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Publications, Steven Shafer

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Moment and Hypergeometric Filters for High Precision Computation of Focus, Stereo and Optical Flow
  Y. Xiong and S. Shafer
  International Journal of Computer Vision, Vol. 22, No. 1, February, 1997, pp. 25-59.

• Performance Analysis of Color and Black & White Cameras
  J. Dey, N. Salzman, and S. Shafer
  tech. report CMU-RI-TR-97-07, Robotics Institute, Carnegie Mellon University, February, 1997. [Abstract]
  Download: pdf [553 KB], ps.gz [3639 KB] copyrighted

• Physics-Based Segmentation: Moving Beyond Color
  B. Maxwell and S. Shafer
  Proceedings of IEEE Conference on Computer Vision and Pattern Recognition, June, 1996, pp. 742 - 749. [Abstract]
  Download: pdf [94 KB], ps.gz [103 KB] copyrighted

• A Taxonomy for Stereo Computer Vision Experiments
  M. Maimone and S. Shafer
  ECCV Workshop on Performance Characteristics of Vision Algorithms, April, 1996, pp. 59 - 79.
  Download: pdf [897 KB], ps.gz [1206 KB] copyrighted

• Physics-Based Segmentation: Looking Beyond Color
  B. Maxwell and S. Shafer
  Proceedings of Image Understanding Workshop, 1996.
  Download: pdf [232 KB], ps.gz [274 KB] copyrighted

• Dense Structure from a Dense Optical Flow Sequence
  Y. Xiong and S. Shafer
  Proceedings of the 1995 International Symposium on Computer Vision, November, 1995, pp. 1 - 6. [Abstract]
  Download: pdf [673 KB] copyrighted

• Physics-Based Segmentation: Looking Beyond Color
  B. Maxwell and S. Shafer
  tech. report CMU-RI-TR-95-37, Robotics Institute, Carnegie Mellon University, October, 1995. [Abstract]
  Download: pdf [2159 KB] copyrighted

• Modeling Foreshortening in Stereo Vision using Local Spatial Frequency
  M. Maimone and S. Shafer
  Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '95), Vol. 1, August, 1995, pp. 519 - 524. [Abstract]
  Download: pdf [574 KB] copyrighted

• Moment Filters for High Precision Computation of Focus and Stereo
  Y. Xiong and S. Shafer
  IEEE/RSJ International Conference on Intelligent Robots and Systems,'Human Robot Interaction and Cooperative Robots', August, 1995, pp. 108 - 113. [Abstract]
  Download: pdf [1016 KB], ps.gz [1068 KB], ps.z [1436 KB] copyrighted

• Hypergeometric Filters for Optical Flow and Affine Matchine
  Y. Xiong and S. Shafer
  The Fifth International Conference on Computer Vision, June, 1995, pp. 771-776.
  Download: pdf [652 KB], ps.gz [691 KB], ps.z [850 KB] copyrighted

• Texture Segmentation and Shape in the Same Image
  J. Krumm and S. Shafer
  The Fifth International Conference on Computer Vision, June, 1995, pp. 121-127. [Abstract]
  Download: pdf [566 KB] copyrighted

• Dense Structure from a Dense Optical Flow Sequence
  Y. Xiong and S. Shafer
  tech. report CMU-RI-TR-95-10, Robotics Institute, Carnegie Mellon University, April, 1995. [Abstract]
  Download: pdf [903 KB], ps.gz [3049 KB], ps.z [3367 KB] copyrighted

• Modeling Foreshortening in StereoVision using Local Spatial Frequency
  M. Maimone and S. Shafer
  tech. report CMU-CS-95-104, Computer Science Department, Carnegie Mellon University, January, 1995.
  Download: pdf [918 KB], ps.gz [754 KB] copyrighted

• Recursive Filters for High Precision Computation of Focus, Stereo and Optical Flow
  Y. Xiong and S. Shafer
  ARPA Image Understanding Workshop, November, 1994.

• What is the Center of the Image?
  R. Willson and S. Shafer
  Journal of the Optical Society of America A, Vol. 11, No. 11, November, 1994, pp. 2946 - 2955. [Abstract]
  Download: pdf [1435 KB] copyrighted

• A characterizable shape-from-texture algorithm using the spectrogram
  J. Krumm and S. Shafer
  Proceedings of the IEEE-SP International Symposium on Time-Frequency and Time-Scale Analysis, October, 1994, pp. 322 - 325. [Abstract]
  Download: pdf [372 KB] copyrighted

• Moment and Hypergeometric Filters for High Precision Computation of Focus, Stereo, and Optical Flow
  Y. Xiong and S. Shafer
  tech. report CMU-RI-TR-94-28, Robotics Institute, Carnegie Mellon University, September, 1994. [Abstract]
  Download: pdf [3451 KB], ps.gz [3324 KB] copyrighted

• A Framework for Image Segmentation Using Physical Models of Image Formation
  B. Maxwell and S. Shafer
  Proc. IEEE Conf. on Computer Vision and Pattern Recognition (CVPR-94), June, 1994.
  Download: pdf [146 KB], ps.gz [175 KB] copyrighted

• Method for estimating scene parameters from color histograms
  C.L. Novak and S. Shafer
  Journal of the Optical Society of America, Vol. 11, No. 11, June, 1994, pp. 3020 - 3036. [Abstract]
  Download: pdf [766 KB] copyrighted

• Variable Window Gabor Filters and Their Use in Focus and Correspondence
  Y. Xiong and S. Shafer
  Proceedings of the 1994 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR '94), June, 1994, pp. 668 - 671. [Abstract]
  Download: pdf [285 KB] copyrighted

• Variable Window Gabor Filters and Their Use in Focus and Correspondence
  Y. Xiong and S. Shafer
  tech. report CMU-RI-TR-94-06, Robotics Institute, Carnegie Mellon University, March, 1994. [Abstract]
  Download: pdf [1127 KB], ps.gz [1663 KB] copyrighted

• Determination of surface roughness from reflected step edges
  R.A. Stone and S. Shafer
  Journal of the Optical Society of America, February, 1994.

• Segmenting Textured 3D Surfaces Using the Space/Frequency Representation
  J. Krumm and S. Shafer
  Spatial Vision 1994, special issue on Texture Perception and Attention, 1994. [Abstract]
  Download: pdf [326 KB] copyrighted

• A Framework for Segmentation using Physical Models of Image Formation
  B.A. Maxwell and S. Shafer
  tech. report CMU-RI-TR-93-29, Robotics Institute, Carnegie Mellon University, December, 1993. [Abstract]
  Download: pdf [4118 KB] copyrighted

• Optimizing Ray Tracing with Visual Coherence
  N. Loofbourrow and S. Shafer
  tech. report CMU-CS-93-209, Computer Science Department, Carnegie Mellon University, December, 1993.

• The Determination of Surface Roughness from Reflected Step Edges
  R.A. Stone and S. Shafer
  tech. report CMU-RI-TR-93-25, Robotics Institute, Carnegie Mellon University, November, 1993. [Abstract]
  Download: pdf [1817 KB] copyrighted

• A Perspective Projection Camera Model for Zoom Lenses
  R. Willson and S. Shafer
  Proceedings of Second Conference on Optical 3-D Measurement Techniques, October, 1993. [Abstract]
  Download: pdf [67 KB], ps.gz [37 KB], ps.z [75 KB] copyrighted

• A Method for Estimating Scene Parameters from Color Histograms
  C.L. Novak and S. Shafer
  tech. report CMU-CS-93-177, Computer Science Department, Carnegie Mellon University, July, 1993.

• Depth from Focusing and Defocusing
  Y. Xiong and S. Shafer
  Proceedings of the 1993 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR '93), June, 1993, pp. 68 - 73. [Abstract]
  Download: pdf [385 KB] copyrighted

• What is the Center of the Image?
  R. Willson and S. Shafer
  Proceedings of the 1993 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR '93), June, 1993, pp. 670 - 671. [Abstract]
  Download: pdf [150 KB] copyrighted

• Image Understanding Research at CMU
  S. Shafer, T. Kanade, and K. Ikeuchi
  Proceedings of the 1993 DARPA Image Understanding Workshop, April, 1993.

• Segmenting Textured 3D Surfaces Using the Space/Frequency Representation
  J. Krumm and S. Shafer
  tech. report CMU-RI-TR-93-14, Robotics Institute, Carnegie Mellon University, April, 1993. [Abstract]
  Download: pdf [1006 KB] copyrighted

• What is the Center of the Image?
  R. Willson and S. Shafer
  tech. report CMU-CS-93-122, Computer Science Department, Carnegie Mellon University, April, 1993.
  Download: pdf [213 KB], ps.gz [223 KB] copyrighted

• Depth from Focusing and Defocusing
  Y. Xiong and S. Shafer
  tech. report CMU-RI-TR-93-07, Robotics Institute, Carnegie Mellon University, March, 1993. [Abstract]
  Download: pdf [824 KB], ps.gz [1341 KB] copyrighted

• A Computational Model of Driving for Autonomous Vehicles
  D. Reece and S. Shafer
  Transportation Research-A, Pergamon Press Ltd, Vol. 27A, No. 1, 1993, pp. 23-50.

• Estimating Scene Properties from Color Histograms
  C.L. Novak and S. Shafer
  tech. report CMU-CS-92-212, Computer Science Department, Carnegie Mellon University, November, 1992. [Abstract]
  Download: pdf [143 KB], ps.gz [92 KB] copyrighted

• Anatomy of a color histogram
  C.L. Novak and S. Shafer
  Proceedings of the 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR '92), June, 1992, pp. 599 - 605. [Abstract]
  Download: pdf [674 KB] copyrighted

• Shape from periodic texture using the spectrogram
  J. Krumm and S. Shafer
  Proceedings of the 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR '92), June, 1992, pp. 284 - 289. [Abstract]
  Download: pdf [816 KB] copyrighted

• Precision Imaging and Control for Machine Vision Research at Carnegie Mellon University
  R. Willson and S. Shafer
  tech. report CMU-CS-92-118, Computer Science Department, Carnegie Mellon University, March, 1992.
  Download: pdf [0 KB], ps.gz [129 KB] copyrighted

• The New Generation System for the CMU Navlab
  C. Thorpe, M. Hebert, T. Kanade, and S. Shafer
  Vision-Based Vehicle Guidance, Ichiro Masaki, ed., Springer-Verlag, 1992.

• Dynamic Lens Compensation for Active Color Imaging and Constant Magnification Focusing
  R. Willson and S. Shafer
  tech. report CMU-RI-TR-91-26, Robotics Institute, Carnegie Mellon University, November, 1991. [Abstract]
  Download: pdf [2645 KB] copyrighted

• Shape from Periodic Texture Using the Spectrogram
  J. Krumm and S. Shafer
  tech. report CMU-RI-TR-91-29, Robotics Institute, Carnegie Mellon University, November, 1991. [Abstract]
  Download: pdf [1220 KB] copyrighted

• Using Active Vision to Simplify Perception for Robot Driving
  D. Reece and S. Shafer
  tech. report CMU-CS-91-199, Computer Science Department, Carnegie Mellon University, November, 1991.
  Download: pdf [307 KB], ps.gz [182 KB] copyrighted

• Toward Autonomous Driving: The CMU Navlab. Part II: System and Architecture
  C. Thorpe, M. Hebert, T. Kanade, and S. Shafer
  IEEE Expert, Vol. 6, No. 4, August, 1991, pp. 44 - 52. [Abstract]
  Download: pdf [939 KB] copyrighted

• Toward Autonomous Driving: The CMU Navlab. Part I: Perception
  C. Thorpe, M. Hebert, T. Kanade, and S. Shafer
  IEEE Expert, Vol. 6, No. 4, August, 1991, pp. 31 - 42. [Abstract]
  Download: pdf [2055 KB] copyrighted

• A Computational Model of Driving for Autonomous Vehicles
  D. Reece and S. Shafer
  tech. report CMU-CS-91-122, Computer Science Department, Carnegie Mellon University, April, 1991.
  Download: pdf [334 KB], ps.gz [123 KB] copyrighted

• Active Lens Control for High Precision Computer Imaging
  R. Willson and S. Shafer
  Proc. IEEE International Conference on Robotics and Automation (ICRA '91), Vol. 3, April, 1991, pp. 2063 - 2070. [Abstract]
  Download: pdf [781 KB] copyrighted

• Sampled-grating and crossed-grating models of moire patterns form digital imaging
  J. Krumm and S. Shafer
  Optical Engineering, Vol. 30, No. 2, February, 1991, pp. 195 - 206. [Abstract]
  Download: pdf [1142 KB] copyrighted

• Local spatial frequency analysis of image texture
  J. Krumm and S. Shafer
  Proceedings of the Third International Conference on Computer Vision, December, 1990, pp. 354 - 358. [Abstract]
  Download: pdf [480 KB] copyrighted

• A Programmer's Guide to the Generalized Image Library
  L.G.C. Hamey, H. Printz, D. Reece, R. Hyre, and S. Shafer
  August, 1990. [Abstract]
  Download: pdf [2324 KB] copyrighted

• Local Spatial Frequency Analysis for Computer Vision
  J. Krumm and S. Shafer
  tech. report CMU-RI-TR-90-11, Robotics Institute, Carnegie Mellon University, May, 1990. [Abstract]
  Download: pdf [1883 KB] copyrighted

• Obtaining Accurate Color Images for Machine Vision Research
  C.L. Novak, S. Shafer, and R. Willson
  Proc. SPIE #1250: Perceiving, Measuring, and Using Color, February, 1990.

• A Physical Approach to Color Image Understanding
  G. Klinker, S. Shafer, and T. Kanade
  International Journal of Computer Vision, Vol. 4, No. 1, January, 1990, pp. 7-38. [Abstract]
  Download: pdf [600 KB] copyrighted

• Development of an Integrated Mobile Robot System: December 1989 Final Report
  S. Shafer and W.L. Whittaker
  tech. report CMU-RI-TR-90-12, Robotics Institute, Carnegie Mellon University, January, 1990.
  Download: pdf [3501 KB] copyrighted

• Physics-Based Models for Early Vision by Machine
  S. Shafer, T. Kanade, G. Klinker, and C. Novak
  Proc. SPIE Conference on Perceiving, Measuring, and Using Color, Vol. 1250, 1990.

• A Simple grating Model of Moire Patterns from Digital Imaging
  J. Krumm and S. Shafer
  tech. report CMU-RI-TR-89-19, Robotics Institute, Carnegie Mellon University, July, 1989. [Abstract]
  Download: pdf [1270 KB] copyrighted

• Development of an Integrated Mobile Robot System at CMU: June 1988 Annual Report
  S. Shafer and W.L. Whittaker
  tech. report CMU-RI-TR-89-22, Robotics Institute, Carnegie Mellon University, July, 1989.
  Download: pdf [2257 KB] copyrighted

• Image Understanding Research at Carnegie Mellon
  T. Kanade and S. Shafer
  Proceedings of the 1989 DARPA Image Understanding Workshop, May, 1989, pp. 32-47.

• Color Image Analysis with an Intrinsic Reflection Model
  G. Klinker, S. Shafer, and T. Kanade
  Proceedings of the Second International Conference on Computer Vision, December, 1988, pp. 292 - 296.
  Download: pdf [527 KB] copyrighted

• The Measurement of Highlights in Color Images
  G. Klinker, S. Shafer, and T. Kanade
  International Journal of Computer Vision, Vol. 2, No. 1, June, 1988, pp. 7-32. [Abstract]
  Download: pdf [524 KB] copyrighted

• Vision and navigation for the Carnegie-Mellon Navlab
  C. Thorpe, M. Hebert, T. Kanade, and S. Shafer
  IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 10, No. 3, May, 1988, pp. 362 - 373. [Abstract]
  Download: pdf [1568 KB] copyrighted

• Image Segmentation and Reflection Analysis Through Color
  G. Klinker, S. Shafer, and T. Kanade
  Proceedings of the 1988 DARPA Image Understanding Workshop, Morgan Kaufmann Publishers, Inc., April, 1988, pp. 838-853.

• Image Segmentation and Reflection Analysis Through Color
  G.J. Klinker, S. Shafer, and T. Kanade
  SPlE Vol. 937 Applications of Artificial Intelligence VI, 1988. [Abstract]
  Download: pdf [1432 KB] copyrighted

• June 1987 Annual Report: Development of an Integrated Mobile Robot System at Carnegie Mellon
  S. Shafer and W.L. Whittaker
  tech. report CMU-RI-TR-88-10, Robotics Institute, Carnegie Mellon University, July, 1987.
  Download: pdf [5535 KB] copyrighted

• Error Modeling in Stereo Navigation
  L. Matthies and S. Shafer
  IEEE Journal of Robotics and Automation, Vol. RA-3, No. 3, June, 1987, pp. 239 - 250. [Abstract]
  Download: pdf [1024 KB] copyrighted

• Using a Color Reflection Model to Separate Highlights from Object Color
  G. Klinker, S. Shafer, and T. Kanade
  Proc. First International Conference on Computer Vision, 1987, pp. 145-150.

• Vision and Navigation for Carnegie Mellon Navlab
  C. Thorpe, M. Hebert, T. Kanade, and S. Shafer
  Annual Review of Computer Science, J. Traub, et. al, ed., Annual Reviews Inc., CA, Vol. 2, 1987, pp. 521-556.

• Module Programmer's Guide to Local Map Builder for ALVan
  A. Stentz and S. Shafer
  June, 1986. [Abstract]
  Download: pdf [3949 KB] copyrighted

• An Architecture for Sensor Fusion in a Mobile Robot
  S. Shafer, A. Stentz, and C. Thorpe
  tech. report CMU-RI-TR-86-09, Robotics Institute, Carnegie Mellon University, April, 1986.
  Download: pdf [1242 KB] copyrighted

• Correspondence in Line Drawings of Multiple Views of Objects
  C. Thorpe and S. Shafer
  Proceedings of IJCAI-83, August, 1983.

• Gradient Space Under Orthography and Perspective
  S. Shafer, J. Kender, and T. Kanade
  Computer Vision, Graphics and Image Processing, Vol. 24, 1983, pp. 182-199.

• The Theory of Straight Homogeneous Generalized Cylinders and A Taxonomy of Generalized Cylinders
  S. Shafer and T. Kanade
  Proceedings of the 1983 DARPA Image Understanding Workshop, 1983, pp. 210-218.

• Using Shadows in Finding Surface Orientations
  S. Shafer and T. Kanade
  Computer Vision, Graphics, and Image Processing, Vol. 22, 1983, pp. 145-176.

• Recursive Region Segmentation by Analysis of Histograms
  S. Shafer and T. Kanade
  Proc. IEEE International Conference on Acoustics, Speech and Signal Processing, 1982, pp. 1166-1171.