Publications

Patents

  1. W. Hoff, “Determining the Pose of an Object from RGB-D Images”, U.S. Patent Application US20200074672A1, 2018.  (link)

  2. B. Mullins, D. Wolf, J. Zilner, B. Micusik, W. Hoff, “Remote Object Detection and Local Tracking using Visual Odometry”, U.S. Patent Application US20180261012A1, 2018. (link)

  3. W. Hoff, J. Liu, "Antler Scoring System Using Computer Vision".  U.S. Provisional Patent Application, filed April 2016.

Articles

(Note - student names are underlined)

2016-present

  1. Y. Xie, Y. Tang, G. Tang, and W. Hoff, "Learning To Find Good Correspondences Of Multiple Objects." International Conference on Pattern Recognition (ICPR), 2021. (pdf)

  2. G. Lee, S. Ahn, W. Hoff, and M. Billinghurst, "Enhancing First-Person View Task Instruction Videos with Augmented Reality Cues." International Symposium on Mixed and Augmented Reality (ISMAR). pp. 666-676, 2020. (pdf)

  3. B. Herbert, W. Hoff, and M. Billinghurst, "Usability Considerations of Hand Held Augmented Reality Wiring Tutors (Poster)." International Symposium on Mixed and Augmented Reality (ISMAR), 2020.

  4. H. Sager and W. Hoff.  "Pedestrian Detection in Low Resolution Videos Using A Multi-Frame Hog-Based Detector."  International Research Journal of Computer Science (IRJCS), Issue 03, Volume 6, pp. 55-71, 2019. (pdf)

  5. Y. Xie, G. Tang, W. Hoff, "Chess Piece Recognition Using Oriented Chamfer Matching with a Comparison to CNN ." Proc. of Winter Conference on Applications of Computer Vision (WACV), March 2018, Lake Tahoe, Nevada. (pdf)

  6. Y. Xie, G. Tang, W. Hoff, "Geometry-Based Populated Chessboard Recognition." International Conference on Machine Vision (ICMV), November 2017, Vienna, Austria. (pdf)

  7. F. Han, J. Liu, W. Hoff and H. Zhang, "[POSTER] Planning-based Workflow Modeling for AR-enabled Automated Task Guidance," Proc of International Symposium on Mixed and Augmented Reality (ISMAR), pp. 58-62, October 2017, Nantes, France. (pdf)

  8. W. Hoff, B. Reily, H. Zhang, "Real-time Gymnast Detection and Performance Analysis with a Portable 3D Camera." invited presentation at Computer Graphics and Animation Conference, September 2017, Berlin, Germany. (pdf)

  9. C. Baker, W. Hoff.  "DIRSAC: A directed sample and consensus algorithm for localization with quasi-degenerate data."  Robotics and Autonomous Systems, vol. 97, pp. 92-107, 2017 (pdf).

  10. F. Han, B. Reily, W. Hoff, and H. Zhang. "Space-time representation of people based on 3d skeletal data: a review." Computer Vision and Image Understanding, vol. 158, pp. 85-105, 2017.  (html)

  11. B. Reily, H. Zhang, and W. Hoff. "Real-time Gymnast Detection and Performance Analysis with a Portable 3D Camera." Computer Vision and Image Understanding, vol. 159, pp. 154-163, 2017 (html)

  12. W. Hoff and H. Zhang, "Learning Object and State Models for AR Task Guidance," Proc of International Symposium on Mixed and Augmented Reality (ISMAR), pp. 272-273, September 2016, Merida, Mexico. (pdf)

  13. A. Masoud and W. Hoff, "Segmentation and tracking of nonplanar templates to improve VSLAM,"  Robotics and Autonomous Systems, vol. 86, pp. 29-56, 2016 (pdf).

2011-2015

  1. C. Card and W. Hoff, "Qualitative Image-Based Localization in a Large Building," Proc. of 19th International Conference on Image Processing, Computer Vision, & Pattern Recognition, July 2015, Las Vegas, Nevada. (pdf)

  2. A. Masoud and W. Hoff, “Estimation and Tracking of Partial Planar Templates to Improve VSLAM,” Proc. of IbPRIA, pp. 83-92, June 2015, Santiago de Compostela, Spain. (pdf)

  3. A. Masoud and W. Hoff, “Segmentation and Tracking of Partial Planar Templates,” Proc. of Winter Conference on Applications of Computer Vision, pp. 1128-1133, March 2014, Steamboat Springs, Colorado. (pdf)

  4. H. Sager and W. Hoff, “Pedestrian Detection in Low Resolution Videos,” Proc. of Winter Conference on Applications of Computer Vision, pp. 668-673, March 2014, Steamboat Springs, Colorado. (pdf)

  5. J. Howard, W. Hoff, “Forecasting Building Occupancy Using Sensor Network Data,” Proc. of 2nd International Workshop on Big Data, Streams and Heterogeneous Source Mining (BigMine 13), pp. 87-94, August 2013, Chicago, Illinois.   (best paper runner-up)  (pdf)

  6. C. Skokan, R. Ammerman, and W. Hoff, "Evaluation of Hybrid Instruction of an Introductory Electronics Course," ASEE Annual Conference, 2013, Atlanta GA. (pdf)

  7. C. Baker and W. Hoff, "DIRSAC: A Directed Sampling And Consensus Approach to Quasi-Degenerate Data Fitting," Workshop on Applications of Computer Vision (WACV), 2013, pp. 154-159, Clearwater, FL. (pdf)

2006-2010

  1. A. Szymczak, W. Hoff and M. Mahfouz, “3D Shape from Silhouette Points in Registered 2D Images Using Conjugate Gradient Method,” Medical Imaging 2010: Image Processing. Proceedings of the SPIE, Volume 7623, pp. 762316-762316-8, 2010. (pdf)

  2. W. Hoff, J. Howard, “Activity Recognition In A Dense Sensor Network,” Proc. of First International Conference on Sensor Networks and Applications (SNA2009), Nov 4-6, 2009, pp. 67-72, San Francisco, California USA. (pdf)

  3. M. Wennogle, W. Hoff, “Three Dimensional Segmentation of Intravascular Ultrasound Data,” Proc. of Int’l Conf. on Image Analysis and Recognition (ICIAR 2009), Halifax, Canada, 2009, July 6-8, pp. 772-781. (pdf)

  4. J. Steinbis, W. Hoff, T. Vincent, “3D Fiducials for Scalable AR Visual Tracking,” Proc. of 7th IEEE International Symposium on Mixed and Augmented Reality (ISMAR), Cambridge, UK, 2008, Sept 15-18, pp. 183-184. (pdf)

  5. J. Steinbis, T. Vincent, W. Hoff, “New Extensions of the 3-Simplex for Exterior Orientation,” Proc. of 19th Int’l Conf. on Pattern Recognition (ICPR), Tampa, FL, 2008, Dec 8-11. (pdf)

  6. R. Rimey, W. Hoff, J. Lee, “Recognizing wide-area and process-type activities,” Proc. of 10th International Conference on Information Fusion, Quebec City, QC, Canada, 2007, Jul. 9-12, pp. 1-8 (pdf)

  7. J. Lee, W. Hoff, “Activity Identification Utilizing Data Mining Techniques,” Proc. of IEEE Workshop on Motion and Video Computing, Austin, TX, 2007, Feb. 23-24 (pdf).

  8. C. Baker, C. Debrunner, S. Gooding, W. Hoff, and W. Severson, “Autonomous Vehicle Video Aided Navigation - Coupling INS and Video Approaches,” Proc. of 2nd International Symposium on Visual Computing, Lake Tahoe, NV, 2006, Nov. 6-8, pp. 534-543. (pdf)

2001-2005

  1. Dennis, D., M. Mahfouz, R. Komistek, and W. Hoff, "In vivo determination of normal and anterior cruciate ligament-deficient knee kinematics," J Biomechanics, vol. 38, no. 2, pp. 241-53, 2005.

  2. E. Berg, M. Mahfouz, C. Debrunner, B. Merkl, and W. Hoff., "Fourier descriptor-based deformable models for segmentation of the distal femur in CT," chapter in Advanced Computer Information Systems, K. Saeed and. J. Pejas, Ed.: Springer Verlag, 2005.

  3. Mahfouz, M., W. Hoff, R. Komistek, and D. Dennis, "Effect of segmentation errors on 3D-to-2D registration of implant models in X-ray images," J Biomechanics, vol. 38, no. 2, pp. 229-39, 2005. (pdf)

  4. Parker, R., W. Hoff, A. Norton, J. Lee, and M. Colagrosso, "Activity Identification and Visualization," Proc. of Pattern Recognition in Information Systems – PRIS 2005, Miami, FL, 2005, May 24-25, pp. 124 – 133. (pdf)

  5. Mahfouz, M., R. Komistek, D. Dennis, and W. Hoff, "In vivo assessment of the kinematics in normal and anterior cruciate ligament-deficient knees," J Bone Joint Surg Am., vol. 86, pp. 56-61, 2004.

  6. Berg, E, Mahfouz, M., Debrunner, C, and W. Hoff, “A 2D Fourier Approach to Deformable Model Segmentation Of 3D Medical Images,” Proc. of IEEE International Symposium on Biomedical Imaging, Arlington VA, April 2004. (pdf)

  7. Debrunner, C., Baker C., Hoff, W., Bowen, J., Mahfouz, M., "Tomographic Reconstruction From an Uncontrolled Sensor Trajectory," Proceedings of the 2004 IEEE International Symposium on Biomedical Imaging: From Nano to Macro, 2004, Arlington, VA, USA, 15-18 April, 1416-1419.

  8. Mahfouz, M., W. Hoff, R. Komistek, and D. Dennis, “A Robust Method for Registration of Three-Dimensional Knee Implant Models to Two-Dimensional Fluoroscopy Images,” IEEE Trans. Medical Imaging, Vol. 22, No. 12, pp. 1561-74, 2003.  (pdf)

  9. Hoff, W. and J. Lisle. “Mobile Robot Control Using a Small Display,” in International Conference on Intelligent Robots and Systems (IROS). 2003. Las Vegas, Nevada: IEEE/RSJ. (pdf)

  10. Argenson, J., R. Komistek, D. Dennis, W. Hoff, and T. Langer, “In Vivo Determination Of Knee Kinematics During Gait For Subjects Implanted with A Unicompartmental Arthroplasty,” in AAOS 2003 Annual Meeting. 2003. New Orleans, Louisiana. (pdf)

  11. Goffin, J., R. Komistek, M. Mahfouz, D. Wong, D. Macht, and W. Hoff, “In vivo kinematics of normal, degenerative, fused and disk-replaced cervical spines,” in AAOS 2003 Annual Meeting. 2003. New Orleans, Louisiana. 2003 (pdf)

  12. Chai, L., W.A. Hoff, and T. Vincent, “Three-dimensional motion and structure estimation using inertial sensors and computer vision for augmented reality,” Presence: Teleoperators and Virtual Environments, Vol. 11, No. 5, pp. 474-492, 2002. (pdf)

  13. Bertin KC, Komistek RD, Dennis DA, Hoff WA, Anderson DT, Langer T.  "In vivo determination of posterior femoral rollback for subjects having a NexGen posterior cruciate-retaining total knee arthroplasty."  J Arthroplasty. 2002 Dec;17(8):1040-8.

  14. Luck, J.P., Debrunner, C., Hoff, W., He, Q., and Small, D.  Development and Analysis of a Real-Time Human Motion Tracking System, in Proc. of Workshop on Applications of Computer Vision.  2002.  Orlando, FL, IEEE.  (pdf)

  15. M. Mahfouz, W. A. Hoff, D. T. Anderson, E.J. Northcut, R. Komistek, “Verification Of Three-Dimensional Joint Kinematics Determined Using Fluoroscopy: An Error Analysis,” Proceedings of the Orthopaedic Research Society Annual Meeting (ORS 2002), Dallas, TX, February  10-12.

  16. M. Mahfouz, W. A. Hoff, R. Komistek, D. A. Dennis, “Post-Operative Analysis Of Non-Implanted Knee Joint Kinematics Using Fluoroscopy,” Proceedings of the Fifth Annual North American Program on Computer Assisted Orthopaedic Surgery, July 6-8, 2001, Pittsburgh, Pennsylvania.

1996-2000

  1. Hoff, W. A. and T. Vincent, “Analysis of Head Pose Accuracy in Augmented Reality,” IEEE Trans. Visualization and Computer Graphics, Vol 6., No. 4, pp. 319-334, 2000. (pdf)

  2. J. Luck, C. Little, and W. Hoff, “Registration of range data using a hybrid simulated annealing and iterative closest point algorithm,” Proc. of IEEE International Conference on Robotics and Automation, San Francisco, April 24-28, 2000. (pdf)

  3. M. E. Sarojak, W. A. Hoff, R. D. Komistek, and D. A. Dennis, “Utilization of an automated model fitting process to determine kinematics of TKA,” Proc. of Orthopaedic Research Society, Anaheim, California, February 1-5, 1999.

  4. L. Chai, K. Nguyen, W. Hoff, and T. Vincent, “An adaptive estimator for registration in augmented reality,” Proc. of 2nd IEEE/ACM Int'l Workshop on Augmented Reality, San Franscisco, Oct. 20-21, 1999. (pdf)

  5. M. Sarojak, W. Hoff, R. D. Komistek, and D. A. Dennis, “An interactive system for kinematic analysis of artificial joint implants,” Proc. of 36th Rocky Mountain Bioengineering Symposium, April 16-18, 1999, Copper Mountain, Colorado. (pdf).  Also in Biomed Sci Instrum. 1999;35:9-14.

  6. Hoff, W. A., R. D. Komistek, D. A. Dennis, S. M. Gabriel, and S. A. Walker, “Three-dimensional determination of femoral-tibial contact positions under "in-vivo" conditions using fluoroscopy,” Clinical Biomechanics, Vol. 13, No. 7, pp. 455-472, 1998. (html)  (Clinical Biomechanics Award 1996)

  7. W. A. Hoff, “Fusion of Data from Head-Mounted and Fixed Sensors,” Proc. of First International Workshop on Augmented Reality, IEEE, San Francisco, California, November 1, 1998. (pdf)

  8. Hoff, W. A., Hood, F., and King, R. H., “An Interactive System for Creating Object Models from Range Data Based on Simulated Annealing,” Proc. of Int'l Conference on Robotics and Automation, IEEE, Albuquerque, NM, April 21-27, 1997. (pdf)

  9. Hood, F., W., Hoff, W. A., and King, R. H., “Evaluation of An Interactive System for Creating Object Models from Range Data,” Proc. of ANS 7th Topical Meeting on Robotics and Remote Systems,  Augusta, GA, April 27-May 1, 1997. (pdf)

  10. Hoff, W., Komistek, R., Dennis, D., Walker, S., Northcut, E., and Spargo, K., “Pose Estimation of Artificial Knee Implants in Fluoroscopy Images Using a Template Matching Technique,” Proc. of 3rd Workshop on Applications of Computer Vision,  IEEE, Sarasota, FL, Dec. 2-4, pp. 181-186, 1996. (pdf)

  11. Hoff, W. A., Lyon, T., and Nguyen, K., “Computer Vision-Based Registration Techniques for Augmented Reality,” Proc. of Intelligent Robots and Computer Vision XV, Vol. 2904, in Intelligent Systems & Advanced Manufacturing,  SPIE, Boston, Massachusetts, Nov. 19-21, pp. 538-548, 1996. (pdf)

  12. Stiehl, J. B., Komistek, R. D., Dennis, D. A., Paxson, R. D., and Hoff, W. A., “Fluoroscopic analysis of kinematics after posterior-cruciate retaining knee arthroplasty,” Journal of Bone and Joint Surgery-British, Vol. 77-B, No. 6, pp. 884-889, 1996.

  13. Stiehl, J. B., Komistek, R. D., Dennis, D. A., Paxson, R. D., and Hoff, W. A., “Comparison of Biomechanical Aspects of Posterior Cruciate Retaining vs. Posterior Cruciate Sparing Total Knee Arthroplasty,” Journal of Contemporary Orthopaedics, 1996.

  14. Walker, S. A., Hoff, W. A., Komistek, R. D., and Dennis, D. A., “In Vivo Pose Estimation of Artificial Knee Implants Using Computer Vision,” Biomed Sciences Instrumentation, Vol. 32, No. 1996. 

  15. Dennis, D. A., Komistek, R. D., Hoff, W. A., and Gabriel, S. M., “In-Vivo Knee Kinematics Derived Using an Inverse Perspective Technique,” Clinical Orthopaedics and Related Research, Vol. 331, pp. 107-117, 1996

  16. Walker, S. A., Hoff, W. A., Dennis, D. A., and Komistek, R. D., “"In Vivo" Pose Estimation of Artificial Knee Implants Using Computer Vision,” Proc. of Annual Rocky Mountain Bioengineering Symposium,  ISA, United States Air Force Academy, Colorado Springs, April, pp. 143-150, 1996. (pdf)   (Best Student paper)

1991-1995

  1. Magee, M., Hoff, W., Gatrell, L., and Wolfe, W., “Intelligent Control of a Vision-Based Spatial Reasoning System Integrated with a Robot Manipulator,” in Progress in Robotics and Intelligent Systems, Vol. 3, G. Zobrist and C. Y. Ho, Ed.,  Norwood, New Jersey, Ablex Publishing Corp., pp. 261-286, 1995.  (pdf)

  2. Dennis, D. A., Komistek, R. D., Hoff, W. A., and Gabriel, S. M., “In-vivo knee kinematics derived using an inverse perspective technique,” Proc. of Knee Society Closed Meeting,  Boston, September, 1995.

  3. Byler, E., Chun, W., Hoff, W., and Layne, D., “Autonomous hazardous waste inspection vehicle,” IEEE Robotics and Automation Magazine, Vol. 2, No. 1, pp. 6-17, 1995. (pdf, robot.jpg, laser.jpg)

  4. Dennis, D. A., Komistek, R. D., Hoff, W. A., and Kettler, P., “Passive versus weight-bearing range of motion study determined using fluoroscopy,” Proc. of Knee Society Closed Meeting,  Boston, September, 1995.

  5. Komistek, R. D., Dennis, D. A., and Hoff, W. A., “A Kinematic Comparison of Prosthetically Implanted and Nonimplanted Knees Using Dynamic Fluoroscopy,” Proc. of 19th Annual Meeting of the American Society of Biomechanics,  Stanford, California, August, 1995.

  6. Murphy, R. R., Hoff, W. A., Blitch, J., Hawkins, D., Hoffman, J. C., Krosley, R., Lyon, T., Mali, A., MacMillan, J., and Warshawsky, S., “CSM Behavioral Approach to the 1995 UGV Competition,” Proc. of Mobile Robots, Vol. 2591,  SPIE, Philadelphia, PA, 1995.

  7. Hoff, W., Gatrell, L., Layne, D., Bruno, G., and Sklair, C., “Compensating for Centroid Errors Due to Surface Tilt and Lens Distortion,” Proc. of  Conference on Mathematical Aspects of Computer Vision,  University of Colorado at Colorado Springs, 1992. (pdf)

  8. Hoff, W., Sklair, C., Xu, W., and Su, R., “Comparative Study of Pose Estimation Algorithms,” Proc. of Int'l Conf on Intelligent Information Processing of Systems,  Natural Science Foundation of China, Beijing, China, October 30-Nov 1, 1992, 1992.

  9. Sklair, C., Hoff, W., and Gatrell, L., “Accuracy of Locating Circular Features Using Machine Vision,” Proc. of Proc. of Cooperative Intelligent Robotics in Space, Vol. 1612,  SPIE, W. Stoney (ed.), Nov. 10-15, 1991. (pdf)

  10. Hoff, W., Gatrell, L., and Spofford, J., “Machine Vision Based Teleoperation Aid,” Telematics and Informatics, Vol. 8, No. 4, pp. 403-423, 1991.

  11. Magee, M., Hoff, W., Gatrell, L., Sklair, C., and Wolfe, W., “Employing Sensor Repositioning to Refine Spatial Reasoning in an Industrial Robotic Environment,” International Journal of Applied Intelligence, Vol. 1, No. 1, pp. 69-85, 1991.

  12. Hoff, W., Gatrell, L., and Spofford, J., “Machine Vision Based Teleoperation Aid,” Proc. of Goddard Conf on Space Applications of Artificial Intelligence, Vol. NASA Conference Publication 3110,  May, pp. 199-213, 1991. (html)

  13. Gatrell, L., Hoff, W., and Sklair, C., “Robust Image Features:  Concentric Contrasting Circles and Their Image Extraction,” Proc. of Cooperative Intelligent Robotics in Space, Vol. 1612,  SPIE, W. Stoney (ed.), 1991. (pdf)

  14. Cuseo, J., Fleming, P., Hoff, W., Sklair, C., Eshera, M., and Whitten, G., “Machine Vision Techniques for Planetary Terminal Descent Hazard Avoidance and Landmark Tracking,” Proc. of American Control Conference,  June, 1991. (html)

1990 and earlier

  1. Hoff, W. and Sklair, C., “Terrain Shape Estimation from Optical Flow Using Kalman Filtering,” Proc. of Symposium on Electronic Imaging Science and Technology, Vol. 1260,  SPIE, Santa Clara, California, February, pp. 86-97, 1990.

  2. Sklair, C., Gatrell, L., and Hoff, W., “Optical Target Location Using Machine Vision in Space Robotics Tasks,” Proc. of Advances in Intelligent Systems, Vol. 1387,  SPIE, November, pp. 380-391, 1990.

  3. Magee, M., Hoff, W., Gatrell, L., and Wolfe, W., “Integrated Planning of Robotic and Computer Vision Based Spatial Reasoning,” Proc. of 3rd Int'l Conf. on Industrial and Engineering Applications of AI,  ACM, July, 1990.

  4. Magee, M., Hoff, W., Gatrell, L., and Wolfe, W., “Adaptive Camera Calibration in an Industrial Robotic Environment,” Proc. of 3rd Int'l Conf. on Industrial and Engineering Applications of AI,  ACM, July, 1990.

  5. Hoff, W. and Sklair, C., “Planetary Terminal Descent Hazard Avoidance Using Optical Flow,” Proc. of IEEE Conf. Robotics and Automation,  pp. 238-243, 1990.

  6. Magee, M., Hoff, W., Gatrell, L., and Wolfe, W., “Task Panel Sensing with a Movable Camera,” Proc. of Advances in Intelligent Robotics Systems, Vol. 1193,  SPIE, Philadelphia, Pennsylvania, November, 1989.

  7. Hoff, W. and Mathis, D., “Connectionist Model-Based Stereo Vision for Telerobotics,” Proc. of Visual Information Processing for Television and Telerobotics, Vol. NASA CP-3053,  Williamsburg, Virginia, May, pp. 261-270, 1989.

  8. Hoff, W. and Ahuja, N., “Surfaces from Stereo: Integrating Feature Matching, Disparity Estimation, and Contour Detection,” IEEE Trans. Pattern Analysis and Machine Intelligence, Vol. 11, No. 2, pp. 121-136, 1989.

  9. Hoff, W., “Multi-Resolution Techniques in Stereo Vision,”  Workshop in Computational Vision on Multi-Resolution Representation of Images. Copenhagen, Denmark, Invited presentation, 1987.

  10. Hoff, W. and Ahuja, N., “Extracting Surfaces from Stereo Images: An Integrated Approach,” Proc. of First Int'l Conf. on Computer Vision,  IEEE, London, June, pp. 284-294, 1987.

  11. Ahuja, N. and Hoff, W., “Depth from Stereo,” Proc. of 4th Scandinavian Conference on Image Analysis,  Trondheim, Norway, June, pp. 761-768, 1985.

  12. Ahuja, N. and Hoff, W., “Augmented Medial Axis Transform,” Proc. of Workshop on Computer Vision: Representation and Control,  IEEE, April, pp. 251-256, 1984.