14th Conference on Computer and Robot Vision

Edmonton, Alberta   May 17-19, 2017.

Welcome to the home page for CRV 2017 which will be held at the University of Alberta, Edmonton, Alberta.

CRV is an annual conference hosted in Canada, and co-located with Graphics Interface (GI) and Artificial Intelligence (AI). A single registration covers attendance in all three conferences. Please see the AI/GI/CRV general conference website for more information.

The CRV proceedings are published through the Conference Publishing Services (CPS). Accepted papers will be submitted to Xplore. Xplore has published CRV accepted papers since 2004.


  • May 9, 2017: Unfortunately, due to a family emergency, scheduled keynote speaker Pietro Perona will be unable to attend CRV 2017. We wish all the best to Pietro and his family!
  • April 3, 2017: Due to upload site issues over the weekend, the final camera-ready submission deadline is extended to April 5, 2017.
  • April 1, 2017: Resolved An issue has been reported with the camera ready submission website. We are actively investigating, and will alert authors when resolved.
  • March 20, 2017: Camera ready prepration instructions have been emailed to the authors of accepted papers.
  • March 17, 2017: Paper decisions are now available via CMT. The camera ready copies are due by 3 April 2017, midnight.
  • January 31, 2017: Submission deadline has been extended to midnight, Sunday, February 12th, 2017. We look forward to receiving your contributions. Paper submission is available through the CMT website.
  • November 18, 2016: The CRV 2017 Call For Papers is now available.
  • October 30, 2016: Keynote speakers announced: Prof. Peter Corke, QUT, Prof. Pietro Perona, Caltech and Prof. Gaurav Sukhatme, USC will be giving the keynotes at CRV 2017. For more information, please visit the Keynotes tab.
  • August 16, 2016: Website updated for 2017 conference. Stay tuned for more details soon.


Lifetime Achievement Awards:

  • CIPPRS/ACTIRF 2017 Award for Research Excellence:
    Michael Langer, McGill University

  • CIPPRS/ACTIRF 2017 Award for Service to the Research Community:
    David Meger, McGill University

Best Paper Awards:

  • CIPPRS/ACTIRF CRV 2017 Best Robotic Vision Paper Award:
    Bao Xin Chen, Raghavender Sahdev, and John K. Tsotsos
    Person Following Robot Using Selected Online Ada-Boosting with Stereo Camera
    (The first and second authors contributed equally.)

  • CIPPRS/ACTIRF CRV 2017 Best Computer Vision Paper Award:
    M. A. Helala and F.Z. Qureshi
    Fast Estimation of Large Displacement Optical Flow Using Dominant Motion Patterns & Sub-Volume PatchMatch Filtering

  • CIPPRS/ACTIRF CRV 2017 Best Computer Vision Paper Award (Honourable Mention):
    Mengliu Zhao, Brandon Miles and Ghassan Hamarneh
    Leveraging Tree Statistics for Extracting Anatomical Trees from 3D Medical Images

Dissertation Awards:

  • CIPPRS 2016 Doctoral Dissertation Award:
    Anqi Xu, McGill University
    Efficient Collaboration with Trust-Seeking Robots

  • CIPPRS 2016 Doctoral Dissertation Award (Honorable Mention):
    Mani Monajjemi, Simon Fraser University
    End-To-End and Direct Human-Flying Robot Interaction

Important Dates:

Paper submission Extended to Feb 12, 2017, 11:59 PST
Acceptance/rejection notification March 17, 2017
Revised camera-ready papers April 3, 2017 April 5, 2017
Early registration April 10, 2017
Conference May 16-19, 2017

Conference History

In 2004, the 17th Vision Interface conference was renamed the 1st Canadian Conference on Computer and Robot Vision. In 2011, the name was shortened to Conference on Computer and Robot Vision.

CRV is sponsored by the Canadian Image Processing and Pattern Recognition Society (CIPPRS).


CRV 2017 Program

The higher-level view of the joint conference program which also includes the AI and GI meetings will be available here.

DAY 1: Wednesday, May 17, 2017

8:00-9:00 AM -- Breakfast

8:30-9:00 AM -- Joint Welcoming Session of AI/GI/CRV

9:00-10:00 AM -- Symposium 1: Imaging & Rendering
   Symposium Chair: James Elder

  • Michael Brown, York University
    Color and Consumer Cameras: The Good, the Bad, and the Ugly
  • Michael Langer, McGill University
    Depth Perception in 3D Clutter

10:00-10:30 AM -- Oral Presentations: Clustering & Indexing
   Session Chair: Michael Brown

  • Unbiased Sparse Subspace Clustering By Selective Pursuit
    Hanno Ackermann, Michael Ying Yang & Bodo Rosenhahn
  • An Index Structure for Fast Range Search in Hamming Space
    Faisal Qureshi

10:30-11:00 AM -- Coffee Break

11:00-12:00 PM -- CRV Poster Session (See list of CRV posters below.)

12:00-12:30 PM -- Oral Presentations: Visual Knowledge
   Session Chair: James Elder

  • Learning to Associate Words and Images Using a Large-scale Graph
    Heqing Ya, Haonan Sun, Jeffrey Helt & Tai Sing Lee
  • Towards a Knowledge-based approach for Generating Video Descriptions
    Sathyanarayanan N Aakur, Fillipe de Souza & Sudeep Sarkar

12:30-2:00 PM -- Lunch

2:00-3:00 PM -- Symposium 2: 3D Mapping & Models
   Symposium Chair: James Elder

  • John Zelek, University of Waterloo
    Engineering Robust 3D Representations from Robotic Visual Sensors for Navigation & Analysis
  • Frank Ferrie, McGill University
    Virtual Observers and Situational Awareness

3:00-3:15 PM -- Oral Presentations: 3D Mapping & Models
   Session Chair: John Zelek

  • Condition and Viewpoint Invariant Omni-directional Place Recognition using CNN
    Devinder Kumar, Helmut Neher, Arun Das, David A Clausi & Steven Waslander

3:15-4:00 PM -- Coffee Break

4:00-5:00 PM -- PhD Dissertation Award Winners
   Session Chair: Steven Waslander

  • Efficient Collaboration with Trust-Seeking Robots
    Anqi Xu, CIPPRS 2016 Doctorial Dissertation Award Winner
  • End-To-End and Direct Human-Flying Robot Interaction
    Mani Monajjemi, CIPPRS 2016 Doctorial Dissertation Award Honourable Mention

5:00-5:30 PM -- Oral Presentations: Human-Robot Interaction
   Session Chair: Frank Ferrie

  • Person Following Robot Using Selected Online Ada-Boosting with Stereo Camera
    Bao Xin Chen, Raghavender Sahdev & John Tsotsos
  • Autonomous Flying Cameraman with Embedded Person Detection and Tracking While Applying Cinematographic Rules
    Dries Hulens & Toon Goedeme

5:30-7:30 PM -- Welcome Reception & Joint AI/GI/CRV Poster Session (See list of CRV posters below.)

DAY 2: Thursday, May 18, 2017

8:00-9:00 AM -- Breakfast

9:00-10:00 AM -- Symposium 3: Motion & Learning
   Symposium Chair: Steven Waslander

  • Angela Schoellig, University of Toronto
    Machine Learning for Safe, High-Performance Control of Mobile Robots
  • Kosta Derpanis, Ryerson University
    Back to Basics: Unsupervised Learning of Optical Flow via Brightness Constancy and Motion Smoothness

10:00-10:30 AM -- Oral Presentations: Motion & Learning
   Session Chair: Kosta Derpanis

  • Fast Estimation of Large Displacement Optical Flow Using Dominant Motion Patterns & Sub-Volume PatchMatch Filtering
    Faisal Qureshi & Mohammad Helala
  • Estimating Camera Pose from Motion without Tracking
    Nada Elassal & James H. Elder

10:30-11:00 AM -- Coffee Break

11:00-12:00 PM -- KEYNOTE 1
   Introduction: Steven Waslander

    Guarav Sukhatme , University of Southern California
    Digitizing the Hydrosphere: Challenges in Underwater Drone Autonomy

12:00-12:30 PM -- Oral Presentations: Marine Robotics & Sensing
   Session Chair: Angela Schoellig

  • Depth Estimation of Semi-submerged Objects Using a Light-field Camera
    Juehui Fan & Yee-Hong Yang
  • Collaborative Sampling Using Heterogeneous Marine Robots Driven by Visual Cues
    Sandeep Manjanna, Johanna Hansen, Alberto Quattrini Li, Ioannis Rekleitis & Gregory Dudek

12:30-2:00 PM -- Lunch

2:00-3:00 PM -- Symposium 4: Applications in Computer Vision
   Symposium Chair: James Elder

  • David Clausi, University of Waterloo
    Computer Vision in Remote Sensing
  • Denis Laurendeau, Laval University
    Can I Make a Living out of my Ph.D.? Of Course I Can!

3:00-3:30 PM -- Oral Presentations: Applications in Computer Vision
   Session Chair: Denis Laurendeau

  • Building Damage Assessment Using Deep Learning and Ground-Level Image Data
    Karoon Rashedi Nia & Greg Mori
  • Automatic Photo Orientation Detection with Convolutional Neural Networks
    Ujash Joshi & Michael Guerzhoy

3:30-4:00 PM -- Coffee Break

4:00-5:00 PM -- Oral Presentations: Biomedical & Biometrics
   Session Chair: David Clausi

  • Fast and Accurate Tracking of Highly Deformable Heart Valves With Locally Constrained Level Sets
    Alexander Burden, Melissa Cote & Alexandra Branzan Albu
  • A Structured Deep-learning Based Approach for the Automated Segmentation of Human Leg Muscle from 3D MRI
    Shrimanti Ghosh, Nilanjan Ray & Pierre Boulanger
  • Bifurcation Localization in 3D Images via Evolutionary Geometric Deformable Templates
    Mengliu Zhao & Ghassan Hamarneh
  • Leveraging Tree Statistics for Extracting Anatomical Trees from 3D Medical Images
    Mengliu Zhao, Brandon Miles & Ghassan Hamarneh

5:00-6:00 PM -- Joint AI/GI/CRV Poster Session (See list of CRV posters below.)

6:00-7:00 PM -- CRV AGM

8:00- PM -- Awards Banquet

DAY 3: Friday, May 19, 2017

8:00-9:00 AM -- Breakfast

9:00-10:00 AM -- Symposium 5: Innovations in 3D Sensing
   Symposium Chair: Steven Waslander

  • Ping Tan, Simon Fraser University
    Polarimetric Multi-View Stereo
  • Herb Yang, University of Alberta
    Research in Undersea Computer Vision

10:00-10:15 AM -- Oral Presentations: Tracking
   Session Chair: Ping Tan

  • Fully Automatic, Real-Time Vehicle Tracking for Surveillance Video
    Yanzi Jin & Jakob Eriksson

10:15-11:00 AM -- Coffee Break

11:00-12:00 PM -- KEYNOTE 2
   Introduction: Steven Waslander

    Peter Corke, Queensland University of Technology
    Robotics for Agriculture

12:00-12:30 PM -- Oral Presentations: Field Robotics
   Session Chair: Herb Yang

  • Self-Organization of a Robot Swarm into Concentric Shapes
    Geoff Nagy & Richard Vaughan
  • LOST Highway: a Multiple-Lane Ant-Trail Algorithm to Reduce Congestion in Large-Population Multi-Robot Systems
    Alaa Eldin Abdelaal, Maram Sakr, & Richard Vaughan

12:30-2:30 PM -- Lunch

2:30-3:00 PM -- Symposium 6: Bio-Inspired Computer Vision
   Symposium Chair: James Elder

  • Anup Basu, University of Alberta
    Biologically Motivated Computer Vision and Multimedia

3:00-3:15 PM -- Oral Presentations: Active Vision
   Session Chair: Steven Waslander

  • Convolutional Residual Network for Grasp Localization
    Ludovic Trottier, Philippe Giguere & Brahim Chaib-draa

3:15-4:00 PM -- Coffee Break

4:00-5:00 PM -- Oral Presentations: Biomedical & Biometrics
   Session Chair: Anup Basu

  • Multi-Path Region-Based Convolutional Neural Network for Accurate Detection of Unconstrained "Hard Faces"
    Yuguang Liu & Martin Levine
  • Manifold Learning of Overcomplete Feature Spaces in a Multimodal Biometric Recognition System of Iris and Palmprint
    Habibeh Naderi, Behrouz Haji Soleimani & Stan Matwin
  • Localizing 3-D Anatomical Landmarks Using Deep Convolutional Neural Networks
    Pengcheng Xi, Chang Shu & Rafik Goubran
  • Nail Biting Awareness Assistant
    Jonathan Camargo

5:00-5:30 PM -- Closing Remarks

Posters (Wednesday 5:30-7:30 PM & Thursday 5:00-6:00 PM)

Multiple Object Tracking with Kernelized Correlation Filters in Urban Mixed Traffic
Yuebin Yang & Guillaume-Alexandre Bilodeau

A Window to your Smartphone: Exploring Interaction and Communication in Immersive VR with Augmented Virtuality
Amit Desai, Lourdes Pena-Castillo & Oscar Meruvia-Pastor

Visual Quality Assessment for Projected Content
Hoang Le, Carl Marshall, Thong Doan, Long Mai & Feng Liu

Learning Robust Object Recognition Using Composed Scenes from Generative Models
Hao Wang, Xingyu Lin, Yimeng Zhang & Tai Sing Lee

Weakly Supervised Image Classification with Coarse and Fine Labels
Jie Lei, Zhenyu Guo & Yang Wang

Unsupervised Online Learning for Fine-Grained Hand Segmentation in Egocentric Video
Ying Zhao

Development of a Plug-and-play Infrared Landing System for Multirotor Unmanned Aerial Vehicles
Ephraim Nowak, Kashish Gupta & Homayoun Najjaran

Pitch and Roll Camera Orientation From a Single 2D Image Using Convolutional Neural Networks
Greg Olmschenk, Hao Tang & Zhigang Zhu

Towards In-the-wild 3D Head Tracking
Fakhreddine Ababsa

A Computer Vision System for Virtual Rehabilitation
Denis Laurendeau

Bootstrapping Labelled Dataset Construction for Cow Tracking and Behavior Analysis
Aram Ter-Sarkisov, Robert Ross & John Kelleher

Scale-Corrected Background Modeling
Parthipan Siva & Michael Jamieson

Effect of Denoising Algorithms on Video Stabilization
Abdelrahman Ahmed

Ready-Aim-Fly! Hands-Free Face-Based HRI for 3D Trajectory Control of UAVs
Jake Bruce, Jacob Perron & Richard Vaughan

Night Rider: Visual Odometry Using Headlights
Kirk MacTavish, Michael Paton & Tim Barfoot

Developing A Cubature Multi-State Constraint Kalman Filter for Visual-Inertial Navigation System
Trung Nguyen, George Mann, Andrew Vardy & Ray Gosine

4-DoF Tracking for Robot Fine Manipulation Tasks
Mennatullah Siam, Abhineet Singh, Camilo Perez & Martin Jagersand

Enhancing Saliency of an Object Using Genetic Algorithm
Rajarshi Pal & Dipanjan Roy

Towards an Improved Vision-based Web Page Segmentation Algorithm
Michael Cormier, Richard Mann, Karyn Moffatt & Robin Cohen

Fully Automated Road Defect Detection Using Street View Images
David Abou Chacra & John Zelek

The Ciona17 Dataset for Semantic Segmentation of Invasive Species in a Marine Aquaculture Environment
Angus Galloway

Submission Instructions

Paper Submission

The paper submission deadline for CRV 2017 is extended to Sunday, February 12TH, 2017, 11:59 PST. Papers are to be submitted through the CMT paper management system.

Please refer to the Call For Papers for information on the goals and scope of CRV.

The CRV review process is single-blind: authors are not required to anonymize submissions. Submissions must be between 4 to 8 pages (two-column) long. Submissions less than 6 pages will most likely be considered for poster sessions only. Use the following templates to prepare your CRV submissions:

CRV 2017 Program Co-Chairs

  • Steven L. Waslander, University of Waterloo
  • James Elder, York University

CRV 2017 Program Committee

  • Mohand Said Allili, Universite du Quebec en Outaoauis, Canada
  • Robert Allison, York University, Canada
  • Alexander Andreopoulos, IBM Research, USA
  • Daniel Asmar, American University of Beirut, Egypt
  • Charbel Azzi, University of Waterloo, Canada
  • Martin Barczyk, University of Alberta, Canada
  • Tim Barfoot, University of Toronto, Canada
  • John Barron, University of Western Ontario, Canada
  • Robert Bergevin, Universite Laval, Canada
  • Guillaume-Alexandre Bilodeau, Polytechnique Montreal, Canada
  • Pierre Boulanger, University of Alberta, Canada
  • Jeffrey E. Boyd, University of Calgary, Canada
  • Alexandra Branzan Albu, University of Victoria, Canada
  • Michael Brown, York University, Canada
  • Marcus Brubaker, University of Toronto, Canada
  • Neil Bruce, University of Manitoba, Canada
  • Tien Bui, Concordia, Canada
  • Gustavo Carneiro, University of Adelaide, Australia
  • James Clark, McGill University, Canada
  • David Clausi, University of Waterloo, Canada
  • Jack Collier, DRDC Suffield, Canada
  • Meng Ding, US National Library of Medicine, National Institutes of Health, USA
  • Marc-Antoine Drouin, National Research Council, Canada
  • Greg Dudek, McGill University, Canada
  • Mark Eramian, University of Saskatchewan, Canada
  • Frank Ferrie, McGill University, Canada
  • Alexander Ferworn, Ryerson University, Canada
  • Paul Fieguth, University of Waterloo, Canada
  • Brian Funt, Simon Fraser University, Canada
  • Philippe Giguere, Laval University, Canada
  • Yogesh Alok Girdhar, McGill University, Canada
  • Michael Greenspan, Queens University, Canada
  • Wolfgang Heidrich, University of British Columbia, Canada
  • Mohamed Helala, University of Ontario Institute of Technology, Canada
  • Jesse Hoey, University of waterloo, Canada
  • Andrew Hogue, University of Ontario Institute of Technology, Canada
  • Randy C. Hoover, South Dakota School of Mines and Technology, USA
  • Martin Jagersand, University of Alberta, Canada
  • Michael Jenkin, York University, Canada
  • Allan Jepson, University of Toronto, Canada
  • Hao Jiang, Boston College, USA
  • Pierre-Marc Jodoin, Universite de Sherbrooke, Canada
  • Jonathan Kelly, University of Toronto, Canada
  • Dana Kulic, University of Waterloo, Canada
  • Jean-Francois Lalonde, Laval University, Canada
  • Tian Lan, Stanford University, USA
  • Jochen Lang, University of Ottawa, Canada
  • Michael Langer, McGill University, Canada
  • Cathy Laporte, Ecole de Technologie Superieure, Canada
  • Denis Laurendeau, Laval University, Canada
  • Hendrik Lensch, Tubingen University, Germany
  • Tuotuo Li, Intel Research, USA
  • Jim Little, University of British Columbia, Canada
  • Shahzad Malik, University of Toronto, Canada
  • Scott McCloskey, Honeywell Labs, USA
  • David Meger, University of British Columbia, Canada
  • Max Mignotte, Universite de Montreal, Canada
  • Gregor Miller, University of British Columbia, Canada
  • Greg Mori, Simon Fraser University, Canada
  • Vida Movahedi, Seneca College, Canada
  • Pierre Payeur, University of Ottawa, Canada
  • Cedric Pradalier, Georgia Tech Lorraine, France
  • Yiannis Rekleitis, University of South Carolina, USA
  • Haoyu Ren, Samsung Research, San Diego, USA
  • Junaed Sattar, University of Minnesota, USA
  • Christian Scharfenberger, University of Waterloo, Canada
  • Hicham Sekkati, University of Waterloo, Canada
  • Mohamed Shehata, Memorial University, Canada
  • Kaleem Siddiqi, McGill University, Canada
  • Gunho Sohn, York University, Canada
  • Minas Spetsakis, York University, Canada
  • Uwe Stilla, Technische Universitaet Muenchen, Germany
  • Ping Tan, Simon Fraser University, Canada
  • Graham Taylor, University of Guelph, Canada
  • Olga Veksler, University of Western Ontario, Canada
  • Ruisheng Wang, University of Calgary, Canada
  • Yang Wang, University of Manitoba, Canada
  • Alexander Wong, University of Waterloo, Canada
  • Yijun Xiao, University of Edinburgh, United Kingdom
  • Herb Yang, University of Alberta, Canada
  • Simon Yang, University of Guelph, Canada
  • James Young, University of Manitoba, Canada
  • Khalid Yousif, York University, Canada
  • John Zelek, University of Waterloo, Canada
  • Hong Zhang, University of Alberta, Canada


CIPPRS Executive

  • President: Mike Jenkin, York University
  • Treasurer: John Barron, Western University
  • Secretary: Jim Little, University of British Columbia

Keynote Speakers

Peter Corke, Queensland University of Technology

Peter Corke
Dr. Peter Corke is a professor of robotic vision at Queensland University of Technology, and Director of the ARC Centre of Excellence for Robotic Vision. His research is concerned with enabling robots to see, and the application of robots to mining, agriculture and environmental monitoring. He is a fellow of the IEEE, former editor-in-chief of the IEEE Robotics & Automation magazine, founding and associate editor of the Journal of Field Robotics, founding multi-media editor and editorial board member of the International Journal of Robotics Research, member of the editorial advisory board of the Springer Tracts on Advanced Robotics series, recipient of the Qantas/Rolls-Royce and Australian Engineering Excellence awards, and has held visiting positions at Oxford, University of Illinois, Carnegie-Mellon University and the University of Pennsylvania. He created the Robotics Toolbox for MATLAB which has been used for teaching globally for over 20 years, wrote the best selling textbook Robotics, Vision & Control, created two MOOCs and has won national and international recognition for teaching. He received his undergraduate and Masters degrees in electrical engineering and PhD from the University of Melbourne.



Gaurav Sukhatme, University of Southern California

Gaurav Sukhatme
Dr. Gaurav S. Sukhatme is Dean's Professor and Chairman of the Computer Science Department (joint appointment in Electrical Engineering) at the University of Southern California (USC). He received his undergraduate education at IIT Bombay in Computer Science and Engineering, and his graduate education in Computer Science from USC (PhD 1997). He is the director of the USC Robotic Embedded Systems Laboratory which he founded in 2000. His research interests are in estimation, planning and control for robot networks and on-body networks. He has published extensively in these and related areas. Sukhatme has served as PI on numerous NSF and DARPA grants. He was a Co-PI on the Center for Embedded Networked Sensing (CENS), an NSF Science and Technology Center. He is a fellow of the IEEE and a recipient of the NSF CAREER award and the Okawa foundation research award. He is one of the founders of the Robotics: Science and Systems conference, serving as its inaugural program chair. He was program chair of the 2008 IEEE ICRA and the 2011 IEEE/RSJ IROS. He is the Editor-in-Chief of Autonomous Robots and has in the past served as Associate Editor of the IEEE Transactions on Robotics and Automation, the IEEE Transactions on Mobile Computing, and on the editorial board of IEEE Pervasive Computing.




*Due to a family emergency, scheduled keynote speaker Pietro Perona will be unable to attend CRV 2017. We wish all the best to Pietro and his family!


Confirmed Symposium Speakers:

  • Anup Basu, University of Alberta
  • Michael Brown, York University
  • David Clausi, University of Waterloo
  • Kosta Derpanis, Ryerson University
  • Frank Ferrie, McGill University
  • Mike Langer, McGill University
  • Denis Laurendeau, Universite de Laval
  • Neil Bruce, University of Manitoba
  • Angela Schoellig, University of Toronto Institute for Aerospace Studies
  • Ping Tan, Simon Fraser University
  • Herbert Yang, University of Alberta
  • John Zelek, University of Waterloo

Links to Previous Conferences

This page archives historical content from past CRV meetings. A second source for some of this information is maintained at the CIPPRS website.

Photo Credit:
Description : Edmonton Skyline, Feb 2, 2012
Credit : © Kurt Bauschardt, Creative Commons BY-SA 2.0.