On behalf of the organizerswe would like to welcome all participants to the “Robot Vision 2001” workshop. Our objective has been to bring together - searchersinrobotvision,andtopromoteinteractionanddebate. Participants oftheworkshopcomefromEurope,US,theMiddleEast,theFarEast,andof coursefromNewZealand. Fifty-twopapersweresubmittedtotheworkshop,andeachpaperwasth- oughlyreviewedbyatleastthreereviewers. Seventeenpaperswereselectedfor oral presentation, and seventeen papers were selected for poster presentation. There were no invited technical papers, to give all participants the sense of equalopportunity. Thetechnicalscopeoftheworkshopisverywide,andincludespresentations onmotionanalysis,3Dmeasurements,calibration,navigation,objectrecog- tion,andmore. Thescheduleoftheworkshopwasthereforepreparedtoallow, inadditiontothetechnicalpresentation,ampletimefordiscussionsandint- action.^ Wehopethatinteractionamongresearchersofsuchdi?erentareas,yet allpartofrobotvision,willresultinbetterunderstandingandresearchofthe robotvisionarea. February2001 ReinhardKlette,ShmuelPeleg,andGeraldSommer Organization RobVis2001wasorganizedbytheCenterforImageTechnologyandRobotics (CITR),Tamakicampus,TheUniversityofAuckland. Co-chairs ReinhardKlette(Auckland,NewZealand) ShmuelPeleg(Jerusalem,Israel) GeraldSommer(Kiel,Germany) Program Committee JackyBaltes(Auckland, NZ), ThomasBr¨aunl (Nedlands, AUS), Ross Clarke (Hamilton,NZ),GeorgyGimel’farb(Auckland,NZ),AtsusuhiImiya(Chiba,J), Reinhard Klette (Auckland, NZ), Claus-E. Liedtke (Hanover,D), Bruce Mac- Donald (Auckland, NZ), Takashi Matsuyama (Kyoto, Japan), Allan McIvor (Auckland,NZ),JosefPauli(Kiel,D),ShmuelPeleg(Jerusalem,IL),Moshe- rat(Haifa,IL),GeraldSommer(Kiel,D),BillTrigs(Grenoble,F),andFriedrich Wahl(Braunschweig,D).^ Local Organizing Committee JackyBaltes,GeorgyGimel’farb,UlrichGun ¨ ther,JamesHarper,ReinhardKlette, CeciliaLourdes,BruceMacDonald,S. Manoharan,SudhirReddy,andSharon Walker. Sponsors TheInternationalAssociationforPatternRecognition MORST/DFG InstituteofElectricalandElectronicEngineers(IEEE)-NZNorthSection TheUniversityofAuckland,Tamakicampus VisualImpactAucklandLtd. Table of Contents Active Perception VisualCuesforaFixatingActiveAgent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 M?artenBj¨orkmanandJan-OlofEklundh TrackingwithaNovelPoseEstimationAlgorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 BodoRosenhahn,NorbertKru¨ger,TorgeRabschandGeraldSommer Real-TimeTrackingofArticulatedHumanModels Usinga3DShape-from-SilhouetteMethod. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 JasonLuck,DanSmallandCharlesQ. Little Hierarchical3DPoseEstimationforArticulatedHumanBodyModels fromaSequenceofVolumeData. . . . . . . . . . . . .^ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 SebastianWeikandC. -E. Liedtke Vision-BasedRobotLocalizationUsingSporadicFeatures. . . . . . . . . . . . . . . . . . 35 StefanEnderle,HeikoFolkerts,MarcusRitter,StefanSablatn¨og, GerhardKraetzschmarandGunth ¨ erPalm Poster Session1: Computer Vision AComparisonofFeatureMeasurementsforKineticStudies onHumanBodies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 NikkiAustin,YenChen,ReinhardKlette,RobertMarshall, Yuan-shengTsaiandYongbaoZhang ObjectIdenti?cationandPoseEstimationforAutomaticManipulation . . . . 52 BenjaminHohnhaeuserandGuenterHommel TowardSelf-calibrationofaStereoRigfromNoisyStereoscopicImages . . . . 60 SlimaneLarabi AColorSegmentationAlgorithmforReal-TimeObjectLocalization onSmallEmbeddedSystems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .^ 69 PhilippeLeclercqandThomasBrau ¨nl EYESCAN–AHighResolutionDigitalPanoramicCamera. . . . . . . . . . . . . . . . 77 KarstenScheibe,HartmutKorsitzky,RalfReulke,MartinScheele andMichaelSolbrig AWavelet-BasedAlgorithmforHeightfromGradients . . . . . . . . . . . . . . . . . . . . . 84 TiangongWeiandReinhardKlette EnhancedStereoVisionUsingFree-FormSurfaceMirrors. . . . . . . . . . . . . . . . . . 91 AlexanderWuerz,StefanK. GehrigandFridtjofJ. Stein VIII Table of Contents Poster Session2:Robotics& Video RoboCup-99:AStudent’sPerspective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 JackyBaltes Horus:ObjectOrientationandIdwithoutAdditionalMarkers . . . . . . . . . . . 107 JackyBaltes AnStereoscopicVisionSystemGuidinganAutonomousHelicopter forOverheadPowerCableInspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 PascualCampoy,PedroJ.^ Garcia,AntonioBarrientos, JaimedelCerro,In˜aquiAguirre,Andr´esRoa,RafaelGarcia andJos´eM. Muno˜z 3DStereoVision-BasedNursingRobotforElderlyHealthCare . . . . . . . . . . . 125 Wee-SoonChing,EdwardHo,ChristopherOng,HsTayandSai-MuiLim E?cientComputationofIntensityPro?lesforReal-TimeVision . . . . . . . . . . 131 ErnstDieterDickmanns SubpixelFlowDetectionbytheHoughTransform . . . . . . . . . . . . . . . . . . . . . . . . 140 AtsushiImiyaandKeisukeIwawaki TrackingofMovingHeadsinClutteredScenesfromStereoVision . . . . . . . . . 148 RuijiangLuoandYanGuo ServoingMechanismsforPeg-In-HoleAssemblyOperations . . . . . . . . . . . . . . . 157 JosefPauli,ArneSchmidtandGeraldSommer RobotLocalizationUsingOmnidirectionalColorImages . . . . . . . . . . . . . . . . . . 167 DavidC. K. YuenandBruceA. MacDonald TheBackgroundSubtractionProblemforVideoSurveillanceSystems . . . . . 176 AlanMcIvor,QiZangandReinhardKlette Computational Stereo StableMonotonicMatchingforStereoscopicVision . . . . . . . . . .^ . . . . . . . . . . . . . 184 ? RadimS´ara RandomSamplingandVotingMethod forThree-DimensionalReconstruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 KazuhikoKawamotoandAtsushiImiya BinocularStereobyMaximizingtheLikelihoodRatioRelative toaRandomTerrain. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 GeorgyGimel’farb StereoReconstructionfromPolycentricPanoramas . . . . . . . . . . . . . . . . . . . . . . .