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Short CV

Academic degrees

  • 2012 Docent, Computer Vision, Linköping University
  • 1995 PhD, Computer Vision, Linköping Universityt
  • 1988 MSc, Computer Engineering, Linköping University


  • 2012- : 20% Director of Studies, Department of Electrical Engineering, Linköping University
  • 2000-2011: 10% Director of Studies, Department of Electrical Engineering, Linköping University
  • 1998- : Senior Lecturer, Department of Electrical Engineering, Linköping University
  • 1995-1998: Research assistant, Department of Electrical Engineering, Linköping University
  • 1988-1995: PhD student, Department of Electrical Engineering, Linköping University

Assignments regarding licentiate and doctoral degree examination

Research Interests

  • Motion segmentation
    • Vasileios Zografos, Klas Nordberg, "Fast and accurate motion segmentation using linear combination of views", BMVC 2011, 2011.
    • Vasileios Zografos, Klas Nordberg, Liam Ellis, "Sparse motion segmentation using multiple six-point consistencies.", The 2nd International Workshop on Video Event Categorization, Tagging and Retrieval (VECTaR 2010), 2010.
    • Klas Nordberg, Vasileios Zografos, "Multibody motion segmentation using the geometry of 6 points in 2D images.", International Conference on Pattern Recognition, 1783-1787, 2010.
  • Geometry
    • Klas Nordberg, "The Key to Three-View Geometry", International Journal of Computer Vision, 94(3): 282-294, 2011.
    • Klas Nordberg, "The triangulation tensor", Computer Vision and Image Understanding, 113(9): 935-945, 2009.
    • Klas Nordberg, "A minimal parameterization of the trifocal tensor", IEEE Computer Science Conference on Computer Vision and Pattern Recognition (CVPR), 1224-1230, 2009.
    • Klas Nordberg, "Efficient Three-view Triangulation Based on 3D Optimization", British Machine Vision Conference (BMVC), 2008.
    • Klas Nordberg, "Efficient Triangulation Based on 3D Euclidean Optimization", International Conference on Pattern Recognition (ICPR), 1-4, 2008.
    • Klas Nordberg, "Single-View Matching Constraints", International Symposium on Visual Computing (ISVC), LNCS, Vol. 4842, 2007.
    • Klas Nordberg, "A linear mapping for stereo triangulation", Scandiavian Conference on Image Analysis (SCIA), LNCS, Vol. 4522, 2007.
  • Computer Vison for Autonomous Vehicles
    • Klas Nordberg, Patrick Doherty, Per-Erik Forssén, Johan Wiklund, Per Andersson, "A flexible runtime system for image processing in a distributed computational environment for an unmanned aerial vehicle", International Journal of Pattern Recognition and Artificial Intelligence, 20(5): 763-780, 2006.
    • Luis Merino, Johan Wiklund, Fernando Caballero, Anders Moe, Jose Ramiro Martinez-de Dios, Per-Erik Forssén, Klas Nordberg, Annibal Ollero, "Vision-Based Multi-UAV Position Estimation", IEEE Robotics & Automation Magazine, 13(3): 53-62, 2006.
    • Luis Merino, Fernando Caballero, Per-Erik Forssén, Johan Wiklund, Joaquín Ferruz, Jose Ramiro Martinez-de Dios, Anders Moe, Klas Nordberg, Anibal Ollero, "Single and Multi-UAV Relative Position Estimation Based on Natural Landmarks", Advances in Unmanned Aerial Vehicles, Microprocessor-Based and Intelligent Systems Engineering, No. 33, 267-307, 2007.
    • Klas Nordberg, Patrick Doherty, Gunnar Farnebäck, Per-Erik Forssén, Gösta Granlund, Anders Moe, Johan Wiklund, "Vision for a UAV helicopter", International Conference on Intelligent Robots and Systems (IROS), Workshop on Aerial Robotics, 2002.
    • Per Andersson, Krzysztof Kuchcinski, Klas Nordberg, Patrick Doherty, "Integrating a computational model and a run time system for image processing on a UAV", Euromicro Symposium on Digital System Design (DSD), 102-109, 2002.
    • Gunnar Farnebäck, Klas Nordberg, "Motion Detection in the WITAS Project", Swedish Symposium on Image Analysis (SSBA), 99-102, 2002.
    • Patrick Doherty, Gösta Granlund, Krzysztof Kuchcinski, Erik Johan Sandewall, Klas Nordberg, Erik Skarman, Johan Wiklund, "The WITAS unmanned aerial vehicle project", Proceedings of the 14th European Conference on Artificial Intelligence (ECAI), 747-755, 2000.
    • Gösta Granlund, Klas Nordberg, Johan Wiklund, Patrick Doherty, Erik Skarman, Erik Sandewall, "WITAS: An Intelligent Autonomous Aircraft Using Active Vision", Proceedings of the UAV 2000 International Technical Conference and Exhibition (UAV), 2000.
    • Silvia Coradeschi, Lars Karlsson, Klas Nordberg, "Integration of vision and decision-making in an autonomous airborne vehicle for traffic surveillance", Proceedings of the International Conference on Vision Systems '99, 1999.
    • Thord Andersson, Gösta H. Granlund, Gunnar Farnebäck, Klas Nordberg, Johan Wiklund, "WITAS Project at Computer Vision Laboratory; A status report (Jan 1998)", Proceedings of the SSAB symposium on image analysis, 113-116, 1998.
    • Silvia Coradeschi, Klas Nordberg, Lars Karlsson, "Integration of vision and reasoning in an airborne autonomous vehicle for traffic surveillance", Knowledge Based Computer Vision, Seminar-Report 196, 1997.
  • Feature Extraction in Images and 3D Data
    • Klas Nordberg, Gunnar Farnebäck, "Estimation of orientation tensors for simple signals by means of second-order filters", Signal Processing: Image Communication, 20(6): 582-594, 2005.
    • Fredrik Viksten, Klas Nordberg, Mikael Kalms, "Point-of-Interest Detection for Range Data", International Conference on Pattern Recognition (ICPR), Pattern Recognition, 1-4, 2008.
    • Fredrik Viksten, Klas Nordberg, "A Geometry-Based Local Descriptor for Range Data", Proceedings of the 9th Biennial Conference of the Australian Pattern Recognition Society on Digital Image Computing Techniques and Applications, 210-217, 2007.
    • Fredrik Viksten, Robert Söderberg, Klas Nordberg, Christian Perwass, "Increasing Pose Estimation Performance using Multi-cue Integration", IEEE International Conference on Robotic and Automation (ICRA), Robotics and Automation, 3760-3767, 2006.
    • Robert Söderberg, Klas Nordberg, Gösta Granlund, "An Invariant and Compact Representation for Unrestricted Pose Estimation", Second Iberian Conference Pattern Recognition and Image Analysis (IbPRIA), LNCS, Vol. 3522, 2005.
    • Klas Nordberg, Robert Söderberg, "Detection and representation of complex local features", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), 257-260, 2005.
    • Klas Nordberg, Fredrik Viksten, "Estimation of a tensor based representation for geometrical 3D primitives based on motion stereo", Swedish Symposium on Image Analysis (SSBA), 13-16, 2004.
    • Klas Nordberg, Robert Söderberg, "Detection and estimation of features for estimation of position", Swedish Symposium on Image Analysis (SSBA), 74-77, 2004.
    • Klas Nordberg, Fredrik Viksten, "Motion based estimation and representation of 3D surfaces and boundaries", International Workshop on Complex Motion (IWCM), LNCS, Vol. 3417, 2004.
    • Klas Nordberg, Gunnar Farnebäck, "A Framework for Estimation of Orientation and Velocity", International Conference on Image Processing (ICIP), 2003.
    • Klas Nordberg, Gösta Granlund, "Equivariance and Invariance -- An Approach Based on Lie Groups", ICIP, 1996.
    • Klas Nordberg, Gösta Granlund, Hans Knutsson, "Representation and learning of invariance", Image Processing, 1994. Proceedings. ICIP-94., IEEE International Conference, 585-589, 1994.
    • Carl-Fredrik Westin, Klas Nordberg, Hans Knutsson, "On the Equivalence of Normalized Convolution and Normalized Differential Convolution, Vol. 5", IEEE International Conference on Acoustics, Speech, and Signal Processing, 1994, 457-460, 1994.
    • Klas Nordberg, Hans Knutsson, Gösta Granlund, "On the Equivariance of the Orientation and the Tensor Field Representation", SCIA8, 57-63, 1993.

PhD Thesis

Klas Nordberg, "Signal Representation and Processing using Operator Groups", Linköping Studies in Science and Technology. Dissertations, No. 366, 1994.

Klas Nordberg

Klas Nordberg


Postal address:
Computer Vision Laboratory
Department of Electrical Engineering
SE-581 83 Linköping, Sweden
+46(0)13 281634
Visit me at:
Building B, Campus Valla
Room 2D:519
- first floor,
- corridor D,
- between entrances 25 and 27

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My pages:

Page responsible: Klas Nordberg
Last updated: 2013-05-30