Roberto Cipolla - Professor of Information Engineering

2023

	G. Bae, M. de la Gorce, T. Baltrusaitis, C. Hewitt, D. Chen, J. Valentin, R. Cipolla and D. Chen. DigiFace-1M: 1 million digital face images for face recognition. In Proc. IEEE Winter Conference on Computer Vision Applications, Hawaii, USA (January) 2023.
	F. Logothetis, R. Mecca, I. Budvytis and R. Cipolla. A CNN-based approach for the point-light photometric stereo problem. Int. Journal of Computer Vision, 131(1):101-120, 2023.

2022

	G. Bae, I. Budvytis and R. Cipolla. IronDepth: Iterative refinement of single-view depth using surface normal and its uncertainty. In Proc. British Machine Vision Conference, London, UK (November) 2022.
	G. Bae, I. Budvytis and R. Cipolla. Multi-view depth estimation by fusing single-view depth probability with multi-view geometry. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, New Orleans, USA (June) 2022.
	O. Boyne, J. Charles and R. Cipolla. FIND: An unsupervised implicit 3D model of articulated human feet. In Proc. British Machine Vision Conference, London, UK (November) 2022.
	J. Charles, W. Abbeloos, D. Reino and R. Cipolla. Style2NeRF: an unsupervised one-shot NeRF for semantic 3D reconstruction. In Proc. British Machine Vision Conference, London, UK (November) 2022.
	A. Hu, G. Corrado, N. Griffiths, Z. Murez, G. Gurau, H. Yeo, A. Kendall, R. Cipolla and J. Shotton. Model-based imitation learning for urban driving. In Advances in Neural Information Processing Systems, New Orleans, USA (December) 2022.
	F. Langer, G. Bae, I. Budvytis and R. Cipolla. SPARC: Sparse Renger-and-Compare for CAD model alignment in a single RGB image. In Proc. British Machine Vision Conference, London, UK (Novermber) 2022.
	S. Szymanowicz, J. Charles and R. Cipolla. Discrete neural representations for explainable anomaly detection. In Proc. IEEE Winter Conference on Computer Vision Applications, Hawaii, USA (January) 2022.
	F. Xue, I. Budvytis, D. Reino and R. Cipolla. Efficient large-scale localization by global instance recognition. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, New Orleans, USA (June) 2022.
	C. Zhang, S. Liwicki and R. Cipolla. Beyond the CLS token: image reranking using pre-trained viison transformers. In Proc. British Machine Vision Conference, London, UK (November) 2022.

2021

	G. Bae, I. Budvytis and R. Cipolla. Estimating and exploiting the aleatoric uncertainty in surface normal estimation. In Proc. IEEE Int. Conf. on Computer Vision, Montreal (Virtual) (October) 2021.
	J. Charles, S. Bucciarelli and R. Cipolla. Scaling digital screen reading with one-shot learning and re-identification. In Proc. IEEE Winter Conference on Applications of Computer Vision, Virtual (January) 2021.
	B. Howells, J. Charles and R. Cipolla. Real-time analogue gauge transcription on mobile phone. In Proc. IEEE CVPR workshop on mobile AI, Virtual (June) 2021.
	A. Hu, Z. Murez, N. Mohan, S. Dudas, J. Hawke, V. Badrinarayanan, R. Cipolla and A. Kendall. FIERY: Future instance prediction in bird's-eye view from surround monocular cameras. In Proc. IEEE Int. Conf. on Computer Vision, Montreal (Virtual) (October) 2021.
	F. Langer, I. Budvytis and R. Cipolla. Leveraging geometry for shape estimation from a single RGB image. In Proc. British Machine Vision Conference, Virtual (October) 2021.
	F. Logothetis, I. Budvytis, R. Mecca and R. Cipolla. PX-Net: Simple and efficient pixel-wise training of photometric stereo. In Proc. IEEE Int. Conf. on Computer Vision, Montreal (Virtual) (October) 2021.
	R. Mecca, F. Logothetis, I. Budvytis and R. Cipolla. LUCES: a dataset for near-field point light source photometric stereo. In Proc. British Machine Vision Conference, Virtual (October) 2021.
	SD. Morad, R. Mecca, R.P.K. Poudel, S. Liwicki and R. Cipolla. Embodied visual navigation with automatic curriculum learning in real environments. IEEE Robotics and Automation Letters, 6(2):683-690, 2021.
	T. Roddick, B. Biggs, D. Reino and R. Cipolla. On the road to large-scale 3D monocular scene reconstruction using deep impllicit functions. In Proc. IEEE Int. Conf. on Computer Vision - Second Autonmous Vehicle Vision workshop, Montreal (Virtual) (October) 2021.
	A. Sengupta, I. Budvytis and R. Cipolla. Hierarchical kinematic probability distributions for 3D human shape and pose estimation from images in the wild. In Proc. IEEE Int. Conf. on Computer Vision, Montreal (Virtual) (October) 2021.
	A. Sengupta, I. Budvytis and R. Cipolla. Probabilistic 3D human shape and pose estimation from multiple unconstrained images in the wild. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Virtual (June) 2021.
	A. Sengupta, I. Budvytis and R. Cipolla. Probablistic estimation of 3D human shape and pose with a semantic local parametric model. In Proc. British Machine Vision Conference, Virtual (October) 2021.
	S. Szymanowicz, J. Charles and R. Cipolla. X-MAN: Explaining multiple sources of anomalies in video. In Proc. IEEE CVPR workshop on fair, data efficient and trusted computer vision, Virtual (June) 2021.
	C, Zhang, I. Budvytis, S. Liwicki and R. Cipolla. Lifted semantic graph embedding for omnidirectional place recognition. In Proc. International Conference on 3D Vision, Virtual (December) pages 1401-1410, 2021.

2020

	G. Bae, I. Budvytis, C.K. Yeung and R. Cipolla. Deep multi-stereo for dense 3D reconstruction from monocular endoscopic video. In Proc. Int. Conf. on Medical Image Computing and Computer-Assisted Intervention, Lima (Virtual) (September) 2020.
	B. Biggs, O. Boyne, J. Charles, A. Fitzgibbon and R. Cipolla. Who left the dogs out? 3D animal reconstruction with expectation maximization in the loop. In Proc. 16th European Conference on Computer Vision, Glasgow (Virtual) (August) 2020.
	J. Charles, S. Bucciarelli and R. Cipolla. Real-time screen reading: reducing domain shift for one-shot learning. In Proc. British Machine Vision Conference, Virtual (September) 2020.
	F. Kwok, J. Charles and R. Cipolla. FootNet: an efficient convolutional network for multiview 3D foot reconstruction. In Proc. Asian Conf. Computer Vision, Kyoto (Virtual) (November) 2020.
	F. Logothetis, I. Budvytis, R. Mecca and R. Cipolla. A CNN-based approach for the near-field photometric stereo problem. In Proc. British Machine Vision Conference, Virtual (September) 2020. (Best paper prize).
	T. Roddick and R. Cipolla. Predicting semantic map representations from images using pyramid occupancy networks. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Virtual (June) 2020.
	A. Sengupta, I. Budvytis and R. Cipolla. Synthetic training for accurate 3D human pose and shape estimatin in the wild. In Proc. British Machine Vision Conference, Virtual (September) 2020.
	T. Vojir, I. Budvytis and R. Cipolla. Efficient large-scale semantic visual localization in 2D maps. In Proc. Asian Conf. Computer Vision, Kyoto (Virtual) (November) 2020.
	C. Zhang, I. Budvytis, S. Liwicki and R. Cipolla. Rotation equivariant localization for direct camera pose estimation. In Proc. Asian Conf. Computer Vision, Kyoto (Virtual) (November) 2020.

2019

	I. Budvytis, M. Teichmann, T. Vojir and R. Cipolla. Large scale joint re-localisation and scene understanding via globally unique instance coordinate regression. In Proc. British Machine Vision Conference, Cardiff, UK (September) 2019.
	F. Logothetis, R. Mecca and R. Cipolla. A differential volumentric approach to multi-view photometric stereo. In Proc. IEEE Int. Conf. on Computer Vision, Seoul, Korea (October) 2019.
	R. Poudel, S. Liwicki and R. Cipolla. Fast-SCNN: fast semantic segmentation network. In Proc. British Machine Vision Conference, Cardiff, UK (September) 2019.
	T. Roddick, A. Kendall and R. Cipolla. Orthographic feature transform for monocular 3D object detection. In Proc. British Machine Vision Conference, Cardiff, UK (September) 2019. (Best industry paper prize).
	M. Teichmann and R. Cipolla. Convolutional CRFs for Semantic Segmentation. In Proc. British Machine Vision Conference, Cardiff, UK (September) 2019.
	C. Zhang, S. Liwicki, W. Smith and R. Cipolla. Orientation-aware Semantic Segmentation on Icosahedron Spheres. In Proc. IEEE Int. Conf. on Computer Vision, Seoul, Korea (October) 2019.

2018

	B. Biggs, T. Roddick, A. Fitzgibbon and R. Cipolla. Creatures great and SMAL: recovering the shape and motion of animals from video. In Proc. Asian Conf. Computer Vision, Perth, Australia (December) 2018.
	I. Budvytis, P. Sauer and R. Cipolla. Semantic localisation via globally unique instance segmentation. In Proc. British Machine Vision Conference, Newcast;e, UK (September) 2018.
	A. Kendall, Y. Gal and R. Cipolla. Multi-Task Learning Using Uncertainty to Weigh Losses for Scene Geometry and Semantics. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Salt Lake City, Utah, USA (June) 2018.
	F. Logothetis, R. Mecca, F. Sgallari and R. Cipolla. A differential approach to shape from polarisation: a level set characterisation. Int. Journal of Computer Vision, 1573-1405, 2018.
	J. Parker, Y. Stylianou and R. Cipolla. Adaptation of an expressive single speaker deep neural network speech synthesis system. In Proc. Int. Conf. Acoustics, Speech and Signal Processing, Calgary, Canada (April) 2018.
	M. Teichmann, M. Weber, M. Zollner, R. Cipolla and R. Urtasun. MultiNet: Real-time joint semantic reasoning for autonomous driving. In Proc. IEEE Intelligent Vehicles Symposium, Changshu, China (June) pages 1013-1020, 2018. (Best poster paper prize).

2017

	V. Badrinarayanan, A. Kendall and R. Cipolla. SegNet: a deep convolutional encoder-decoder architecture for scene segmentation. IEEE Trans. Pattern Analysis and Machine Intelligence, 39(12):2481-2495, 2017.
	I. Budvytis, P. Sauer, T. Roddick, K. Breen and R. Cipolla. Large scale labelled video data augmentation for semantic segmentation in driving scenarios. In Proc. ICCV workshop on Computer Vision for Road Scene Understanding and Autonomous Driving, Venice, Italy (October) 2017.
	J. Charles, I. Budyvitis and R. Cipolla. Real-time Factored ConvNets: Extracting the X Factor in Human Parsing. In Proc. British Machine Vision Conference, London, UK (September) 2017.
	Y. Ioannou, D. Robertson, J. Shotton, R. Cipolla and A. Criminisi. Deep Roots: Improving CNN Efficiency with Hierarchical Filter Groups. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Honolulu, USA (July) 2017.
	A. Kendall and R. Cipolla. Geometric loss functions for camera pose regression with deep learning. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Honolulu, USA (July) 2017.
	A. Kendall, V. Badrinarayanan and R. Cipolla. Bayesian SegNet: Model Uncertainty in Deep Convolutional Encoder- Decoder Architectures for Scene Understanding. In Proc. British Machine Vision Conference, London, UK (September) 2017.
	F. Logothetis, R. Mecca and R. Cipolla. Semi-calibrated Near Field Photometric Stereo. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Honolulu, USA (July) 2017.
	R. McAllister, Y. Gal, A. Kendall, M. Van der Wilk, A. Shah, R. Cipolla and A. Weller. Concrete Problems for Autonomous Vehicle Safety: Advantages of Bayesian Deep Learning.. In Int. Joint Conf. on Artificial Intelligence, Melbourne, Australia (August) 2017.
	R. Mecca, F. Logothetis and R. Cipolla. A Differential Approach to Shape from Polarization. In Proc. British Machine Vision Conference, London, UK (September) 2017.
	J. Parker, R. Maia, Y. Stylianou and R. Cipolla. Expressive Visual Text to Speech and Expression Adaptation using Deep Neural Networks. In Acoustics, Speech and Signal Processing, New Orleans, USA (March) pages 4920-4924, 2017.
	V. Tan, I. Budvytis and R. Cipolla. Indirect deep structured learning for 3D human body shape and pose prediction. In Proc. British Machine Vision Conference, London, UK (September) 2017.

2016

	S. Cassidy, B. Stenger, L. Van-Dongen, K. Yanagisawa, R. Anderson, V. Wan, S. Baron-Cohen and R. Cipolla. Expressive Visual Text-To-Speech as an Assistive Technology for Individuals with Autism Spectrum Conditions. Computer Vision and Image Understanding, 148:193-200, July 2016.
	K Chaiyasarn, TK Kim, F Viola, R Cipolla and K Soga. Distortion-Free Image Mosaicing for Tunnel Inspection Based on Robust Cylindrical Surface Estimation through Structure from Motion. Journal of Computing in Civil Engineering, 30(4), 2016. (Best paper award, 2016).
	A. Handa, V. Patraucean, V. Badrinarayanan, S. Stent and R. Cipolla. Understanding RealWorld indoor scenes with synthetic data. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Las Vegas, USA (June) pages 4077-4085, 2016.
	A. Handa, V. Patraucean, S. Stent and R. Cipolla. SceneNet: An annotated model generator for indoor scene understanding. In Proc. IEEE Int. Conf. Robotics and Automation, Stockholm, Sweden (May) pages 5737-5743, 2016.
	J.H. Hong, C. Zach, A. Fitzgibbon and R. Cipolla. Projective bundle adjustment from arbitrary initialization using variable projective method. In Proc. 14th European Conference on Computer Vision, Amsterdam, NL (October) volume LMCS 1, pages 477-493, 2016.
	Y. Ioannou, D. Robertson, J. Shotton, R. Cipolla and A. Criminisi. Training CNNs with low-rank filters for efficient image classification. In Proc. Int. Conf. on Learning Representations, San Juan, Puerto Rico (May) 2016.
	A. Kendall and R. Cipolla. Modelling uncertainty in deep learning for camera relocalization. In Proc. IEEE Int. Conf. Robotics and Automation, Stockholm, Sweden (May) pages 4762-4769, 2016.
	F. Logothetis, R. Mecca, Y. Queau and R. Cipolla. Near-Field Photometric Stereo in Ambient Light. In Proc. British Machine Vision Conference, York (September) 2016.
	R. Mecca, Y. Queau, F. Logothetis and R. Cipolla. A single-lobe photometric stereo approach for heterogeneous material. SIAM Journal on Imaging Science, 9(4):1858-1888, 2016.
	V. Patraucean, A. Handa and R. Cipolla. Spatio-temporal video autoencoder with differentiable memory. In Proc. Int. Conf. on Learning Representations, San Juan, Puerto Rico (May) 2016.
	S. Shankar, D. Robertson, Y. Ioannou, A. Criminisi and R. Cipolla. Refining architectures of deep convolutional neural networks. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Las Vegas, USA (June) pages 2212-2220, 2016.
	S. Stent, R. Gherardi, B. Stenger, K. Soga and R. Cipolla. Visual change detection on tunnel linings. Machine Vision Applications, 27(3):319-330, 2016.
	S. Stent, R. Gherardi, B. Stenger, K. Soga and R. Cipolla. Precise deterministic change detection for smooth surfaces. In Proc. IEEE Winter Conference on Applications of Computer Vision, Lake Placid, NY, USA (March) pages 1-9, 2016.

2015

	V. Badrinarayanan, A. Kendall and R. Cipolla. SegNet: A deep convolutional encoder-decoder architechture for image segmentation. In arXiv preprint, 2015.
	A. Handa, V. Patraucean, V. Badrinarayanan, S. Stent and R. Cipolla. SynthCam3D: Semantic understanding with synthetic indoor scenes. In Proc. IEEE (CVPR) Workshop on Semantics for Visual Reconstruction, Localization and Mapping., Boston, USA (June) 2015.
	A. Kendall, M. Grimes and R. Cipolla. PoseNet: A convolutional network for real-time 6-DOF camera relocalization. In Proc. IEEE 15th Int. Conf. on Computer Vision, Santiago, Chile (December) pages 2938-2946, 2015.
	M.T. Pham, O.J. Woodford, F. Pebert, A. Maki, R. Gherardi, B. Stenger and R. Cipolla. Distances and Means of Direct Similarities. Int. Journal of Computer Vision, 112(3):285-306, 2015.
	S. Shankar, V.K. Garg and R. Cipolla. Deep-carving: discovering visual attributes by carving deep neural nets. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Boston, USA (June) 2015.
	S. Stent, R. Gherardi, B. Stenger and R. Cipolla. Detecting change for multi-view , long-term surface inspection. In Proc. British Machine Vision Conference, Swansea, UK (September) pages 127.1-127.12, 2015.
	S. Stent, C. Girerd, P. Long and R. Cipolla. A low-cost robotic system for the efficient visual inspection of tunnels. In 32nd Int. Symposium on Automation and Robotics in Construction and Mining, Oulu, Finland (May) 2015.

2014

	R. Anderson, B. Stenger and R. Cipolla. Using bounded diameter minimum spanning trees to build dense active appearance models. Int. Journal of Computer Vision, 110(1):48-57, October 2014.
	V. Badrinarayanan, I. Budvytis and R. Cipolla. Mixture of trees probabilistic graphical model for video segmentation. Int. Journal of Computer Vision, 110(1):14-29, October 2014.
	U. Bonde, V. Badrinarayanan and R. Cipolla. Robust instance recognition in presence of occlusion and clutter. In Proc. 13th European Conference on Computer Vision, Zurich, Switzerland (September) pages 520-535, 2014.
	K. Luo, T.K, Kim, B. Stenger, X. Zhao and R. Cipolla. Bi-label progagation for generic multiple object tracking. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Colombus, Ohio (June) 2014.
	S. Shankar, V. Badrinarayanan and R. Cipolla. Part bricolage: flow-assisted part-based graphs for detecting activities in videos. In Proc. 13th European Conference on Computer Vision, Zurich, Switzerland (September) pages 586-601, 2014.

2013

	R. Anderson, B Stenger, V. Wan and R. Cipolla. Expressive Visual-Text-To-Speech Using Active Appearance Models. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Portland, Oregon, USA (June) pages 3382-3389, 2013.
	R. Anderson, B. Stenger, V. Wan and R. Cipolla. An expressive text-driven 3D talking head. In Proc. ACM SIGGRAPH posters, Anaheim, USA (August) pages 80, 2013.
	O. Arandjelovic and R. Cipolla. Achieving robust face recognition from video by combining a weak photometric model and a learnt generic face invariant. Pattern Recognition, 46(1):9-23, 2013.
	V. Badrinarayanan, I. Budvytis and R. Cipolla. Semi-supervised video segmentation using decision forests.. In A. Criminisi and J. Shotton, editors, Decision Forests for Computer Vision and Medical Image Analysis, Springer, 2013.
	V. Badrinarayanan, I. Budvytis and R. Cipolla. Semi-supervised video segmentation using tree structured graphical models. IEEE Trans. Pattern Analysis and Machine Intelligence, 35(11):2751-2764, 2013.
	U. Bonde, V. Badrinarayanan and R. Cipolla. Multi-scale shape index for 3D object recognition. In Proc. 4th Int. Conf. Scale Space and Variational Methods in Computer Vision, Graz, Austria (June) pages 306-318, 2013.
	M. Johnson, J. Shotton and R. Cipolla. Semantic Texton Forests for Image Categorization and Segmentation. In A. Criminisi and J. Shotton, editors, Decision Forests for Computer Vision and Medical Image Analysis, Springer, 2013.
	T.K. Kim and R. Cipolla. Multiple classifier boosting and tree-structured classifiers. In R. Cipolla, S. Battiato and G.M. Farinella, editors, Machine Learning for Computer Vision, Springer, 2013.
	A. Maki, F. Pebert, B. Stenger and R. Cipolla. Detecting bipedal motion from correlated probabilistic trajectories. Pattern Recognition Letters, 34(15):1808-1818, 2013.
	M.T. Pham, O. Woodford, F. Pebert, A. Maki, R. Gherardi, B. Stenger and R. Cipolla. Scale-Invariant Vote-Based 3D Recognition and Registration from Point Clouds. In R. Cipolla, S. Battiato and G.M. Farinella, editors, Machine Learning for Computer Vision, Springer, 2013.
	S. Shankar, J. Lasenby and R. Cipolla. Semantic Transform: Weakly supervised semantic inference for relating visual attributes. In Proc. IEEE 14th Int. Conf. on Computer Vision, Sydney, Australia (December) pages 361-368, 2013.
	S. Stent, R. Gherardi, B. Stenger, K. Soga and R. Cipolla. An image-based system for change detection on tunnel images. In Proc. IAPR Int. Conf. Machine Vision Applications, Kyoto, Japan (May) pages 359-362, 2013. (Best paper prize).
	V. Wan, R. Anderson, A. Blokland, N. Braunschweiller, L. Chen, B. Kollura, J. Latorre, R. Maia, B. Stenger, K. Yanagisawa, Y. Stylianou, M. Akamine, M. Gales and R. Cipolla. Photo-realistic expressive text to talking head synthesis. In Proc. Interspeech, Lyon, France (August) pages 2667-2669, 2013.
	T.H. Yu, T-K. Kim and R. Cipolla. Unconstrained monocular 3D human pose estimation by action detection and cross-modality regression forest. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Portland, Oregon, USA (June) pages 3642-3649, 2013.
	T.H. Yu, O. Woodford and R. Cipolla. A performance evaluation of volumetric 3D interest points detectors. Int. Journal of Computer Vision, 102(1-3):180-197, 2013.

2012

	R. Anderson, B. Stenger and R. Cipolla. Dense active appearance models using a bounded diameter minimum spanning tree. In Proc. British Machine Vision Conference, Surrey (September) 2012.
	I. Budvytis, V. Badrinarayanan and R. Cipolla. MoT - Mixture of trees probabilistic graphical model for video segmentation. In Proc. British Machine Vision Conference, Surrey (September) 2012.
	F. Galasso, R. Cipolla and B. Schiele. Video segmentation with superpixels. In Proc. Asian Conf. Computer Vision, Daejeon, Korea (November) pages 760-774, 2012.
	T.K. Kim, I. Budvytis and R. Cipolla. Making a shallow network deep: conversion of a boosting classifier into a decision tree by boolean optimisation. Int. Journal of Computer Vision, 100(2):203-215, 2012.
	A. Seki, O. Woodford, R. Okada, B. Stenger and R. Cipolla. GPU-based Real-time Reconstruction. In MIRU, Japan (August) 2012.
	F. Viola, R. Cipolla and A.W. Fitzgibbon. A unifying resolution-independent formulation for early vision. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Providence, Rhode Island (June) pages 494-501, 2012.

2011

	R. Anderson, B. Stenger and R. Cipolla. Augmenting depth camera output using photometric stereo. In Proc. IAPR Workshop on Machine Vision Applications, Nara, Japan (June) 2011.
	R. Anderson, B. Stenger and R. Cipolla. Color photometric stereo for multicoloured surfaces.. In Proc. IEEE 13th Int. Conf. on Computer Vision, Barcelona, Spain (November) pages 2182-2189, 2011.
	G.J. Brostow, C. Hernandez, G. Vogiatzis, B. Stenger and R. Cipolla. Video Normals from Colored Lights. IEEE Trans. Pattern Analysis and Machine Intelligence, 33(10):2104-2114, October 2011.
	I. Budvytis, V. Badrinarayanan and R. Cipolla. Semi-supervised video segmentation using tree structured graphical models. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Colorado Springs (June) pages 2257-2264, 2011.
	N.D.F. Campbell, G. Vogiatzis, C. Hernández and R. Cipolla. Automatic object segmentation from calibrated images. In Proc. European Conf. Visual Media Production, London (November) 2011. (BBC Best Paper Prize).
	Y Chen, T-K. Kim and R. Cipolla. Silhouette-based object phenotype recognition using 3D shape priors. In Proc. IEEE 13th Int. Conf. on Computer Vision, Barcelona, Spain (November) pages 25-32, 2011.
	Y. Chen and R. Cipolla. Single and sparse view 3D reconstruction by learning shape priors. Computer Vision and Image Understanding, 115(5):586-602, 2011.
	Y. Chen, D. Robertson and R. Cipolla. A practical system for modelling body shapes from single view measurements. In Proc. British Machine Vision Conference, Dundee (September) pages 82.1-82.11, 2011.
	F. Galasso, M. Iwasaki, K. Nobori and R. Cipolla. Spatio-temporal clustering of probabilistic region trajectories. In Proc. IEEE 13th Int. Conf. on Computer Vision, Barcelona, Spain (November) pages 1738-1745, 2011.
	C. Hernadez, F. Pebert, M.T. Pham, G. Vogiatzis, O.J. Woodford, A. Maki, B. Stenger and R. Cipolla. Live 3D shape reconstruction, recognition and registration. In Proc. IEEE 13th Int. Conf. on Computer Vision Workshops, Barcelona, Spain (November) pages 729, 2011.
	C. Hernandez, G. Vogiatzis and R. Cipolla. Overcoming shadows in 3-source photometric stereo. IEEE Trans. Pattern Analysis and Machine Intelligence, 33(2):419-426, February 2011.
	T.K. Kim, B. Stenger, J. Kittler and R. Cipolla. Discriminant Analysis Using Sufficient Spanning Sets and Its Applications. Int. Journal of Computer Vision, 91(2):216-232, 2011.
	A. Maki, A. Seki, t. Watanabe and R. Cipolla. Co-occurrence flow for pedestrian detection.. In Proc. Int. IEEE Conf. Image Processing, Brussels, Belgium (September) pages 1889-1892, 2011.
	P. McIlroy, R. Cipolla and E. Rosten. High-level scene structure using visibility and occlusion. In Proc. British Machine Vision Conference, Dundee (September) 2011.
	M.T. Pham, O.J. Woodford, F. Pebert, A. Maki, B. Stenger and R. Cipolla. A new distance for scale-invariant 3D shape recognition and registration. In Proc. IEEE 13th Int. Conf. on Computer Vision, Barcelona, Spain (November) pages 145-152, 2011.
	T.H. Yu, O. Woodford and R. Cipolla. An evaluation of volumetric interest points.. In Proc. Conf. 3D imaging, modelling, processing, visualization and transmission (3DIMPVT), Hangzhou, China (May) pages 282-289, 2011.

2010

	O. Arandjelovic, R.I. Hammoud and R. Cipolla. Thermal and reflectance based personal identification methodology under variable illumination. Pattern Recognition, 43(5):1801-1803, 2010.
	V. Badrinarayanan, F. Galasso and R. Cipolla. Label Propagation in Video Sequences. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, San Francisco (June) 2010.
	I. Budvytis, V. Badrinarayanan and R. Cipolla. Label propagation in complex video sequences using semi-supervised learning. In Proc. British Machine Vision Conference, Aberystwyth (September) 2010.
	N.D.F. Campbell, G. Vogiatzis, C. Hernandez and R. Cipolla. Automatic 3D object segmentation in multiple views using volumetric graph-cuts. Image and Vision Computing, 28(1):14-25, 2010.
	Y Chen, T-K. Kim and R. Cipolla. Inferring 3D shapes and deformations from single views. In Proc. 11th European Conference on Computer Vision, Crete (September) 2010.
	D. Comanducci, A. Maki, C Colombo and R. Cipolla. 2D-to-3D Photo Rendering for 3D Displays. In Proc. 5th Int. Symposium on 3D Data Processing, Visualization and Transmission, Paris (May) 2010.
	T-K. Kim, I. Budvytis and R. Cipolla. Making a shallow network deep: growing a tree from decision regions of a boosting classifier. In Proc. British Machine Vision Conference, Aberystwyth (September) 2010.
	T.K. Kim, J. Kittler and R. Cipolla. On-line learning of mutually orthogonal subspaces for face recognition. IEEE Trans. Image Processing, 19(4):1067-1074, 2010.
	T.K. Kim, B. Stenger, T. Woodley and R. Cipolla. Online multiple classifier boosting for object tracking. In Proc. IEEE Worksop. on Computer Vision and Pattern Recognition, San Francisco (June) 2010.
	B. Stenger, T. Woodley and R Cipolla. A vision-based remote control. In R. Cipolla, S. Battiato and G.M. Farinella, editors, Detection, Recognition and Reconstruction, 233-258, Springer, 2010.
	T.H. Yu, T-K. Kim and R. Cipolla. Real-time action recognition by spatiotemporal semantic and structural forest. In Proc. British Machine Vision Conference, Aberystwyth (September) 2010.

2009

	O. Arandjelovic and R. Cipolla. A methodology for rapid illumination-invariant face recognition using image processing filters. Computer Vision and Image Understanding, 113(2):159-171, 2009.
	O. Arandjelovic and R. Cipolla. A pose-wise linear illumination manifold model for face recognition using video. Computer Vision and Image Understanding, 113(1):113-125, 2009.
	G. J. Brostow, J. Fauqueur and R. Cipolla. Semantic object classes in video: a high definition ground truth database. Pattern Recognition Letters, 30(2):88-97, 2009.
	K. Chaiyasarn, T.K. Kim, R. Cipolla and K. Soga. Image mosaicing via quadric surface estimation with priors for tunnel inspection. In Proc. IEEE Int. Conf. Image Processing, Cairo, Egypt (November) 2009.
	Y. Chen and R. Cipolla. Learning Shape Priors for Single View Reconstruction. In Proc. IEEE Int. Workshop on 3D Imaging and Modelling, Kyoto, Japan (October) 2009.
	T.K. Kim and R. Cipolla. Canonical correlation analysis of video volume tensors for action categorization and detection. IEEE Trans. Pattern Analysis and Machine Intelligence, 31(8):1415-1428, August 2009.
	A. Maki and R. Cipolla. Obtaining the shape of a moving object with a specular surface. In Proc. British Machine Vision Conference, London (September) 2009.
	N. Mavaddat, T.K. Kim and R. Cipolla. Design and evaluation of features that best define text in complex scene images. In Proc. IAPR Conf. on Machine Vision Applications, Yokohama, Japan (May) 2009.
	D.P. Robertson and R. Cipolla. Structure from Motion. In Varga, M., editors, Practical Image Processing and Computer Vision, John Wiley, 2009.
	B. Stenger, T. Woodley and R. Cipolla. Learning to Track With Multiple Observers. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Miami, Florida, USA (June) 2009.
	B. Stenger, T. Woodley, T.K. Kim and R. Cipolla. A vison-based interface for display interaction. In Proc. BCS 23rd Conf. on Human-Computer Interaction, Cambridge (September) 2009.

2008

	O. Arandjelovic and R. Cipolla. Colour invariants for machine face recognition. In Proc. IEEE Conference on Automatic Face and Gesture Recognition, Amsterdam, Netherlands (September) 2008.
	G. J. Brostow, J. Shotton, J. Fauqueur and R. Cipolla. Segmentation and Recognition Using Structure from Motion Point Clouds. In Proc. 10th European Conference on Computer Vision, Marseilles (October) pages 44-57, 2008.
	N.D.F. Campbell, G. Vogiatzis, C. Hernández and R. Cipolla. Using Multiple Hypotheses to Improve Depth-Maps for Multi-View Stereo. In Proc. 10th European Conference on Computer Vision, Marseilles (October) pages 766-779, 2008.
	G.M. Farinella, S. Battiato, G. Gallo and R. Cipolla. Natural Versus Artificial Scene Classification by Ordering Discrete Fourier Power Spectra. In Proc. Joint IAPR Int. Workshop on Structural, Syntactic, and Statistical Pattern Recognition (SSPR / SPR), Orlando, Florida (December) volume , pages 137-146, 2008.
	C. Hernández, G Vogiatzis and R. Cipolla. Multi-view photometric stereo. IEEE Trans. Pattern Analysis and Machine Intelligence, 30(3):548-554, March 2008.
	C. Hernández, G Vogiatzis and R. Cipolla. Shadows in three-source photometric stereo. In Proc. 10th European Conference on Computer Vision, Marseilles (October) pages 290-303, 2008.
	T. K. Kim and R. Cipolla. MCBoost: Multiple Classifier Boosting for Perceptual Co-clustering of Images and Visual Features. In Advances in Neural Information Processing Systems (NIPS), Vancouver (December) volume , pages 841-856, 2008.
	J. Shotton, A. Blake and R. Cipolla. Efficiently Combining Contour and Texture Cues for Object Recognition. In Proc. British Machine Vision Conference, Leeds (September) 2008.
	J. Shotton, A. Blake and R. Cipolla. Multi-scale categorical object recognition using contour fragments. IEEE Trans. Pattern Analysis and Machine Intelligence, 30(7):1270-1281, July 2008.
	J. Shotton, M, Johnson and R. Cipolla. Semantic Texton Forests for Image Categorization and Segmentation. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Anchorage, USA (June) 2008.
	B. Stenger, T. Woodley, T.K. Kim, C. Hernández and R. Cipolla. AIDIA - Adaptive Interface for Display InterAction. In Proc. British Machine Vision Conference, Leeds (September) 2008.
	A. Thayananthan, M. Iwasaki and R. Cipolla. Principled Fusion of High-level Model and Low-level Cues for Motion Segmentation. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Anchorage, USA (June) 2008.
	A. Thayananthan, R. Navaratnam, B. Stenger, P. H. S. Torr and R. Cipolla. Pose estimation and tracking using multivariate regression. Pattern Recognition Letters, 29(9):1302--1310, 2008.
	G. Vogiatzis, G. S. Seitz, P. H. S. Torr and R Cipolla. Reconstructing relief surfaces. Image and Vision Computing, 26(3):397-404, 2008.

2007

	O. Arandjelovic and R. Cipolla. A Manifold Approach to Face Recognition from Low Quality Video Across Illumination and Pose using Implicit Super-Resolution. In Proc. IEEE 11th Int. Conf. on Computer Vision, Rio de Janeiro, Brazil (October) 2007.
	O. Arandjelovic and R. Cipolla. Achieving Illumination Invariance using Image Filters. In K. Delac and M. Grgic, editors, Face Recognition, Advanced Robotic Systems, 15-30, I-Tech, Vienna, 2007.
	O. Arandjelovic, R. I. Hammoud and R. Cipolla. Towards Person Authentication by Fusing Visual and Thermal Face Biometrics. In R. Hammoud, B. Abidi and M. Abidi, editors, Face Biometrics for Personal Identification, 75-90, Springer, 2007.
	N.D.F. Campbell, G. Vogiatzis, C. Hernández and R. Cipolla. Automatic 3D Object Segmentation in Multiple Views using Volumetric Graph-Cuts. In Proc. British Machine Vision Conference, Warwick, UK (September) volume 1, pages 530-539, 2007.
	J. Fauqueur, G. J. Brostow and R. Cipolla. Assisted Video Object Labelling by Joint Tracking of Regions and Keypoints. In Proc. Int. Workshop on Interactive Computer Vision, Rio de Janeiro, Brazil (October) 2007.
	C Hernández, G. Vogiatzis, G. J., Brostow, B. Stenger and R. Cipolla. Non-Rigid Photometric Stereo with Colored Lights. In Proc. IEEE 11th Int. Conf. on Computer Vision, Rio de Janeiro, Brazil (October) 2007.
	C. Hernández, F. Schmitt and R. Cipolla. Silhouette coherence for camera calibration under circular motion. IEEE Trans. Pattern Analysis and Machine Intelligence, 29(2):343-349, February 2007.
	C. Hernández, G. Vogiatzis and R. Cipolla. Probabilistic visibility for multi-view stereo. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Minneapolis, USA (June) 2007.
	M. A. Johnson, G. J. Brostow, J. Shotton, V. Kwatra and R. Cipolla. Semantic Photosynthesis. In Proc. SPIE: Human Vision and Electronic Imaging XII, San Jose, USA (March) volume , pages , 2007.
	T. K. Kim and R. Cipolla. Gesture Recognition Under Small Sample Size. In Proc. 8th Asian Conf. on Computer Vision, Tokyo, Japan (November) volume 1, pages 335-344, 2007.
	T. K. Kim, S. F. Wong and R. Cipolla. Tensor Canonical Correlation Analysis for Action Classification. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Minneapolis, USA (June) volume , pages , 2007.
	T. K. Kim, S. F. Wong, B Stenger, J. Kittler and R. Cipolla. Incremental Linear Discriminant Analysis Using Sufficient Spanning Set Approximations. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Minneapolis, USA (June) volume , pages , 2007.
	T.K. Kim, O. Arandjelovic and R. Cipolla. Boosted manifold principal angles for image set-based recognition. Pattern Recognition, 40(9):2475-2484, September 2007.
	T.K. Kim, J. Kittler and R. Cipolla. Discriminative learning and recognition of image set classes using canonical correlations. IEEE Trans. Pattern Analysis and Machine Intelligence, 29(6):1005-1018, June 2007.
	R Navaratnam, A. Fitzgibbon and R. Cipolla. Semi-supervised Joint Manifold Learning for Multi-valued Regression. In Proc. IEEE 11th Int. Conf. on Computer Vision, Rio de Janeiro, Brazil (October) 2007.
	B. Stenger, A. Thayananthan, P. H. S. Torr and R. Cipolla. Estimating 3D hand pose using hierarchical multi-label classification. Image and Vision Computing, 25(12):1885-1894, December 2007.
	A. Thayananthan, M. Iwasaki and R. Cipolla. Probabilistic motion segmentation of videos for temporal super resolution. In Proc. IAPR Workshop on Machine Vision Applications, Tokyo (May) pages 173-177, 2007.
	G. Vogiatzis, C. Hernández, P. Torr and R. Cipolla. Multi-view stereo via volumetric graph-cuts and occlusion robust photo-consistency. IEEE Trans. Pattern Analysis and Machine Intelligence, 29(12):2241-2246, December 2007.
	S.-F. Wong and R. Cipolla. Extracting Spatiotemporal Interest Points using Global Information. In Proc. IEEE 11th Int. Conf. on Computer Vision, Rio de Janeiro, Brazil (October) 2007.
	S.-F. Wong, T.K. Kim and R. Cipolla. Learning Motion Categories Using Both Semantic and Structural Information. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Minneapolis, USA (June) volume , pages , 2007.
	T. Woodley, B. Stenger and R. Cipolla. Tracking Using Online Feature Selection and a Local Generative Model. In Proc. British Machine Vision Conference, Warwick, UK (September) volume 2, pages 790-799, 2007.

2006

	O. Arandjelovic and R. Cipolla. A new look at filtering techniques for illumination invariance in automatic face recognition. In Proc. 7th Int. Conf. on Automatic Face and Gesture Recognition, Southampton (UK) (April) pages 449-454, 2006.
	O. Arandjelovic and R. Cipolla. An information-theoretic approach to face recognition from face motion manifolds. Image and Vision Computing, 24(6):639-647, June 2006.
	O. Arandjelovic and R. Cipolla. Automatic Cast Listing in Feature-Length Films with Anisotropic Manifold Space. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, New York (USA) (June) volume 2, pages 1513-1520, 2006.
	O. Arandjelovic and R. Cipolla. Face recognition from video using the generic shape-illumination manifold. In Proc. 9th European Conference on Computer Vision, Graz (Austria) (May) Edited by A. Leonardis, H. Bischof and A. Pinz, volume LNCS 3954, pages 27-40, Springer, 2006.
	O. Arandjelovic and R. Cipolla. Face set classification using maximally probable mutual modes. In Proc. IAPR 18th Int. Conf. on Pattern Recognition, Hong Kong (August) 2006.
	O. Arandjelovic and R. Cipolla. Incremental learning of temporally-coherent Gaussian mixture models. Society of Manufacturing Engineers (SME) Technical Papers, May 2006.
	O. Arandjelovic and R. Cipolla. Towards Person Authentication by Fusing Visual and Thermal Face Biometrics. In Proc. IEEE Int. Conf. on Advanced Video and Signal based Surveillance, Sydney, Australia (November) 2006.
	O. Arandjelovic, R. Hammond and R. Cipolla. Multi-sensory face biometric fusion (for personal identification). In Proc. IEEE Workshop on Object Tracking and Classification Beyond the Visible Spectrum, New York, USA (June) 2006. (Best paper prize).
	G. J. Brostow and R. Cipolla. Unsupervised Bayesian Detection of Independent Motion in Crowds. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, New York, USA (June) volume 1, pages 594-601, 2006.
	C. Hernández, F. Schmitt and R. Cipolla. Utilisation de la cohérence globale entre silhouettes pour la modelisation d'objets 3D a partir d'images non calibrées. In 15ème Congrès Francophone AFRIF-AFIA de Reconnaissance des Forme Intelligence Artificielle, Tours, France (January) 2006.
	M. Johnson, G. J. Brostow, J. Shotton, O. Arandjelovic, V. Kwatra and R. Cipolla. Semantic photo synthesis. Computer Graphics Forum, 25(3):407-413, September 2006.
	T. K. Kim, J. Kittler and R. Cipolla. Incremental Learning of Locally Orthogonal Subspaces for Set-based Object Recognition. In Proc. British Machine Vision Conference, Edinburgh, UK (September) volume 2, pages 559-568, 2006.
	T. K. Kim, J. Kittler and R. Cipolla. Learning discriminative canonical correlations for object recognition with image sets. In Proc. 9th European Conference on Computer Vision, Graz (Austria) (May) Edited by A. Leonardis, H. Bischof and A. Pinz, volume LNCS 3953, pages 251-262, Springer, 2006.
	R. Navaratnam, A. W. Fitzgibbon and R. Cipolla. Semi-supervised Learning of Joint Density Models for Human Pose Estimation. In Proc. British Machine Vision Conference, Edinburgh, UK (September) volume 2, pages 679-688, 2006.
	A. R. Shen, G. J. Brostow and R. Cipolla. Toward automatic bloodspatter analysis in crime scenes. In Proc. IET The Crime and Security Conference, London, UK (August) pages 378-383, 2006.
	B. Stenger, A. Thayananthan, P. H. S. Torr and R. Cipolla. Model-based hand tracking using a hierarchical Bayesian filter. IEEE Trans. Pattern Analysis and Machine Intelligence, 28(9):1372-1384, September 2006.
	A. Thayananthan, R. Navaratnam, B. Stenger, P. H. S. Torr and R. Cipolla. Multivariate relevance vector machine for tracking. In Proc. 9th European Conference on Computer Vision, Graz, Austria (May) Edited by A. Leonardis, H. Bischof and A. Pinz, volume LNCS 3953, pages 124-138, Springer, 2006.
	G. Vogiatzis, C. Hernández and R. Cipolla. Lighting-up geometry: accurate 3D modelling of museum artifacts with a torch and a camera. Vienna (September) pages 85-88, 2006.
	G. Vogiatzis, C. Hernández and R. Cipolla. Reconstruction in the round using photometric normals and silhouettes. In Proc. IEEE Conf. on Computer Vision and Pattern Recogntion, New York, USA (June) volume 2, pages 1847-1854, 2006.
	J. Wang, H. Zha and R. Cipolla. Coarse-to-fine vision-based localization by indexing scale-invariant features. IEEE Trans. Systems, Man and Cybernetics, 36(2):413-422, April 2006.
	J. Wang, H. Zha and R. Cipolla. Efficient topological localization using orientation adjacency coherence histograms. In Proc. IAPR 18th Int. Conf. on Pattern Recognition, Hong Kong, China (August) 2006.
	O. M. C. Williams, A. Blake and R. Cipolla. Sparse and Semi-supervised Visual Mapping with the S3P. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, New York, USA (June) volume 1, pages 230-237, 2006.
	S.-F. Wong, K.-Y. K. Wong and R. Cipolla. Robust Appearance-Based Tracking Using a Sparse Bayesian Classifier. In Proc. IAPR 18th Int. Conf. on Pattern Recognition, Hong Kong, China (August) volume 3, pages 47-50, 2006. (Best Paper in Cognitive Approaches and Soft Computing).

2005

	O. Arandjelovic and R. Cipolla. Incremental learning of temporally-coherent Gaussian mixture models. In Proc. British Machine Vision Conference, Oxford, UK (September) volume 2, pages 759-768, 2005.
	O. Arandjelovic, G. Shakhnarovich, J. Fisher, R. Cipolla and T. Darrell. Face recognition with image sets using manifold density divergence. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, San Diego, USA (June) volume 1, pages 581-588, 2005.
	R. Cipolla, B. Stenger, A. Thayananthan and P. H. S. Torr. Template-based hand detection and tracking. In M. Tistarelli, J. Bigün and E. Grosso, editors, Advanced Studies in Biometrics, 114-125, Springer, 2005.
	R. Cipolla and K. -Y. K. Wong. Shape from Profiles. In A.K. Bowman and M. Brady, editors, Images and Artefacts of the Ancient World, 125-130, OUP for The British Academy, May 2005.
	C. Conde, R. Cipolla, J. Rodriguez-Aragon, A. Serrano and E. Cabello. 3D facial feature localisation using spin images. In Proc. IAPR Workshop on Machine Vision Applications, Tsukuba, Japan (May) 2005.
	Y. Iwai and R. Cipolla. Multivariate sparse Bayesian regression and its application to facial feature detection. In Proc. IAPR Workshop on Machine Vision Applications, Tsukuba, Japan (May) 2005.
	H. Jin, P. Favaro and R. Cipolla. Visual tracking in the presence of motion blur. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, San Diego, USA (June) volume 2, pages 18-25, 2005.
	M. A. Johnson and R. Cipolla. Improved Image Annotation and Labeling through Multi-Label Boosting. In Proc. British Machine Vision Conference, Oxford, UK (September) volume 2, pages 649-658, 2005.
	T. K. Kim, O. Arandjelovic and R. Cipolla. Learning over sets using boosted manifold principal angles (BoMPA). In Proc. British Machine Vision Conference, Oxford, UK (September) volume 2, pages 779-788, 2005.
	R. Navaratnam, A. Thayananthan, P. H. S. Torr and R. Cipolla. Hierarchical Part-Based Human Body Pose Estimation. In Proc. British Machine Vision Conference, Oxford, UK (September) volume 1, pages 479-488, 2005.
	J. Shotton, A. Blake and R. Cipolla. Contour-Based Learning for Object Detection. In Proc. IEEE 10th Int. Conf. on Computer Vision, Beijing, China (October) volume 1, pages 503-510, 2005.
	B. J. Tordoff and R. Cipolla. Uncertain RanSaC. In Proc. IAPR Workshop on Machine Vision Applications, Tsukuba, Japan (May) 2005.
	G. Vogiatzis, P. Favaro and R. Cipolla. Using Frontier Points to Recover Shape, Reflectance and Illumination. In Proc. IEEE 10th Int. Conf. on Computer Vision, Beijing, China (October) volume 1, pages 228-235, 2005.
	G. Vogiatzis, P. H. S. Torr and R. Cipolla. Multi-view stereo via Volumetric Graph-cuts. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, San Diego, USA (June) volume 2, pages 391-398, 2005.
	J. Wang, R. Cipolla and H. Zha. Vision-based global localization using a visual vocabulary. In Proc. IEEE Int. Conf. on Robotics and Automation, Barcelona, Spain (April) pages 4230-4235, 2005.
	J. Wang, H. Zha and R. Cipolla. Combining Interest Points and Edges for Content-Based Image Retrieval. In Proc. IEEE Int. Conf. Image Processing, Genova, Italy (September) 2005.
	M. Weber, A. Blake and R. Cipolla. Sparse Finite Element Level-Sets for Anisotropic Boundary Detection in 3D Images. In Proc. Int. Conference on Scale Space and PDE Methods in Computer Vision, Hofgeismar, Germany (April) volume 3459, pages 548-560, 2005.
	M. Wilczkowiak, G. J. Brostow, B. Tordoff and R. Cipolla. Hole Filling Through Photomontage. In Proc. British Machine Vision Conference, Oxford, UK (July) pages 492-501, 2005.
	O. M. C. Williams, A. Blake and R. Cipolla. Sparse Bayesian Learning for Efficient Visual Tracking. IEEE Trans. Pattern Analysis and Machine Intelligence, 27(8):1292-1304, August 2005.
	O. M. C. Williams, A. Blake and R. Cipolla. The Variational Ising Classifier (VIC) Algorithm for Coherently Contaminated Data. In Advances in Neural Information Processing Systems, Cambridge, MA, USA (December) 2005.
	S.-F. Wong and R. Cipolla. Real-time Adaptive Hand Motion Recognition using a Sparse Bayesian Classifier. In Proc. IEEE International Workshop on Human-Computer Interaction, Beijing, China (October) pages 170-179, 2005.
	S.-F. Wong and R. Cipolla. Real-time Interpretation of Hand Motions using a Sparse Bayesian Classifier on Motion Gradient Orientation Images. In Proc. British Machine Vision Conference, Oxford, UK (September) volume 1, pages 379-388, 2005.

2004

	O. Arandjelovic and R. Cipolla. An illumination invariant face recognition system for access control using video. In Proc. British Machine Vision Conference, Kingston, UK (September) 2004.
	O. Arandjelovic and R. Cipolla. Face Recognition from face motion manifolds using robust kernel resistor-average distance. In Proc. IEEE Workshop on Face Processing in Video, Washington DC, USA (June) volume 5, pages 88-97, 2004.
	R. Cipolla, D. P. Robertson and B. J. Tordoff. Image-Based Localisation. In Proc. 10th Int. Conf. on Virtual Systems and Multimedia, Gifu, Japan (November) 2004.
	A. R. Dick, P. H. S. Torr and R. Cipolla. Modelling and Interpretation of Architecture from Several Images. Int. Journal of Computer Vision, 60(2):111-134, November 2004.
	D. Robertson and R. Cipolla. An Image-Based System for Urban Navigation. In Proc. British Machine Vision Conference, Kingston, UK (September) 2004. (Best Poster Prize).
	P. Smith, T. Drummond and R. Cipolla. Layered motion segmentation and depth ordering by tracking edges. IEEE Trans. Pattern Analysis and Machine Intelligence, 26(4):479-494, 2004.
	B. Stenger, A. Thayananthan, P. H. S. Torr and R. Cipolla. Hand Pose Estimation Using Hierarchical Detection. In Proc. Int. Workshop on Human-Computer Interaction, Prague, Czech Republic (May) Edited by N. Sebe, M. Lew and T.S. Huang, volume LNCS 3058, pages 105-116, Springer, 2004.
	A. Thayananthan, R. Navaratnam, P. H. S. Torr and R. Cipolla. Likelihood Models for Template Matching Using PDF Projection Theorem. In Proc. British Machine Vision Conference, London, UK (September) volume , pages 949-958, 2004.
	G. Vogiatzis, G. S. Seitz, P. H. S. Torr and R. Cipolla. Reconstructing Relief Surfaces. In Proc. British Machine Vision Conference, London, UK (September) 2004.
	J. Wang, R. Cipolla and H. Zha. Image-based Localization and Pose Recovery Using Scale Invariant Features. In Proc. IEEE International Conference on Robotics and Biomimetics, Shenyang, China (August) 2004.
	M. Weber, A. Blake and R. Cipolla. Sparse Finite Elements for Geodesic Contours with Level-Sets. In Proc. European Conference on Computer Vision, Prague, Czech Republic (May) Edited by Pajdla and J. Matas, volume LNCS 3022, pages 391-404, Springer, 2004.
	M. Weber, A. Blake and R. Cipolla. Towards a complete dense geometric and photometric reconstruction under varying pose and illumination. Image and Vision Computing, 22(10):787-793, 2004.
	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, E87-D-(1):27-33, 2004.
	K.-Y. K. Wong and R. Cipolla. Reconstruction of sculpture from its profiles with unknown camera positions. IEEE Trans. on Image Processing, 13(3):381-389, March 2004.
	K.-Y. K. Wong, P. R. S. Mendonça and R. Cipolla. Reconstruction of surfaces of revolution from single uncalibrated views. Image and Vision Computing, 22(10):829-836, 2004.

2003

	R. Cipolla, B. Stenger, A. Thayananthan and P. H. S. Torr. Hand tracking using a quadric surface model and bayesian filtering. In Proc. 10th IMA Conference on The Mathematics of Surfaces, Leeds, UK (September) Edited by M. Wilson and R. Martin, volume LNCS 2768, pages 129-141, Springer, 2003.
	E. Malis, G. Chesi and R. Cipolla. Visual servoing with respect to planar contours having complex and unknown shapes. Int. Journal of Robotics Research, 22(10/11):841-854, 2003.
	B. Stenger, A. Thayananthan, P. H. S. Torr and R. Cipolla. Filtering using a tree-based estimator. In Proc. IEEE 9th Int. Conf. on Computer Vision, Nice, France (October) volume II, pages 1063-1070, 2003.
	A. Thayananthan, B. Stenger, P. H. S. Torr and R. Cipolla. Learning a Kinematic Prior for Tree-Based Filtering. In Proc. British Machine Vision Conference, , Norwich, UK (September) volume 2, pages 589-598, 2003.
	A. Thayananthan, B. Stenger, P. H. S. Torr and R. Cipolla. Shape context and chamfer matching in cluttered scenes. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Wisconsin, USA (June) volume I, pages 127-133, 2003.
	O. M. C. Williams, A. Blake and R. Cipolla. A sparse probabilistic learning algorithm for real-time tracking. In Proc. IEEE 9th Int. Conf. on Computer Vision, Nice, France (October) volume 1, pages 353-361, 2003.
	K.-Y. K. Wong, P. R. S. Mendonça and R. Cipolla. Camera calibration from surfaces of revolution. IEEE Trans. Pattern Analysis and Machine Intelligence, 25(2):147-161, February 2003.

2002

	G. Chesi, A. Garulli, A. Vicino and R. Cipolla. Estimating the fundamental matrix via constrained least-squares: a convex approach. IEEE Trans. Pattern Analysis and Machine Intelligence, 24(3):397-401, March 2002.
	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, Denmark (May) Edited by A. Heyden, G. Sparr, M. Nielsen and P. Johansen, volume LNCS 2351,volume 2, pages 852-866, Springer-Verlag, 2002.
	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, July 2002. (Best application prize, BMVC99).
	T. W. Drummond and R. Cipolla. Real-time visual tracking of complex structures. IEEE Trans. Pattern Analysis and Machine Intelligence, 24(7):932-946, 2002.
	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), Kluwer Academic Publishers, 2002.
	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.
	E. Malis and R. Cipolla. Camera self-calibration from unknown planar structures enforcing the multi-view constraints between collineations. IEEE Trans. Pattern Analysis and Machine Intelligence, 24(9):1268-1272, September 2002.
	D. P. Robertson and R. Cipolla. Building architectural models from many views using map constraints. In Proc. 7th European Conference on Computer Vision, Copenhagen, Denmark (May) Edited by A. Heyden, G. Sparr, M. Nielsen and P. Johansen, volume LNCS 2351,volume 2, pages 155-169, Springer-Verlag, 2002.
	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, Cardiff, UK (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, Nara, Japan (December) pages 459-462, 2002.
	K.-Y. K. Wong, P. R. S. Mendonça and R. Cipolla. Reconstruction of Surfaces of Revolution from Single Uncalibrated Views. In Proc. British Machine Vision Conference, Cardiff, UK (September) volume 1, pages 93-102, 2002.
	K.-Y. K. Wong, P. R. S. Mendonça and R. Cipolla. Structure and motion estimation from apparent contours under circular motion. Image and Vision Computing, 20(5-6):441-448, 2002.
	A. Yezzi, G. Slabaugh, A. Broadhurst, R. Cipolla and R. Schafer. A surface evolution approach to probabilistic space carving. In Proc. Int. Symposium on 3D Data Processing Visualisation and Transmission (3DPVT), Padova, Italy (June) 2002.

2001

	A. Broadhurst, T. Drummond and R. Cipolla. A probabilistic framework for space carving. In Proc. IEEE 8th Int. Conf. on Computer Vision, Vancouver, Canada (July) volume II, pages 388-393, 2001.
	R. Cipolla and K. Wong. Reconstruction of sculpture from uncalibrated image profiles. In Proc. IEEE Int. Conf. Image Processing, Image Processing and Cultural Heritage, Thessaloniki, Greece (October) volume 1, pages 570-573, 2001.
	A. Dick, P. Torr, S. Ruffle and R. Cipolla. Combining single view recognition and multiple view stereo for architectural scenes. In Proc. IEEE 8th Int. Conf. on Computer Vision, Vancouver, Canada (July) volume I, pages 268-274, 2001.
	T. W. Drummond and R. Cipolla. Real-time tracking of highly articulated structures in the presence of noisy measurements. In Proc. IEEE 8th Int. Conf. on Computer Vision, Vancouver, Canada (July) volume II, pages 315-320, 2001.
	I. Infantino, R. Cipolla and A. Chella. Reconstruction of architectural scenes from uncalibrated photos and maps. IEICE Trans. Information and Systems, E00-A-(12), December 2001.
	P. R. S. Mendonça, K.-Y. K. Wong and R. Cipolla. Epipolar Geometry from Profiles under Circular Motion. IEEE Trans. Pattern Analysis and Machine Intelligence, 23(6):604-616, June 2001.
	Y. Seo, A. Heyden and R. Cipolla. A Linear Iterative Method for Auto-Calibration using the DAC Equation. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Kauai, USA (December) 2001.
	B. Stenger, P. R. S. Mendonça and R. Cipolla. Model-based 3D tracking of an articulated hand. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Kauai, USA (December) volume II, pages 310-315, 2001.
	B. Stenger, P. R. S. Mendonça and R. Cipolla. Model-based hand tracking using an unscented kalman filter. In Proc. British Machine Vision Conference, Manchester, UK (September) volume I, pages 63-72, 2001.
	M. Weber and R. Cipolla. A practical method for estimation of point light-sources. In Proc. British Machine Vision Conference, Manchester, UK (September) volume 2, pages 471-480, 2001.
	K.-Y. K. Wong and R. Cipolla. Structure and Motion from Silhouettes. In Proc. IEEE 8th Int. Conf. on Computer Vision, Vancouver, Canada (July) volume 2, pages 217-222, 2001.
	K.-Y. K. Wong, P. R. S. Mendonça and R. Cipolla. Head model acquisition from silhouettes. In Proc. 4th International Workshop on Visual Form, Capri, Italy (May) pages 787-796, 2001.

2000

	A. Broadhurst and R. Cipolla. A statistical consistency check for the space carving algorithm. In Proc. British Machine Vision Conference, Bristol, UK (September) volume I, pages 282-291, 2000. (Best poster presentation prize).
	M. Brown, T. Drummond and R. Cipolla. 3D model acquisition by tracking 2D wireframes. In Proc. British Machine Vision Conference, Bristol, UK (September) pages 656-665, 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, Ireland (June) Edited by D. Vernon, volume LNCS 1842, volume I, pages 236-250, Springer-Verlag, 2000.
	G. Chesi, E. Malis and R. Cipolla. Automatic segmentation and matching of planar contours for visual servoing. In Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, USA (April) volume 3, pages 2753-2758, 2000.
	A. R. Dick, P. Torr and R. Cipolla. Automatic 3D modelling of architecture. In Proc. British Machine Vision Conference, Bristol, UK (September) pages 372-381, 2000.
	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.
	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, Ireland (June) Edited by D. Vernon, volume LNCS 1843, volume 2, pages 20-36, Springer-Verlag, 2000.
	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.
	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.
	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, Ireland (June) Edited by D. Vernon, volume LNCS 1843, volume 2, pages 610-624, Springer-Verlag, 2000.
	E. Malis and R. Cipolla. Self-calibration of zooming cameras observing an unknown planar structure. In Proc. IAPR 15th Int. Conf. on Pattern Recognition, Barcelona, Spain (September) 2000.
	P. R. S. Mendonça, 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, Ireland (June) Edited by D. Vernon, volume LNCS 1843, volume II, pages 864-877, Springer-Verlag, 2000.
	P. R. S. Mendonça, K.-Y. K. Wong and R. Cipolla. Recovery of circular motion from profiles of surfaces. In Proc. Vision Algorithms: Theory and Practice, Corfu, Greece (September) Edited by B. Triggs, A. Zisserman and r. Szelisky, volume LNCS 1883, pages 151-167, Springer-Verlag, 2000.
	D. P. Robertson and R. Cipolla. An interactive system for constraint-based modelling. In Proc. British Machine Vision Conference, Bristol, UK (September) volume 2, pages 536-545, 2000.
	P. Smith, T. Drummond and R. Cipolla. Edge tracking between two frames. In Proc. British Machine Vision Conference, Bristol, UK (September) volume I, pages 342-351, 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 (June) volume LNCS 1843, volume II, pages 396-410, 2000.
	P. Torr, A. Dick and R. Cipolla. Layer extraction with a Bayesian model of shapes. In Proc. 6th European Conference on Computer Vision, Dublin, Ireland (June) Edited by D. Vernon, volume LNCS 1843 volume II, pages 273-289, Springer-Verlag, 2000.
	K.-Y. K. Wong, P. R. S. Mendonça and R. Cipolla. Camera Calibration from Symmetry. In Proc. 9th IMA Conference on The Mathematics of Surfaces, Cambridge, UK (September) Edited by R. Cipolla and R. Martin, pages 214-226, Springer, 2000.

1999

	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, USA (June) volume I, pages 100-105, 1999.
	A. Broadhurst and R. Cipolla. The applications of uncalibrated occlusion junctions. In Proc. British Machine Vision Conference, Nottingham, UK (September) volume I, pages 245-254, 1999.
	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, 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, UK (September) pages 224-233, 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, UK (September) volume 2, pages 382-391, 1999.
	R. Cipolla and P. R. S. Mendonça. The structure and motion of surfaces. In G. Picci and D.S. Gilliam, editors, Dynamical Systems, Control, Coding, Computer Vision, 369-391, Birkhauser, Basel, Switzerland, 1999.
	R. Cipolla and D. P. Robertson. 3D Models of architectural scenes from uncalibrated images and vanishing points. In Proc. IAPR 10th Int. Conf. on Image Analysis and Processing, Venice, Italy (September) pages 824-829, 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, Italy (June) volume 1, pages 25-31, 1999.
	A. R. Dick and R. Cipolla. Model refinement from planar parallax. In Proc. British Machine Vision Conference, Nottingham, UK (September) volume 1, pages 73-82, 1999.
	T. W. Drummond and R. Cipolla. Real-time tracking of complex structures for visual servoing. In Proc. Int. Workshop on Vision and Algorithms: Theory and Practice, Corfu, Greece (September) Edited by W. Triggs, A. Zisserman and R. Szelisky, pages 69-84, Springer, 1999.
	T. W. Drummond and R. Cipolla. Real-time tracking of complex structures with on-line camera calibration. In Proc. British Machine Vision Conference, Nottingham, UK (September) pages 574-583, 1999. (Best application paper prize).
	T. W. Drummond and R. Cipolla. Visual tracking and control using Lie algebras. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Fort Collins, Colorado, USA (June) volume II, pages 652-657, 1999.
	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, USA (June) volume I, pages 82-87, 1999.
	P. R. S. Mendonça and R. Cipolla. A simple technique for self-calibration. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Fort Collins, Colorado, USA (June) volume I, pages 500-505, 1999.
	P. R. S. Mendonça 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, USA (June) volume I, pages 9-14, 1999.
	P. R. S. Mendonça, K.-Y. K. Wong and R. Cipolla. Recovery of Circular Motion from Profiles of Surfaces. In Proc. Int. Workshop on Vision and Algorithms: Theory and Practice, Corfu, Greece (September) pages 151-167, Springer, 1999.
	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, November 1999.
	J. Sato and R. Cipolla. Extracting group transformations from image moments. Computer Vision and Image Understanding, 73(1):29-42, 1999.
	J. Sato and R. Cipolla. Quasi-invariant parameterisations and their applications in computer vision. In D.A. Forsyth, J.L. Mundy, V. Gesu and R. Cipolla, editors, Shape, Contour and Grouping in Computer Vision, 72-94, Springer-Verlag, Heidelberg, Germany, 1999.
	J. Sato and R. Cipolla. Uncalibrated reconstruction of curved surfaces. Image and Vision Computing, 17(8):617-623, June 1999. (Best science paper prize, BMVC97).
	J. Sato, K. Kinoshita and R. Cipolla. Epipolar geometry of curved surfaces and visual navigation from uncalibrated cameras. Trans. of Institute of Electronics, Information and Communication Engineers, J82-D-II(9):1401-1410, 1999.
	P. Smith, T. Drummond and R. Cipolla. Edge tracking for motion segmentation and depth ordering. In Proc. British Machine Vision Conference, Nottingham, UK (September) volume 2, pages 584-593, 1999.
	K.-Y. K. Wong, P. R. S. Mendonça and R. Cipolla. Reconstruction and motion estimation from apparent contours under circular motion. In Proc. British Machine Vision Conference, Nottingham, UK (September) volume 1, pages 83-92, 1999.
	K. Åström, R. Cipolla and P. J. Giblin. Generalised epipolar constraints. Int. Journal of Computer Vision, 33(1):51-72, 1999.

1998

	A. M. Basman, J. Lasenby and R. Cipolla. Applications of the Creep-and-Merge system: corner detection. In Proc. British Machine Vision Conference, Southampton, UK (September) pages 589-598, 1998.
	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, California, USA (June) pages 442-447, 1998.
	R. Cipolla. The visual motion of curves and surfaces. Phil. Trans. R. Soc. Lond., A356(1740):1103-1121, May 1998.
	R. Cipolla and E. G. Boyer. 3D model acquisition from uncalibrated images. In Proc. IAPR Workshop on Machine Vision Applications, Chiba, Japan (November) pages 559-568, 1998.
	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, 97-110, Cambridge University Press, 1998.
	R. R. Dowland, P. J. Clarkson and R. Cipolla. A prototyping strategy for use in interactive robotic system development. Robotica, 16(5):517-521, 1998.
	A. H. Gee and R. Cipolla. Tracking Faces. In R. Cipolla and A. Pentland, editors, Computer Vision for Human-Machine Interaction, 113-122, Cambridge University Press, 1998.
	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 (November) pages 136-139, 1998.
	P. R. S. Mendonça and R. Cipolla. Analysis and computation of an affine trifocal tensor. In Proc. British Machine Vision Conference, Southampton, UK (September) pages 125-133, 1998.
	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, India (January) pages 715-720, 1998.
	J. Sato and R. Cipolla. Quasi-invariant parameterisations and matching of curves in images. Int. Journal of Computer Vision, 28(2):117-136, 1998.
	P. Smith, D. Sinclair, R. Cipolla and K. Wood. Effective Corner Matching. In Proc. British Machine Vision Conference, Southampton, UK (September) pages 545-556, 1998.
	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 (January) volume 1, pages 515-522, 1998.

1997

	A. M. Basman, J. Lasenby and R. Cipolla. Efficient Region Segmentation Through Creep and Merge. In Proc. IAPR 9th Int. Conf. on Image Analysis and Processing, Firenze, Italy (September) volume LNCS 1310, volume I, pages 223-230, Springer-Verlag, 1997.
	T. J. Cham and R. Cipolla. Stereo Coupled Active Contours. In Proc. IEEE Conf. on Computer Vision and Pattern Recognition, Puerto Rico, USA (June) pages 1094-1099, 1997.
	R. Cipolla and A. Blake. Image divergence and deformation from closed curves. Int. Journal of Robotics Research, 16(1):77-96, 1997.
	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. Visually guided grasping in unstructured enviroments. Robotics and Autonomous Systems, 19(3-4):337-346, 1997. (Invited paper).
	R. Cipolla and J. Sato. Detection and registration of image curves. In Proc. ATR Int. Symposium on Face and Object Recognition, ATR, Kyoto, Japan (January) pages 31-32, 1997.
	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 (August) volume 2, pages 735-740, 1997.
	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, UK (April) pages 71-74, 1997.
	J. Sato and R. Cipolla. Affine integral invariants for extracting symmetry axes. Image and Vision Computing, 15(8):627-635, 1997.
	J. Sato and R. Cipolla. Identifying human face profiles from semi-local Integral Invariants. In Proc. IAPR 9th Int. Conf. on Image Analysis and Processing, Firenze, Italy (September) volume 1, pages 414-421, 1997.
	J. Sato and R. Cipolla. Uncalibrated reconstruction of curved surfaces. In Proc. British Machine Vision Conference, Colchester, UK (September) volume 2, pages 689-698, 1997. (Best science paper prize, BMVC97).
	K. C. Yow and R. Cipolla. Feature-based human face detection. Image and Vision Computing, 15(9):713-735, 1997.

1996

	T. J. Cham and R. Cipolla. Geometric saliency of curve correspondences and grouping of symmetric contours. In Proc. 4th European Conference on Computer Vision, Cambridge, UK (April) Edited by B. F. Buxton and R. Cipolla, volume LNCS 1064, volume I, pages 385-398, Springer-Verlag, 1996. (Best paper prize).
	T. J. Cham and R. Cipolla. MDL-based curve representation using B-spline active contours. In Proc. British Machine Vision Conference, Edinburgh, UK (September) pages 363-372, 1996.
	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 and N. J. Hollinghurst. Interactive grasping with uncalibrated stereo vision. In Proc. Int. Workshop on Computer Vision Technology, Seoul National University, Korea (December) pages 134-148, 1996.
	R. Cipolla, N. J. Hollinghurst, A. H. Gee and R. R. Dowland. Computer vision in interactive robotics. Assembly Automation, 16(1):18-24, 1996. (Invited paper and award for excellence).
	G. M. T. Cross and R. Cipolla. Affine contour-based visual servoing. In Proc. IAPR Workshop on Machine Vision Applications, Tokyo, Japan (November) pages 225-228, 1996.
	G. M. T. Cross and R. Cipolla. Affine visual servoing. In Proc. British Machine Vision Conference, Edinburgh, UK (September) pages 425-434, 1996.
	G. M. T. Cross and R. Cipolla. Automated weld tracking. In Proc. IAPR Workshop on Machine Vision Applications, Tokyo, Japan (November) pages 563-565, 1996.
	A. H. Gee and R. Cipolla. Fast visual tracking by temporal consensus. Image and Vision Computing, 14(2):105-114, 1996.
	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, UK (September) pages 243-252, 1996.
	J. M. Lawn and R. Cipolla. Reliable extraction of the camera motion using constraints on the epipole. In Proc. 4th European Conference on Computer Vision, Cambridge, UK (April) Edited by B. F. Buxton and R. Cipolla, volume LNCS 1065, volume II, pages 161-173, Springer-Verlag, 1996.
	J. Sato and R. Cipolla. Affine integral invariants and matching of curves. In Proc. IAPR 13th Int. Conf. on Pattern Recognition, Vienna, Austria (August) volume 1, pages 915-919, 1996.
	J. Sato and R. Cipolla. Affine integral invariants for extracting symmetry axes. In Proc. British Machine Vision Conference, Edinburgh, UK (September) pages 63-72, 1996.
	J. Sato and R. Cipolla. Obstacle detection from image divergence and deformation. In Proc. Intelligent Vehicles Symposium, Tokyo, Japan (September) pages 165-170, 1996.
	M. W. Spratling and R. Cipolla. Uncalibrated visual servoing. In Proc. British Machine Vision Conference, Edinburgh, UK (September) pages 545-554, 1996.
	K. C. Yow and R. Cipolla. A probabilistic framework for perceptual grouping of features in human face detection. In Proc. 2nd Int. Conf. on Automatic Face and Gesture Recognition, Vermont, USA (October) pages 16-21, 1996.
	K. C. Yow and R. Cipolla. Detection of human faces under scale, orientation and viewpoint variations. In Proc. Int. Conf. on Automatic Face and Gesture Recognition, Vermont, USA (October) pages 295-300, 1996.
	K. C. Yow and R. Cipolla. Scale and orientation invariance in human face detection. In Proc. British Machine Vision Conference, Edinburgh, UK (September) pages 745-754, 1996.
	K. Åström, R. Cipolla and P. J. Giblin. Generalised epipolar constraints. In Proc. 4th European Conference on Computer Vision, Cambridge, UK (April) Edited by B. F. Buxton and R. Cipolla, volume LNCS 1065, volume II, pages 97-108, Springer-Verlag, 1996.

1995

	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).
	R. Cipolla, G. Fletcher and P. J. Giblin. Surface geometry from cusps of apparent contours. In Proc. IEEE 5th Int. Conf. on Computer Vision, Boston, USA (June) pages 858-863, 1995.
	R. Cipolla, K. Åström and P. J. Giblin. Motion from the frontier of curved surfaces. In Proc. IEEE 5th Int. Conf. on Computer Vision, Boston, USA (June) pages 269-275, 1995.
	A. H. Gee and R. Cipolla. Adaptive visual tracking by temporal consensus. In Proc. Second Asian Conference on Computer Vision, Singapore (December) volume 1, pages 44-48, 1995.
	J. Sato and R. Cipolla. Evolution of texture moments under affine invariant scale-space. In Proc. Second Asian Conference on Computer Vision, Singapore (December) volume 1, pages 264-268, 1995.
	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).
	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.
	K. C. Yow and R. Cipolla. Finding initial estimates of human face location. In Proc. Second Asian Conference on Computer Vision, Singapore (December) volume 3, pages 514-518, 1995.
	K. C. Yow and R. Cipolla. Towards an automatic human face localisation system. In Proc. British Machine Vision Conference, Birmingham, UK (September) pages 701-710, 1995.

1994

	T. J. Cham and R. Cipolla. A local approach to recovering global skewed symmetry. In Proc. IAPR 12th Int. Conf. on Pattern Recognition, Jerusalem, Israel (October) pages 222-226, 1994.
	T. J. Cham and R. Cipolla. Skewed symmetry detection through local skewed symmetries. In Proc. British Machine Vision Conference, York, UK (September) pages 549-558, 1994. (Joint best science paper prize).
	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, Japan (December) pages 163-166, 1994.
	R. Cipolla and N. J. Hollinghurst. Visual robot guidance from uncalibrated stereo. In C.M. Brown and D. Terzopoulos, editors, Realtime Computer Vision, 169-187, Cambridge University Press, 1994.
	A. H. Gee and R. Cipolla. Determining the gaze of faces in images. Image and Vision Computing, 12(10):639-647, 1994.
	A. H. Gee and R. Cipolla. Estimating gaze from a single view of a face. In Proc. IAPR 12th Int. Conf. on Pattern Recognition, Jerusalem, Israel (October) pages 758-760, 1994.
	A. H. Gee and R. Cipolla. Non-intrusive gaze tracking for human-computer interaction. In Proc. Int. Conference on Mechatronics and Machine Vision in Practice, Toowoomba, Australia (September) pages 112-117, 1994.
	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).
	J. M. Lawn and R. Cipolla. Camera motion from the dynamic perceptual grouping of line segments. In Proc. British Machine Vision Conference, York, UK (September) pages 711-720, 1994.
	J. M. Lawn and R. Cipolla. Robust egomotion estimation from affine motion-parallax. In Proc. 3rd European Conference on Computer Vision, Stockholm, Sweden (May) Edited by J.-O. Eklundh, volume LNCS 800, volume I, pages 205-210, Springer-Verlag, 1994.
	J. Sato and R. Cipolla. Extracting the affine transformation from texture moments. In Proc. 3rd European Conference on Computer Vision, Stockholm, Sweden (May) Edited by J.-O. Eklundh, volume LNCS 801, volume II, pages 165-172, Springer-Verlag, 1994.
	J. Sato and R. Cipolla. Image registration using multi-scale texture moments. In Proc. British Machine Vision Conference, York, UK (September) pages 95-104, 1994. (Joint best science paper prize).
	S. Vinther and R. Cipolla. Active 3D object recognition using 3D affine invariants. In Proc. 3rd European Conference on Computer Vision, Stockholm, Sweden (May) Edited by J.-O. Eklundh, volume LNCS 801, volume II, pages 15-24, Springer-Verlag, 1994.
	M. W. Wright, R. Cipolla and P. J. Giblin. Skeletonisation using an extended euclidean distance transform. In Proc. British Machine Vision Conference, York, UK (September) pages 559-568, 1994.

1993

	R. Cipolla, Y. Okamoto and Y. Kuno. Robust structure from motion using motion parallax. In Proc. IEEE 4th Int. Conf. on Computer Vision, Berlin, Germany (May) pages 374-382, 1993. (US Patent (1996) 5581276).
	N. J. Hollinghurst and R. Cipolla. Uncalibrated stereo hand-eye coordination. In Proc. British Machine Vision Conference, Guildford, UK (September) pages 389-398, 1993.
	J. M. Lawn and R. Cipolla. Epipole estimation using affine motion-parallax. In Proc. British Machine Vision Conference, Guildford, UK (September) pages 379-388, 1993.
	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.
	S. Vinther and R. Cipolla. Towards 3D object model acquisition and recognition using 3D affine invariants. In Proc. British Machine Vision Conference, Guildford, UK (September) pages 369-378, 1993.

1992

	A. Blake, A. Zisserman and R. Cipolla. Visual exploration of free-space. In A. Blake and A. Yuille, editors, Active Vision, 175-188, MIT Press, 1992.
	R. Cipolla and A. Blake. Motion planning using image divergence and deformation. In A. Blake and A. Yuille, editors, Active Vision, 189-202, MIT Press, 1992.
	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, Italy (May) Edited by G. Sandini, volume LNCS 588, pages 187-202, Springer-Verlag, 1992. (Best paper prize).
	R. Cipolla and A. Blake. Surface shape from the deformation of apparent contours. Int. Journal of Computer Vision, 9(2):83-112, November 1992.
	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, Japan (December) pages 477-482, 1992. (IAPR MVA Most influential paper over the decade award - presented at MVA 2002 (Nara, Japan)).
	R. Cipolla and A. Zisserman. Qualitative surface shape from deformation of image curves. Int. Journal of Computer Vision, 8(1):53-69, 1992.

1991

	A. Blake, J. M. Brady, R. Cipolla, Z. Xie and A. Zisserman. Visual navigation around curved obstacles. In Proc. IEEE Int. Conf. on Robotics and Automation, Sacramento, California, USA (April) volume III, pages 2490-2495, 1991.
	A. Blake and R. Cipolla. Robust estimation of surface curvature from deformation of apparent contours. Image and Vision Computing, 9(2):107-112, April 1991.
	R. Cipolla. Active Visual Inference of Surface Shape. University of Oxford, D.Phil Thesis, (September) 1991.
	R. M. Curwen, A. Blake and R. Cipolla. Parallel implementation of lagrangian dynamics for real-time snakes. In Proc. British Machine Vision Conference, Glasgow, UK (September) pages 29-35, 1991.

1990

	A. Blake and R. Cipolla. Robust estimation of surface curvature from deformation of apparent contours. In Proc. 1st European Conference on Computer Vision, Antibes, France (April) Edited by O. Faugeras, volume LNCS 427, pages 465-474, Springer-Verlag, 1990.
	A. Blake, R. Cipolla and A. Zisserman. Towards qualitative vision: Motion parallax. In Proc. British Machine Vision Conference, Oxford, UK (September) pages 115-121, 1990.
	R. Cipolla and A. Blake. The dynamic analysis of apparent contours. In Proc. IEEE 3rd Int. Conf. on Computer Vision, Osaka, Japan (December) pages 616-623, 1990.
	R. Cipolla and M. Yamamoto. Stereoscopic tracking of bodies in motion. Image and Vision Computing, 8(1):85-90, February 1990.
	A. Zisserman and R. Cipolla. Qualitative surface shape from deformation of image curves. In Proc. AAAI workshop on Qualitative Vision, Cambridge (MA) (July) pages 41-45, 1990.

Before 1990

	R. Cipolla and M. Yamamoto. Stereoscopic tracking of bodies in motion. In Proc. 5th Alvey Vision Conference, Reading, UK (September) pages 109-114, 1989.
	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.
	R. Cipolla. Image sequence analysis of human motion. University of Electro-communications, Tokyo, Japan, Master's Thesis (M.Eng), (February) 1988.
	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, Japan (October) 1988.
	R. Cipolla and M. Yamamoto. Structure of articulated bodies from motion. In Proc. of 35th National Conference of Information Processing Society of Japan, Sapporo, Japan (October) volume 3, pages 2141-2142, 1987.
	R. Cipolla. PRF staggering in optimum radar signal processors for moving target detection. University of Pennsylvania, USA, Master's Thesis (M.S.E.), (September) 1985.