Publications of Per-Erik Forssén

Publications are sorted acording to type and listed in reverse chronological order. Click on the name of the publication to view the abstract and a link to the full paper.

Journal Articles

• Uncertainty Quantification Metrics for Deep Regression
  Simon Kristofferson Lind, Ziliang Xiong, Per-Erik Forssén, Volker Krüger
  Pattern Recognition Letters, October 2024
  
• Assessing Losses for Point Set Registration
  Anderson C. M. Tavares, Felix Järemo Lawin, Per-Erik Forssén
  Robotics and Automation Letters, April 2020
  
• Trajectory Representation and Landmark Projection for Continuous-Time Structure from Motion
  Hannes Ovrén, Per-Erik Forssén
  International Journal of Robotics Research, May 2019
  
• Anisotropic Scattered Data Interpolation for Pushbroom Image Rectification
  Erik Ringaby, Ola Friman, Per-Erik Forssén, Thomas Opsahl, Trym Vegard Haavardsholm, Ingebjørg Kåsen
  IEEE Transactions in Image Processing, May 2014
  
• Efficient Video Rectification and Stabilisation for Cell-Phones
  Erik Ringaby, Per-Erik Forssén
  International Journal of Computer Vision, February 2012
  
• Correlating Fourier Descriptors of local patches for road sign recognition
  Fredrik Larsson, Michael Felsberg, Per-Erik Forssén
  IET Computer Vision, July 2011
  
• Embodied Object Recognition using Adaptive Target Observations
  Marcus Wallenberg, Per-Erik Forssén
  Cognitive Computation, December 2010
  
• Combining Shadow Detection and Simulation for Estimation of Vehicle Size and Position
  B. Johansson, J. Wiklund, P.-E. Forssén, G. Granlund
  Pattern Recognition Letters, June 2009
  
• View Matching with Blob Features
  Per-Erik Forssén, Anders Moe
  Image and Vision Computing, Canadian Robotic Vision Special Issue, January 2009
  
• Curious George: An Attentive Semantic Robot
  D. Meger, P.-E. Forssén, K. Lai, S. Helmer, S. McCann, T. Southey, M. Baumann, J. J. Little, D. G. Lowe
  Robotics and Autonomous Systems Journal, June 2008
  
• Vision-Based Multi-UAV Position Estimation
  L. Merino, J. Wiklund, F. Caballero, A. Moe, J.R. Martinez-de Dios, P.-E. Forssén, K. Nordberg, A. Ollero
  IEEE Robotics and Automation Magazine, September 2006
  
• A Flexible Runtime System for Image Processing in a Distributed Computational Environment for an Unmanned Aerial Vehicle
  Klas Nordberg, Patrick Doherty, Per-Erik Forssén, Johan Wiklund, Per Andersson
  International Journal of Pattern Recognition and Artificial Intelligence, August 2006
  
• The Application of an Oblique-Projected Landweber Method to a Model of Supervised Learning
  Björn Johansson, Tommy Elfving, Vladimir Kozlov, Yair Censor, Per-Erik Forssén, Gösta Granlund
  Mathematical and Computer Modelling, April 2006
  
• Channel Smoothing: Efficient Robust Smoothing of Low-Level Signal Features
  Michael Felsberg, Per-Erik Forssén, Hanno Scharr
  IEEE Transactions on Pattern Analysis and Machine Intelligence, February 2006
  

Conference Papers

• Continuous Normalizing Flows for Uncertainty-Aware Human Pose Estimation
  Shipeng Liu, Ziliang Xiong, Bastian Wandt, Per-Erik Forssén
  SCIA2025, June 2025
  
• FACT: Multinomial Mislalignment Classification for Point Cloud Registration
  Ludvig Dillén, Per-Erik Forssén, Johan Edstedt
  SCIA2025, June 2025
  
• Hinge-Wasserstein: Estimating Multimodal Aleatoric Uncertainty in Regression Tasks
  Ziliang Xiong, Arvi Jonnarth, Abdelrahman Eldesokey, Joakim Johnander, Bastian Wandt, Per-Erik Forssén
  SAIAD2024, June 2024
  
• GMSF: Global Matching Scene Flow
  Yushan Zhang, Johan Edstedt, Bastian Wandt, Per-Erik Forssén, Michael Felsberg
  NeurIPS2023, June 2023
  
• A differential entropy-based method for reverse engineering quality assessment
  Emmanuele Barberi, Filippo Cucinotta, Per-Erik Forssén, Marcello Raffaele, Fabio Salmeri
  ADM2023, September 2023
  
• Camera Calibration without Camera Access -- A Robust Validation Technique for Extended PnP Methods
  Emil Brissman, Per-Erik Forssén, Johan Edstedt
  SCIA2023, April 2023
  
• Practical Pose Trajectory Splines With Explicit Regularization
  Mikael Persson, Gustav Häger, Hannes Ovrén, Per-Erik Forssén
  3DV21, December 2021
  
• Independently Moving Object Trajectories from Sequential Hierarchical Ransac
  Mikael Persson, Per-Erik Forssén
  VISAPP21, February 2021
  
• Registration Loss Learning for Deep Probabilistic Point Set Registration
  Felix Järemo Lawin, Per-Erik Forssén
  3DV20, November 2020
  
• Density Adaptive Point Set Registration
  Felix Järemo Lawin, Martin Danelljan, Fahad Khan, Per-Erik Forssén, Michael Felsberg
  CVPR18, June 2018
  
• Spline Error Weighting for Robust Visual-Inertial Fusion
  Hannes Ovrén, Per-Erik Forssén
  CVPR18, June 2018
  
• Attentional Masking for Pre-trained Deep Networks
  Marcus Wallenberg, Per-Erik Forssén
  IROS17, September 2017
  
• What is the best depth-map compression for Depth Image Based Rendering?
  Jens Ogniewski, Per-Erik Forssén
  CAIP17, August 2017
  
• BriefMatch: Dense binary feature matching for real-time optical flow estimation
  Gabriel Eilertsen, Per-Erik Forssén, Jonas Unger
  SCIA17, June 2017
  
• Pushing the Limits for View Prediction in Video Coding
  Jens Ogniewski, Per-Erik Forssén
  VISAPP17, February-March 2017
  
• Efficient Multi-Frequency Phase Unwrapping using Kernel Density Estimation
  Felix Järemo Lawin, Per-Erik Forssén, Hannes Ovrén
  ECCV16, October 2016
  
• Improving Random Forests by correlation-enhancing projections and sample-based sparse discriminant selection
  Marcus Wallenberg, Per-Erik Forssén
  CRV16, June 2016
  
• Gyroscope-based Video Stabilisation With Auto-Calibration
  Hannes Ovrén, Per-Erik Forssén
  ICRA15, May 2015
  
• Active Gaze Stabilization
  Martin Lesmana, Axel Landgren, Per-Erik Forssén, Dinesh K. Pai
  ICVGIP14, December 2014
  
• A Virtual Tripod for Hand-held Video Stacking on Smartphones
  Erik Ringaby, Per-Erik Forssén
  ICCP14, May 2014
  
• Why Would I Want a Gyroscope on my RGB-D Sensor?
  Hannes Ovrén, Per-Erik Forssén, David Törnqvist
  WoRV13, January 2013
  
• Teaching Stereo Perception to YOUR Robot
  Marcus Wallenberg, Per-Erik Forssén
  BMVC12, September 2012
  
• Rolling Shutter Bundle Adjustment
  Johan Hedborg, Per-Erik Forssén, Michael Felsberg, Erik Ringaby
  CVPR12, June 2012
  
• Model-Based Video Coding using Colour and Depth Cameras
  David Sandberg, Per-Erik Forssén, Jens Ogniewski
  DICTA11, December 2011
  
• Scan Rectification for Structured Light Range Sensors with Rolling Shutters
  Erik Ringaby, Per-Erik Forssén
  ICCV11, November 2011
  
• Stabilizing Cell Phone Video using Inertial Measurement Sensors
  Gustav Hanning, Nicklas Forslöw, Per-Erik Forssén, Erik Ringaby, David Törnqvist, Jonas Callmer
  IWMV11, November 2011
  
• Structure and Motion Estimation from Rolling Shutter Video
  Johan Hedborg, Erik Ringaby, Per-Erik Forssén, Michael Felsberg
  IWMV11, November 2011
  
• Channel Coding for Joint Colour and Depth Segmentation
  Marcus Wallenberg, Michael Felsberg, Per-Erik Forssén, Babette Dellen
  DAGM11, August-September 2011
  
• Co-aligning Aerial Hyperspectral Push-broom Strips for Change Detection
  Erik Ringaby, Jörgen Ahlberg, Niclas Wadströmer, Per-Erik Forssén
  ESD10, September 2010
  
• Rectifying rolling shutter video from hand-held devices
  Per-Erik Forssén, Erik Ringaby
  CVPR10, June 2010
  
• Fast and Accurate Structure and Motion Estimation
  Johan Hedborg, Per-Erik Forssén, Michael Felsberg
  ISVC09, November 2009
  
• Patch Contour Matching by Correlating Fourier Descriptors
  Fredrik Larsson, Michael Felsberg, Per-Erik Forssén
  DICTA09, December 2009
  
• Comparison of Local Image Descriptors for Full 6 Degree-of-Freedom Pose Estimation
  Fredrik Viksten, Per-Erik Forssén, Björn Johansson, Anders Moe
  ICRA09, May 2009
  
• Informed Visual Search: Combining Attention and Object Recognition
  Per-Erik Forssén, David Meger, Kevin Lai, Scott Helmer, James J. Little, David G. Lowe
  ICRA08, May 2008
  
• Curious George: An Attentive Semantic Robot
  David Meger, Per-Erik Forssén, Kevin Lai, Scott Helmer, Sancho McCann, Tristram Southey, Matthew Baumann, James J. Little, David G. Lowe, Bruce Dow
  IROS07 Workshop, November 2007
  
• Shape Descriptors for Maximally Stable Extremal Regions
  Per-Erik Forssén, David Lowe
  ICCV07, October 2007
  
• The UBC Semantic Robot Vision System
  Scott Helmer, David Meger, Per-Erik Forssén, Tristram Southey, Sancho McCann, Pooyan Fazli, James J. Little, David G. Lowe
  AAAI07, July 2007
  
• Maximally Stable Colour Regions for Recognition and Matching
  Per-Erik Forssén
  CVPR07, June 2007
  
• Near Zone Pedestrian Detection using a Low-Resolution FIR Sensor
  J.-E. Källhammer, D. Eriksson, G. Granlund, M. Felsberg, A. Moe, B. Johansson, J. Wiklund, P.-E. Forssén
  IV07, June 2007
  
• Learning Saccadic Gaze Control via Motion Prediction
  Per-Erik Forssén
  CRV07, May 2007
  
• Autonomous Learning of Object Appearances using Colour Contour Frames
  Per-Erik Forssén, Anders Moe
  CRV06, June 2006
  
• Channel Associative Networks for Multiple Valued Mappings
  Per-Erik Forssén, Björn Johansson, Gösta Granlund
  ICVW06, May 2006
  
• A COSPAL Subsystem: Solving a Shape-Sorter Puzzle
  Michael Felsberg, Per-Erik Forssén, Anders Moe, Gösta Granlund
  AAAI FSS05, November 2005
  
• View Matching with Blob Features
  Per-Erik Forssén, Anders Moe
  CRV05, May 2005
  
• Multiple Motion Estimation using Channel Matrices
  Per-Erik Forssén, Hagen Spies
  IWCM04, October 2004
  
• Robust Multi-Scale Extraction of Blob Features
  Per-Erik Forssén, Gösta Granlund
  SCIA 2003, June-July 2003
  
• Two-Dimensional Channel Representation for Multiple Velocities
  Hagen Spies, Per-Erik Forssén
  SCIA 2003, June-July 2003
  
• Noise Adaptive Channel Smoothing of Low-Dose Images
  Hanno Scharr, Michael Felsberg, Per-Erik Forssén
  Computer Vision for the Nano-Scale (Workshop accompanying CVPR 2003), June 2003
  
• A flexible runtime system for image processing in a distributed computational environment for an unmanned aerial vehicle
  Klas Nordberg, Per-Erik Forssén, Johan Wiklund, Patrick Doherty, Per Andersson
  IWSSIP02, November 2002
  
• Vision for a UAV helicopter
  Klas Nordberg, Patrick Doherty, Gunnar Farnebäck, Per-Erik Forssén, Gösta Granlund, Anders Moe, Johan Wiklund
  IROS'02, October 2002
  
• Sparse Feature Maps in a Scale Hierarchy
  Per-Erik Forssén, Gösta Granlund
  AFPAC00, September 2000
  

Theses and Book Chapters

• Improving RGB-D Scene Reconstruction using Rolling Shutter Rectification
  H. Ovrén, P.-E. Forssén, D. Törnqvist
  Springer Verlag, January 2015
  
• Single and multi-UAV localization based on natural landmarks
  L. Merino, F. Caballero, Per-Erik Forssén, J. Wiklund, J. Ferruz, J. Ramiro Martinez-de Dios, A. Moe, K. Nordberg, A. Ollero
  November 2007
  
• Multiple Heterogeneous Unmanned Aerial Vehicles, Chapter: Multi-UAV Cooperative Perception Techniques
  L. Merino, F. Caballero, J. Ferruz, J. Wiklund, P.-E. Forssén, A. Ollero
  2007
  
• Low and Medium Level Vision using Channel Representations
  PhD Dissertation no. 858
  March 2004
  
• Sparse Representations for Medium Level Vision
  Licentiate Thesis no. 869
  February 2001
  
• Detection of Man-made Objects in Satellite Images
  Master's Thesis, LiTH-ISY-EX-1852
  December 1997
  

Technical Reports and non-reviewed Symposia

Note: Technical reports superseded by other publications are excluded from this list.

• Beyond 3D Imaging and Visualization
  Lena Klasén, Amanda Berg, Per-Erik Forssén, Haibo Li
  SSBA21, March 2021
  
• Inertial-aided Continuous-Time Structure from Motion in Practice
  Hannes Ovrén, Per-Erik Forssén
  SSBA18, March 2018
  
• Ground Truth for Rolling Shutter Visual-Inertial SLAM and Camera-IMU Calibration
  Hannes Ovrén, Per-Erik Forssén
  SSBA16, March 2016
  
• Camera-IMU Calibration with Robust Initialisation
  Hannes Ovrén, Per-Erik Forssén
  SSBA15, March 2015
  
• Sharp Night Shots on a Hand-held Smartphone
  Erik Ringaby, Per-Erik Forssén
  SSBA14, March 2014
  
• Automatic Stereo Tuning for YOUR Robot
  Marcus Wallenberg, Per-Erik Forssén
  SSBA13, March 2013
  
• Scattered Data Interpolation for Remote Sensing Applications
  Erik Ringaby, Ola Friman, Per-Erik Forssén
  SSBA13, March 2013
  
• Bundle Adjustment for Rolling Shutter Video
  Johan Hedborg, Per-Erik Forssén, Michael Felsberg, Erik Ringaby
  SSBA13, March 2013
  
• Better 3D with Gyroscopes
  Hannes Ovrén, Per-Erik Forssén, David Törnqvist
  SSBA13, March 2013
  
• Scan Rectification for Structured Light Range Sensors with Rolling Shutters
  Erik Ringaby, Per-Erik Forssén
  SSBA12, March 2012
  
• Leaf Segmentation using the Kinect
  Marcus Wallenberg, Michael Felsberg, Per-Erik Forssén, Babette Dellen
  SSBA11, March 2011
  
• Rectifying rolling shutter video from hand-held devices
  Erik Ringaby, Per-Erik Forssén
  SSBA11, March 2011
  
• A Research Platform for Embodied Visual Object Recognition
  Marcus Wallenberg, Per-Erik Forssén
  SSBA10, March 2010
  
• Co-alignment of Aerial Push-broom Strips using Trajectory Smoothness Constraints
  Erik Ringaby, Jörgen Ahlberg, Per-Erik Forssén, Niclas Wadströmer
  SSBA10, March 2010
  
• Using Fourier descriptors for local region matching
  Fredrik Larsson, Per-Erik Forssén, Michael Felsberg
  SSBA09, March 2009
  
• Fast and Accurate Ego-Motion Estimation
  Johan Hedborg, Per-Erik Forssén
  SSBA09, March 2009
  
• Curious George: The UBC Semantic Robot Vision System
  Scott Helmer, David Meger, Per-Erik Forssén, Sancho McCann, Tristram Southey, Matthew Baumann, Kevin Lai, Bruce Dow, James J. Little, David G. Lowe
  AAAI-WS-07-15, October 2007
  
• Automatic Estimation of Epipolar Geometry from Blob Features
  Per-Erik Forssén, Anders Moe
  LiTH-ISY-R-2620, August 2004
  
• Blobs in Epipolar Geometry
  Per-Erik Forssén, Anders Moe
  SSBA04, March 2004
  
• B-Spline Channel Smoothing for Robust Estimation
  Felsberg, M., Forssén, P.-E., Scharr, H.
  LiTH-ISY-R-2579, January 2004
  
• Channel Smoothing using Integer Arithmetic
  Per-Erik Forssén
  SSAB03, March 2003
  
• The B-Spline Channel Representation: Channel Algebra and Channel Based Diffusion Filtering
  Michael Felsberg, Hanno Scharr, Per-Erik Forssén
  LiTH-ISY-R-2461, September 2002
  
• Observations Concerning Reconstructions with Local Support
  Per-Erik Forssén
  LiTH-ISY-R-2425, April 2002
  
• Successive Recognition using Local State Models
  Per-Erik Forssén
  SSAB02, March 2002
  
• Channel Representation of Colour Images
  Per-Erik Forssén, Gösta Granlund, Johan Wiklund
  LiTH-ISY-R-2418, March 2002
  
• Autonomous Navigation using Active Perception
  Per-Erik Forssén
  LiTH-ISY-R-2395, September 2001
  
• Window Matching using Sparse Templates
  Per-Erik Forssén
  LiTH-ISY-R-2392, September 2001
  
• Image Analysis using Soft Histograms
  Per-Erik Forssén
  SSAB01, March 2001
  
• HiperLearn: A High Performance Learning Architecture
  Gösta Granlund, Per-Erik Forssén, Björn Johansson
  LiTH-ISY-R-2409, January 2002
  
• Updating Camera Location and Heading using a Sparse Displacement Field
  Per-Erik Forssén
  LiTH-ISY-R-2318, November 2000
  
• Fractal Coding by Means of Local Feature Histograms
  Per-Erik Forssén, Björn Johansson
  LiTH-ISY-R-2295, September 2000