Mårten Björkman



Address:

NADA/CVAP
KTH
S­100 44 Stockholm
Sweden
Phone: +46 8 790 6202
celle @ csc.kth.se

I received my PhD degree at the Computational Vision and Active Perception Laboratory (CVAP) in 2002. I work as an associate professor and director of studies in computer science at (CSC).

A CUDA implementation of SIFT:

If you are interested in a CUDA implementation of Lowe's Scale Invariant Feature Transform (SIFT) you can find one at GitHub. The first version is from 2007 and GPUs have evolved since then. This version is considerably faster and has been optimized for GeForce GTX 580. It should be reasonable fast also on more recent GPUs. On a GTX 580 GPU the code takes about 7 ms on a 640x480 pixel image and 13 ms on a 1280x960 pixel image.

There is also code for brute-force matching of features and homography computation that takes about 7 ms and 4 ms for two sets of around 1500 SIFT features each. The code relies on CMake for compilation and OpenCV for image containers. OpenCV can however be quite easily changed to something else. The code can be relatively hard to read, given the way things have been parallelized for maximum speed. Unfortunately, there are few, if any, comments.


Publications:

L. Nalpantidis, M. Björkman and D Kragic, "YES-YEt another object Segmentation: exploiting camera movement",
in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '12), 2012.

N. Bergström, M. Björkman and D. Kragic, "Generating object hypotheses in natural scenes through human-robot interaction",
in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), 2011. (Best cognitive paper winner).

J. Bohg, N. Bergström, M. Björkman, D. Kragic, "Acting and Interacting in the Real World",
in RGB-D Workshop on 3D Perception in Robotics, 2011.

N. Bergström, C-H. Ek, M. Björkman and D. Kragic, "Scene understanding through autonomous interactive perception",
Computer Vision Systems, 153-162, 2011.

M. Björkman and D. Kragic, ``Active 3D Segmentation through Fixation of Previously Unseen Objects'',
in British Machine Vision Conference (BMVC), Aberystwyth, UK, September 2010. (pdf)

J. Bohg, M. Johnson-Roberson, M. Björkman and D. Kragic, ``Strategies for Multi-Modal Scene Exploration'',
in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10), Taipei, Taiwan, October 2010. (pdf)

M. Johnson-Roberson, J. Bohg, M. Björkman and D. Kragic, ``Attention based Active 3D Point Cloud Segmentation'',
in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10), Taipei, Taiwan, October 2010. (pdf)

X. Gratal, J. Bohg, M. Björkman and D. Kragic, ``Scene Representation and Object Grasping Using Active Vision''
in IROS'10 Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics, Taipei, Taiwan, 2010. (pdf)

M. Björkman, D. Kragic, ``Active 3D scene segmentation and detection of unknown objects'',
in IEEE International Conference on Robotics and Automation, Anchorage, USA, 2010. (pdf)

B. Rasolzadeh, M. Björkman, K. Huebner, D. Kragic, ``An active vision system for detecting, fixating and manipulating objects in real world'',
International Journal of Robotics Research, Volume 29, Number 2-3, 2010. (pdf)

K. Huebner, M. Björkman, B. Rasolzadeh, M. Schmidt and D. Kragic, ``Integration of Visual and Shape Attributes for Object Action Complexes'',
in International Conference on Computer Vision Systems, ICVS'08, pp. 13-22, Santorini, Greece, May 2008. (pdf)

M. Björkman and J-O. Eklundh, ``Vision in the Real World: Finding, Attending and Recognizing Objects'',
International Journal of Imaging Systems and Technology, 16(5), pp. 189-209, 2006. (pdf)

P. Jensfelt, D. Kragic, J. Folkesson and M. Björkman, ``A Framework for Vision Based Bearing Only 3D SLAM'',
in IEEE International Conference on Robotics and Automation, ICRA'06, Orlando, USA, pp. 1944-1950, May 2006. (pdf)

B. Rasolzadeh, M. Björkman and J-O. Eklundh, ``An attentional system combining top-down and bottom-up influences'',
International Cognitive Vision Workshop (ICVW), ECCV'06, 2006. (pdf)

A. Tavakoli Targhi, M. Björkman and E. Hayman, ``Real-time texture detection using the LU-transform'',
Workshop on Computation Intensive Methods for Computer Vision (CIMCV), ECCV'06, 2006. (pdf)

D. Kragic and M. Björkman, ``Strategies for object manipulation using foveal and peripheral vision'',
in International Conference on Computer Vision Systems, ICVS'06, New York, USA, 2006. (pdf)

M. Björkman and J-O. Eklundh, ``Foveated Figure-Ground Segmentation and Its Role in Recognition'',
British Machine Vision Conference, Sep 2005. (pdf)

D. Kragic, M. Björkman, H.I. Christensen and J-O. Eklundh, ``Vision for Robotic Object Manipulation in Domestic Settings'',
Robotics and Autonomous Systems, Volume 52, Issue 1, pp. 85-100, July 2005. (pdf)

J-O. Eklundh and M. Björkman, ``Recognition of Objects in the Real World from a Systems Perspective'',
Kuenstliche Intelligenz, 19(2), pp. 12-17, 2005. (pdf)

M. Björkman and J-O. Eklundh, ``Attending, Foveating and Recognizing Objects in Real World Scenes'',
British Machine Vision Conference, Sep 2004. (pdf)

D. Kragic, M. Björkman H.I. Christensen and J-O. Eklundh, ``Issues and Strategies for Robotic Object Manipulation in Domestic Settings'',
Workshop on Advances in Robot Vision: From Domestic Environments to Medical Applications, IROS'04, 2004. (pdf)

M. Björkman and D. Kragic, ``Combination of Foveal and Peripheral Vision for Object Recognition and Pose Estimation'',
International Conference on Robotics and Automation, Apr 2004. (pdf)

M. Björkman, ``Real-Time Motion and Stereo Cues for Active Visual Observers'',
doctoral dissertation, ISRN KTH/NA/P--02/13--SE, NADA, Royal Institute of Technology, Jun 2002. (pdf)

M. Björkman and J-O. Eklundh, ``Real-Time Epipolar Geometry Estimation of Binocular Stereo Heads'',
IEEE Trans. Pattern Analysis and Machine Intelligence 24(3), pp. 425-432, Mar 2002. (postscript)

M. Björkman and J-O. Eklundh, ``Visual Cues for a Fixating Active Agent'',
in Proc. Robot Vision 2001, (Auckland, New Zealand), Feb 2001. (postscript)

M. Björkman and J-O. Eklundh, ``A Real-Time System for Epipolar Geometry and Ego-Motion Estimation'',
in Proc. IEEE Computer Vision and Pattern Recognition, vol. 2, (Hilton Head, SC), pp. 506--513, Jun 2000. (postscript)

M. Björkman and J-O. Eklundh, ``Dynamic Fixation in an Active Visual Agent'',
Tech. Report ISRN KTH/NA/P-00/09-SE, NADA, Royal Institute of Technology, Mar 2000. (postscript)

M. Björkman and J-O. Eklundh, ``Real-Time Epipolar Geometry Estimation and Disparity'',
in Proc. International Conference on Computer Vision, (Kerkyra, Greece), pp. 234--141, Sep 1999. (postscript)

F. Dahlgren, P. Stenström and M. Björkman, ``Reducing the Read-Miss Penalty for Flat COMA Protocols'',
The Computer Journal 40(4), pp. 208-219, 1997. (postscript)

M. Björkman, F. Dahlgren and P. Stenström, ``Using Hints to Reduce the Read Miss Penalty for Flat COMA Protocols'',
in Proc. of the 28th Hawaii International Conference on System Sciences, pp. 242-251, 1995. (postscript)


/ Celebrandil of Phenomena (ex-Fairlight, ex-North Star)