," IEEE Computer Vision and Pattern Recognition (CVPR'16), Las Vegas, NV, June 2016, pp.1591-1600.
Peter Carr and Robert Collins, "Assessing Tracking Performance in Complex Scenarios using Mean Time Between Failures," Winter Conference on Applications of Computer Vision (WACV'16), Lake Placid, NY, March 2016, 9 pages.
Robert Collins and Peter Carr, "Hybrid Stochastic / Deterministic Optimization for Tracking Sports Players and Pedestrians," European Conference on Computer Vision (ECCV'14), Zurich, Switzerland, March 2016, pp.298-313.
Minwoo Park, Jiebo Luo, Robert Collins and Yanxi Liu, "Estimating the Camera Direction of a Geotagged Image using Reference Images," Pattern Recognition, Elsevier, Vol 47(9), Sept 2014, pp.2880-2893.

Asad Butt and R.Collins, "Multi-target Tracking by Lagrangian Relaxation to Min-Cost Network Flow" (Oral), IEEE Computer Vision and Pattern Recognition (CVPR'13), Portland, OR, June 2013, pp.1846-1853.
S.Rujikietgumjorn and R.Collins, "Optimized Pedestrian Detection for Multiple and Occluded People" IEEE Computer Vision and Pattern Recognition (CVPR'13), Portland, OR, June 2013, pp.3690-3697.
J.Liu, P.Carr, R.Collins, and Y.Liu, "Tracking Sports Players with Context-Conditioned Motion Models," (Oral), IEEE Computer Vision and Pattern Recognition (CVPR'13), Portland, OR, June 2013, pp.1830-1837.
B.Ruback, R.Collins, S.Koon-Magnin, W.Ge, L.Bonkiewicz, and C.Lutz, "People Transitioning across Places: A Multimethod Investigation of How People Go to Football Games," Environment and Behavior, Volume 45 Issue 2 February 2013 pp. 239 - 266. Published online before print, June 24, 2011, doi: 10.1177/0013916511412589.
J.Liu, R.Collins and Y.Liu, "Robust Autocalibration for a Surveillance Camera Network," Workshop on Applications of Computer Vision, Clearwater Beach, FL, January 2013, pp.433-440.

Asad Butt and R.Collins, "Multiple Target Tracking using Frame Triplets," Asian Conference on Computer Vision (ACCV'12), Daejeon, Korea, November 2012, pp.163-176.
I.Rauschert and R.Collins, "A Generative Model for Simultaneous Estimation of Human Body Shape and Pixel-level Segmentation," European Conference on Computer Vision (ECCV'12), Florence, Italy, October 2012, Volume V, pp.704-717.
R.Collins, "Multitarget Data Association with Higher-Order Motion Models," IEEE Computer Vision and Pattern Recognition (CVPR'12), Providence, RI, June 2012, pp.744-751.
W.Ge, R.Collins and B.Ruback, "Vision-based Analysis of Small Groups in Pedestrian Crowds," IEEE Trans Pattern Analysis and Machine Intelligence (PAMI), Vol 34(5), May 2012, pp.1003-1016.

J.Liu, R.Collins and Y.Liu, "Automated Surveillance Calibration based on Pedestrian Height Distributions," British Machine Vision Conference, University of Dundee, August 2011, pp. 117.1-117.11.
Evens Jean, I. Rauschert, R. T. Collins, A. R. Hurson, S. Sedigh, Y. Jiao, "RISN: An Efficient Sensor Network Overlay with Support for Autonomous and Distributed Applications," Int. J. Communications, Network and System Sciences, Jan 2011, 4(1), pp.1-16

Evens Jean, Robert T. Collins, Ali R. Hurson, Sahra Sedigh, Yu Jiao, "RISN: An Efficient, Dynamically Tasked and Interoperable Sensor Network Overlay," pp.224-231, 2010 IEEE/IFIP International Conference on Embedded and Ubiquitous Computing, 2010
M.Park, K.Brocklehurst, R. Collins and Y.Liu, "Image De-fencing Revisited," Asian Conference on Computer Vision (ACCV'10), Queenstown, New Zealand, November 2010, Volume IV, pp. 422-434.
M.Park, J.Luo, R. Collins and Y.Liu, "Beyond GPS: determining the camera viewing direction of a geotagged image," short paper, ACM Multimedia (MM'10), Firenze, Italy, October 2010, pp.631-634.
M.Park, K.Brocklehurst, R. Collins and Y.Liu, "Translation-Symmetry-based Perceptual Grouping with Applications to Urban Scenes," Asian Conference on Computer Vision (ACCV'10), Queenstown, New Zealand, November 2010, pp.329-342.
W.Ge and R. Collins, "Crowd Density Analysis with Marked Point Processes [Applications Corner]," Signal Processing Magazine, Vol 27, Issue 5, Sept 2010, pp. 107-111.
W.Ge and R. Collins, "Crowd Detection with a Multiview Sampler," European Conference on Computer Vision (ECCV'10), Crete, Greece, Sept 2010, pp. 324-337.
M.Park, S.Kashyap, R.Collins and Y.Liu, "Data-Driven Mean-Shift Belief Propagation for non-Gaussian MRFs," IEEE Computer Vision and Pattern Recognition (CVPR'10), San Francisco, CA, June 2010, pp.3547-3554.
A. Rathi, M. DeBole, W. Ge, R.T. Collins, N. Vijaykrishnan, "A GPU Based Implementation of Center-Surround Distribution Distance for Feature Extraction and Matching, Design, Automation and Test in Europe (DATE) 2010, pp:172-177.

W.Ge and R.Collins, "Evaluation of Sampling-based Pedestrian Detection for Crowd Counting," IEEE Int'l Workshop on Performance Evaluation of Tracking and Surveillance (PETS'09), Snowbird, Utah, December 2009, pp:1-7.
W.Ge, R. Collins, and B.Ruback, "Automatically Detecting the Small Group Structure of a Crowd," IEEE Workshop on Applications of Computer Vision (WACV'09), Snowbird, Utah, December 2009, 8 pages.
M.Park, K.Brocklehurst, R.Collins and Y.Liu, "Deformed Lattice Detection in Real-World Images using Mean-Shift Belief Propagation," IEEE Trans Pattern Analysis and Machine Intelligence (PAMI), Vol 31(10), October 2009, pp.1804-1816.
W.Ge and R.Collins, "Marked Point Processes for Crowd Counting," IEEE Computer Vision and Pattern Recognition (CVPR'09), Miami, FL, June 2009, pp.2913-2920.
Z.Yin and R.Collins, "Shape Constrained Figure-Ground Segmentation and Tracking," IEEE Computer Vision and Pattern Recognition (CVPR'09), Miami, FL, June 2009, pp.731-738.
Ruback, R. B., Collins, R., Ge, W., Park, M., and Koon-Magnin, S. Development and validation of a computer vision method for identifying and tracking small groups. Poster presented at the Annual meeting of the Society for Personality and Social Psychology, Tampa (2009, February).

R.Collins and W.Ge, "CSDD Features: Center-Surround Distribution Distance for Feature Extraction and Matching," European Conference on Computer Vision (ECCV'08), Marseille, France, October 2008, pp. 140-153.
M.Park, R.Collins and Y.Liu, "Deformed Lattice Detection via Mean-Shift Belief Propagation," European Conference on Computer Vision (ECCV'08), Marseille, France, October 2008, pp. 474-485.
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, pp. 935-944.
Z.Yin and R.Collins, "Online Figure-ground Segmentation with Edge Pixel Classification," British Machine Vision Conference (BMVC'08), University of Leeds, September 2008, pp. 343-352.
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.
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.
Z.Yin, F.Porikli and R.Collins, "Likelihood Map Fusion for Visual Object Tracking," IEEE Workshop on Applications of Computer Vision (WACV'08), Breckenridge, CO, Jan 2008, pp.1-7.

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.
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.

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.
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.
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, 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.
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*
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, 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, pp. 17-24.
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.

J.Zhang, R.Collins and Y.Liu, "Representation and Matching of Articulated Shapes," IEEE Computer Vision and Pattern Recognition, CVPR'04, Washington, DC, June 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, June 2004.
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.
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, "Mean-shift Blob Tracking through Scale Space," IEEE Computer Vision and Pattern Recognition (CVPR03), Madison, WI, June 16-22, 2003, pp 234-240.
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.

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

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.
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.

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.
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.
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.
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.
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, "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.
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.
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.
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.
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.

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