Recent publications by Martin Jägersand
(Note: Palatable introductions to the research areas are available
on the research page links on my home page)
- Cobzas, D. and Jagersand, M. 3D SSD Tracking from Uncalibrated Video
Submitted.
- Deng Z., and Jagersand M. Predictive Display System for Tele-manipulation using Image-Based Modeling and Rendering IROS 2003, To appear.
- Leonard S. and Jagersand M. Tracking the Pose of Objects through Subspace Proc. of Scandinavian Conference on Image Analysis (SCIA 2003) Springer LNCS2749 p. 371-378
- Cobzas, D. and Jagersand M. A comparison of Viewing Geometries for Augmented Reality Proc. of Scandinavian Conference on Image Analysis (SCIA 2003) Springer LNCS2749 p. 501-508.
- Cobzas, D., Jagersand, M. and Zhang, H. ``A Panoramic Model for Robot Predictive Display'' Proc. of Vision Interface 2003} p.111-118
- Yerex, K., Cobzas, D. and Jagersand, M. "Predictive Display Models for Tele-Manipulation from Uncalibrated Camera-capture of Scene Geometry and Appearance", Proc. of IEEE International Conference on Robotics and Automation (ICRA 2003) to appear
- Cobzas, D., Zhang, H. and Jagersand, M. "Image-Based Localization with Depth-Enhanced Image Map", Proc. of IEEE International Conference on Robotics and Automation (ICRA 2003) to appear
- Cobzas, D., Yerex, K. and Jagersand, M. ``Editing Real World Scenes: Augmented Reality with Image-Based Rendering'' Proc. of IEEE Virtual Reality 2003 , CDROM
- Jagersand, M. (editor) Recent Methods for Image-based Modeling and Rendering , 91p. IEEE Virtual Reality 2003 tutorial 1 WWW-page
- Cobzas, D. Yerex, K. Jägersand, M. Dynamic Textures for Image-based Rendering of Fine-Scale 3D Structure and Animation of Non-rigid Motion Eurographics 2002
- Zadorozny, A. Zhang, H. Jägersand M. "Granulometry Using Transformation Based Techniques" In Proceedings of Vision Interface 2002
- Cobzas D. Jägersand M. "Tracking and re-rendering using dynamic textures on geometric structure from motion" In Proc. of European Conference on Computer Vision 2002
- D Cobzas, H Zhang and M Jagersand. "A comparative analysis of geometric and image-based volumetric and intensity data registration algorithms" In Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2002) Washington DC. 2002.
- Jägersand M. "Image-based predictive display for high d.o.f. uncalibrated tele-manipulation using affine and intensity subspace models" In RSJ Journal of Advanced Robotics, vol 14/8, 2001 p. 683-703
- Jägersand M. Binstead G. "Learning Piecewise Linear Coordinate Transforms for Hand-Eye Coordination" Poster, Progress in Motor Control, Montreal, August 2001.
- Jägersand M. "Visual-Motor Jacobian based Image Modelling" In Proceedings of Vision Interface Ottawa June 2001.
- Cobzas D. Jägersand M. "A comparison of Non-Euclidean Image-Based Rendering" In Proceedings of Graphics Interface Ottawa June 2001
- Pichler A. Jägersand M. "Uncalibrated Hybrid Force-Vision Manipulation" Proc. of IEEE/RSJ conference on Intelligent Robots and Systems, (IROS), Takamatsu, Nov 2000.
- Jägersand M. "Image Based Animation from Learned Visual-Motor models" In Proc. of CGS/IEEE Computer Animation 2000
- Jägersand M. "Hierarchical Uncalibrated Predictive Display for a
16 DOF Utah/MIT hand". In Proc. of IEEE/RSJ conference on
Intelligent Robots and Systems, (IROS) 99.
- Jägersand M.
Image Based Predictive Display for
Tele-Manipulation In Proc. of ICRA '99, to appear.
- Dodds Z. Jägersand M. Hager G. Toyama K.
A Hierarchical Vision Architecture for Robotic Manipulation Tasks
In Proc. of Int. conf. on Computer Vision Systems 99.
- Jägersand M.
On-line Estimation of Visual-Motor
Models for Robot Control and Visual Simulation
PhD thesis, University of Rochester, 97.
- Jägersand M.
Image Based View Synthesis of an Articulated Agent
In Proc of CVPR '97, also TR 595, Computer Science, Univ. of Rochester.
Previous image based (model free) synthesis has mostly been only from
different viewing angles. Here we show how to also simulate the actions
of an articulated agent.
- Jägersand M.
Image Based Visual Simulation and Tele-Assisted Robot Control
In IROS '97 Workshop Proc New Trends in Image Based Visual Servoing.
- Jägersand M. Fuentes O. Nelson R.
Experimental Evaluation of Uncalibrated Visual Servoing for
Precision Manipulation
In Proc. of ICRA '97.
Experimental results with adaptive visual servoing, establishing
some low level properties important to visual space robot programming.
- Jägersand M. Fuentes O. Nelson R.
Acquiring Visual-Motor Models for Precision Manipulation with Robot Hands
In Proc of 4th European Conference on Computer Vision, 1996, p. 603-612.
We use a combination of two techniques to achieve dextrous robot fine
manipulation: the use of an approximate estimated
motor model, based on the grasp tetrahedron acquired when grasping an object,
and the use of visual feedback to achieve accurate fine manipulation.
- Jägersand M. Nelson R.
On-line Estimation of Visual-Motor Models using Active Vision
In Proc. ARPA Image Understanding Workshop 96.
HTML version
Also: pdf version
We present a promising approach for combined visual model acqusition and
agent control. The approach differs from previous work in that a full
coupled Jacobian is estimated on-line without any prior models, or the
introduction of special calibration movements. We show how the
estimated models can be used for visual space robot task
specification, planning and control. In the other direction the same
type of models can be used for view synthesis.
- Jägersand M.
Visual Servoing using Trust Region Methods and Estimation of
the Full Coupled Visual-Motor Jacobian
In IASTED Applications of Robotics and Control '96.
A more detailed description of the low level visual servo controller,
including the convergence enhancing restricted step and homotopy
methods.
- Jägersand M.
Saliency Maps and Attention Selection in Scale and Spatial
Coordinates: An Information Theoretic Approach
In Proc of 5th International Conference on Computer Vision, 1995, p. 195-202.
HTML version
Defines information in 3 DOF scale and spatial coordinate space of images,
and derives an informartion infinitesimal, giving a pointwise information
measure in this space, useful for attention selection.
- Kutulakos K. Jägersand M.
Exploring objects by purposive invariant-based tangential viewpoint control
In Proc. of IEEE Symp. on Computer Vision 95.
How a special class of rotations can be used to learn about the
shape of unknown objects.
- Jägersand M. Nelson R.
Visual Space Task Specification, Planning and Control
In Proc. of IEEE Int. Symp. on Computer Vision 95, p 521-526.
A short description of higher level aspects of uncalibrated visual control.
Many experiments solving complex manipulation tasks in unstuctured e
nvironments.
- Jägersand M.
Perception level learning, planning and robot control
Area paper, Dept. of CS, University of Rochester May 1994, revised May 1995.
Long version of most of the hand-eye work.
- Nelson R. Jägersand M. Fuentes O.
Virtual Tools: A Framework for Simplifying Sensory-Motor Control in
Complex Robotic Systems
TR 576 CS Dept. University of Rochester 95, also short version in
Workshop on Vision For Robots, IROS '95.
How to deal with redundancy and complexity when doing real manipulation tasks
in unstructured environments.
- Kutulakos K. Jägersand M.
Exploring objects by purposive viewpoint control and invariant-based
hand-eye coordination
In Workshop on vision for robots IROS 1995.
How to perform precisely controlled rotations using visual servoing on
rotations defined in an affine image frame.
- Jägersand M. Nelson R.
Adaptive Differential Visual Feedback for uncalibrated hand-eye
coordination and motor control
TR 579, U. of Rochester 1994.
Also availible in html
High degree of freedom (3, 6, 12, n) uncalibrated visual servoing with
online estimation of the full coupled Jacobian.
- Jägersand M.
A Scale Decomposed Information Measure in Images
In ARPA Image Understanding Workshop 94.
Information in scale space is defined as a successive Kullback contrast
between scale levels. Numerous experiments on real images show that
this reflects our intuitive idea of in what scale the image information is.
Martin Jägersand <jag>