Selected publications

• Object recognition and foveation:
  
  
  • A. Ude, D. Omrčen, and G. Cheng. Making object learning and recognition an active process, International Journal of Humanoid Robotics, vol. 5(2), pp. 267-286, 2008 (pdf file).
    
    
  • A. Ude, C. G. Atkeson, and G. Cheng, "Combining peripheral and foveal humanoid vision to detect, pursue, recognize and act", Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Las Vegas, USA, October 2003, pp. 2173-2178 (pdf file).
    
    
  • C. Gaskett, A. Ude, and G. Cheng, "Hand-eye coordination through endpoint closed-loop and learned endpoint open-loop visual servo control", International Journal of Humanoid Robotics, vol. 2, 2005, pp. 203-224.
    
    
• Visual Attention:
  
  
  • J. Moren, A. Ude, A. Koene, and G. Cheng. Biologically based top-down attention modulation for humanoid interactions, International Journal of Humanoid Robotics, vol. 5(1), pp. 3-24, 2008.
    
    
  • A. Ude, V. Wyart, L.-H. Lin and G. Cheng, "Distributed Visual Attention on a Humanoid Robot", Proc. IEEE-RAS/RSJ Int. Conf. on Humanoid Robots, December 2005, Tsukuba, Japan, pp. 381-386. (pdf file).
    
    
• Imitation and humanoid robots:
  
  
  • A. Ude, M. Riley, A. Kos, B. Nemec, T. Asfour, and G. Cheng, Goal-directed action synthesis from a library of example movements, Proc. IEEE-RAS Int. Conf. on Humanoid Robots, Pitsburgh, PA, December 2007 (pdf file).
    
    
  • V. Krueger. D. Kragic, A. Ude, and C. Geib. The meaning of action: A Review on action recognition and mapping, Advanced Robotics, vol. 21(13), pp. 1473-1501, 2007.
    
    
  • A. Ude, C. G. Atkeson, and M. Riley, "Programming full-body movements for humanoid robots by observation", Robotics and Autonomous Systems, vol. 47, 2004, pp. 93-108 (pdf file).
    
    
  • A. Ude, C. G. Atkeson, and M. Riley, "Planning of joint trajectories for humanoid robots using B-spline wavelets", Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, California, pp. 2223-2228, April 2000 (pdf file).
    
    
  • A. Ude, "Trajectory generation from noisy positions of object features for teaching robot paths", Robotics and Autonomous Systems, vol. 11, 1993, pp. 113-127.
    
    
• Real-time detection and tracking of human body parts and the implementation of interactive behaviors on a humanoid robot:
  
  
  • D. C. Bentivegna, C. G. Atkeson, A. Ude, and G. Cheng, "Learning to act from observation and practice", International Journal of Humanoid Robotics, vol. 1, 2004, pp. 585-611 (pdf file).
    
    
  • A. Ude and C. G. Atkeson, "Online Tracking and Mimicking of Human Movements by a Humanoid Robot", Advanced Robotics, vol. 17, 2003, pp. 165-178 (pdf file).
    
    
  • M. Riley, A. Ude, K. Wade, and C. G. Atkeson, "Enabling real-time full-body imitation: a natural way of transferring human movement to humanoids, Proc. IEEE Int. Conf. Robotics and Automation, Taipei, Taiwan, September 2003, pp. 2368-2374.
    
    
  • A. Ude and C. G. Atkeson, "Probabilistic Detection and Tracking at High Frame Rates Using Affine Warping", Proc. Int. Conf. Pattern Recognition, Quebec City, Canada, August 2002 (pdf file).
    
    
  • A. Ude, T. Shibata, and C. G. Atkeson, "Real-time visual system for interaction with a humanoid robot", Robotics and Autonomous Systems, vol. 37, 2001, pp. 115-125.
    
    
  • D. C. Bentivegna, A. Ude, C. G. Atkeson, and G. Cheng, "Humanoid robot learning and game playing using PC-based vision", Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Lausanne, Switzerland, October 2002.
    
    
• Human motion estimation from video (image sequences):
  
  
  • P. Azad, A. Ude, R. Dillmann, and G. Cheng, "A full body human motion capture system using particle filtering and on-the-fly edge detection, Proc. IEEE-RAS/RSJ Int. Conf. on Humanoid Robots, November 2004, Los Angeles, California.
    
    
  • A. Ude, "Robust estimation of human body kinematics from video", Proc. IEEE/RSJ Conf. Intelligent Robots and Systems, Kyongju, Korea, pp 1489-1494, October 1999 (pdf file).
    
    
  • A. Ude, "Robust human motion estimation using detailed shape and texture models", Journal of the Robotics Society of Japan, vol. 19, no. 5, pp. 15-18, July 2001.
    
    
• General paper about DB:
  
  
  • C. G. Atkeson, J. G. Hale, F. Pollick, M. Riley, S. Kotosaka, S. Schaal, T. Shibata, G. Tevatia, A. Ude, S. Vijayakumar, and M. Kawato, "Using humanoid robots to study human behavior", IEEE Intelligent Systems, vol. 15, no. 4, pp. 46-56, July/August 2000 (pdf file).
    
    
• Estimation in the space of rigid body motions:
  
  
  • A. Ude, "Filtering in a unit quaternion space for model-based object tracking", Robotics and Autonomous Systems, vol. 28, no. 2-3, pp. 163-172, August 1999 (pdf file).
    
    
  • A. Ude, "Nonlinear least squares optimisation of unit quaternion functions for pose estimation from corresponding features", Proc. 14th Int. Conf. Pattern Recognition, Brisbane, Australia, pp. 425-427, August 1998 (pdf file).

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Ales Ude aude @ atr.jp