Bob Fisher's Publications
Book Publications

H. Laga, Y. Guo, H. Tabia, R. B. Fisher, M. Bennamoun;
3D Shape Analysis: Fundamentals, Theory, and Applications,
John Wiley, ISBN: 9781119405191, 2018.

R. B. Fisher, Y.H. ChenBurger, D. Giordano, L. Hardman, F.P. Lin (Eds),
Fish4Knowledge: Collecting and Analyzing Massive Coral Reef Fish Video Data,
Springer International Publishing, 2016, ISBN 9783319302089.

R. Fisher, T. Breckon, K. DawsonHowe, A. W. Fitzgibbon, C. Robertson, E. Trucco, C. K. I. Williams;
Dictionary of Computer Vision and Image Processing, John Wiley and Sons, Second Edition, 2014, ISBN 9781119941866.
You can see the terms from the first edition online here.

R. Fisher, K. DawsonHowe, A. W. Fitzgibbon, C. Robertson, E. Trucco;
Dictionary of Computer Vision and Image Processing, John Wiley and Sons, 2005, ISBN 0470015268.
You can see the terms from the first edition online here.

Fisher, R. B., Perkins, S., Walker, A., Wolfart, E.,
"HIPR: Hypermedia Image Processing Reference",
CDrom published by John Wiley and Sons, Chichester, 1996.
HIPR2 published over the www at http://homepages.inf.ed.ac.uk/rbf/HIPR2, 2000.

Fisher, R. B., "From Surfaces to Objects: Computer Vision and
Three Dimensional Scene Analysis", John Wiley and Sons, Chichester, 1989.
Russian translation 1993.
Edited Proceedings

F. J. Perales, R. B. Fisher, T. B. Moeslund (Eds).
Proc. VII Conf. on Articulated Motion and Deformable Objects
(AMDO 2012), Mallorca, Spain, July 2012.

F. J. Perales, R. B. Fisher (Eds).
Proc. VI Conf. on Articulated Motion and Deformable Objects
(AMDO 2010), Mallorca, Spain, July 2010.

F. J. Perales, R. B. Fisher (Eds).
Proc. V Conf. on Articulated Motion and Deformable Objects
(AMDO 2008), Mallorca, Spain, July 2008.

M. J. Chantler, E. Trucco and R. B. Fisher (Eds),
Proc. 2006 British Machine Vision Conference,
BMVA Press, Heriot Watt and Edinburgh Universities, Sept 2006.

F. J. Perales, R. B. Fisher (Eds).
Proc. IV Conf. on Articulated Motion and Deformable Objects
(AMDO2006), Mallorca, Spain, July 2006.

R. B. Fisher, K. DawsonHowe, C. O'Sullivan (Eds).
Proc. Int. Symp. on Virtual and Augmented Architecture (VAA01)
SpringerVerlag (London), Dublin, Ireland, June 2001.

Fisher, R. B. and Hayes, G. M. (Eds).
Proc. 6th Int. Symp. on Intelligent Robotic Systems,
Univ. of Edinburgh, July 1998.

Fisher, R. B. and Trucco, E. (Eds),
Proc. 1996 British Machine Vision Conference,
BMVA Press, Univ. of Edinburgh, Sept 1996.

Fisher, R. B. (editor), "Design
and Application of Curves and Surfaces: Mathematics of Surfaces V",
Oxford University Press, 1994.
Index to Book Chapter, Journal and Conference Publications by Topic
 Range/3D Data Analysis
 Range Sensing/Data Fusion/View Planning
 Feature Extraction
 Reverse Engineering/Model Acquisition
 Object Recognition and Location
 High Level Vision
 Object Representation
 Object Recognition, Matching and Searching
 Geometric Reasoning/Pose Estimation
 Video Sequence Analysis
 Intensity Image Analysis
 AppearanceBased Vision
 Image Feature Extraction
 Medical Imaging
 Robot/Industrial Vision
 Parallel Vision
 Other Vision
 Machine Learning and Pattern Recognition
 Other Research
 Other Group Publications
 Unpublished documents
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Book Chapter, Journal and Conference Publications by Topic
Range/3D Data Analysis
Range/3D Data Analysis: Sensing/Data Fusion/View Planning

C. Pu, CY. Yang, JN. Pu, R. Tylecek, R. B. Fisher;
A Multimodal Garden Dataset and Hybrid 3D Dense Reconstruction Framework Based on
Panoramic Stereo Images for a Trimming Robot,
ISPRS Journal of Photogrammetry and Remote Sensing, to appear, 2023.
A draft version of the paper is here.

J. Zhang, R. B. Fisher;
3D lip event detection via interframe motion divergence at multiple temporal resolutions, Proc. Int. Conf. on 3D Vision (3DV), 2021.

V. VillenaMartinez, M. SavalCalvo, J. AzorinLopez, A. FusterGuillo, R. B. Fisher;
LocalGlobal based Deep Registration Neural Network for Rigid Alignment,
Proc. Int. Joint Conf. on Neural Networks, online, July 2021.

V. VillenaMartinez, S. Oprea, M. SavalCalvo, J. AzorinLopez, A. FusterGuillo, R. B. Fisher;
When Deep Learning Meets Data Alignment: A Review on Deep Registration Networks (DRNs),
Applied Sciences, to appear. A draft version of the article is here.

C. Pu, R. B. Fisher; UDFNET: Unsupervised disparity fusion with adversarial networks, Proc. 26th IEEE Int Conf on Image Processing (ICIP), Taipei, 2019.

A. FusterGuillo, J. AzorinLopez, J. M. Castillo Zaragoza, L. F. Perez Perez, M. SavalCalvo, R. B. Fisher; 3D technologies to acquire and visualize the human body for improving dietetic treatment, Proc. 13th Int. Conf. on Ubiquitous Computing and Ambient Intelligence, Toledo, Dec 2019.

C. Pu, R. Song, R. Tylecek, N. Li, R. B. Fisher;
SDFMAN: Semisupervised Disparity Fusion with Multiscale Adversarial Networks,
Remote Sensing, 11(5):487492, 2019.
A draft version of the paper is here.

C. Pu, N. Li, R. Tylecek, R. B. Fisher;
DUGMA: Dynamic UncertaintyBased Gaussian Mixture Alignment,
Proc. Int. Conf. on 3D Vision 2018, Verona, 2018.

J. Zhang, C. Maniatis, L. Horna, R. B. Fisher;
Dynamic 3D Reconstruction Improvement via Intensity Video Guided 4D Fusion,
Journal of Visual Communication and Image Representation, 55: 540547, 2018.
A draft version of the paper is here.

M. SavalCalvo, J. AzorinLopez, A. FusterGuillo, V. VillenaMartinez, R. B. Fisher;
3D nonrigid registration using color: Color Coherent Point Drift,
Computer Vision and Image Understanding, vol 169, pp 119135, 2018.
A draft version of the paper is here.
Associated code is here.

L. Horna, R. B. Fisher;
Plane labeling trinocular stereo matching with baseline recovery,
Proc. 15th Int. Conf. on Machine Vision Applications, Nagoya, May 2017.
A draft version of the paper is here.

L. A. Horna, R. B. Fisher;
3D plane labeling stereo matching with content aware adaptive windows,
Proc. Int. Conf. on Computer Vision Theory and Applications (VISAPP),
Porto, Feb 2017.
A draft version of the paper is here.

R. B. Fisher, S. G. McDonagh;
Fusing 100's of 3D Point Clouds of Objects,
Proc. CVPR workshop on Large Scale 3D Data: Acquisition, Modelling and Analysis, 2016.

B. Boom, S. OrtsEscolano, X.X. Ning, S. McDonagh, P. Sandilands and R.B. Fisher,
Point Light Source Estimation based on Scenes Recorded by a RGBD camera,
Proc. Brit. Machine Vision Conference, 2013.

S. McDonagh, R. B. Fisher,
Simultaneous registration of multiview range images with adaptive kernel density estimation,
Proc. IMA 14th Mathematics of Surfaces, 2013.

T. P. Breckon, R. B. Fisher,
A hierarchical extension to 3D nonparametric surface relief completion,
Pattern Recognition, Vol 45. pp 172185, 2011.
Also available here.

R. Fisher, Y. Xiao,
Bat echolocation behavior from highspeed 3D video,
Proc. Int. Workshop on Visual observation and Analysis of Animal and Insect
Behavior (VAIB), in conjunction with ICPR 2010, Istanbul, 2010.

Y. Xiao, R. B. Fisher, M. Oscar,
Performance Characterization of a HighSpeed Stereovision Sensor for Acquisition of TimeVarying 3D Shapes,
Machine Vision and Applications, online paper, 2010. Also Vol 22(3):535+, 2011.
A draft version of the paper is here.

Y. Xiao, R. B. Fisher,
"Accurate Feature Extraction and Control Point Correction for Camera Calibration with a MonoPlane Target",
Proc. Int. Conf. 3D Data Processing, Visualization and Transmission (3DPVT),
Paris, May 2010, electronic proceedings.
For code and examples click here.

Y. Xiao, R. B. Fisher,
"Application of a Highspeed Stereovision Sensor to 3D Shape Acquisition of Flying Bats",
Proc. Int. Conf. on Computer Vision Theory and Applications (VISAPP),
Angers, May 2010, electronic proceedings.

T. Collins, A. Bartoli, R. Fisher,
Automatic QuasiIsometric Surface Recovery and Registration from 4D Range Data,
Proc. BMVA Symposium on 3D Video – Analysis, Display and Applications, London, 2008.

T. P. Breckon, R. B. Fisher,
"ThreeDimensional Surface Relief Completion Via Nonparametric Techniques",
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI),
30(12), IEEE Press, pp. 22492255, 2008.

Y. Xiao, R.B. Fisher, M. Oscar,
"Characterising a HighSpeed 3D Surface Scanner for Bat Behaviour Study",
Proc. Int. Workshop on Visual observation and Analysis of Animal and Insect
Behavior (VAIB), in conjunction with ICPR 2008, Tampa, pp 3942, Dec 2008.

R. B. Fisher, K. Konolige, "Chapter 22  Range Sensors",
in Springer Handbook of Robotics,
(Eds. B. Siciliano, O. Khatib), pp 521542, Springer, 2008.
A draft version is here.

T. P. Breckon, R. B. Fisher,
"Direct Geometric Texture Synthesis and Transfer on 3D Meshes",
Proc. 3rd Eur. Conf. on Visual Media Production (CVMP), London, pg 186, 2006.

T. Lukins, R. B. Fisher.
"Colour Constrained 4D Flow",
Proc. 2005 British Machine Vision Association Conf.,
pp 340348, Oxford, 2005.

T. P. Breckon, R. B. Fisher,
"Amodal Volume Completion: 3D visual completion",
Comp. Vis. and Image Under., 99(3), pp 499526, 2005.

T. P. Breckon, R. B. Fisher,
"Plausible 3D Colour Surface Completion using Nonparametric Techniques",
Proc. Maths of Surfaces XI, pp 102120, Sept 2005.

T. P. Breckon, R. B. Fisher,
"Nonparametric 3D Surface Completion",
Proc. 5th Int. Conf. on 3D Digital Imaging and Modeling (3DIM05),
Ottawa, Canada, pp 573580, June 2005.

M. Rodrigues, R. B. Fisher and Y. Liu,
Special Issue on Registration and Fusion of Range Images
Comp. Vis. and Image Under. Vol 87,
Introduction pp 17, 2002.

C. Robertson, R. B. Fisher,
"Parallel Evolutionary Registration of Range Data",
Computer Vision and Image Understanding, 87, pp 3950, 2002.

C. Robertson, R. B. Fisher.
"Empirical Calibration Method for Adding Colour to Range Images",
Proc. Int. Symp. on 3D Data Processing Visualization and Transmission (3DPVT),
Padova, Italy, pp 558561, June 2002.

U. Castellani, S. Livatino, R. B. Fisher.
"Improving Environment Modelling by Edge Occlusion Surface Completion",
Proc. Int. Symp. on 3D Data Processing Visualization and Transmission (3DPVT),
Padova, Italy, pp 672675, June 2002.

Fabio Dell'Acqua, Robert Fisher,
"Reconstruction of planar surfaces behind occlusions in range images",
IEEE Trans. Pat. Anal. and Mach. Intel., 24(4), pp 569575, April 2002.
An earlier version is available here.

H. Cantzler, R. B. Fisher,
"Comparison of HK and SC curvature description methods",
Proc. 3rd Int. Conf. on 3D Digital Imaging and Modeling (3DIM01),
Montreal, Canada, pp 285291, May 2001.

F. Stulp, F. Dell'Acqua, R. B. Fisher,
"Reconstruction of surfaces behind occlusions in range images",
Proc. 3rd Int. Conf. on 3D Digital Imaging and Modeling (3DIM01),
Montreal, Canada, pp 232239, June 2001.

J. M. Sanchiz, R. B. Fisher,
"Environment recovery by range scanning with a nextbestview algorithm",
Robotica, to appear.
An earlier version is available here.

J.M. Sanchiz, R.B. Fisher
"Viewpoint estimation in threedimensional images taken with perspective range sensors",
IEEE Trans. Pat. Anal. and Mach. Intel., 22(11), Nov 2000, pp 13241329.
An earlier version is available here.

J. M. Sanchiz, R. B. Fisher,
"Estimating the viewpoint position from a threedimensional image",
Proc. Symp. Intelligent Robotic Systems (SIRS00), Reading, pp 181189, July 2000.

R. B. Fisher, A. P. Ashbrook, C. Robertson, N. Werghi,
"A LowCost Range Finder using a Visually Located, Structured Light Source",
Proc. 2nd Int. Conf. on 3D Digital Imaging and Modeling,
Ottawa, Canada, pp 2433, October 1999.

J. M. Sanchiz, R. B. Fisher,
"A nextbestview algorithm for 3D scene recovery with 5 degrees of freedom",
Proc. British Machine Vision Conference BMVC99, Nottingham, pp 163172,
September 1999.

N. A. Massios, R. B. Fisher.
"A Best Next View Selection Algorithm Incorporating a Quality Criterion",
Proc. British Machine Vision Conference BMVC98, Southampton, pp 780789,
September 1998.

D. W. Eggert, A. W. Fitzgibbon, R. B. Fisher,
"Simultaneous Registration of Multiple Range Views For Use In Reverse
Engineering of CAD Models",
Computer Vision and Image Understanding, Vol 69, No 3, pp 253272, March 1998.
An earlier version is available as a departmental technical report.

E. Trucco, R. Fisher, A. Fitzgibbon, D. K. Naidu
"Calibration, Data Consistency and Model Acquisition with 3D Laser Stripers",
Int J. of ComputerIntegrated Manufacturing, vol. 11, no. 4, pp. 292310, 1998.
An earlier version is available as a departmental technical report.

D. Eggert, A. W. Fitzgibbon, R. B. Fisher,
"Simultaneous registration of multiple range views for use in reverse
engineering",
Proc. Int. Conf. on Pat. Recog., pp 243247,
Vienna, Aug. 1996

R. B. Fisher, A. Fitzgibbon, A. Gionis, M. Wright, D. Eggert,
"A Handheld Optical Surface Scanner for Environmental
Modeling and Virtual Reality",
Proc. Virtual Reality World '96, February 1315, 1996, Stuttgart, Germany.

E. Trucco, R. B. Fisher and A.M. Fitzgibbon:
"Direct Calibration and Data Consistency in 3D Laser Scanning",
Proc. British Machine Vision Conference BMVC94, York, pp 489498, September 1994.
or
a related paper.

Trucco, E. and Fisher, R.B., 1994,
"Acquisition of consistent range data using local calibration",
Proceeding IEEE Int. Conference on Robotics and Automation,
(IEEE Comp.Soc. Press, Los Alamitos), pp 34103415, 1994.

Fisher, R. B., Naidu, D. K., Singhal, D.,
"Rejection of Spurious Reflections In Structured Illumination Range Finders",
Proc. 2nd Conf. on Optical 3D Measurement Techniques,
pp 467474, Zurich, Oct 47, 1993.

Naidu, D. K., Fisher, R. B.,
"A Comparitive Analysis of Algorithms for
Determining the Peak Position of a Stripe to SubPixel Accuracy",
Proc. 1991 British Machine Vision Association Conf.,
pp 217225, Glasgow, 1991.
Range/3D Data Analysis: Feature Extraction

I. I. Ganapathi, S. Javed, R. B. Fisher, N. Werghi;
Graph Based Texture Pattern Classification,
Proc. 8th Int. Conf. on Virtual Reality,
Nanjing, July 2022, pp. 363369, doi: 10.1109/ICVR55215.2022.9847889.

H. CuevasVelasquez, A. J. Gallego, R. B. Fisher; Two Heads are Better than One: GeometricLatent Attention for Point Cloud Segmentation, Proc. Brit. Machine Vision Conf., 2021.

T. C. Lukins, R. B. Fisher,
"Qualitative Characterization of Deforming Surfaces",
Proc. 3rd Int. Symp. on 3D Data Processing, Visualization, and Transmission (3DPVT), Chapel Hill, electronic proceedings, June 1416, 2006.

A. Pichler, R. B. Fisher, M. Vincze,
"Decomposition of Range Images using Markov Random Fields",
Proc. Int. Conf. on Image Proc. (ICIP), Singapore, pp 12051208, 2004.

A. Pichler, R. B. Fisher,
"Markovian Decomposition of Range Images",
Proc. 28th Austrian Workshop, Digital Imaging in Media and Education, June 1718, 2004, Hagenberg, pp. 181188,
%ISBN 3854031793

N. H. McCormick, R. B. Fisher.
"EdgeConstrained Marching Triangles",
Proc. Int. Symp. on 3D Data Processing Visualization and Transmission (3DPVT),
Padova, Italy, pp 348351, June 2002.

P. Faber, B. Fisher,
"How can we exploit typical architectural structures to improve model
recovery?",
Proc. Int. Symp. on 3D Data Processing Visualization and Transmission (3DPVT),
Padova, Italy, pp 824833, June 2002.

C. Robertson, R. B. Fisher,
"Better Surface Intersections by Constrained Evolution",
Proc. Adaptive Computing in Design and Manufacture V (ACDM 2002),
Ed. I.C. Parmee, University of Exeter, Devon, UK, Springer, pp 133142, April 2002.

P. Faber, R. B. Fisher,
"Pros and Cons of Euclidean Fitting".
Proc. Annual German Symposium for Pattern Recognition (DAGM01, Munich),
Springer LNCS 2191, Berlin,
pp 414420, September 2001.

P. Faber, R. B. Fisher,
"A Buyer's Guide to Euclidean Elliptical Cylindrical and
Conical Surface Fitting",
Proc. British Machine Vision Conference BMVC01, Manchester, pp 521530,
September 2001.

P. Faber, R. B. Fisher,
"Euclidean Fitting Revisited",
Proc. 4th Int. Workshop on Visual Form, pp. 165175,
2830 May 2001, Capri, Italy.
SpringerVerlag LNCS 2059.

P. Faber, R. B. Fisher,
Estimation of General Curves and Surfaces to Edge and Range Data by Euclidean Fitting,
Division of Informatics Research Report 146, 2002.

C. Robertson, R. B. Fisher,
"Shape Recovery and Analysis of Large Screw Threads",
Proc. 3rd Int. Conf. on 3D Digital Imaging and Modeling (3DIM01),
Montreal, Canada, pp 300305, June 2001.

C. Robertson, R. B. Fisher, N. Werghi, A. P. Ashbrook.
"Fitting of Constrained Feature Models to Poor 3D Data",
Proc. Adaptive Computing in Design and Manufacture (ACDM 2000),
Plymouth, UK, pp 149160, April, 2000.

N. Werghi, R.B. Fisher, A. Ashbrook, C.Robertson,
"Faithful recovering of quadric surfaces from 3D range data",
Proc. 2nd Int. Conf. on 3D Digital Imaging and Modeling,
Ottawa, Canada, pp 280289, October 1999.

N. Werghi, R.B. Fisher, A. Ashbrook, C.Robertson,
"Improving Secondorder Surfaces Estimation",
Proc. British Machine Vision Conference BMVC99, Nottingham, pp 275284,
September 1999.

C. Robertson, R. B. Fisher, N. Werghi, A. Ashbrook,
"An Improved Algorithm to Extract Surfaces from Complete Range Descriptions",
Proc. World Manuf. Conf, WMC'99 (ISMT'99)  Sept. 1999, pp 592598,
ICSC Academic Press, Durham.

N. Werghi, R.B. Fisher, A. Ashbrook, C.Robertson,
"Improvement of Quadric Surfaces Estimation of Manufactured Objects",
Proc. World Manuf. Conf, WMC'99 (ISMT'99)  Sept. 1999, pp 587591,
ICSC Academic Press, Durham.

C.Robertson, R.B. Fisher, N. Werghi, A.P. Ashbrook.
"An Evolutionary Approach to Fitting Constrained Degenerate
Second Order Surfaces".
in Evolutionary Image Analysis, Signal Processing and
Telecommunications,
Proc. First European workshop on evolutionary computation
in image analysis and signal processing (EvoIASP99).
Goteborg, Sweden, pp 116, Springer LNCS 1596, May 1999.

C. Robertson, R.B. Fisher, D. Corne, N. Werghi, A.P. Ashbrook.
"Investigating Evolutionary Optimisation of Constrained Functions to
Capture Shape Descriptions from Range Data",
Proc. 3rd Online World Conference on Soft Computing (WSC3).
Also in: Advances in Soft Computing  Engineering
Design and Manufacturing, R. Roy, T. Furuhashi and P. K. Chawdhry (Eds),
Springer, 1999, pp 455466.
An earlier version is available here.

A. P. Ashbrook, R. B. Fisher, C. Robertson and N. Werghi,
"Segmentation of Range Data into Rigid Subsets using Surface Patches",
Proc. Int. Conf. on Computer Vision, Bombay, pp 201206, Jan 1998.

A. P. Ashbrook, R. B. Fisher, C. Robertson and N. Werghi,
"Segmentation of Range Data into Rigid Subsets using Planar Surface Patches",
Proc. British Machine Vision Conference BMVC97, Essex, pp 530539
September 1997.

A. P. Ashbrook, R. B. Fisher,
"Segmentation of Range Data for the Automatic Construction of Models of
Articulated Objects",
Proc. IEEE Nonrigid and Articulated Motion Workshop, Puerto Rico, June 1997.

R. B. Fisher, A. W. Fitzgibbon, D. Eggert,
"Extracting Surface Patches from Complete Range Descriptions",
Proc. Int. Conf. on Recent Advances in 3D Digital Imaging and Modeling,
Ottawa, Canada, pp 148155, May 1997.

A. P. Ashbrook and R. B. Fisher,
"Constructing Models of Articulating Objects: Range Data Partitioning",
Proc. Int. Conf. on Recent Advances in 3D Digital Imaging and Modeling,
Ottawa, Canada, pp 164172, May 1997.

A. Hoover, G. JeanBaptiste, X. Jiang, P. J. Flynn,
H. Bunke, D. Goldgof, K. Bowyer,
D. Eggert, A. Fitzgibbon, R. Fisher,
"An Experimental Comparison of Range Segmentation Algorithms",
IEEE Trans. Pat. Anal. and Mach. Intel., Vol 18(7), pp673689, July 1996.

Trucco, E., Fisher, R.,
"Experiments in CurvatureBased Segmentation of Range Data",
IEEE Trans. Pat. Anal. and Mach. Intel., Vol 17, No 2, pp 177182, Feb 1995.

Bispo, E. M., Fisher, R. B.,
"Freeform surface matching for surface inspection",
Proc. 6th IMA Conf. on the Mathematics of Surfaces, Brunel University, 57
September, 1994.
Published in (ed. G. Mullineux) The Mathematics of Surfaces VI,
Clarendon Press, Oxford, pp 119136, 1996.

Bispo, E. M., Fisher, R. B.,
"Inspection of freeform surfaces using dense range data",
Proc. European Symposium on Optics for Productivity in Manufacturing:
Automated Vision Inspection, Frankfurt, Germany, 2024 June, 1994.

Trucco, E. and Fisher, R. B.,
"Preserving Shape at Boundaries in Diffusion Smoothing",
in Fisher (ed.) "The Mathematics of Surfaces V", Edinburgh,
pp 485494, 1994.

Fitzgibbon, A. W., Fisher, R. B.,
"Invariant Fitting of Arbitrary SingleExtremum Surfaces",
Proc. 1993 British Machine Vision Association Conf.,
pp 569578, Surrey, 1993.

Borges, D. L., Fisher, R. B.,
Segmentation of 3D Articulated Objects by Dynamic Grouping of Discontinuities,
Proc. 1993 British Machine Vision Association Conf.,
pp 279287, Surrey, 1993.

Borges, D. L., Fisher, R. B.,
"Segmentacao e Aquisicao de Partes Genericas para Reconhecimento",
Proc. VI Simposio Brasileiro de Computacao Grafica e
Processamento de Imagens,
pp 231237, Recife, Brazil, 1993.

Borges, D. L., Fisher, R. B.,
"Acquiring Generic Parts for Recognition",
Proc. Swiss Vision '93, pp 159167, Zurich, 1993.

Trucco, E., Fisher, R. B.,
"Computing SurfaceBased Representations from Range Images",
Proc. IEEE International Symposium on Intelligent Control, Glasgow,
pp 275280, August 1992.

Fisher, R. B., "Extracting SecondOrder Topographic Surface Features From
Range Data", Proc. 1990 British Machine Vision Association Conf.,
pp 241246, Oxford, 1990.

Fisher, R. B.,
"Identity Independent Object Segmentation in 2 1/2D Sketch Data",
Proc. 1986 European Conference on Artificial Intelligence, pp148153, July 1986.
Range/3D Data Analysis: Reverse Engineering/Model Acquisition

A. FusterGuillo, J. AzorinLopez, M. SavalCalvo, J. M. Castillo Zaragoza, N. GarciaD'Urso, R. B. Fisher;
RGBD based framework to Acquire, Visualize and Measure the Human Body for Dietetic Treatments,
Sensors, to appear.

N. Bannai, R. B, Fisher, A. Agathos,
"Multiple Color Texture Map Fusion for 3D Models",
Pattern Recognition Letters, 28(6), pp 748758, 2007.
You can see some demos here and here.

N. Bannai, A. Agathos, R. B. Fisher,
"Fusing Multiple Color Images for Texturing Models",
Proc. 2nd Int. Symp. on 3D Data Processing, Visualization, and Transmission (3DPVT), Thessaloniki, pp 558565, Sept 69, 2004.

R. B. Fisher,
"Applying knowledge to reverse engineering problems",
Computer Aided Design, 36(6), pp 501510, May 2004.
A draft version is here.

R. B. Fisher,
"Solving architectural modelling problems using knowledge",
invited talk,
Proc. 4th Int. Conf. on 3D Digital Imaging and Modeling, Banff, pp 343351, 2003.

A. Agathos, R. B. Fisher,
"Colour Texture Fusion of Multiple Range Images",
Proc. 4th Int. Conf. on 3D Digital Imaging and Modeling, Banff, pp 139146, 2003.

H. Cantzler, R. B. Fisher, M. Devy,
"Improving architectural 3D reconstruction by plane and edge constraining",
Proc. British Machine Vision Association Conf.,
Cardiff, pp 4352, 2002.

H. Cantzler, R. B. Fisher, M. Devy,
"Quality enhancement of reconstructed 3D models using coplanarity and constraints",
Proc. Annual German Symposium for Pattern Recognition (DAGM02, Zurich),
pp 3441, 2002.

R. B. Fisher,
"Applying knowledge to reverse engineering problems",
Proc. Geometric Modeling and Processing 2002, Riken, Japan, pp 149155,
2002.

N.Werghi, R.B Fisher, C. Robertson,
"Constrained Object Reconstruction Incorporating Freeform Surfaces",
Proc. IX Spanish Symposium on Pattern Recognition and Image Analysis,
Benicassim, Spain, pp 273280, May 2001.

N. Werghi, R. B. Fisher, A. Ashbrook, C. Robertson,
"Shape reconstruction incorporating multiple nonlinear geometric constraints",
Constraints, Vol.7, Issue 2, pp.117149, 2002.
An earlier version is available here.

N. Werghi, R. B. Fisher, C. Robertson, A. Ashbrook.
"Faithful recovering of quadric surfaces from 3D range data by global fitting",
International Journal of Shape Modelling, Vol.6, No.1, pp.6578, 2000.
An earlier version is available here.

A. P. Ashbrook, R. B. Fisher, C. Robertson and N. Werghi,
"Construction of Articulated Models from Range Data",
Proc. British Machine Vision Conference BMVC99, Nottingham, pp 183192,
September 1999.

N. Werghi, R. B. Fisher, A. Ashbrook, C. Robertson,
"Object reconstruction by incorporating
geometric constraints in reverse engineering",
ComputerAided Design, Vol 31(6), pp 363399, 1999.
An earlier version is available here.

N. Werghi, R. B. Fisher, C. Robertson and A. P. Ashbrook,
"Modelling Objects Having Quadric Surfaces Incorporating Geometric Constraints",
Proc. 5th Eur. Conf. on Computer Vision, Vol. II, pp 185201, Freiburg, Germany, June 1998.
(See also Springer Online.)

N. Werghi, R.B. Fisher, A. Ashbrook, C.Robertson
"Towards object modelling by incorporating geometric constraints",
Proc IEEE International Workshop on ModelBased 3D Image Analysis, pp. 4553,
Bombay, India, January 1998.

N. Werghi, R. B. Fisher, A. Ashbrook, C. Robertson,
"Improving model shape acquisition by incorporating geometric constraints",
Proc. British Machine Vision Conference BMVC97, Essex, pp 520529
September 1997.

Andrew W. Fitzgibbon, David W. Eggert, Robert B. Fisher
"Highlevel CAD Model Acquisition from Range Images",
ComputerAided Design, Vol 29(4), pp321330, 1997.
An earlier version is available as a departmental technical report.

A. W. Fitzgibbon, E. Bispo, R. B. Fisher, E. Trucco,
"Automatic acquisition of CAD models from multiple range views",
Proc. 10th National Conference on Manufacturing Research,
Loughborough Univ of Technology, Sept 1315, 1994.

Bispo, E. M., Fitzgibbon, A. W., Fisher, R. B.,
"Visually Salient 3D Model Acquisition from Range Data"
Proc. 1993 British Machine Vision Association Conf.,
pp 619628, Surrey, 1993.

Orr, M. J. L., Hallam, J., Fisher, R. B.,
"Fusion through Interpretation",
Proc. 2nd European Conf. on Computer Vision, (ed) G. Sandini, pp 801805,
St. Margherita Ligure, Italy, 1992.
Range/3D Data Analysis: Object Recognition and Location

F. Escalona, D. Viejo, R. B. Fisher, M. Cazorla;
NurbsNet: A Nurbs approach for 3d object recognition,
Proc. Int. Joint Conf. on Neural Networks, Glasgow, 2020.

J. Zhang, R. B. Fisher;
3D visual passcode: Speechdriven 3D facial dynamics for behaviometrics,
Signal Processing, 2019, 160: 164177, 2019, publisher version.
A draft version of the paper is here.
There is a CCBYNCND license.

Zhang, J. Richmond, K. Fisher, R.B.;
Dualmodality Talkingmetrics: 3D VisualAudio Integrated Behaviometric Cues from Speakers,
Proc. Int. Conf. on Pattern Recognition, Beijing, 2018.

Fillatreau, P. and Fisher, R. B.,
"Nonpolyhedral landmark recognition using 3D depth images and partially
correct models",
Proc. 3rd Int. Symp. Intelligent Robotic Systems (SIRS95), Pisa,
pp 271278, July 1995.

Borges, D. L., Bispo, E. M., Fisher, R. B.,
"Tenicas de Aquisicao Automatica de Modelos Geometrica
para Reconhecimento e Inspecao",
Revista Brasileiro de Computacao, Vol 7, Num 2, Jan/Jun 1995, pp 4960.

R.B.Fisher, A. Fitzgibbon, M. Waite, M. Orr and E. Trucco
"Recognition of Complex 3D Objects from Range Data",
Progress in Image Analysis and Image Processing
(Proc. 7th International Conference on Image Analysis and Processing),
S. Impedovo (Ed.), Bari (Italy), September 1993, 599606.

Fisher, R. B.,
"Recognizing Objects Using Surface Information and Object Models",
Proc. 2nd IEE International Conference on Image Processing, pp. 149153,
June 1986.

Fisher, R. B., "Using Surfaces And Object Models To Recognize Partially Obscured
Objects", Proc. 1983 Intl. Joint Conf. on Artificial Intelligence,
Karlsruhe, Germany, 1983.
High Level Vision

W. H. B. Smith, M. Milford, K. D. McDonaldMaier, S. Ehsan, R. B. Fisher;
OpenSceneVLAD: Appearance Invariant, Open Set Scene Classification,
Proc. Int Conf. on Robotics and Automation, Philadelphia, May 2022.

Borges, D. L., Fisher, R. B.,
"Classbased recognition of 3D objects represented by volumetric primitives",
Image and Vision Computing, 15(8), pp 655664, Aug 1997.
An earlier version is available as a departmental technical report.

Fisher, R., Trucco, E., Fitzgibbon, A., Waite, M., Orr, M.,
"IMAGINE  A 3D Vision System",
Sensor Review, Vol 13, No. 2, pp 2326, April 1993.
Permanent link to this document.

Fisher, R. B., "Recognition with SecondOrder Topographic Surface Features",
Proc. 1991 British Machine Vision Association Conf.,
pp 396399, Glasgow, 1991.
High Level Vision: Object Representation

N. Li, C. Eastwood, R. B. Fisher;
Learning ObjectCentric Representations of Multiobject Scenes from Multiple Views,
Proc. 34th Conf. on Neural Information Processing Systems (NeurIPS), Dec 2020.

Fitzgibbon, A. W., Fisher, R. B.,
"Practical AspectGraph Derivation Incorporating Feature Segmentation Performance",
Proc. 1992 British Machine Vision Association Conf.,
pp 580589, Leeds, 1992.

Fitzgibbon, A. W., Fisher, R. B., "Suggestive Modeling for Machine Vision",
Proc. 1992 SPIE OE/Technology '92 (Conference 1830  Curves and Surfaces in
Computer Vision and Graphics III),
pp 315320, Boston, November 1992.

Fisher, R. B.,
"Representation, Extraction and Recognition with SecondOrder Topographic Surface Features",
A ScienceDirect online version.
Image and Vision Computing, Vol 10 No 3, pp 156169, April 1992.

Fisher, R. B., "SMS: A Suggestive Modeling System For Object Recognition",
in Mayhew, J. E. W. and Frisby, J. P. (eds),
"3D Model Recognition from Stereoscopic Cues", MIT Press, 1991.

Fisher, R. B., "Reducing Viewsphere Complexity",
Proc. 1990 European Conference on Artificial Intelligence, pp 274276, 1990.

Fisher, R. B., "SMS: A Suggestive Modeling System For Object Recognition",
A ScienceDirect online version.
Image and Vision Computing, Vol 5, No 2, pp 98  104, May 1987.

Fisher, R. B.,
"Representing 3D Structures for Visual Recognition", Artificial
Intelligence Review, Vol. 1, No. 3, pp 183200, 1987.

Fisher, R. B., "Modeling SecondOrder Volumetric Features",
Proc. 3rd Alvey Vision Conference, pp7986, Cambridge, 1987.

Fisher, R. B., "SMS: A Suggestive Modeling System for Object Recognition",
Proc. 2nd Alvey Vision Conference, Bristol, 1986.
High Level Vision: Object Recognition, Matching and Searching

L. Bergamini, S. Pini, A. Simoni, R. Vezzani, S. Calderara, R. B. D'Eath, R. B. Fisher;
Extracting Accurate LongTerm Behavior Changes from a Large Pig Dataset,
Proc. Int. Conf. on Computer Vision Theory and Applications (VISAPP 2021), online 810 February 2021.

A. Mahmood, A. Giraldo Ospina, M. Bennamoun, S. An, F. Sohel, F. Boussaid, R. Hovey, G. A. Kendrick, R. B. Fisher; Automatic Hierarchical Classification of Kelps utilizing Deep Residual Features, Sensors, 20(2):447, 2020.
A draft version of the paper is here.

A.J. Gallego, P. Gil, A. Pertusa, R. B. Fisher;
Semantic segmentation of SLAR imagery with Convolutional LSTM Selectional AutoEncoders,
Remote Sensing, Vol 11, 2019.

A.J. Gallego, A. Pertusa, P. Gil, R. B. Fisher;
Detection of bodies in maritime rescue operations using
Unmanned Aerial Vehicles with multispectral cameras;
Journal of Field Robotics, Wiley Online, December 2018.
Here is a draft version of this paper.

A.J. Gallego, P. Gil, A. Pertusa, R. B. Fisher;
Segmentation of Oil Spills on SideLooking Airborne Radar imagery with Autoencoders;
Sensors, 2018, to appear.
Here is a draft version of this paper.

A. Mahmood, M. Bennamoun, S. An, F. Sohel, F. Boussaid, R. Hovey, G. Kendrick, and R. B. Fisher;
Deep Image Representations for Coral Image Classification,
IEEE Journal of Ocean Engineering, 44(1):121131, 2019.
A draft version of the paper is here.

C. Beyan, V. M. Katsageorgiou, R. B. Fisher;
Extracting Statistically Significant Behaviour from Noisy Fish Tracking Data with and without large dataset cleaning,
IET Computer Vision, DOI: 10.1049/ietcvi.2016.0462, 2018.
A draft version of the paper is here.

A. Mahmood, M. Bennamoun, S. An, F. Sohel, F. Boussaid, R. Hovey, G. Kendrick, R. B. Fisher;
Automatic Annotation of Coral Reefs using Deep Learning,
Proc. OCEANS16 MTS/IEEE Monterey, Sept. 2016.

A. Mahmood, M. Bennamoun, S. An, F. Sohel, F. Boussaid, R. Hovey, G. Kendrick, and R. B. Fisher;
Deep Learning for Coral Classification,
in P. Samui, S.S. Roy and V. E. Balas (Eds), Handbook on Neural Computation. Elsevier, 2017.
A draft version of the paper is here.

X. Liu, R. B. Fisher;
Identifying Individual Clown Fish,
Proc. Int. Workshop on Visual observation and Analysis of Vertebrate and Insect
Behavior (VAIB), in conjunction with ICPR 2016, Cancun, 2016.

A. Mahmood, M. Bennamoun, S. An, F. Sohel, F. Boussaid, R. Hovey, G. Kendrick, R. B. Fisher;
Coral classification with hybrid feature representations,
Proc. Int. Conf. on Image Proc. (ICIP), Phoenix, Sept. 2016.

E. Rodner, M. Simon, R. B. Fisher, J. Denzler;
Finegrained Recognition in the Noisy Wild: Sensitivity Analysis of Convolutional Neural Networks Approaches,
Proc. British Machine Vision Conf., September 2016.

Joly, A., Goëau, H., Glotin, H., Spampinato, C., Bonnet, P., Vellinga, WP., Planqué, R., Rauber, A., Palazzo, S., Fisher, B. & Müller, H.;
LifeCLEF 2015: Multimedia Life Species Identification Challenges,
Proc. 6th Int. Conf. of the CLEF Association, CLEF'15,
Toulouse, France, September 811, 2015, p. 462483.

C. Beyan, R. Fisher
Hierarchal Decomposition for Unusual Fish Trajectory Detection,
in Computer Vision and Pattern Recognition in Environmental Informatics,
J. Zhou, X. Bai, T. Caelli (Eds), pp 121, IGIGlobal, 2016.
A draft paper is here.

C. Beyan, B. J. Boom, J. M. P. Liefhebber, K.T. Shao, R. B. Fisher,
Natural Swimming Speed of Dascyllus reticulatus Increases with Water Temperature, Marine Science, 2015, 72(8), pp 25062511.
A draft version appears here.
A corrigendum is here.

C. Beyan, R. B. Fisher;
Classifying Imbalanced Data Sets Using Similarity Based Hierarchical Decomposition,
Pattern Recognition, 48(5), p. 16531672, 2015.
The published version is here.

P. X. Huang, B. J. Boom, R. B. Fisher;
Hierarchical classification with reject option for live fish recognition,
Machine Vision and Applications, 26(1), p. 89102, 2015.
The published version is here.
Supplementary materials.

C. Spampinato, S. Palazzo, B. Boom and R. Fisher;
Overview of the LifeCLEF 2014 Fish Task, Proc. CLEF, 2014.

P. X. Huang, B. J. Boom, R. B. Fisher;
GMM improves the reject option in hierarchical classification for fish recognition,
Proc. IEEE Winter Conference on
Applications of Computer Vision (WACV 2014). IEEE, p. 371376, 2014.

A. Joly, H. Goeau, P. Bonnet, C. Spampinato, H. Glotin, A. Rauber, W.P. Vellinga, R. B. Fisher, H. Mueller;
Are multimedia identification tools biodiversityfriendly?,
Proc. 3rd ACM International Workshop on Multimedia Analysis for Ecological Data (MAED 2014), Orlando.
The published version is here.

A. Joly, H. Muller, H. Goeau, H. Glotin, C. Spampinato, A. Rauber, P. Bonnet, W.P. Vellinga, B. Fisher;
LifeCLEF: Multimedia Life Species Identification,
Int. Workshop on Environmental Multimedia Retrieval, Glasgow, 2014.

R. B. Fisher,
Collection and Analysis of Two Complex Ecological Datasets, Invited Talk,
Proc. 2nd ACM Int. Workshop on Multimedia Analysis for Ecological Data,
Barcelona, 2013.

P. X. Huang, B. J. Boom, R. B. Fisher,
Underwater Live Fish Recognition using a
BalanceGuaranteed Optimized Tree,
Proc. Asian Conf. on Computer Vision, Daejeon, Korea, 2012.

P. X. Huang, B. J. Boom, R. B. Fisher,
"Hierarchical Classification for Live Fish Recognition",
BMVC student workshop paper, September 2012.

C. Spampinato, D. Giordano, R. Di Salvo, Y.H. ChenBurger, R. B. Fisher, G. Nadarajan,
Automatic Fish Classification for Underwater Species Behavior Understanding,
Proc. ACM Int. Workshop Anal. and Retrieval of Tracked Events and Motion in Imagery Streams (ARTEMIS), pp 4550, Florence, Italy, 2010.

Toby P. Breckon and Robert B. Fisher
"Environment Authentication through 3D Structural Analysis",
Proc. Int. Conf. on Image Analysis and Recognition (ICIAR),
SpringerVerlag LNCS 3211/2004, Part I, pp 680687, 2004.

A. P. Ashbrook, R. B. Fisher, C. Robertson and N. Werghi,
"Finding surface correspondences for object recognition and registration
using pairwise geometric histograms",
Proc. 5th Eur. Conf. on Computer Vision, Vol. II, pp 674680, Freiburg, Germany, June 1998.

A. P. Ashbrook, R. B. Fisher, C. Robertson and N. Werghi,
"Aligning Arbitrary Surfaces using Pairwise Geometric Histograms",
Proc. NOBLESSE Workshop on Nonlinear Model Based Image Analysis
NMBIA98, 13 July 1998, Glasgow, Scotland, pp 103108, 1998.

Borges, D. L., Fisher, R. B.,
"Classbased recognition of 3D Objects represented by volumetric primitives",
Proc. British Machine Vision Conference BMVC96, Edinburgh, pp 303312, September 1996.

Borges, D. L., Orr, M. J., Fisher, R. B.,
"A Radial Basis Function Neural Network for Parts
Identification of Three Dimensional Shapes",
Proc. VII Simposio Brasileiro de Computacao Grafica e
Processamento de Imagens,
pp 7784, Curtiba, Brazil, 1994.

Fisher, R. B.,
"Performance Comparison of Ten Variations on the InterpretationTree Matching Algorithm",
Proc. 1994 European Conference on Computer Vision, Stockholm, Sweden,
pp 507512, 1994.

Fisher, R. B.,
"Hierarchical Matching Beats The NonWildcard and
Interpretation Tree Model Matching Algorithms",
Proc. 1993 British Machine Vision Association Conf.,
pp 589598, Surrey, 1993.

Fisher, R. B.,
"NonWildcard Matching Beats The Interpretation Tree",
Proc. 1992 British Machine Vision Association Conf.,
pp 560569, Leeds, 1992.

Fisher, R. B., "The Design of the IMAGINE II Scene Analysis Program",
in Mayhew, J. E. W. and Frisby, J. P. (eds),
"3D Model Recognition from Stereoscopic Cues", MIT Press, 1991.

Fisher, R. B., "Model Invocation for Three Dimensional Scene Understanding", Proc.
10th Int. Joint Conf. on Artificial Intelligence, pp805807, 1987.

Fisher, R. B.,
"A Structured Pattern Matching Approach To Intermediate Level Vision",
Proc. 1982 European Conference on Artificial
Intelligence, Orsay, France, 1982.
High Level Vision: Geometric Reasoning/Pose Estimation

D. W. Eggert, A. Lorusso, R. B. Fisher,
"Estimating 3D rigid body transformations: a comparison of four major algorithms",
Mach. Vis. and Applic., vol 9, pp 272290, 1997.
An earlier conference version can be ftp'ed from
here.

Lorusso, A., Eggert, D., Fisher, R. B.
"A Comparison of Four Algorithms for Estimating 3D Rigid Transformations".
Proc. British Machine Vision Conference BMVC95, Birmingham, pp 237246, September 1995.

Waite, M., Orr, M., Fisher, R., Hallam, J.,
"Statistical Partial Constraints for 3D Model Matching and Pose
Estimation Problems",
Proc. 1993 British Machine Vision Association Conf.,
pp 105114, Surrey, 1993.

Borges, D. L. and Fisher, R. B.,
"Computational Properties of Rotation Parametrizations",
Proc. Ninth Brazilian Symposium on Artificial Intelligence,
Rio de Janeiro, Sociedade Brasileira de Computacao, pp 107116, September 1992.

Fisher, R. B., Orr, M. J. L., "Geometric Reasoning in a Parallel Network",
Int. J. Robotics Research, Vol 10, No 2, pp103122, April 1991.

Orr, M. J. L., Fisher, R. B., "IntervalBased Geometric Reasoning in a
Parallel Network",
in Mayhew, J. E. W. and Frisby, J. P. (eds),
"3D Model Recognition from Stereoscopic Cues", MIT Press, 1991.

Orr, M. J. L., Fisher, R. B., Hallam, J., "Computing with Uncertainty:
Intervals versus Probability",
Proc. 1991 British Machine Vision Association Conf.,
pp 351354, Glasgow, 1991.

Fisher, R. B., "Determining Backfacing Curved Model Surfaces By Analysis At The Boundary",
Proc. 3rd Int. Conf on Computer Vision,
pp 296299, Osaka, 1990.

Fisher, R. B., "Geometric Constraints from Planar Surface Patch Matching",
A ScienceDirect online version.
Image and Vision Computing, Vol 8, No 2, pp 148154, May 1990

Fisher, R. B., Orr, M. J. L., "Geometric Constraints from 2 1/2D Sketch Data
and Object Models", in Woodward (ed), "Geometric Reasoning",
Oxford University Press, Oxford, 1989.

Fisher, R. B., Orr, M. J. L., "Experiments with a NetworkBased
Geometric Reasoning Engine", 11th Int. Joint Conf. on
Artificial Intelligence, pp16231628, 1989.

Fisher, R. B., "Geometric Constraints from Planar Surface Patch Matching",
Proc. 5th Alvey Vision Conference, pp5560, Reading, 1989.

Fisher, R. B., Orr, M. J. L., "A Parallel Network for Solving Algebraic and Geometric
Constraints", Proc. Int. Conf. on Parallel Processing for Computer
Vision and Display, Leeds, 1988.

Fisher, R. B., Orr, M. J. L., "Solving Geometric Constraints in a Parallel Network",
A ScienceDirect online version.
Image and Vision Computing, Vol 6, No 2, pp 100106, May 1988.

Orr, M. J. L., Fisher, R. B., "Geometric Reasoning for Computer Vision",
A ScienceDirect online version, Image and Vision Computing, Vol 5, No 3, pp233238, August 1987.

Fisher, R. B., Orr, M. J. L., "Solving Geometric Constraints in a Parallel Network",
Proc. 3rd Alvey Vision Conference, pp 8795, Cambridge, 1987.

Orr, M. J. L., Fisher, R. B. "Geometric Reasoning for Computer Vision",
Proc. 2nd Alvey Vision Conference, Bristol, 1986.
Video Sequence Analysis

M. A. Raza, R. B. Fisher;
Vision Based Approach to Assess Performance Levels while
Eating, Machine Vision and its Applications, 2023, to appear.
Here is a draft version of the paper.

M. A. Raza, L. Chen, L. Nanbo, R. B. Fisher;
EatSense: Human Centric, Action Recognition and Localization Dataset for Understanding Eating Behaviors and Quality of Motion Assessment,
Image and Vision Computing, 2023, to appear.

T. Qasim, R. B. Fisher, N. Bhatti; Groundtruthing Large Human Behavior Monitoring Datasets, Proc. 2020 Int. Conf on Pattern Recognition, online, 2021.

R. B. Fisher, B. J. Boom, P. X. Huang;
Preliminary Experiments with the Fish4Knowledge Dataset,
Proc. Int. Workshop on Visual observation and Analysis of Vertebrate and Insect
Behavior (VAIB), in conjunction with ICPR 2014, Stockholm, 2014.

B. J. Boom, E. BeauxisAussalet, L. Hardman, R. B. Fisher,
UncertaintyAware Estimation of Population Abundance using Machine Learning,
Multimedia Systems, 2015, online, DOI: 10.1007/s0053001504790
A draft version of the paper is here.

B. J. Boom, J. He, S. Palazzo, P. X. Huang, H.M. Chou,
F.P. Lin, C. Spampinato, R. B. Fisher;
A research tool for longterm and continuous analysis of fish
assemblage in coralreefs using underwater camera footage.
Ecological Informatics, 2014, DOI: dx.doi.org/10.1016/j.ecoinf.2013.10.006.
A draft version of the paper is here.

K. Vougioukas, B. J. Boom, R. B. Fisher,
"Adaptive Deblurring of Surveillance Video Sequences that Deteriorate over Time",
Proc. Int. Conf. on Image Processing, Melbourne, 2013.

C. Beyan, R. B. Fisher,
Detecting Abnormal Fish Trajectories using Clustered and Labeled Data,
Proc. Int. Conf. on Image Processing, Melbourne, 2013.

C. Beyan, R. B. Fisher,
"Detection of Abnormal Fish Trajectories Using a Clustering Based Hierarchical Classifier",
Proc. British Machine Vision Conference, 2013.

C. Beyan, R. B. Fisher,
A Filtering Mechanism for Normal Fish Trajectories,
21st Int. Conf. on Pattern Recognition (ICPR), Tsukuba, Japan, 2012.

B. J. Boom, P. X. Huang, C. Spampinato, S. Palazzo, J. He,
C. Beyan, E. BeauxisAussalet, J. van Ossenbruggen, G. Nadarajan,
J. Y. ChenBurger, D. Giordano, L. Hardman, F.P. Lin, R. B. Fisher,
Longterm underwater camera surveillance for monitoring and analysis of fish populations,
Proc. Int. Workshop on Visual observation and Analysis of Animal and Insect
Behavior (VAIB), in conjunction with ICPR 2012, Tsukuba, Japan, 2012.

C. Spampinato, S. Palazzo, B. Boom, J. van Ossenbruggen, I. Kavasidis,
R. Di Salvo, F.P. Lin, D. Giordano, L. Hardman, R. B. Fisher,
"Understanding Fish Behavior during Typhoon Events in RealLife Underwater Environments",
Multimedia Tools and Applications, 2012.

S. J. Blunsden, R. B. Fisher,
"Detection and Classification of Interacting Persons",
in Machine Learning for Human Motion Analysis: Theory and Practice, Wang, Cheng and Zhao (Eds), IGI Global,
Chapter 11, pp 213227, 2010.
A draft version of this paper is here.

S. J. Blunsden, R. B. Fisher,
"The BEHAVE video dataset: ground truthed video for multiperson behavior classification",
Annals of the BMVA, Vol 2010(4),pp 112, accessed Feb. 23, 2010.
A draft version of the paper is here.

R. R. Sillito, R. B. Fisher,
"Parametric Trajectory Representations for Behaviour Classification",
Proc. British Machine Vision Conference BMVC09, London, Sept 710, 2009.

S. J. Blunsden, R. B. Fisher,
"PREFIGHT DETECTION: Classification of Fighting Situations Using Hierarchical AdaBoost",
Proc. Int. Conf. on Computer Vision Theory and Applications, Lisbon, Vol 2, pp 303308, 2009.

R. Sillito, R. B. Fisher,
"Semisupervised learning for Anomalous Trajectory Detection",
Proc. British Machine Vision Conference BMVC08, Leeds, pp 10351044,
September 2008.

C. Spampinato, G. Nadarajan, J. ChenBurger, R. Fisher,
"Detecting, tracking and counting fish in low quality unconstrained underwater videos",
Proc. 3rd Int. Conf. on Computer Vision Theory and Applications (VISAPP),
Funchal, Vol.2, pp 514520, 2008.

S. Blunsden, E. Andrade, R. Fisher.
Non Parametric Classification of Human Interaction,
Proc. 3rd Iberian Conf. on Pattern Recog. and Image Analysis, Girona, pp 347354, June 2007.

E. Andrade, S. Blunsden, R. Fisher.
"Performance Analysis of Event Detection Models in Crowded Scenes",
Proc. Workshop on "Towards Robust Visual Surveillance Techniques and Systems" at Visual Information Engineering 2006, Bangalore, India, pp 427432, Sept 2006.

E. L. Andrade, S. Blunsden, R. B. Fisher.
"Modelling Crowd Scenes for Event Detection",
Proc. Int. Conf. on Pat. Recog., Vol 1, pp 175  178,
Hong Kong, Aug. 2006 (copyright IEEE).

E. L. Andrade, S. Blunsden, R. B. Fisher.
"Hidden Markov Models for Optical Flow Analysis in Crowds",
Proc. Int. Conf. on Pat. Recog., Vol 1, pp 460463,
Hong Kong, Aug. 2006 (copyright IEEE).

E. Andrade, S. Blunsden, R. Fisher.
"Detection of Emergency Events in Crowded Scenes",
IEE Int. Symp. on Imaging for Crime Detection and Prevention
(ICDP 2006), London, pp pp 528533, 2006.

S. Blunsden, R. Fisher, E. Andrade.
"Recognition of coordinated multi agent activities: the individual vs the group",
Proc. Workshop on Computer Vision Based Analysis in Sport Environments (CVBASE), pp 6170, 2006.

E. Andrade, S. Blunsden, R. Fisher.
"Simulation of Crowd Problems for Computer Vision",
First International Workshop on Crowd Simulation (VCROWDS '05),
pp 7180, Lausanne, Nov 2005.

D. Hall, J. Nascimento, P. Ribeiro, E. Andrade, P. Moreno, S. Pesnel, T. List,
R. Emonet, R. B. Fisher, J. SantosVictor and J. L. Crowley,
"Comparison of target detection algorithms using adaptive background models",
Proc. 2nd Joint IEEE Int. Workshop on
Visual Surveillance and Performance Evaluation of Tracking and Surveillance,
(VSPETS), pp 113120, Beijing, Oct 2005.

T. List, J. Bins, J. Vazquez, R. B. Fisher,
"Performance Evaluating the Evaluator",
Proc. 2nd Joint IEEE Int. Workshop on
Visual Surveillance and Performance Evaluation of Tracking and Surveillance,
(VSPETS), pp 129136, Beijing, Oct 2005.

D. Tweed, R. Fisher, J. Bins, T. List,
"Efficient Hidden SemiMarkov Model Inference for Structured Video Sequences",
Proc. 2nd Joint IEEE Int. Workshop on
Visual Surveillance and Performance Evaluation of Tracking and Surveillance,
(VSPETS), pp 247254, Beijing, Oct 2005.

D. Tweed, W. Fang, R. Fisher, J. Bins, T. List.
"Exploring techniques for behaviour recognition via the CAVIAR modular vision framework",
Proc. Workshop on Human Activity Recognition and Modelling (HAREM 2005 
in conjunction with BMVC 2005). pp 97104, Oxford, Sept 2005.

E. L. Andrade, S. Blunsden, R. B. Fisher,
"Characterisation of Optical Flow Anomalies in Pedestrian Traffic",
IEE Int. Symp. on Imaging for Crime Detection and Prevention
(ICDP 2005), London, pp 7378, 7  8 June 2005.
Intensity Image Analysis
Intensity Image Analysis: AppearanceBased Vision

S. Zhaole, H. Zhou, L. Nanbo, L. Chen, J. Zhu, R. B. Fisher,
A Robust Deformable Linear Object Perception Pipeline in 3D: From Segmentation to Reconstruction,
IEEE Robotics and Automation Letters, 2023, to appear.
A draft version can be found here.

P. Satlawa, R. B, Fisher,
Detecting the necessity of forest thinning with deep learning,
Algorithms, 2023, to appear.
A draft version can be found here.

Y. Sun, R. B. Fisher, F. Wang, H. M. Gomes,
"A Computer Vision Model for VisualObjectBased Attention and Eye Movements",
Computer Vision and Image Understanding, Vol. 112, Iss. 2, pp 126142, 2008.

R. B. Fisher,
"The PETS04 Surveillance GroundTruth Data Sets",
Proc. Sixth IEEE Int. Work. on Performance Evaluation of Tracking and Surveillance (PETS04),
pp 15, May 2004. (unrefereed).

H. M. Gomes, R. B. Fisher,
"Learningbased versus modelbased logpolar feature extraction
operators: a comparative study",
Proc XVI Brazilian Symposium on Computer Graphics
and Image Processing (SIBGRAPI), San Carlos, Brazil,
IEEE Computer Society Press, pp 299  306, Oct 2003.

Y. Sun and R. Fisher,
"Objectbased Visual Attention for Computer Vision",
Artificial Intelligence, 146(1), pp 77123, May 2003.

Y. Sun and R. Fisher,
"Hierarchical Selectivity for Objectbased Visual Attention",
Proc. 2nd Biologically Motivated Computer Vision Workshop
(BMCV 2002) Tuebingen, Germany, November 2002, pp 427438. Aka Springer LNCS 2525.

H. M. Gomes, R. B. Fisher,
"PrimalSketch Feature Extraction from a LogPolar Representation",
Pattern Recognition Letters, 24(7), pp 983992, April 2003.
An earlier version is available here.

H. M. Gomes, R. B. Fisher,
"Learning and Extracting PrimalSketch Features in a Logpolar Image
Representation",
Proc XIV Brazilian Symposium on Computer Graphics
and Image Processing (SIBGRAPI), Florianopolis, Brazil,
IEEE Computer Society Press, pp 338345, October 2001,

H. M. Gomes, R. B. Fisher,
"Structural Learning from Iconic Representations",
Number 1952 in Lecture Notes in Artificial Intelligence.
pp 399408. Springer, 2000.
(Proc. IBERAMIASBIA 2000, Int. Joint Conf.: 7th
IberoAmerican Conference on AI, 15th Brazilian Symposium on AI,
IBERAMIA/SBIA 2000, Atibaia, SP, Brazil, November 2000.)

H. M. Gomes, R. B. Fisher, J. Hallam,
"A Retinalike Image Representation of Primal Sketch Features Extracted using a
Neural Network Approach",
Proc. NOBLESSE Workshop on Nonlinear Model Based Image Analysis
NMBIA98, 13 July 1998, Glasgow, Scotland, pp 251256, 1998.

R. B. Fisher, A. MacKirdy,
"Integrating iconic and structured matching",
Proc. 5th Eur. Conf. on Computer Vision, Vol. II, pp 687698, Freiburg,
Germany, June 1998.
(See also Springer Online.)

Grove, T. D., Fisher, R. B.,
"Attention in Iconic Object Matching",
Proc. British Machine Vision Conference BMVC96, Edinburgh, pp 293302,
September 1996.

Fisher, R. B. and Oliver, P.
"MultiVariate CrossCorrelation and Image Matching".
Proc. British Machine Vision Conference BMVC95, Birmingham, pp 623632,
September 1995.
Intensity Image Analysis: Image Feature Extraction

R. B. Fisher,
"Projective ICP and Stabilizing Architectural Augmented Reality Overlays",
Proc. Int. Symp. on Virtual and Augmented Architecture (VAA01),
Dublin, Ireland, pp 6980, June 2001.

A. W. Fitzgibbon, M. Pilu, R. B. Fisher,
"Direct Least Squares Fitting of Ellipses",
IEEE Trans. Pat. Anal. and Mach. Intel., 21(5), pp476480, 1999.
An earlier version is available here.
The most stable and correct MATLAB code is here.
An interactive demo is here.

M. Pilu, R. B. Fisher,
"Training PDMs on models: the case of deformable superellipses",
Pattern Recognition Letters, 20(5), pp 463474, 1999.
An earlier version is available here.

Pilu, M., Fisher, R. B.,
"Part Segmentation from 2D Edge Images by the MDL Criterion",
Image and Vision Computing, 15(8), pp 563574, Aug 1997.
An earlier version is available as a departmental technical report.

M. Pilu, R.B. Fisher,
"ModelDriven Grouping and Recognition of Generic Object
Parts from Single Images",
Robotics and Autonomous Systems, Vol 21, pp 107122, 1997.
An earlier version is available as a departmental technical report.

Pilu, M., Fitzgibbon, A.W., Fisher, R. B.,
"Training PDMs on Models: The Case of Deformable Superellipses",
Proc. British Machine Vision Conference BMVC96, Edinburgh, pp 373382, September 1996.

Pilu, M., Fisher, R. B.,
"Part Segmentation from 2D Edge Images by the MDL Criterion",
Proc. British Machine Vision Conference BMVC96, Edinburgh, pp 8392, September 1996.

M. Pilu, . W. Fitzgibbon, R. B. Fisher,
"Ellipsespecific Direct Leastsquare Fitting",
Proc. Int. Conf. Im. Proc., Vol 3, pp 599602,
Lausanne (Switzerland), September 1996.
The most stable and correct matlab code is here.
An interactive demo is here.

A. W. Fitzgibbon, M. Pilu, R. B. Fisher,
"Direct Least Squares Fitting of Ellipses",
Proc. Int. Conf. on Pat. Recog., pp 253257,
Vienna, Aug. 1996.
The most stable and correct matlab code is here.
An interactive demo is here.

M. Pilu, R.B. Fisher,
"ModelDriven Grouping and Recognition of Generic Object
Parts from Single Images",
Proc. 4th Int. Symp. on Intelligent Robotic Systems,
Lisbon, pp 147154, July 1996.

M. Pilu, R. B. Fisher,
"Recognition of Geons by Parametric Deformable Contour Models",
in Lecture Notes in Computer Science,
Proc. 4th European Conference on Computer Vision,
Cambridge, UK
Volume 1, pp 7182, SpringerVerlag, Berlin, April 1996.
An earlier version is:
"Recovery of Generic Solid Parts By Parametrically Deformable Aspects",

Fisher, R. B., Naidu, D. K.,
"A Comparison of Algorithms for Subpixel Peak Detection",
in J. Sanz (ed.), Advances in Image Processing, Multimedia and
Machine Vision, SpringerVerlag, Heidelberg, 1996.

Pilu, M., Fisher, R.
"EqualDistance Sampling of Superellipse Models".
Proc. British Machine Vision Conference BMVC95, Birmingham, pp 257266, September 1995.

Fitzgibbon, A. and Fisher, R. B.
"A Buyer's Guide to Conic Fitting".
Proc. British Machine Vision Conference BMVC95, Birmingham, pp 513522, September 1995.

A. W. Fitzgibbon and R. B. Fisher,
"Lackoffit Detection using the Rundistribution Test"
Proc. 1994 European Conference on Computer Vision, Stockholm, Sweden,
pp 173178, 1994.
also
Proc. 7th European Signal Processing Conference, Edinburgh, Scotland,
pp 967970, 1994.
Medical Imaging

Y. Mitani, R. B. Fisher, Y. Fujita, Y. Hamamoto, I. Sakaida;
Image Correction Methods for Regions of Interest of Cirrhosis Liver Classification on CNNs,
Sensors, 2022. A draft version is here.

Y. Mitani, R. B. Fisher, Y. Fujita, Y. Hamamoto, I. Sakaida; Cirrhosis liver classification on Bmode ultrasound images by convolution neural networks with augmented images, Proc. 2nd Int. Conf. on Machine Learning and Machine Intelligence (MLMI), Jakarta, 2019.

R. B. Fisher, J. Rees, A. Bertrand; Classification of Ten Skin Lesion Classes: Hierarchical KNN versus Deep Net, 23rd Conference on Medical Image Understanding and Analysis, Liverpool, 2019.

C. Di Leo, V. Bevilacqua, L. Ballerini, R. Fisher, B. Aldridge, J. Rees;
"Hierarchical Classification of Ten Skin Lesion Classes",
Proc. Dundee Medical Image Analysis Workshop, 2015.

R.B. Aldridge, M. Zanotto, L. Ballerini, R. B. Fisher, J. L. Rees,
"Using multidimensional scaling (MDS) and hierarchical clustering, novices can subclassify basal cell carcinomas (BCCs) in a similar manner to experienced dermatologists",
JOURNAL OF INVESTIGATIVE DERMATOLOGY 132, S70S70, 2012.

R. B. Aldridge, M. Zanotto, L. Ballerini, R. B. Fisher and J. L. Rees,
"The 'ABCD' mnemonic does not function as a useful guide in assisting novices with the diagnosis of melanoma",
British Journal of Dermatology, 165(1s), 5556, July 2011.

L. Ballerini, R. B. Fisher, R. B. Aldridge, J. Rees,
"A Color and Texture Based Hierarchical KNN
Approach to the Classification of Nonmelanoma Skin Lesions",
in M.E. Celebi, G. Schaefer (eds.), Color Medical Image Analysis,
Lecture Notes in Computational Vision and Biomechanics 6,
ISBN 9789400753891, Springer, 2013.
A draft version is here.

L. Ballerini, R. B. Fisher, B. Aldridge, J. Rees,
"NonMelanoma Skin Lesion Classification using Colour Image Data in a Hierarchical KNN Classifier",
Proc. IEEE Int. Symp. on Biomedical Imaging (ISBI), May 2012.

X. Li, B. Aldridge, R. Fisher, J. Rees,
"Estimating the ground truth from multiple individual segmentations
incorporating prior pattern analysis with application to skin lesion segmentation",
Proc. 8th Int. Symp. on Biomedical Imaging (ISBI.11), April 2011, electronic proceedings.

M. Zanotto, L. Ballerini, B. Aldridge, R. B. Fisher, J. Rees,
"Visual cues do not improve skin lesion ABC(D) grading",
Proc. SPIE Medical Imaging Vol 7966, pp 7966001 to 79660010, Orlando, 2011.

R. B. Aldridge, M. Zanotto, L. Ballerini, R. B. Fisher, J. L. Rees,
"Novice identification of melanoma: not quite as straightforward as the ABCDs",
Acta DermatoVenereologica, 2(91), pp 125130, 2011.

R. B. Aldridge, D. Glodzik, L. Ballerini, R. B. Fisher, J. L. Rees,
"Utility of nonrule based visual matching as a strategy to allow novices to achieve skin lesion diagnosis",
Acta DermatoVenereologica, vol 91, pp 279283, 2011, preprint .

R. B. Aldridge, X. Li, L. Ballerini, R. B. Fisher, Jonathan L. Rees,
"Teaching Dermatology Using 3Dimensional Virtual Reality",
Correspondence, Archives of Dermatology, 146(10), Oct 2010.
A draft version is here.

R. Aldridge, D. Glodzik, Y. Bisset, L. Ballerini, K. Robertson, L. Xi, L. Naysmith, R. Fisher & J. Rees,
"Dermofit: a novel software that improves novices' diagnostic accuracy to a level above that of trained medical students",
Journal of Investigative Dermatology. 130, p. S72S72, Sep2010.

R. B. Aldridge, R. Fisher, L. Ballerini, K. Robertson, Y. Bisset, J. L. Rees,
"Do laypersons have intrinsic pattern recognition abilities that could be
harnessed to allow the accurate and early diagnosis of skin cancers?",
British Journal of Dermatology. 162, 4, p. 949950, Apr 2010.

X. Li, B. Aldridge, J. Rees, R. B. Fisher,
Estimating the ground truth from multiple individual segmentations with application to skin lesion segmentation,
Proc. Medical Image Understanding and Analysis, Coventry, pp 101106, 2010.

L. Ballerini, X. Li, R. B. Fisher, B. Aldridge, J. Rees,
ContentBased Image Retrieval of Skin Lesions by Evolutionary Feature Synthesis,
Proc 12th Euro. Workshop on Evolutionary Computation in Image Analysis and Signal Processing, Istanbul, pp 312319, April 2010.

N. A. Laskaris, L. Ballerini, R. B. Fisher, B. Aldridge, J. Rees,
Fuzzy Description of Skin Lesions,
Proc. SPIE Medical Imaging 7627, San Diego, pp 7627171 to 76271710, 2010.

X. Li, B. Aldridge, L. Ballerini, B. Fisher, and J. Rees,
"Depth Data Improves Skin Lesion Segmentation",
Proc. 12th Int. Conf. on Medical Image Computing and Computer
Assisted Intervention (MICCAI), London, pp 11001107, 2009.

L. Ballerini, X. Li, R. B. Fisher, J. Rees,
"A QuerybyExample ContentBased Image Retrieval System of NonMelanoma Skin Lesions",
Proc. MICCAI09 Workshop MCBRCDS 2009: Medical Contentbased Retrieval for Clinical Decision Support,
London, B. Caputo et al. (Eds.): MCBR_CBS 2009, LNCS 5853, pp. 3138. SpringerVerlag, Heidelberg, 2010.

S. McDonagh, R. B. Fisher, J. Rees,
"Using 3D information for classification of nonmelanoma skin lesions",
Proc. Medical Image Understanding and Analysis, Dundee, pp 164168, 2008.
See also: Skin Cancer Surface Shape Based Classification, undergraduate dissertation, 2008.

J.L. Rees, Y. Bisset, T. Lukins, C. Urquhart, H. Ravidranath, R. Fisher,
"3D visualisation of skin lesions in photogrammetry",
Journal of Investigative Dermatology, 127(S19), 2007.

T. Lukins, R. Fisher, C. Urquhart, Y. Bisset, J. L. Rees,
Microscale photogrammetry of skin lesions,
British Journal of Dermatology, 155(1), 253253, 2006.
poster

K. V. Chandrinos, M. Pilu, R. B. Fisher, P. E. Trahanias,
"Image Processing Techniques for the Quantification of Atherosclerotic Changes",
VIII Mediterranean Conf. on Medical and Biological Engineering and Computing,
(MEDICON98), Lemesos, Cyprus, pp ******, June 1417, 1998.

Kaggelides, K., Elliott, P. J., Fisher, R. B.,
"Locating the Eyes in CT Brain Scan Data",
Proc. 6th Int. Conf. on Industrial and Engineering Applications of Artif. Intell.
and Expert Systems,
Edinburgh, Scotland, pp 508517, 1993.

Kaggelides, K., Elliott, P. J., Fisher, R. B.,
"Automatic Location of the Eyes in CT Images of the Head",
Proc. 1993 Int. Symp Computer Assisted Radiology,
H. U. Lemke, K. Inamura, C. C. Jaffe and R. Felix (eds),
SpringerVerlag, Berlin, Germany, pp 684688, June 2426, 1993.
(See a related paper).
Robot/Industrial Vision

S. Zhaole, J. Zhu, R. B. Fisher;
DexDLO: Learning GoalConditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects,
Proc. Int. Conf. on Robotics and Automation (ICRA), 2024.

C. Pu, CY. Yang, JN. Pu, R. B. Fisher;
A General Mobile Manipulator Automation Framework for Flexible Tasks in Controlled Environments, Advanced Engineering Informatics, to appear, 2023.
A draft version of the paper is here.

H. CuevasVelasquez, A.J. Gallego, R. Tylecek, J. Hemming, B. van Tuijl, A. Mencarelli, R. B. Fisher; Realtime Stereo Visual Servoing for Rose Pruning with Robotic Arm, Proc. Int. Conf. on Robotics and Automation (ICRA), Paris, May 2020.

A. J. Gallego Sanchez, H. Cuevas Velasquez, R. B. Fisher;
Segmentation and 3D reconstruction of rose plants from stereoscopic images,
Computers and Electronics in Agriculture, Volume 171, April 2020.
A draft version is here.

H. CuevasVelasquez, N. Li, R. Tylecek, M. SavalCalvo, R. B. Fisher;
Hybrid Multicamera Visual Servoing to Moving Target,
Proc. Int. Conf. on Intelligent Robots, Madrid, 2018.

N. Strisciuglio, R. Tylecek, N. Petkov, P. Biber, J. Hemming, E. van Henten, T. Sattler, M. Pollefeys, T. Gevers, T. Brox, and R. B. Fisher;
TrimBot2020: an outdoor robot for automatic gardening,
Proc. 50th Int. Symp. on Robotics, Munich, June 2018.

C. Maniatis, M. SavalCalvo, R. Tylecek, R. B. Fisher;
Best Viewpoint Tracking for Camera Mounted on robot Arm with Dynamic Obstacles,
Proc. 3D Vision, 2017.

L. M. Alkurdi, R. B. Fisher,
Visual Control of an Autonomous Indoor Robotic Blimp,
in Robotic Vision: Technologies for Machine Learning and Vision Applications,
ed. J. G. Garcia Rodriguez and M. Cazorla, IGIGlobal Press, 2013.
A prereview copy is here.

E. Chinellato, A. Morales, R. B. Fisher, A. P. del Pobil,
"Visual Quality Measures for Characterizing Planar Robot Grasps",
IEEE Trans. on Systems, Man and Computers (part C), 35(1), pp 3041, 2005.

E. Chinellato, R. B. Fisher, A. Morales, A. P. del Pobil,
"Ranking Planar Grasp Configurations For A ThreeFinger Hand",
Proc. Int. Conf. on Robotics and Automation, pp 11331138, 2003.

Wren, D. and Fisher, R. B.,
"Dextrous hand grasping strategies using preshapes and digit trajectories",
Proc. IEEE Int. Conf. on Systems, Man and Cybernetics, Vancouver,
Vol 1, pp 910915, Oct 1995.

Wren, D. and Fisher, R. B.,
"Planning dextrous hand precision grasps from range data, using
preshaping and finger trajectories",
Proc. Symp. Intelligent Robotic Systems (SIRS95), Pisa, pp 213220, July 1995.

Wren, D. and Fisher, R. B.,
"Finding Robot Grasping Points from Range Data",
Proc. 6th Int. Conf. on Industrial and Engineering Applications of Artif. Intell.
and Expert Systems,
Edinburgh, Scotland, pp 522530, 1993.

Aylett, J. C., Fisher, R. B., Fothergill, A. P., "WPFM: The Workspace
Prediction and Fast Matching System", Univ. of Edinburgh,
in Mayhew, J. E. W. and Frisby, J. P. (eds),
"3D Model Recognition from Stereoscopic Cues", MIT Press, 1991.
See also: Aylett, J. C., Fisher, R. B., Fothergill, A. P., WPFM: The Workspace Prediction and Fast Matching System,
Department of Artificial Intelligence, Univ. of Edinburgh, Working Paper 207, 1987.

Aylett, J. C., Fisher, R. B., Fothergill, A. P.,
"Predictive Computer Vision for Robotic Assembly", Journal of Intelligent and
Robotic Systems, Vol 1, pp185201, 1988.
Parallel Vision

McDonagh, S., Beyan, C., Huang, P. X. and Fisher, R. B.,
Applying semisynchronised task farming to largescale computer vision problems,
Int. Journal of High Performance Computing, 2014.
A draft version of the paper is
here.

OrtsEscolano, S., Morell, V., GarciaRodrigues, J., Cazorla, M., Fisher, R. B.,
Realtime 3D semilocal surface patches extraction using GPGPU,
Realtime Image Processing, 2015.
The final published version is available
here.

Hasselbring, W., Fisher, R.,
"Using the PROSETLinda Prototyping Language for Investigating MIMD
Algorithms for Model Matching in 3D Computer Vision".
in (A. Ferreira and J. Rolim Eds.),
Parallel Algorithms for Irregularly Structured Problems (Proc. IRREGULAR '95),
Lyon, France, Sept 46, pp 301315, Lecture Notes in Computer Science , Vol 980,
SpringerVerlag, Sept. 1995.
or
a related research report

Fisher, R. B., Trucco, E., Brown, M. D., Hume, A. C.,
"MIMD and SIMD Parallel Range Data Segmentation",
in I. Pitas. (ed),
"Parallel Algorithms and Architectures for Digital Image Processing,
Computer Vision and Neural Networks",
John Wiley and Sons Ltd, Chapt 6, pp 147174, 1993.

Brown, M. D., Fisher, R. B., "A Distributed Blackboard System for Vision
Applications", Proc. 1990 British Machine Vision Association Conf.,
pp 163168, Oxford, 1990.

Norman, M. G., and Fisher, R. B., "Surface Tracking within ThreeDimensional
Datasets Using a Generalised Messagepassing SubSystem", in
Kerridge (ed), "Developments Using Occam", IOS Publishers,
Amsterdam, 1988.
Other Vision

A. Linson, Y. Xu, A. R. English, R. B. Fisher;
Identifying student struggle by analyzing facial expressions during asynchronous video lecture viewing: Towards an automated tool to support instructors,
Proc. 23rd Int. Conf. on Artificial Intelligence in Education, Durham, 2022.

Tylecek, R., Sattler, T., Le, HA., Brox, T., Pollefeys, M., Fisher, R. B. & Gevers, T.;
The Second Workshop on 3D Reconstruction Meets Semantics: Challenge Results Discussion,
Proc. ECCV 2018 Workshops (LealTaixa, L. & Roth, S.  eds.), Springer, vol. 11131, p. 631644, 2018.

H. Gong, G. D. Finlayson, M. M. Darrodi, R. B. Fisher;
RankBased Radiometric Calibration,
Journal of Imaging Science and Technology,
to appear, 2018?

R. Tylecek, R. B. Fisher;
Consistent Semantic Annotation of Outdoor Datasets via 2D/3D Label Transfer, Sensors, 18(7), 2018.
A draft version is here.

H. Gong, G. D. Finlayson, R. B. Fisher, and F. Fang;
3D Color Homography Model for PhotoRealistic Color Transfer ReCoding,
The Visual Computer, to appear.
A draft version is here.

G. Finlayson, H. Gong, R. Fisher;
Color Homography: theory and applications,
IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI),
41(1):2033, 2019.
A draft version is here.

G. Finlayson, H. Gong, R. Fisher;
Color Homography Color Correction,
Proc. 24th Color and Imaging Conf. (CIC2016), November 2016, San Diego.

H. Gong, R. B. Fisher, G. D. Finlayson;
Recoding Color Transfer as a Color Homography,
Proc. British Machine Vision Conf., September 2016.
Supplementary theory.

G. Finlayson, H. Gong, R. Fisher;
Color Homography,
Progress in Colour Studies, London, September, 2016.

B. Boom, S. McDonagh, S. OrtsEscolano, P. Sandilands, R. B. Fisher,
Interactive light source position estimation for augmented reality with an RGBD camera,
Computer Animation and Virtual Worlds, December 2015, DOI: 10.1002/cav.1686.

R. B. Fisher,
Subpixel estimation,
Chapter in Computer Vision: A Reference Guide,
K. Ikeuchi (Ed), Springer Reference, pp 775777, 2014.

G.Nadarajan, Y.H. ChenBurger, R. B. Fisher.
"Semantics and Planning Based Workflow Composition for Video Processing".
Journal of Grid Computing, Special Issue on Scientific Workflows, 2013, pp 523551.
A draft version is here.

G. Nadarajan, Y.H. ChenBurger, R. B. Fisher,
"A Flexible System for
Automated Composition of Intelligent Video Analysis".
Int. Symp. on Image and Signal Processing and Analysis, ***, Dubrovnik, Sept. 46, 2011.

G. Nadarajan, Y.H. ChenBurger, R. B. Fisher,
"SWAV: Semanticsbased Workflows for Automatic Video Analysis".
Special Session on Intelligent Workflow,
Cloud Computing and Systems, KESAMSTA 11, Manchester, U.K., July 2011.

G. Nadarajan, J. ChenBurger, R. Fisher,
"A KnowledgeBased Planner for Processing Unconstrained Underwater Videos",
Proc. IJCAI09 Workshop on Learning Structural Knowledge From Observations,
pp 3744, 2009.

R. B. Fisher,
"Scene recovery from many randomly distributed single pixel cameras",
Proc. Int. Conf. on Pat. Recog., Vol 1, pp 988991,
Hong Kong, Aug. 2006 (copyright IEEE).

T. List, J. Bins, R. B. Fisher, D. Tweed, K. R. Thorisson,
Two approaches to a plugandplay vision architecture  CAVIAR and Psyclone.
Proc. AAAI05 workshop on Modular Construction of Humanlike Intelligence,
Pittsburgh, pp pp 1623,AAAI Technical Report WS0508, 10 July 2005.

J. Bins, T. List, R. B. Fisher, D. Tweed,
"An Intelligent and Taskindependent Controller for Video Sequence Analysis",
Proc. IEEE Int. Workshop on Computer Architecture for Machine Perception
(CAMP'05), Palermo, Italy, pp 172177, July 46, 2005.

T. List, J. Bins, R. B. Fisher, D. Tweed,
"A PlugandPlay Architecture for Cognitive Video Stream Analysis",
Proc. IEEE Int. Workshop on Computer Architecture for Machine Perception
(CAMP'05), Palermo, Italy, pp 6772, July 46, 2005.

T. List, R. B. Fisher,
"CVML An XMLbased Computer Vision Markup Language",
Proc. Int. Conf. on Pat. Rec., Cambridge, Vol 1, pp 789792, 2004.

Robert B. Fisher,
"Selforganization of random sensors",
Proc. Eur. Conf. on Computer Vision, Copenhagen, pp 146160, May 2002.

P. Baron, R. Fisher, A. Sherlock, F. Mill, A. Tuson.
"A Voxel Based Approach to Evolutionary Shape Optimisation".
Proc. 4th AISB Workshop on Evolutionary Computing,
April 78, 1997, University of Manchester, England.
Published in Evolutionary Computing, Eds D. Corne and J. L. Shapiro,
Lect. Notes in Comp. Sci. series, Vol 1305, Springer,
pp 253261, 1997.

P. Baron, R. Fisher, F. Mill, A. Sherlock, A. L. Tuson.
"A Voxelbased Representation for the Evolutionary Shape Optimisation of a Simplified Beam:
A CaseStudy of a ProblemCentred Approach to Genetic Operator Design."
2nd Online World Conference on Soft Computing in Engineering Design and Manufacturing (WSC2).
1997.

M. Wright, A Fitzgibbon, P J Giblin and R B Fisher,
"Beyond the Hough transform: further properties of the Rtheta mapping and
their applications",
Proc. Intl. Workshop on Object Representation in Computer Vision II,
Cambridge UK,
in Lecture Notes in Computer Science 1144, (Ed. J. Ponce, A. Zisserman and M. Hebert),
Springer, pp361380, 1996.

M Wright, A Fitzgibbon, P J Giblin and R B Fisher,
"Convex Hulls, occluding contours, aspect graphs and the Hough transform",
A ScienceDirect online version.
Image and Vision Computing, Vol 14, No 8, pp 627634, 1996.
Here is a photocopy.

Fisher, R. B., Gionis, A. P.,
"Surface reflectance recovery under point light illumination",
Proc. British Machine Vision Conference BMVC96, Edinburgh, pp 263272, September 1996.

Wright, M. A., Fitzgibbon, A., Fisher, R. B.
"Convex Hulls, Occluding Contours, Aspect Graphs and the Hough Transform",
Proc. British Machine Vision Conference BMVC95, Birmingham, pp 493502,
September 1995.

Wolfart, E., Fisher, R. B., Walker, A.
"Position refinement for a navigating robot using motion information based on honey bee strategies",
Proc. Symp. Intelligent Robotic Systems (SIRS95), Pisa, pp 257264, July 1995.

Fisher, R.,
"Is Computer Vision Still AI?",
AI Magazine, Vol 15, No. 2, pp 2127, 1994.

PerezMinana, E., Wallace, D., Fisher, R.,
"Stochastic Image Restoration: Clean images and their likelihood",
Proc. 6th Int. Conf. on Industrial and Engineering Applications of Artif. Intell.
and Expert Systems,
Edinburgh, Scotland, pp 518521, 1993.

Hayes, G. M., Fisher, R. B., "Evaluation of a RealTime Kinetic Depth
System", Proc. 1990 British Machine Vision Association Conf.,
pp 315318, Oxford, 1990.
Machine Learning and Pattern Recognition

L. Nanbo, M. A. Raza, H. Wenbin, Z. Sun, R. B. Fisher;
ObjectCentric Representation Learning with Generative SpatialTemporal Factorization, Proc. NeurIPS, 2021.

L. Nanbo, R. B. Fisher;
Duplicate Latent Representation Suppression for Multiobject Variational Autoencoders,
Proc. Brit. Machine Vision Conf., 2021.

A.J. Gallego, J. CalvoZaragoza, R. B. Fisher;
Incremental Unsupervised DomainAdversarial Training of Neural Networks,
IEEE Transactions on Neural Networks and Learning Systems, 32(11), Nov 2021.
A draft version of the paper is here.

B. J. Boom, P. X. Huang, R. B. Fisher,
Approximate Nearest Neighbor Search to support Manual Image Annotation of large domainspecific datasets,
Proc. Int. Workshop on Video and Image Ground Truth in Computer Vision Applications (VIGTA'13),
VIGTA 2013, St Peterburgh.

B. J. Boom, P. X. Huang, J. He, R. B. Fisher,
Supporting GroundTruth annotation of image datasets using clustering,
21st Int. Conf. on Pattern Recognition (ICPR), Tsukuba, Japan, 2012.

R. R. Sillito, R. B. Fisher,
"Incremental OneClass Learning with Bounded Computational Complexity",
Int. Conf. on Artificial Neural Networks (ICANN), Porto, J. Marques de Sa et al (Eds), Springer LNCS 4668, pp 5867, Sept. 2007.

R. B. Fisher,
"An Empirical Model for Saturation and Capacity in Classifier Spaces",
Proc. Int. Conf. on Pat. Recog., Vol 4, pp 189193,
Hong Kong, Aug. 2006 (copyright IEEE).

C.Robertson, R. B. Fisher,
"1D Parabolic Search Mutation",
Proc. 7th Online World Conference on Soft Computing (WSC7)
(see {http://wsc7.ugr.es/}), 2002.
Other Research

A. Nuthmann, A. C. Clayden, R. B. Fisher;
The Effect of Target Salience and Size in Visual Search within Naturalistic Scenes under Degraded Vision,
Journal of Vision, 21(4), April 2021.
A draft version is here.

A. Clayden, R. B. Fisher, A. Nuthmann;
On the relative (un)importance of foveal vision during letter search in naturalistic scenes,
Vision Research, 177, Dec 2020, pp 4155.
A draft version is here.

A. Clayden, R. B. Fisher;
The relative importance of foveal vision in visual search in 3D dynamic scenes,
Abstracts of the 19th Euro. Conf. on Eye Movements, Wuppertal, 2017, p. 124. Abstract.

R. B. Fisher,
"CVonline: an overview",
Int. Assoc. of Pat. Recog. Newsletter, 27(2), April 2005.
Refreshed Chinese translation (pages 67, March 2016) in
the Chinese Computer Federation Computer Vision Newsletter.

R. B. Fisher et al,
The Computer Graphics subject definitions (merged alphabetically).
in P. Laplante (ed.)
The CRC Dictionary of Computer Science, Engineering and Technology,
CRC Press, 2001.

K. Patel, A. Tuson, A. Coulson, S. Sturrock, R. Fisher,
"Evolving Protein Similarity Scoring Matrices using Differential Evolution",
Recent Advances in Soft Computing 2000, ***, to appear.
See: K. Patel; Optimisation of Amino Acid Scoring Matrices for Improved Protein Homolgue Detection.

P. Baron, R. Fisher, A.L. Tuson, F. Mill and A. Sherlock,
"A Voxelbased Representation for Evolutionary Shape Optimisation",
Artificial Intelligence for Engineering Design, Analysis and
Manufacturing (AIEDAM), 13(3) ISSN 08900604, pp 145156, 1999.
An earlier version is available here.

R. B. Fisher, K. Koryllos,
"Interactive Textbooks; Embedding Image Processing Operator Demonstrations
in Text", Int. J. of Pattern Recognition and Artificial Intelligence,
Vol 12, No 8, pp 10951123, 1998.
An earlier version is available here.

P. Baron, R. Fisher, A. Tuson, A. Sherlock, F. Mill.
"A Voxel Based Approach to Evolutionary Shape Optimisation",
in Evolutionary Computing, Eds D. Corne and J. L. Shapiro,
Lect. Notes in Comp. Sci. series, Vol 1305, Springer,
pp 253261, 1997.

N. Mitsakakis, R. Fisher, and A. Walker,
"Classification of humpback whalesong units using a self organizing feature map",
J. Acoust. Soc. Am., Part 2, 100(4), p 2644, 1996.
A related technical report submitted to the J. Acoust. Soc. Am. can be found at
here.

Anonymous publication (Fisher, R.),
"THESIS PREVENTION 2  A Student of Father Hacker Replies",
Artificial Intelligence and Simulation of Behaviour Society Quarterly,
Vol 82, Winter 1992/93, pp3839.

Fisher, R. B. and Peterson, A. M., "A Facility For Interactive Digital Signal
Processing", Proc. 1980 IEEE Conf. on Acoustics, Speech and Signal
Processing, Denver, Colorado, 1980.
Other Research Group Publications

L.D., Cai,
"A Consistent ZeroThresholding Inequality of the Gaussian and Mean
Curvatures",
Computeraided Surface Geometry and Design, The Mathematics of
Surfaces IV,
A. Bowyer (Ed.), Oxford University Press, Oxford, UK, 1994.
pp. 365372.
Also published as
L.D., Cai,
"Zerothresholding of KH and KJ sign images for multiple scale
segmentation of surfaces",
China Journal of Image and Graphics, Vol.3, No. 7, 1998. pp. 562565.

L.D., Cai:
An Estimate of the relationship between zero thresholds of Gaussian Curvature and Mean Curvature,
Department of Artificial Intelligence, Univ. of Edinburgh, Research paper 450, 1989.
Unpublished documents

R. B. Fisher;
Parallel Image Analysis Technology,
Department of Artificial Intelligence, Univ. of Edinburgh, Working Paper 105, 1982.

R. B. Fisher; The Potential of Expert System Based Training Aids
part 1 and
part 2,
Department of Artificial Intelligence, Univ. of Edinburgh, Working Paper 121, 1982.

R. B. Fisher; Reasoning About Anomalous Data In the Image Analysis Process  a Proposal,
Department of Artificial Intelligence, Univ. of Edinburgh, Working Paper 144, 1983.

R. B. Fisher;
Anomalies Occurring in the Image Formation and Analysis Proces, Department of Artificial Intelligence, Univ. of Edinburgh, Working Paper 137, 1983.

R. B. Fisher; A PROLOG Version of ACRONYM's CMS  Version 1.1,
Department of Artificial Intelligence, Univ. of Edinburgh, Software Paper 12, 1987.

R. B. Fisher;
Details of A Network Engine for Algebraic and Geometric Reasoning,
Department of Artificial Intelligence, Univ. of Edinburgh, Working Paper 210, 1987.

R. B. Fisher;
Solving Algebratic Constraints in a Parallel Natweork, As Applied To Geometric Reasoning,Department of Artificial Intelligence, Univ. of Edinburgh, Working Paper 205, 1987.

R. B. Fisher;
3D Geometric Constraints from Surface Patch Matching, Department of Artificial Intelligence, Univ. of Edinburgh, Research paper 441, 1989.
An extended version is here.

R. B. Fisher, M. J. L. Orr;
Experiments with a NetworkBased Geometric Reasoning Engine, unpublished, c. 1989.

R. B. Fisher, M. J. L. Orr;
Spatial Configurations In The Model Invocation Process, unpublished, c. 1992.

A. Kick, A. Walker, R. Fisher,
"A dynamic model for autonomous vehicle navigation", Department of Artificial Intelligence, Univ. of Edinburgh, Research paper 691, 1994.

R. B. Fisher;
Bestfirst and ten other variations of the interpretationtree model matching algorithm, Department of Artificial Intelligence, Univ. of Edinburgh, Research paper 717, 1994.

R. B. Fisher, M. Waite, M. J. L. Orr, J. Hallam,
"Covariance Representations of Partial Geometric Constraints for 3D Pose Estimation", unpublished, 1995.

M. W. Wright, R. B. Fisher;
Acquiring graspable features on unmodelled objects using range data, unpublished, c. 1995.

M. Wright, R. B. Fisher;
Stability analyis of robot grasps,unpublished, 1995.

R. B. Fisher, T.D. Grove, A. Gionis, A. MacKirdy;
Iconic Object Matching Using Primal Sketchlike Features, unpublished, c. 1996.

R. B. Fisher,
"Special cases where benefits arise from using the logarithm transform for
illumination invariant feature extraction", unpublished, 1999.

R. B. Fisher,
"Change Detection in Color Images", unpublished, 1999.

R. B. Fisher,
"Stabilizing Augmented Reality Overlays of Hinged and Curved Planar Regions", unpublished, 2001.

R. B. Fisher,
"AI and Cinema  Does artificial insanity rule?", unpublished, 2002.

L. Ballerini, R. B. Fisher, B. Aldridge,J. Rees,
Hierarchical ContentBased Image Retrieval of Skin Lesions, unpublished, 2011.

G. Papadimitriou, R. Fisher, R. Shillcock, B. C. Talluri,
Psychophysics of Autostereogram Videos: Contrast, Repetition, Blur and Colour, unpublished, 2013.
You might be interested in examples of the AVI videos (uncompressed to avoid
artifacts):
No distortion (159Mb),
Blur (172 Mb),
Low contrast (159 Mb),
Large repetition period (159 Mb),
Equiluminant Red/Green (368 Mb).

P. X. Huang, R. B. Fisher; Individual feature selection in each OneversusOne classifier improves multiclass SVM performance, unpublished, 2014.

R. B. Fisher, Is your robot afraid of dying (and why you should care)?, unpublished, 2017.
Edited Journal Special Issues

L. Paletta, J. K. Tsotsos, G. Humphreys, R. Fisher,
Special Issue on Attention and Performance in Computer Vision,
Computer Vision and Image Understanding
Volume 100, Issues 12, Pages 1248 (OctoberNovember 2005).

M. Rodrigues, R. B. Fisher and Y. Liu,
Special Issue on Registration and Fusion of Range Images
Comp. Vis. and Image Under. Vol 87,
Introduction pp 17, 2002.

G. M. Hayes and R. B. Fisher,
Special Issue of J. of Robotics and Autonomous Systems
(revised versions of best papers from SIRS'98),
Vol 31, No 12, 121 pages, April 2000.

D. Borges and R. Fisher,
J. Brazilian Society for Automation, Special issue on
computer/computational vision, 1998.

E. Trucco and R. B. Fisher,
Special Issue of Image and Vision Computing,
(revised versions of best papers from BMVC'96),
Vol 15, No 8, August 1997
Video Contributions

Fisher, R. B.,
"3D model matching using range data",
in (ed. T. Trew) "Machine Vision Research 1994",
The British Machine Vision Association, BMVA Press 1994.
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