Selected Journal Publications

• Horn, B.K.P., “Determining Lightness from an Image,” Computer Graphics and Image Processing, Vol. 3, No. 1, December 1974, pp. 277–299. (see also chapter 9 in Robot Vision)

• Horn, B.K.P., “Obtaining Shape from Shading Information,” chapter 4 in The Psychology of Computer Vision, Winston, P. H. (Ed.), McGraw-Hill, New York, April 1975, pp. 115-155. (see also chapter 6 in Shape from Shading)

• Horn, B.K.P., “A Problem in Computer Vision: Orienting Silicon Integrated Circuit Chips for Lead Bonding,” Computer Graphics and Image Processing, Vol. 4, No. 1, September 1975, pp. 294–303. (see also AIM 323)

• Horn, B.K.P., “Circle Generators for Display Devices,” Computer Graphics and Image Processing, Vol. 5, No. 1, June 1976, pp. 280–288.

• Horn, B.K.P., “Understanding Image Intensities,” Artificial Intelligence, Vol. 8, No. 2, April 1977, pp. 201–231. (see also chapter 10 in Robot Vision)

• Horn, B.K.P., “Rational Arithmetic for Minicomputers,” Software Practice and Experience, Vol. 8, No. 2, March/April 1978, pp. 171–176.

• Horn, B.K.P., “Density Reconstruction Using Arbitrary Ray Sampling Schemes,” Proceedings of the IEEE, Vol. 66, No. 5, May 1978, pp. 551–562. (see also AIM 440)

• Raibert, M.H. & B.K.P. Horn, “Manipulator Control using the Configuration Space Method,” Industrial Robot, Vol. 4, No. 2, June 1978, pp. 69–73. (see also AIM 458)

• Horn, B.K.P. & B.L. Bachman, “Using Synthetic Images to Register Real Images with Surface Models,” Communications of the A.C.M., Vol. 21, No. 11, November 1978, pp. 914–924. (also in Artificial Intelligence: An MIT Perspective Vol. 2, Winston, P.H. & R.H. Brown (Eds.), pp. 129-160, MIT Press, 1979.)

• Horn, B.K.P. & R.J. Woodham, “Destriping LANDSAT MSS Images using Histogram Modification,” Computer Graphics and Image Processing, Vol. 10, No. 1, May 1979, pp. 69–83. (see also AIM 467)

• Horn, B.K.P. & R.W. Sjoberg, “Calculating the Reflectance Map,” Applied Optics, Vol. 18, No. 11, June 1979, pp. 1770–1779. (see also chapter 8 in Shape from Shading)

• Horn, B.K.P. “Kinematics, Statics, and Dynamics of Two-Dimensional Manipulators,” in Artificial Intelligence: An MIT Perspective Vol. 2, Winston, P.H. & R.H. Brown (Eds.), pp. 273-310, MIT Press, 1979. (see as well Horn, B.K.P. & Inoue, H. “Kinematics of the MIT-AI-VICARM Manipulator,” , 1974)

• Horn, B.K.P., “Fan-Beam Reconstruction Methods,” Proceedings of the IEEE, Vol. 67, No. 12, December 1979, pp. 1616–1623. (see also AIM 448)

• Horn, B.K.P., “Hill-Shading and the Reflectance Map,” Proceedings of the IEEE, Vol. 69, No. 1, January 1981, pp. 14–47. (also in Geo-Processing, Vol. 2, 1982, pp. 65–146.)

• Ikeuchi, K. & B.K.P. Horn, “Numerical Shape from Shading and Occluding Boundaries,” Artificial Intelligence, Vol. 17, No. 1–3, August 1981, pp. 141–184. (see also chapter 9 in Shape from Shading)

• Horn, B.K.P. & B.G. Schunck, “Determining Optical Flow,” Artificial Intelligence, Vol. 17, No. 1–3, August 1981, pp. 185–203. (see also chapter 12 in Robot Vision and “Horn-Schunck method”)

• Bruss, A.R. & B.K.P. Horn, “Passive Navigation,” Computer Vision, Graphics, and Image Processing, Vol. 21, No. 1, January 1983, pp. 3–20. (see also chapter 17 in Robot Vision)

• Brady, J.M. & B.K.P. Horn, “Rotationally Symmetric Operators for Surface Interpolation,” Computer Vision, Graphics, and Image Processing, Vol. 22, No. 1, April 1983, pp. 70–94. (see also AIM 654)

• Sjoberg, R.J. & B.K.P. Horn, “Atmospheric Effects in Satellite Imaging of Mountainous Terrain,” Applied Optics, Vol. 22, No. 11, June 1983, pp. 1702–1716. (see also AIM 688)

• Horn, B.K.P., “The Curve of Least Energy,” A.C.M. Transactions on Mathematical Software, Vol. 9, No. 4, December 1983, pp. 441–460. (see also AIM 612)

• Horn, B.K.P., “Exact Reproduction of Colored Images,” Computer Vision, Graphics, and Image Processing, Vol. 26, No. 2, May 1984, pp. 135–167.

• Horn, B.K.P. & K. Ikeuchi, “The Mechanical Manipulation of Randomly Oriented Parts,” (Picking Parts out of a Bin of Parts), Scientific American, Vol. 251, No. 2, August 1984, pp. 100–111. (See also chapter 18 in Robot Vision)

• Horn, B.K.P., “Extended Gaussian Images,” Proceedings of the IEEE, Vol. 72, No. 12, December 1984, pp. 1671–1686. (see also chapter 16 in Robot Vision)

• Б. К. П. ХОРН “Расширенные Гауссовы Отображения” ТИИЭР т. 72, М. 12, декабрь 1984

• Ikeuchi, K., H.K. Nishihara, B.K.P. Horn, P. Sobalvarro & S. Nagata, “Determining Grasp Points using Photometric Stereo and the PRISM binocular stereo system,” Journal of Robotics Research, Vol. 5, No. 1, Spring 1986, pp. 46–65. (see also AIM 772)

• Horn, B.K.P. & M.J. Brooks, “The Variational Approach to Shape from Shading,” Computer Vision, Graphics, and Image Processing, Vol. 33, No. 2, February 1986, pp. 174–208. (see also chapter 7 in Shape from Shading)

• Horn, B.K.P. & E.J. Weldon Jr., “Filtering Closed Curves,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. PAMI-8, No. 5, September 1986, pp .665–668.

• Horn, B.K.P. & S. Negahdaripour, “Direct Passive Navigation,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. PAMI-9, No. 1, January 1987, pp. 168–176. (see also AIM 821)

• Horn, B.K.P., “Closed-Form Solution of Absolute Orientation using Unit Quaternions,” Journal of the Optical Society A, Vol. 4, No. 4, pp. 629–642, April 1987.

• Horn, B.K.P., “Motion Fields Are Hardly Ever Ambiguous,” International Journal of Computer Vision, Vol. 1, No. 3, pp. 259–274, October 1987.

• Horn, B.K.P. & E.J. Weldon, Jr., “Direct Methods for Recovering Motion,” International Journal of Computer Vision, Vol. 2, No. 1, pp. 51–76, June 1988. (also in Artificial Intelligence at MIT: Expanding Frontiers, edited by Patrick H. Winston and Sarah A. Shellard, MIT Press, Vol. 2, pp. 437–471, 1990.)

• Horn, B.K.P., H. M. Hilden & S. Negahdaripour, “Closed Form Solution of Absolute Orientation using Orthonormal Matrices,” Journal of the Optical Society A Vol. 5, No. 7, pp. 1127–1135, July 1988.

• Negahdaripour, S. & B.K.P. Horn, “A Direct Method for Locating the Focus of Expansion,” Computer Vision, Graphics and Image Processing, Vol. 46, No. 3, June 1989, pp. 303–326. (see also AIM 939)

• Horn, B.K.P. “Relative Orientation,” International Journal of Computer Vision Vol. 4, No. 1, pp. 59–78, January 1990. (see as well “Relative Orientation Revisited”)

• Horn, B.K.P., “Parallel Analog Networks for Machine Vision,” in Artificial Intelligence at MIT: Expanding Frontiers, edited by Patrick H. Winston and Sarah A. Shellard, MIT Press, Vol. 2, pp. 531–573, 1990. and in Research Directions in Computer Science: An MIT Perspective, edited by A. Meyer, J.V. Guttag, R.L. Rivest, & P. Szolovits. MIT Press, pp. 277-315, 1991. and in Vision Chips: Implementing Vision Algorithms with Analog VSLI Circuits C. Koch & H. Li (Eds.) IEEE Computer Society Press, 1995.

• Horn, B.K.P. “Height and Gradient from Shading,” International Journal of Computer Vision, Vol. 5, No. 1, pp. 37–75, August 1990. (see also “Height and Gradient from Shading,” (no figures))

• Horn, B.K.P. & J.G. Harris, “Rigid Body Motion from Range Image Sequences,” Computer Vision, Graphics and Image Processing, Vol. 53, No. 1, January 1991.

• Horn, B.K.P. “Relative Orientation Revisited,” Journal of the Optical Society of America, A, October 1991, Vol. 8, pp. 1630–1638. (see also “Relative Orientation Revisited” (no figures))

• Wyatt, J. L., C. Keast, M. Seidel, D. Standley, B. Horn, T. Knight, C. Sodini, H.-S. Lee, & T. Poggio, “Analog VLSI Systems for Image Acquisition and Fast Early Vision Processing,” International Journal of Computer Vision, November 1992, Vol. 8, No. 3, pp. 217–230. (see as well AIM 1071)

• Horn, B.K.P., R.S. Szeliski, & A.L. Yuille, “Impossible Shaded Images,” IEEE Transactions of Pattern Analysis and Machine Intelligence, February 1993, Vol. 15, No. 2, pp. 166–170. (see also “Impossible Shaded Images” (no figures))

• McQuirk, I.S., B.K.P. Horn, H.-S. Lee, & J.L. Wyatt “Estimating the Focus of Expansion in Analog VLSI,” International Journal of Computer Visions Vol. 28, No. 3, 1998, pp. 261–277.

• Fang, Y., I. Masaki, B.K.P. Horn, “Depth-Based Target Segmentation for Intelligent Vehicles; Fusion of Radar and Binocular Stereo”, IEEE Transactions on Intelligent Transportation Systems, Vol. 3, No. 3, Sep. 2002, pp. 196-202.

• Fang, Y., K. Yamada, Y. Ninomiya, B.K.P. Horn, & I. Masaki “A Shape-Independent Method for Pedestrian Detection with Far-Infrared Images,” IEEE Transactions On Vehicular Technology, Vol. 53, No. 5, Sep. 2004

• Ziock, K.P., L. Fabris, B.K.P. Horn, R.C. Lanza, & N.W. Madden “Large Area Imaging Detector for Long-Range, Passive Detection of Fissile Material,” IEEE Transactions on Nuclear Science Vol. 51, No. 5, Oct. 2004, pp. 2238-2244.

• Ryu, J., S.S. Hong, B.K.P. Horn, D.M. Freeman & M.S. Mermelstein, “Multi-Beam Interferometric Illumination as the Primary Source of Resolution in Optical Microscopy,” Applied Physics Letters, Vol. 88, No. 17, April 2006. (see as well “Application of Structured Illumination in Nano-Scale Vision,” IEEE Comp. Soc. Conf. on Computer Vision and Pattern Recognition (CVPR) June 2003)

• Ziock, K.P., L. Fabris, B.K.P. Horn, R.C. Lanza, & N.W. Madden “Source-Search Sensitivity of a Large-Area, Coded-Aperture, Gamma-Ray Imager” IEEE Transactions on Nuclear Science Vol. 53, No. 3, June 2006, pp. 1614-1621.

• Hong, S.S., B.K.P. Horn, D.M. Freeman & M.S. Mermelstein, “Lensless Focusing with Subwavelength Resolution with Direct Synthesis of Angular Spectrum,” Applied Physics Letters, Vol. 88, No. 26, June 2006.

• Horn, B.K.P., Y. Fang and I. Masaki, “Time to Contact Relative to a Planar Surface,” IEEE Transactions on Intelligent Transportation Systems, June 2007.

• Schultz, L.J., M.S. Wallace, M.C. Galassi, A.S. Hoover, M. Mocko, D.M. Palmer, S.R. Tornga, R.M. Kippen, M.V. Hynes, M.J. Toolin, B. Harris, J.E. McElroy, D. Wakeford, R.C. Lanza, B.K.P. Horn and D.K. Wehe, “Hybrid Coded Aperture and Compton Imaging using an Active Mask,” Nuclear Instruments and Methods in Physics Research, A. Vol. 608, No. 2, pp. 267-274, September 2009.

• Horn, B.K.P., R.C. Lanza, J.T. Bell, G.E. Kohse, “Dynamic Reconstruction,” IEEE Transactions on Nuclear Engineering, Vol. 57, No. 1, February 2010.

• Horn, B.K.P. “Interesting Eigenvectors of the Fourier Transform,” Transactions of the Royal Society of South Africa, Vol. 65, No. 2, pp. 100-106, June 2010.

• Jagannathan, S., B.K.P. Horn, P. Ratilal, and N. Makris, “Force Estimation and Prediction from Time-Varying Density Images,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 33, No. 6, pp. 1132-1146, June 2011.

• Overeem, A, J. C. R. Robinson, H. Leijnse, G. J. Steeneveld, B.K.P. Horn, R. Uijlenhoet, “Crowdsourcing urban air temperatures from smartphone battery temperatures,” Geophysical Research Letters, Vol. 40, No. 15, pp. 4081--4085, August 2013.

• Liang Wang, B.K.P. Horn, and Gilbert Strang, “Eigenvalue and Eigenvector Analysis of Stability for a Line of Traffic”, Studies in Applied Mathematics, September 2016.

• Horn, B.K.P. and Liang Wang, “Wave Equation of Suppressed Traffic Flow Instabilities”, IEEE Transactions on Intelligent Transportation Systems (ITS), December 2017.

• Cui, H., Zhang, K., Fang, Y., Sobolevsky, S., Ratti, C., and B.K.P. Horn “A Clustering Validity Index Based on Pairing Frequency,” IEEE Access, Vol. 5, pp. 24884--24894, 2017.

• Liang Wang and B.K.P. Horn “Machine Vision to Alert Roadside Personnel of Night Traffic Threats,” IEEE Transactions on Intelligent Transportation Systems (ITS), Vol. 19, No. 10, October 2018.

• Liang Wang and B.K.P. Horn “Multi-Node Bilateral Control Model”, IEEE Transactions on Automatic Control, Vol. 64, No. 10, October 2019.

• Horn, B.K.P., “Doubling the Accuracy of Indoor Positioning: Frequency Diversity”, Special Issue of Sensors: “Sensors and Sensing Technologies for Indoor Positioning and Indoor Navigation” Vol. 20, No. 5, pp. 1489, 2020 March 9.

• Liang Wang and B.K.P. Horn “On the Stability Analysis of Mixed Traffic with Vehicles under Car-Following and Bilateral Control”, IEEE Transactions on Automatic Control, Vol. 65, No. 7, pp. 3076-3083, July 2020.

• Liang Wang and B.K.P. Horn “On the Chain-Stability of Bilateral Control Model”, IEEE Transactions on Automatic Control, Vol. 65, No. 8, pp. 3397-3408, August 2020.

• Horn, B.K.P., “Observation Model for Indoor Positioning”, Special Issue of Sensors: “Positioning and Navigation” Vol. 20, No. 14. 2020 July 20.

• Wang, Liang and B.K.P. Horn, “Time-to-Contact control: improving safety and reliability of autonomous vehicles”, International Journal of Bio-Inspired Computation, Vol. 16, No. 2, pp. 68-78, 2020.

• Horn, B.K.P., “Indoor Localization using Uncooperative Wi-Fi Access Points” , Special issue of Sensors “Indoor Wi-Fi Positioning: Techniques and Systems” Vol. 22, pp. 3091, 2022 April 18.

• Horn, B.K.P., “Round-trip time ranging to Wi-Fi access points beats GNSS localization” , Special issue of Applied Sciences “Smartphone-Based Navigation System for Outdoor Positioning”, Vol. 14, No. 17, 2024 September 3.

For a list of such internal reports see A.I. Memos.

When referring to a paper please use the published version.

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