First International Workshop on Computer Vision for Human-Robot Interaction (CVforHRI 2010)

held in conjunction with the IEEE Conference on Computer Vision and Pattern Recognition 2010

For robots in human-populated environments, computer vision and human-robot interaction (HRI) can be highly complementary pursuits. Capable computer vision algorithms for tasks such as person detection, pose estimation, scene understanding or object recognition can facilitate a wide array of HRI systems which have only been teleoperated in the past. On the other hand, HRI tasks can elucidate the important features of computer vision algorithms, use human interaction to improve algorithm performance, and give those algorithms a larger context. Human-robot cooperation can even simplify computer vision tasks by improving viewing conditions.

This half-day workshop will bring together researchers in the computer vision and HRI communities to share information about the state-of-the-art in each discipline, as well as discuss future directions of collaboration.

Workshop Schedule - June 14, 2010 (2:00pm-6:00pm)

  • 2:00-2:15 Opening remarks
  • 2:15-3:00 Invited talk: Maja Mataric, University of Southern California (USC), "Perceptual Challenges in Social Monitoring for Human-Robot Interaction: Vision and Beyond"
  • 3:00-3:15 Paper 1: Appearance-based Object Reacquisition for Mobile Manipulation (M. Walter, Y. Friedman, M. Antone, S. Teller)
  • 3:15-3:30 Paper 2: A Graphical Model for Unifying Tracking and Classification within a Multimodal Human-Robot Interaction Scenario (T. Rehrl, J. Gast, N. Theißing, A. Bannat, D. Arsic, F. Wallhoff, G. Rigoll, C. Mayer, B. Radig)
  • 3:30-4:00 Coffee break
  • 4:00-4:15 Paper 3: Integrating Vision for Human-Robot Interaction (B. Fransen, W. Lawson, M. Bugajska)
  • 4:15-4:30 Paper 4: Viewing Direction Estimation Based on 3D Eyeball Construction for HRI (M. Reale, T. Hung, L. Yin)
  • 4:30-4:45 Paper 5: Single Snapshot-Based 3D Head Pose Initialization for Tracking in an HRI Scenario (F. Dornaika, B. Raducanu)
  • 4:45-5:30 Invited talk: Greg Mori, Simon Fraser University, Canada, "Recognizing Human Actions and Face Engagement for Human-Robot Interaction"
  • 5:30-6:00 Panel discussion

Call For Papers

Papers should present high-quality research in computer vision techniques aimed at enabling human-robot interactions, or high-quality HRI research that makes use of state-of-the-art computer vision algorithms. Survey papers which include both computer vision and HRI literature are also welcome. Preference will be given to papers that address interaction as opposed to passive observation. We encourage algorithms that can be implemented on a robot or otherwise mobile platforms. We welcome multi-modal algorithms that combine camera information with other robot sensors.

Areas of interest include (but are not limited to):

  • Person detection as applied to HRI
  • Person tracking and prediction (e.g., whole body, head, gaze, etc.) as applied to HRI
  • Person identification as applied to HRI
  • Human state detection (e.g., engagement, emotion, attention, etc.) as applied to HRI
  • Human activity recognition as applied to HRI
  • Human pose estimation as applied to HRI
  • Human gesture recognition as applied to HRI
  • Object recognition in an HRI context
  • Scene understanding in an HRI context
  • HRI systems which use state-of-the-art techniques in any of the above areas
  • HRI systems which attempt to improve performance in any of the above areas through human-robot cooperation

Submit papers in CVPR format to (If you have problems with the previous address, please send your submission to pantofaru AT willowgarage DOT com.) Note that the CVPR policies on submissions also apply to this workshop, except there are no charges for extra pages.


Important Dates

Paper submission:  March 23, 2010. 23:59 PST 
Acceptance notification: April 6, 2010
Camera-ready submission: April 13, 2010
Workshop: June 14, 2010 (afternoon)


Caroline Pantofaru
Research Scientist, Willow Garage Inc.

Leila Takayama
Research Scientist, Willow Garage Inc.

Rainer Stiefelhagen
Prof. Dr.-Ing, Karlsruhe Institute of Technology & Fraunhofer

Gary Bradski
Senior Research Scientist, Willow Garage Inc. & Stanford University

Program Committee

Maurice Chu, PARC
Trevor Darrell, UC Berkeley
David Krum, USC
Johnny Lee, Microsoft Research
Louis-Philipe Morency, USC
Greg Mori, Simon Fraser University
Radu Bogdan Rusu, Willow Garage
Fernando de la Torre, CMU
John Tsotsos, York University
Tomas Simon, CMU
Alexander Andreopoulos, York University




Researchers working at the intersection of computer vision and human-robot interaction.


A half-day workshop to discuss current work on CV for HRI, initiate collaborations, and learn from best practices.


June 14, 2010 (afternoon)


CVPR 2010, San Francisco, CA