[Univ of Cambridge] [Dept of Engineering]
 
Computer Vision and Robotics Team
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Books

See Book Covers

R. Cipolla.
Active Visual Inference of Surface Shape.
Lecture Notes in Computer Science, LNCS 1016, Springer-Verlag, Heidelberg, 1995.
Further info

R. Cipolla and P.J. Giblin.
Visual Motion of Curves and Surfaces.
Cambridge University Press, 2000.
Further info

R. Cipolla and A. Pentland, editors.
Computer Vision for Human-Machine Interaction.
Cambridge University Press, 1998.
Further info

B.F. Buxton and R. Cipolla, editors.
Computer Vision - ECCV'96. (Volume I.)
Lecture Notes in Computer Science, LNCS 1064, Springer-Verlag, Heidelberg, 1996.
Further info

B.F. Buxton and R. Cipolla, editors.
Computer Vision - ECCV'96. (Volume II.)
Lecture Notes in Computer Science, LNCS 1065, Springer-Verlag, Heidelberg, 1996.
Further info

J. Lasenby, A. Zisserman, R. Cipolla and H. C. Longuet-Higgins, editors.
New Geometric Techniques in Computer Vision
Philosophical Transactions, The Royal Society. Volume 356, Pages 1063-1340, Number 1740, 15 May 1998
Further info

D.A. Forsyth, J.L. Mundy, V. Gesu and R. Cipolla, editors.
Shape, Contour and Grouping in Computer Vision.
Lecture Notes in Computer Science, LNCS 1681, Springer-Verlag, Heidelberg, 1999.

R. Cipolla and R. Martin, editors.
The Mathematics of Surfaces IX
Springer-Verlag, Berlin/Heidelberg, 2000.

Academic journal papers

R. Cipolla and K.-Y.K. Wong.
Reconstruction of sculpture from uncalibrated image profiles. (to appear Special issue on Cultural Heritage in Trans. IEEE Trans. Image Processing), 2003.

R. Cipolla and K.-Y.K. Wong.
Shape from profiles.
Phil. Trans. R. Soc. Lond. (to appear 2003).
Abstract | Full Document

R. Cipolla.
The visual motion of curves and surfaces.
Phil. Trans. R. Soc. Lond., A356(1740):1103-1121, (May) 1998.
Abstract | Full Document

R. Cipolla and A. Blake.
Surface shape from the deformation of apparent contours.
Int. Journal of Computer Vision, 9(2):83-112, 1992.

R. Cipolla and A. Blake.
Image divergence and deformation from closed curves.
Int. Journal of Robotics Research, 16(1):77-96, 1997.
Abstract | Full Document

R. Cipolla, G. Fletcher, and P.J. Giblin.
Following Cusps.
Int. Journal of Computer Vision, 23(2):115-129, 1997.

R. Cipolla and N.J. Hollinghurst.
Human-robot interface by pointing with uncalibrated stereo vision.
Image and Vision Computing, 14(3):171-178, 1996.

R. Cipolla, N.J. Hollinghurst, A.H. Gee and R.R. Dowland.
Computer vision in interactive robotics.
Assembley Automation, 16(1):18-24, 1996.
(Invited paper and award for excellence.)

R. Cipolla and N.J. Hollinghurst.
Visually guided grasping in unstructured enviroments
Robotics and Autonomous Systems, 19:337-346, 1997.
(Invited paper.)
Abstract | Full Document

R. Cipolla and M. Yamamoto.
Stereoscopic tracking of bodies in motion.
Image and Vision Computing, 8(1):85-90, 1990.

R. Cipolla and A. Zisserman.
Qualitative surface shape from deformation of image curves.
Int. Journal of Computer Vision, 8(1):53-69, 1992.

K. Åström, R. Cipolla, and P.J. Giblin.
Generalised epipolar constraints.
Int. Journal of Computer Vision, 33(1):51-72, 1999.

A. Blake and R. Cipolla.
Robust estimation of surface curvature from deformation of apparent contours.
Image and Vision Computing, 9(2):107-112, 1991.

T.J. Cham and R. Cipolla.
Symmetry detection through local skewed symmetries.
Image and Vision Computing, 13(5):439-450, 1995.
(Joint best science paper prize, BMVC94.)
Abstract | Full Document

T.J. Cham and R. Cipolla.
Automated B-spline curve representation incorporating MDL and error-minimizing control point insertion strategies.
IEEE Trans. Pattern Analysis and Machine Intelligence, 21:1, 49-53, 1999.

G. Chesi, A. Garulli , A. Vicino , R. Cipolla.
Estimating the fundamental matrix via constrained least-squares: a convex approach. IEEE Trans. Pattern Analysis and Machine Intelligence, 24(3):397-401, 2002.

R.R. Dowland, P.J. Clarkson and R. Cipolla.
A prototyping strategy for use in interactive robotic system development.
Robotica, 16:517-521, 1998.

T.W. Drummond and R. Cipolla.
Application of Lie algebras to affine invariant visual servoing.
Int. Journal of Computer Vision, 37(1):21-41, 2000.
Abstract | Full Document

T.W. Drummond and R. Cipolla.
Real-time tracking of complex structures with on-line camera calibration.
Image and Vision Computing, 20(5-6):427-433, 2002.

T.W. Drummond and R. Cipolla.
Real-time visual tracking of complex structures.
IEEE Trans. on Pattern Analysis and Machine Intelligence, 24(7):932-946, 2002.

N.J. Hollinghurst and R. Cipolla.
Uncalibrated stereo hand-eye coordination.
Image and Vision Computing, 12(3):187-192, 1994.
(First prize, British Robot Association competition, Towards the 21st Century.)
Abstract | Full Document

A.H. Gee and R. Cipolla.
Determining the gaze of faces in images.
Image and Vision Computing, 12(10):639-647, 1994.
Abstract | Full Document

A.H. Gee and R. Cipolla.
Fast visual tracking by temporal consensus.
Image and Vision Computing, 14(2):105-114, 1996.
Abstract | Full Document

I. Infantino, R. Cipolla and A. Chella.
Reconstruction of architectural scenes from uncalibrated photos and maps.
IEICE Trans. Information and Systems, Vol E00-A-(12) December 2001.

E. Malis and R. Cipolla.
Camera self-calibration from unknown planar structures enforcing the multi-view constraints between collineations.
IEEE Trans. on Pattern Analysis and Machine Intelligence, 24(9):1268-1272, 2002.

P.R.S. Mendonca, K.-Y.K. Wong and R. Cipolla.
Epipolar Geometry from Profiles under Circular Motion.
IEEE Trans. on Pattern Analysis and Machine Intelligence, 23(6):604-616, (June) 2001.

Y. Okamoto, R. Cipolla, H. Kazama, and Y. Kuno.
Human interface system using qualitative visual motion interpretation.
Trans. of Institute of Electronics and Communication Engineers of Japan, J76-D-II(8):1813-1821, 1993.

J. Sato and R. Cipolla.
Quasi-invariant parameterisations and matching of curves in images.
Int. Journal of Computer Vision, 28(2):117-136, 1998.
Abstract | Full Document

J. Sato and R. Cipolla.
Extracting group transformations from image moments.
Computer Vision and Image Understanding, 73(1):29-42, 1999.
Abstract | Full Document

J. Sato and R. Cipolla.
Affine reconstruction of curved surfaces from uncalibrated views of apparent contours.
IEEE Trans. Pattern Analysis and Machine Intelligence, 21(11):1188-1198, 1999.

 J. Sato and R. Cipolla.
Uncalibrated reconstruction of curved surfaces.
Image and Vision Computing, 17(8):617-623, 1999.
(Best science paper prize, BMVC97)

J. Sato and R. Cipolla.
Image registration using multi-scale texture moments.
Image and Vision Computing, 13(5):341-353, 1995.
( Joint best science paper prize, BMVC94)
Abstract | Full Document

J. Sato and R. Cipolla.
Affine integral invariants for extracting symmetry axes.
Image and Vision Computing, 15(8):627-635, 1997.

J. Sato, K. Kinoshita and R. Cipolla.
Epipolar geometry of curved surfaces and visual navigation from uncalibrated cameras.
Trans. of Institute of Electronics and Communication Engineers of Japan, J82-D-II(9):1401-1410, 1999.

P. Smith, T. Drummond and R. Cipolla.
Motion segmentation by tracking edge information over multiple frames.
IEEE Trans. Pattern Analysis and Machine Intelligence, (to appear) 2003.

K-Y.K. Wong, P.R.S. Mendonca and R. Cipolla.
Structure and motion estimation from apparent contours under circular motion.
Image and Vision Computing, 20(5-6):441-448, 2002.

K.-Y.K. Wong, P.R.S. Mendonca and R. Cipolla.
Camera calibration from surfaces of revolution.
IEEE Trans. Pattern Analysis and Machine Intelligence, 25(2):147-161,(February) 2003.

K.-Y.K. Wong and R. Cipolla.
Reconstruction of outdoor sculpture from silhouettes under approximate circular motion of an uncalibrated hand-held camera.
IEICE Trans. Information and Systems, Vol E87-D-(1),(to appear) January 2004.

M.W. Wright, R. Cipolla, and P.J. Giblin.
Skeletonisation using an extended euclidean distance transform.
Image and Vision Computing, 13(5):367-375, 1995.
Abstract | Full Document

M. Yamamoto and R. Cipolla.
A cooperative analysis of stereo and moving images.
Trans. of Institute of Electronics and Communication Engineers of Japan,
J72-D-II(6):855-865, 1989.

K.C. Yow and R. Cipolla.
Feature-based Human Face Detection.
Image and Vision Computing, 15(9):713-735, 1997.
Abstract | Full Document

Conference proceedings (refereed)

R.Cipolla, B. Stenger, A. Thayananthan and P.H.S. Torr. Model-based tracking of articulated hand motion in clutter.
In Proc. 10th IMA Conference on The Mathematics of Surfaces, LNCS, Springer-Verlag, 2003.

R. Cipolla and K. Wong,
Reconstruction of sculpture from uncalibrated image profiles.
In Proc. IEEE Int. Conf. Image Processing, Image Processing and Cultural Heritage, volume I,
pages 570-573, Thessaloniki, Greece, (October) 2001.

R. Cipolla and D.P. Robertson.
3D Models of architectural scenes from uncalibrated images and vanishing points.
In Proc. IAPR 10th International Conference on Image Analysis and Processing, Venice, pages 824-829, (September) 1999.

R. Cipolla, T. Drummond and D.P. Robertson.
Camera calibration from vanishing points in images of architectural scenes.
In Proc. British Machine Vision Conference, Nottingham, volume 2, pages 382-391, (September) 1999.

R. Cipolla, D.P. Robertson and E.G. Boyer.
Photobuilder - 3D models of architectural scenes from uncalibrated images.
In Proc. IEEE International Conference on Multimedia Computing and Systems, Firenze, volume I, pages 25-31, (June) 1999.
Abstract | Full Document| Download application

R. Cipolla and E.G. Boyer.
3D model acquisition from uncalibrated images.
In Proc. IAPR Workshop on Machine Vision Applications, Chiba, Japan, pages 559-568, (November) 1998.
Abstract | Full Document

R. Cipolla, K. Åström, and P.J. Giblin.
Motion from the frontier of curved surfaces.
In Proc. IEEE 5th Int. Conf. on Computer Vision, pages 269-275, Boston, (June) 1995.
Abstract | Full Document

R. Cipolla, G. Fletcher, and P.J. Giblin.
Surface geometry from cusps of apparent contours.
In Proc. IEEE 5th Int. Conf. on Computer Vision, pages 858-863, Boston, (June) 1995.

R. Cipolla, Y. Okamoto, and Y. Kuno.
Robust structure from motion using motion parallax.
In Proc. IEEE 4th Int. Conf. on Computer Vision, pages 374-382, Berlin, (May) 1993.

R. Cipolla and A. Blake.
The dynamic analysis of apparent contours.
In Proc. IEEE 3rd Int. Conf. on Computer Vision, pages 616-623, Osaka, (December) 1990.

R. Cipolla and A. Blake.
Surface orientation and time to contact from image divergence and deformation.
In Proc. 2nd European Conference on Computer Vision, Santa Margherita Ligure, (May 1992);
Edited by G. Sandini, LNCS 588, pages 187-202, Springer-Verlag, 1992.
(Best paper prize.)

R. Cipolla, Y. Okamoto, and Y. Kuno.
Qualitative visual interpretation of 3D hand gestures using motion parallax.
In Proc. IAPR Workshop on Machine Vision Applications, Tokyo, pages 477-482, (December) 1992.
(IAPR MVA Most influential paper over the decade award - presented at MVA 2002 (Nara))

R. Cipolla, P.A. Hadfield, and N.J. Hollinghurst.
Uncalibrated stereo vision with pointing for a man-machine interface.
In Proc. IAPR Workshop on Machine Vision Applications, Kawasaki, pages 163-166, (December) 1994.
Abstract | Full Document

R. Cipolla and N.J. Hollinghurst.
Interactive grasping with uncalibrated stereo vision.
In Proc. International Workshop on Computer Vision Technology, Seoul National University, Korea, pages 134-148, (December) 1996.

R. Cipolla and M. Yamamoto.
Structure of articulated bodies from motion.
In Proc. of 35th National Conference of Information Processing Society of Japan, Sapporo, volume 3, pages 2141-2142, (October) 1987.

R. Cipolla and M. Yamamoto.
Motion tracking by stereo visualised locus method.
In Proc. of 37th National Conference of the Information Processing Society of Japan, Kyoto, (October) 1988.

R. Cipolla and M. Yamamoto.
Stereoscopic tracking of bodies in motion.
In Proc. 5th Alvey Vision Conference, pages 109-114, Reading, (September) 1989.

K. Åström, R. Cipolla, and P.J. Giblin.
Generalised epipolar constraints.
In Proc. 4th European Conf. on Computer Vision, Cambridge (April 1996);
Edited by B.F. Buxton and R. Cipolla, LNCS 1065, volume II, pages 97-108, Springer-Verlag, 1996.
Abstract | Full Document

A.M. Basman, J. Lasenby and R. Cipolla.
Efficient Region Segmentation Through Creep and Merge.
In Proc. IAPR 9th International Conference on Image Analysis and Processing, Firenze (September), LNCS 1310, volume I, pages 223-230, Springer-Verlag, 1997.

A.M. Basman, J. Lasenby and R. Cipolla.
Applications of the Creep-and-Merge system: corner detection.
In Proc. British Machine Vision Conference, Southampton, pages 589-598, (September) 1998.

A. Blake and R. Cipolla.
Robust estimation of surface curvature from deformation of apparent contours.
In Proc. 1st European Conference on Computer Vision, Antibes (April 1990);
Edited by O. Faugeras, LNCS 427, pages 465-474, Springer-Verlag, 1990.

A. Blake, J.M. Brady, R. Cipolla, Z. Xie, and A. Zisserman.
Visual navigation around curved obstacles.
In Proc. IEEE Int. Conf. Robotics and Automation, Sacramento, volume 3, pages 2490-2495, (April) 1991.

A. Blake, R. Cipolla, and A. Zisserman.
Towards qualitative vision: Motion parallax.
In Proc. British Machine Vision Conference, Oxford, pages 115-121, (September) 1990.

A. Broadhurst and R. Cipolla.
Calibration of image sequences for model visualisation.
In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Fort Collins, Colorado, I:100-105, (June) 1999.

A. Broadhurst and R. Cipolla.
The applications of uncalibrated occlusion junctions.
In Proc. British Machine Vision Conference}, Nottingham, volume 1, pages 245-254, (September) 1999.

A. Broadhurst and R. Cipolla.
A statistical consistency check for the space carving algorithm.
In Proc. British Machine Vision Conference, Bristol, volume I, pages 282-291, (September) 2000.
(Best poster presentation prize).

A. Broadhurst, T. Drummond and R. Cipolla.
A probabilistic framework for space carving.
In Proc. 8th IEEE International Conference on Computer Vision Vancouver, (July) 2001.

M. Brown, T. Drummond and R. Cipolla.
3D model acquisition by tracking 2D wireframes.
In Proc. British Machine Vision Conference, Bristol, pages 656-665, (September) 2000.

T.J. Cham and R. Cipolla.
A statistical framework for long-range feature matching in uncalibrated image mosaicing.
In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Santa Barbara, pages 442-447, (June) 1998.

T.J. Cham and R. Cipolla.
Stereo Coupled Active Contours.
In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Puerto Rico, pages 1094-1099, (June) 1997.

T.J. Cham and R. Cipolla.
Geometric saliency of curve correspondences and grouping of symmetric contours.
In Proc. 4th European Conf. on Computer Vision, Cambridge (April 1996);
Edited by B.F. Buxton and R. Cipolla, LNCS 1064, volume I, pages 385-398, Springer-Verlag, 1996.
(Best paper prize)
Abstract | Full Document

T.J. Cham and R. Cipolla.
A local approach to recovering global skewed symmetry.
In Proc. IAPR 12th Int. Conference on Pattern Recognition, Jerusalem (Israel),
pages 222-226, (October) 1994.

T.J. Cham and R. Cipolla.
Skewed symmetry detection through local skewed symmetries.
In Proc. British Machine Vision Conference, York, pages 549-558, (September) 1994.
(Joint best science paper prize)

T.J. Cham and R. Cipolla.
MDL-based curve representation using B-spline active contours.
In Proc. British Machine Vision Conference, Edinburgh, pages 363-372, (September) 1996.

G. Chesi, E. Malis and R. Cipolla.
Collineation estimation from two unmatched views of an unknown planar contour for visual servoing.
In Proc. British Machine Vision Conference}, Nottingham, pages 224-233, 1999.

G. Chesi, E. Malis and R. Cipolla.
Automatic segmentation and matching of planar contours for visual servoing.
In Proc. IEEE International Conf. on Robotics and Automation, San Francisco (April), volume 3, pages 2753-2758, 2000.

G.Chesi, A. Garulli, A. Vicino and R. Cipolla.
On the estimation of the fundamental matrix: a convex approach to constrained least-squares.
In Proc. 6th European Conference on Computer Vision, Dublin (June 2000).
Edited by D. Vernon, volume I, pages 236-250, LNCS 1842, Springer-Verlag, 2000.

P.J. Clarkson, R.R. Dowland and R. Cipolla.
The use of prototypes in the design of interactive machines.
In Proc. Int. Conference on Engineering Design, Tampere, Finland, Volume 2, pages 735-740, (August) 1997.

G.M.T. Cross and R. Cipolla.
Affine visual servoing.
In Proc. British Machine Vision Conference, Edinburgh, pages 425-434, (September) 1996.

G.M.T. Cross and R. Cipolla.
Automated weld tracking.
In Proc. IAPR Workshop on Machine Vision Applications, Tokyo, pages 563-565, (November) 1996.

G.M.T. Cross and R. Cipolla.
Affine contour-based visual servoing.
In Proc. IAPR Workshop on Machine Vision Applications, Tokyo, pages 225-228 (November) 1996.

R.M. Curwen, A. Blake, and R. Cipolla.
Parallel implementation of lagrangian dynamics for real-time snakes.
In Proc. British Machine Vision Conference, Glasgow, pages 29-35, (September) 1991.

A.R. Dick and R. Cipolla.
Model refinement from planar parallax.
In Proc. British Machine Vision Conference, Nottingham, volume 1, pages 73-82, (September) 1999.

A.R. Dick, P. Torr and R. Cipolla.
Automatic 3D modelling of architecture.
In Proc. British Machine Vision Conference, Bristol, pages 372-381, (September) 2000.

A. Dick, P. Torr, S. Ru²e, R. Cipolla.
Combining single view recognition and multiple view stereo for architectural scenes.
In Proc. 8th IEEE International Conference on Computer Vision, Vancouver, pages I:268-274, (July) 2001.

A.R. Dick, P.H.S. Torr and R. Cipolla.
A bayesian estimation of building shape using MCMC.
In Proc. 7th European Conference on Computer Vision, Copenhagen (May 2002).
Edited by A. Heyden, G. Sparr, M. Nielsen and P. Johansen, LNCS 2351, volume 2, pages 852-866, Springer-Verlag, 2002.

R.R. Dowland, R. Cipolla and P.J. Clarkson.
A prototype for interactive robotics application development.
In Proc. 5th Int. Conference on Rehabilitation Robotics, Bath, pages 71-74, (April) 1997.

T.W. Drummond and R. Cipolla.
Real-time tracking of highly articulated structures in the presence of noisy measurements.
In Proc. 8th IEEE International Conference on Computer Vision Vancouver, (July) 2001.

T.W. Drummond and R. Cipolla.
Visual tracking and control using Lie algebras.
In IEEE Conf. on Computer Vision and Pattern Recognition, Fort Collins, Colorado, II:652-657, (June) 1999.
Abstract | Full Document

T.W. Drummond and R. Cipolla.
Real-time tracking of complex structures with on-line camera calibration.
In Proc. British Machine Vision Conference, Nottingham, pages 574-583, 1999.
(Best application paper prize)
Abstract | Full Document

T.W. Drummond and R. Cipolla.
Real-time tracking of complex structures for visual servoing.
In Proceedings of Vision Algorithms: Theory and Practice, Corfu, Greece, pages 91-98, (September), 1999.
Edited by W. Triggs, A. Zisserman and R. Szelski, pages 69-84. LNCS 1883, Springer-Verlag, 2000.

T.W. Drummond and R. Cipolla.
Real-time Tracking of Multiple Articulated Structures in Multiple Views.
In Proc. 6th European Conference on Computer Vision, Dublin (June 2000). Edited by D. Vernon, LNCS 1843, volume 2, pages 20-36, Springer-Verlag, 2000.

A.H. Gee and R. Cipolla.
Estimating gaze from a single view of a face.
In Proc. IAPR 12th International Conference on Pattern Recognition, Jerusalem, pages 758-760, (October) 1994.

A.H. Gee and R. Cipolla.
Non-intrusive gaze tracking for human-computer interaction.
In Proceedings of the International Conference on Mechatronics and Machine Vision in Practice, Toowoomba, Australia, pages 112-117, (September) 1994.
Abstract | Full Document

A.H. Gee and R. Cipolla.
Adaptive visual tracking by temporal consensus.
In Second Asian Conference on Computer Vision, Singapore, volume 1, pages 44-48, (December) 1995.

G. Hamid, N.J. Hollinghurst and R. Cipolla.
Identifying planar regions in a scene using uncalibrated stereo vision.
In Proc. British Machine Vision Conference, Edinburgh, pages 243-252, (September) 1996.

N.J. Hollinghurst and R. Cipolla.
Uncalibrated stereo hand-eye coordination.
In Proc. British Machine Vision Conference, Guildford, pages 389-398, (September) 1993.
Abstract | Full Document

I. Infantino, R. Cipolla and A. Chella.
Reconstruction of architectural scenes from uncalibrated photos and maps.
In Proc. IAPR Workshop on Machine Vision Applications, Tokyo, Japan, (November) 2000.

A. Inoue, T. Drummond and R. Cipolla.
Feature-based real-time human face tracking using Lie Algebras.
In Proc. IAPR Workshop on Machine Vision Applications, Tokyo, Japan, (November) 2000.

B. Johansson and R. Cipolla.
A system for automatic pose-estimation from a single image in a city scene.
In IASTED Int. Conf. Signal Processing, Pattern Recognition and Applications, Crete (Greece), (June) 2002.

J.M. Lawn and R. Cipolla.
Epipole estimation using affine motion-parallax.
In Proc. British Machine Vision Conference, Guildford, pages 379-388, (September) 1993.
Abstract | Full Document

J.M. Lawn and R. Cipolla.
Camera motion from the dynamic perceptual grouping of line segments.
In Proc. British Machine Vision Conference, York, pages 711-720, (September) 1994.

J.M. Lawn and R. Cipolla.
Robust egomotion estimation from affine motion-parallax.
In Proc. 3rd European Conf. on Computer Vision, Stockholm (May 1994);
Edited by J-O. Eklundh, LNCS 800, volume I, pages 205-210, Springer-Verlag, 1994.
Abstract | Full Document

J.M. Lawn and R. Cipolla.
Reliable extraction of the camera motion using constraints on the epipole.
In Proc. 4th European Conf. on Computer Vision, Cambridge (April 1996);
Edited by B.F. Buxton and R. Cipolla, LNCS 1065, volume II, pages 161-173, Springer-Verlag, 1996.
Abstract | Full Document

D.H. Lee, I.S. Kweon and R.Cipolla.
Single lens stereo with a biprism.
In Proc. IAPR Workshop on Machine Vision Applications, Chiba, Japan, pages 136-139, (November) 1998.

D.H. Lee, I.S. Kweon and R.Cipolla.
A biprism-stereo camera system.
In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Fort Collins, Colorado, I:82-87, (June) 1999.

E. Malis and R. Cipolla.
Multi-view constraints between collineations: application to self-calibration from unknown planar structures.
In Proc. 6th European Conference on Computer Vision, Dublin (June 2000).
Edited by D. Vernon, volume 2, pages 610-624, LNCS 1843, Springer-Verlag, 2000.

E. Malis and R. Cipolla.
Self-calibration of zooming cameras observing an unknown planar structure.
In Proc. IAPR 15th Int. Conference on Pattern Recognition, Barcelona (September) 2000.

P.R.S. Mendonca and R. Cipolla.
Analysis and computation of an affine trifocal tensor.
In Proc. British Machine Vision Conference, Southampton, pages 125-133, (September) 1998.

P.R.S. Mendonca and R. Cipolla.
Estimation of epipolar geometry from apparent contours: affine and circular motion cases.
In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Fort Collins, Colorado, I:9-14, (June) 1999.

P.R.S. Mendonca and R. Cipolla.
A simple technique for self-calibration.
In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Fort Collins, Colorado, pages , (June) 1999.
Abstract | Full Document

P.R.S. Mendonca, K.Y.K. Wong and R. Cipolla.
Recovery of circular motion from profiles of surfaces.
In Vision Algorithms: Theory and Practice.
Edited by B. Triggs, A. Zisserman and R. Szeliski. LNCS 1883, pages 151-167, Springer-Verlag, 2000.

P.R.S. Mendonca, K-Y.K. Wong and R. Cipolla.
Circular motion recovery from image profiles.
In Proceedings of Vision Algorithms: Theory and Practice, Corfu, Greece, pages 119-126, (September), 1999.
Abstract | Full Document

P.R.S. Mendonca, K.Y.K. Wong and R. Cipolla.
Camera pose estimation and reconstruction from image profiles under circular motion.
In Proc. 6th European Conference on Computer Vision, Dublin (June 2000),
Edited by D. Vernon, volume II, pages 864-877, LNCS 1843, 2000.

D.P. Robertson and R. Cipolla.
An interactive system for constraint-based modelling.
Proc. British Machine Vision Conference, Bristol, volume 2, pages 536-545, (September) 2000.

D.P. Robertson and R. Cipolla.
Building architectural models from many views using map constraints.
In Proc. 7th European Conference on Computer Vision, Copenhagen (May 2002)
Edited by A. Heyden, G. Sparr, M. Nielsen and P. Johansen, LNCS 2351, volume 2, pages 155-169, Springer-Verlag, 2002.

J. Sato and R. Cipolla.
Affine reconstruction of curved surfaces from uncalibrated views of apparent contours.
In Proc. IEEE 6th Int. Conf. on Computer Vision, Bombay, (January) 1998.

J. Sato and R. Cipolla.
Identifying human face profiles from semi-local Integral Invariants.
In Proc. IAPR 9th International Conference on Image Analysis and Processing, volume 1, pages 414-421, Firenze (September) 1997.

J. Sato and R. Cipolla.
Affine integral invariants and matching of curves.
In Proc. IAPR 13th International Conference on Pattern Recognition, Vienna, volume 1, pages 915-919, (August) 1996.

J. Sato and R. Cipolla.
Extracting the affine transformation from texture moments.
In Proc. 3rd European Conf. on Computer Vision, Stockholm (May 1994);
Edited by J-O. Eklundh, LNCS 801, volume II, pages 165-172. Springer-Verlag, 1994.

J. Sato and R. Cipolla.
Evolution of texture moments under affine invariant scale-space.
In Second Asian Conference on Computer Vision, Singapore, volume 1, pages 264-268, (December) 1995.

J. Sato and R. Cipolla.
Image registration using multi-scale texture moments.
In Proc. British Machine Vision Conference, York, pages 95-104, (September) 1994.
(Joint best science paper prize)
Abstract | Full Document

J. Sato and R. Cipolla.
Affine integral invariants for extracting symmetry axes.
In Proc. British Machine Vision Conference, Edinburgh, pages 63-72, (September) 1996.

J. Sato and R. Cipolla.
Obstacle detection from image divergence and deformation.
In Proc. Intelligent Vehicles Symposium, Tokyo, pages 165-170, (September) 1996.

J. Sato and R. Cipolla.
Uncalibrated reconstruction of curved surfaces.
In Proc. British Machine Vision Conference, Edinburgh, Vol. 2, pages 689-698, Colchester, (September) 1997.
(Best science paper prize, BMVC97)

Y. Seo, A. Heyden and R. Cipolla.
A Linear Iterative Method for Auto-Calibration using the DAC Equation.
In Proc. IEEE Conference on Computer Vision and Pattern Recognition, Kauai, USA, (December) 2001.

P. Smith, D. Sinclair, R. Cipolla and K. Wood.
Effective Corner Matching.
In Proc. British Machine Vision Conference, Southampton, pages 545-556, (September) 1998.

P. Smith, T. Drummond, and R. Cipolla.
Edge tracking for motion segmentation and depth ordering.
In Proc. British Machine Vision Conference, Nottingham, volume 2, pages 584-593, (September) 1999.

P. Smith, T. Drummond, and R. Cipolla.
Edge tracking between two frames.
Proc. British Machine Vision Conference, Bristol, volume I, pages 342-351, (September) 2000.

P. Smith, T. Drummond and R. Cipolla.
Motion segmentation by tracking edge information over multiple frames.
In Proc. 6th European Conference on Computer Vision, Dublin (Ireland), volume II, LNCS 1843, pages 396-410, (June) 2000.

M.W. Spratling and R. Cipolla.
Uncalibrated visual servoing.
In Proc. British Machine Vision Conference, Edinburgh, pages 545-554, (September) 1996.

B. Stenger, P. R. S. Mendonca, and R. Cipolla.
Model-based hand tracking using an unscented kalman filter.
In Proc. British Machine Vision Conference, Manchester, volume I, pages 63-72, (September)
2001.

B. Stenger, P. R. S. Mendonca, and R. Cipolla.
Model-based 3D tracking of an articulated hand.
In Proc. IEEE Conference on Computer Vision and Pattern Recognition, Volume II, pages 310-315, Kauai, USA, (December) 2001.

B. Stenger, A. Thayananthan, P.H.S. Torr and R. Cipolla. Bayesian tracking using tree-based density estimation (to appear 2003).

A. Thayananthan, B. Stenger, P.H.S. Torr and R. Cipolla. Shape context and chamfer matching in cluttered scenes.
In Proc. IEEE Conference on Computer Vision and Pattern Recognition, Wisconsin, (June) 2003.

P.Torr, A. Dick, R. Cipolla.
Layer extraction with a Bayesian model of shapes.
In Proc. 6th European Conference on Computer Vision, Dublin, (June).
Edited by D. Vernon, volume II, pages 273-289, LNCS 1843, Springer-Verlag, 2000.

S. Vinther and R. Cipolla.
Towards 3D object model acquisition and recognition using 3D affine invariants.
In Proc. British Machine Vision Conference, Guildford, pages 369-378, (September) 1993.
Abstract | Full Document

S. Vinther and R. Cipolla.
Active 3D object recognition using 3D affine invariants.
In Proc. 3rd European Conf. on Computer Vision, Stockholm (May);
Edited by J-O. Eklundh, LNCS 801, volume II, pages 15-24, Springer-Verlag, 1994.

M. Weber and R. Cipolla.
A practical method for estimation of point light-sources.
In Proc. British Machine Vision Conference, Manchester, volume 2, pages 471-480, (September) 2001.

M. Weber, A. Blake and R. Cipolla.
Towards a complete dense geometric and photometric reconstruction under varying pose and illumination.
In Proc. British Machine Vision Conference, Cardi®, 2002.

K-Y.K. Wong, P.R.S. Mendonca and R. Cipolla.
Reconstruction and motion estimation from apparent contours under circular motion.
In Proc. British Machine Vision Conference, Nottingham, volume 1, pages 83-92, (September) 1999.

K.-Y.K. Wong, P.R.S. Mendonca and R. Cipolla.
Camera Calibration from Symmetry.
In Proc. 9th IMA Conference on The Mathematics of Surfaces, Cambridge (September),
Edited by R. Cipolla and R. Martin, pages 214-226, Springer, 2000.

K.-Y.K. Wong and R. Cipolla
Structure and Motion from Silhouettes.
In Proc. 8th IEEE International Conference on Computer Vision, volume II, page 217-222, Vancouver, Canada, (July) 2001.

K.-Y.K. Wong, P.R.S. Mendonca and R. Cipolla.
Head model acquisition from silhouettes.
In Proc. 4th International Workshop on Visual Form, pages 787-796, Capri, Italy, (May) 2001.

K.-Y.K. Wong, P.R.S. Mendonca and R. Cipolla.
Reconstruction of Surfaces of Revolution from Single Uncalibrated Views.
In Proc. British Machine Vision Conference, Cardi®, volume 1, pages 93-102, Cardi®, (September) 2002.

K.-Y.K. Wong and R. Cipolla.
Reconstruction of Outdoor Sculptures from Silhouettes under Approximate Cicular Motion of an Uncalibrated Hand-Held Camera.
In Proc. IAPR Workshop on Machine Vision Applications (MVA2002), pages 459-462, Nara, Japan, (December) 2002.

M.W. Wright, R. Cipolla, and P.J. Giblin.
Skeletonisation using an extended euclidean distance transform.
In Proc. British Machine Vision Conference, York, pages 559-568, (September) 1994.
Abstract | Full Document

A. Yezzi, G. Slabaugh, A. Broadhurst, R. Cipolla and R. Schafer. A surface evolution approach to probabilistic space carving.
In International Symposium on 3D Data Processing, Visualisation and Transmission (3DPVT), Padova, Italy, (June) 2002.

K.C. Yow and R. Cipolla.
Towards an automatic human face localisation system.
In Proc. British Machine Vision Conference, pages 701-710, Birmingham, (September) 1995.
Abstract | Full Document

K.C. Yow and R. Cipolla.
Finding initial estimates of human face location.
In Second Asian Conference on Computer Vision, Singapore, volume 3, pages 514-518, (December) 1995.
Abstract | Full Document

K.C. Yow and R. Cipolla.
A probabilistic framework for perceptual grouping of features in human face detection.
In Proc. 2nd Int. Conference on Automatic Face and Gesture Recognition, Vermont, pages 16-21, (October) 1996.

K.C. Yow and R. Cipolla.
Detection of human faces under scale, orientation and viewpoint variations.
In Proc. Int. Conference on Automatic Face and Gesture Recognition, Vermont, pages 295-300, (October) 1996.

K.C. Yow and R. Cipolla.
Scale and orientation invariance in human face detection.
In Proc. British Machine Vision Conference, pages 745-754, (September) 1996.
Abstract | Full Document

K.C. Yow and R. Cipolla.
Enhancing human face detection using motion and active contours.
In Proc. Third Asian Conference on Computer Vision, Hong Kong, volume 1, pages 515-522, (January) 1998.

A. Zisserman and R. Cipolla.
Qualitative surface shape from deformation of image curves.
In Proc. AAAI workshop on Qualitative Vision, Boston, pages 41-45, (July) 1990.

Contributions to edited books

R. Cipolla and A. Blake.
Motion planning using image divergence and deformation.
In A. Blake and A. Yuille, editors, Active Vision, pages 189-202. MIT Press, 1992.

R. Cipolla and N.J. Hollinghurst.
Visual robot guidance from uncalibrated stereo.
In C.M. Brown and D. Terzopoulos, editors, Realtime Computer Vision, pages 169-187,
Cambridge University Press, 1994.

R. Cipolla and N.J. Hollinghurst
A human-robot interface using pointing with uncalibrated stereo vision.
In R. Cipolla and A. Pentland, editors, Computer Vision for Human-Machine Interaction,
pages 97-110, Cambridge University Press, 1998.

R. Cipolla and P.R.S. Mendonca.
The structure and motion of surfaces.
In G. Picci and D.S. Gilliam, editors, Dynamical Systems, Control, Coding, Computer Vision, Progress in Systems and Control Theory, vol. 25, Birkhauser (Basel), pages 369-391, 1999.

A. Blake, A. Zisserman, and R. Cipolla.
Visual exploration of free-space.
In A. Blake and A. Yuille, editors, Active Vision, pages 175-188. MIT Press, 1992.

T. Drummond and R. Cipolla.
Towards artificial action: teaching by showing.
In V. Cantoni and V. Di Gesu, editors, Human and Machine Perception 3: Thinking, Deciding, and Acting: 4th International Workshop on Human Machine and Perception: Thinking Deciding, and Acting, (June) 2000, Palermo

A.H. Gee and R. Cipolla.
Tracking Faces.
In R. Cipolla and A. Pentland, editors, Computer Vision for Human-Machine Interaction,
Cambridge University Press, pages 113-122, 1998.

J.M. Lawn and R. Cipolla.
Using uncertainty estimates to improve epipolar constraint combination.
In E. Moons, E. Pauwels and L. Van Gool, editors, From Segmentation to Interpretation and Back: Mathematical Methods in Computer Vision, Springer-Verlag, 2000.

J. Sato and R. Cipolla.
Quasi-invariant parameterisations and matching of curves in images.
In D.A. Forsyth, J.L. Mundy, V. Gesu and R. Cipolla, editors, Shape, Contour and Grouping in Computer Vision, Lecture Notes in Computer Science, LNCS 1681, Springer-Verlag, Heidelberg, 1999.