• M. Greenspan, L. Xu, J. Chau, “Detection By Registration”, to appear in IntelliSys 2017: IEEE Intelligent Systems Conference, London, England, 7-8 September 2017.
  • M. Mohamad, M. T. Ahmed, D. Rappaport, and M. Greenspan, “SUPER Generalized
    4PCS Algorithm for 3D Registration”, International Conference on 3D
    Vision (3DV), Lyon, France, October 2015.
  • E. Deretey, M. T. Ahmed, J. A. Marshall, and M. Greenspan, “Visual indoor
    positioning using a single camera”, Proceedings of the 6th International Conference
    on Indoor Positioning and Indoor Navigation (IPIN), Calgary, Canada, October
    2015.
  • Best Vision Paper Award: M. T. Ahmed, M. Mohamad, J. A. Marshall, and
    M. Greenspan, “Registration of noisy point clouds using virtual interest points”, in
    Proceedings of the 12th Conference on Computer and Robot Vision (CRV), Halifax,
    Canada, June 2015.
  • M. Mohamed, D. Rappaport and M. Greenspan, “Generalized 4-Points Congruent Sets for 3D Registration”, accepted in 3DV 2014: 4rd Joint 3DIM/3DPVT Conference, Tokyo, Japan, 8-11 Dec., 2014.
  • Dwaipayan Sinha, Mirza Tahir Ahmed, and M. Greenspan, “Image Retrieval Using Landmark Indexing for Indoor Navigation”, CRV 2014: 11th Conference on Computer and Robot Vision, Montreal, Quebec, Canada, 8-9 May 2014.
  • J. Lam and M. Greenspan, “Unsupervised Shape Matching of Repeatable Segments”, 3DV 2013: 3rd Joint 3DIM/3DPVT Conference, Washington, Seattle, USA, 29 June – 1 July, 2013.
  • M. Mohamed, K. Kusevic, P. Mrstick, D. Rappaport, and M. Greenspan, “Automatic Rail Extraction in Terrestrial and Airborne LiDAR Data”, 3DV 2013: 3rd Joint 3DIM/3DPVT Conference, Washington, Seattle, USA, 29 June – 1 July, 2013.
  • S. Awan, M. Mohamed, K. Kusevic, P. Mrstick, D. Rappaport, and M. Greenspan, “Object Class Recognition in Mobile Urban Lidar Data Using Global Shape Descriptors”, 3DV 2013: 3rd Joint 3DIM/3DPVT Conference, Washington, Seattle, USA, 29 June – 1 July, 2013, pp 350-357.
  • H. Fernando, K. Hughes, G. Szkilnyk, B. Surgenor and M. Greenspan, “Video Event Fault Detection with STVs: Application to a High Speed Assembly Machine”, Transactions of the North American Manufacturing Research Institution of SME, vol. 41, pp. 1-8, June 2013.
  • K. Hughes, V. Grzeda, and M. Greenspan, “Eigenbackground Bootstrapping”, CRV 2013: 10th Conference on Computer and Robot Vision, Regina, Sasketchewan, Canada, 29-31 May, 2013, 8 pages.
  • R. Zhang, W. Gong, A. Yaworksi, and M. Greenspan, “Nonparametric Online Background Generation for Surveillance Video”, ICPR 2012: 21st International Conference on Pattern Recognition, Tsukuba Science City, Japan, 11-15 Nov. 2012.
  • D. Macrini, C. Whiten, R. Laganière, and M. Greenspan, “Probabilistic Shape Parsing for View-Based Object Recognition”, ICPR 2012: 21st International Conference on Pattern Recognition, Tsukuba Science City, Japan, 11-15 Nov. 2012.
  • Y. Ioanou, B. Taati, R. Harrap, and M. Greenspan, “The Difference of Normals as a Multi-scale Operator in Unorganized Point Clouds”, 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT), Zurich, Switzerland, 13- 15 Oct. 2012, pp 501-508.
  • J. Lam and M. Greenspan, “Shape Matching of Repeatable Interest Segments in 3D Point Clouds”, Computer Vision and Pattern Recognition Workshops (CVPRW), Providence, Rhode Island, U.S.A., 16 June 2012, pp 25-32.
  • J. Lam and M. Greenspan, “On the Repeatability of 3D Point Cloud Segmentation Based on Interest Points”, CRV 2012: 9th Conference on Computer and Robot Vision, Toronto, Ontario, Canada, 28-30 May 2012, pp 9-16.
  • L. Shang, M. Ketcheson, J. McLean, J. Lam and M. Greenspan, “Real-time 3D Object Recognition and Tracking Prototype”, 3DIMPVT 2011: The First Joint 3DIM/3DPVT Conference on 3D Imaging, Modeling, Processing, Visualization, and Transmission, Hangzhou, China, May 16-19, 2011.
  • S. Jordan and M. Greenspan, “Projector Optical Distortion Calibration Using Structured Light”, PROCAMS 2010: IEEE International Workshop on Projector- Camera Systems, San Francisco, California, June 18, 2010.
  • J. Lam, K. Kusevic, P. Mrstik, R. Harrap, and M. Greenspan, “Urban Scene Extraction from Mobile Ground Based LiDAR Data”, 3DPVT 2010: Fifth International Sympisium on 3D Data Processing, Visualization, and Transmission, Paris, France, May 17-20, 2010.
  • Y. Ioanou, L. Shang, R. Harrap, and M. Greenspan, “Local Potential Well Space Embedding”, 3DIM 2009: 2009 IEEE Workshop on 3D Digital Imaging and Modeling, Kyoto, Japan, October 3-4, 2009.
  • M. Belshaw and M. Greenspan, “A High Speed Iterative Closest Point Tracker on an FPGA Platform”, 3DIM 2009: 2009 IEEE Workshop on 3D Digital Imaging and Modeling, Kyoto, Japan, October 3-4, 2009.
  • Best Paper Award and Best Student Paper Award: J. Lam and M. Greenspan, “Eye-In-Hand Visual Servoing for Accurate Shooting in Pool Robotics”, CRV 2008: 5th Canadian Conference on Computer and Robot Vision, Windsor, Ontario, Canada, 27-30 May 2008, pp 11-17.
  • J. Lam and M. Greenspan, “An Iterative Algebraic Approach to TCF Matrix Estimation”, IROS 2007: IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems, San Diego, CA, USA, 29 Oct.-2 Nov. 2007, pp 3848-3853.
  • B. Taati and M. Greenspan, “Variable Dimensional Local Shape Descriptors for Object Recognition in Range Data”, 3dRR-07: ICCV ’07 Workshop on 3D Representation for Recognition, Rio de Janeiro, Brazil, 20 Oct. 2007, ISBN 978- 142441631-8, 8 pages.
  • B. Taati, M. Bondy, P. Jasiobedzki, and M. Greenspan, “Automatic Registration for Model Building Using Variable Dimensional Local Shape Descriptors”, 3DIM 2007: The 6th International Conference on 3-D Digital Imaging and Modeling, Montreal, Quebec, Canada, Aug. 21-23, 2007, pp 265-272.
  • L. Shang and M. Greenspan, “Pose Determination by Potential Well Space Embedding”, 3DIM 2007: The 6th International Conference on 3-D Digital Imaging and Modeling, Montreal, Quebec, Canada, Aug. 21-23, 2007, pp 297-304.
  • H. Li and M. Greenspan, “Segmentation and Recognition of Continuous Gestures”, ICIP 2007: the IEEE 2007 International Conference on Image Processing, San Antonio, Texas, Sept. 16-19, 2007.
  • Invited Paper: M. Greenspan, J. Lam, W. Leckie, M. Godard, I. Zaidi, K. Anderson, D. Dupuis, and S. Jordan, “Toward a Competitive Pool Playing Robot: Do We Need Intelligence to Play Pool?”, CIG 2007: IEEE Symposium on Computational Intelligence and Games, Honolulu, Hawaii, 1-5 April 2007, 9 pgs.
  • Invited Paper: M. Greenspan, L.I. Wang, and R.E. Ellis, “Validation and Improved Registration of Bone Segmentation Using Contour Coherency”, EMBC 2006: IEEE 2006 International Conference of the Engineering in Medicine and Biology Society, New York City, New York, USA, 30 Aug. – 3 Sept. 2006, 4 pgs.
  • J. Lam, F. Long, G. Roth, and M. Greenspan, “Determining Shot Accuracy of a Robotic Pool System”, CRV 2006: 3rd Canadian Conference on Computer and Robot Vision, Quebec City, Quebec, Canada, 7-9 June 2006, 8 pgs.
  • W. Leckie and M. Greenspan, “Monte Carlo Methods in Pool Strategy Game Trees”, 5th International Conference on Computers and Games, Torino, Italy, 29- 31 May, 2006, 12 pgs.
  • H. Li and M. Greenspan, “Multi-Scale Gesture Recognition from Time-Varying Contours”, ICCV 2005: Proc. International Conference on Computer Vision, vol 1, Beijing , China , 2005, pp 236-243.
  • H. Li and M. Greenspan, “Continuous Time-Varying Gesture Segmentation by Dynamic Time Warping of Compound Gesture Models”, HAREM 2005: International Workshop on Human Activity Recognition and Modelling, Oxford , U.K. , 9 Sept. 2005, pp 35-42.
  • B. Taati and M. Greenspan, “Satellite Pose Acquisition and Tracking with Variable Dimensional Local Shape Descriptors”, IEEE/RSJ IROS Workshop on Robot Vision for Space Applications, Edmonton , Canada , 5 Aug. 2005, pp 4-9.
  • L. Shang, P. Jasiobedzki, and M. Greenspan, “Discrete Pose Space Estimation to Improve ICP- Based Tracking”, Proc. 5th International Conference on Three Dimensional Imaging and Modeling, Ottawa, Canada, 13-16 June 2005, pp 523- 530.
  • F. Long, J. Herland, M.-C. Tessier, D. Naulls, A. Roth, G. Roth, and M. Greenspan, “Robotic Pool: An Experiment in Automatic Potting”, IROS’04: IEEE/RSJ International Conference on Intelligent Robotics and Systems, vol. 3, Sendai, Japan, 28 Sept. – 2 Oct. 2004, pp 2520-2525.
  • M. Greenspan, L. Shang and P. Jasiobedzki, “Efficient Tracking with the Bounded Hough Transform”, CVPR04: IEEE Computer Society International Conference on Computer Vision and Pattern Recognition, vol. 1, Washington D.C., 27 June – 2 July 2004, pp 520-527.
  • G. Yang, M. Bondy, M. Greenspan, P. Jasiobedzki, and M. Doyon, “On-Orbit Safety Monitoring System – Development and Applications”, RoManSy 2004, 15th CISM IFToMM Symposium on Robot Design, Dynamics and Control, Montreal, Canada, June 14-18, 2004.
  • M. Greenspan and M. Yurick, “An Approximate K-D Tree Search for Efficient ICP”, 3DIM03: 4th International Conference on 3-D Digital Imaging and Modeling, Banff , Alberta , Canada , Oct. 6-10, 2003.
  • M. Greenspan and I. Fraser, “Tracking a Sphere Dipole”, Vision Interface 2003, Halifax , Nova Scotia , Canada , June 11-13, 2003, pp 154-161.
  • M. Greenspan and P. Jasiobedzki, “Pose Determination of a Free-Flying Satellite”, CISST2002: the 2002 International Conference on Imaging Science, Systems, and Technology, Las Vegas , USA , June 24-27, 2002. pp 62-67.
  • C. Shu, M. Greenspan, G. Godin, “Nearest Neighbor Search Through Function Minimization”, 13th Canadian Conference on Computational Geometry, Waterloo , Canada , August 2001, pp 157- 160.
  • M. Greenspan and G. Godin, “A Nearest Neighbor Method for Efficient ICP”, 3DIM’01 : 3rd International Conference on 3-D Digital Imaging and Modeling, Quebec City, Quebec, Canada, May 28-June 1, 2001, pp 161-168.
  • C. Langis, M. Greenspan and G. Godin, “The Parallel Iterative Closest Point Algorithm”, 3DIM’01 : 3rd International Conference on 3-D Digital Imaging and Modeling, Quebec City, Quebec, Canada, May 28-June 1, 2001, pp 195-202.
  • M. Greenspan, G. Godin, and J. Talbot, “Acceleration of Binning Nearest Neighbor Methods”, Vision Interface 2000, Montreal , Quebec , Canada , May 14-17, 2000.
  • M. Rioux, F. Blais, A.B.Beraldin, G. Godin, P. Boulanger and M. Greenspan, “Beyond Range Sensing: XYZ-RGB Digitizing and Modeling”, ICRA 2000: Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, April 2000, pp 111-115.
  • M. Greenspan and P. Boulanger, “Efficient and Reliable Template Set Matching for 3D Object Recognition”, 3DIM’99 : 2nd International Conference on 3-D Digital Imaging and Modeling, Ottawa, Canada, Oct. 4-8, 1999, pp 230-239.
  • D.G. Lamb, D.L. Baird and M. Greenspan, “An Automation System for Industrial 3-D Laser Digitizing”, 3DIM’99 : 2nd International Conference on 3-D Digital Imaging and Modeling, Ottawa, Canada, Oct. 4-8, 1999, pp 148-157.
  • M. Greenspan., “The Sample Tree: A Sequential Hypothesis Testing Approach to 3D Object Recognition”, CVPR98 : Computer Vision and Pattern Recognition 98, Santa Barbara , CA., June 23-25, 1998, pp 772-779.
  • M. Greenspan, “A Decision Tree Classifier for Object Recognition in Range Imagery”, Vision Interface 98, Vancouver , B.C., June 17-20, 1998, pp 181-188.
  • M. Greenspan, J. Ballantyne, and M.G. Lipsett, “Sticky and Slippery Collision Avoidance for Tele- Excavation”, IROS97 : IEEE/RSJ International Conference on Intelligent Robots and Systems, Grenoble , France , September 7-11, 1997, pp 1666-1671.
  • J. Ballantyne, M. Greenspan, and M.G. Lipsett, “Virtual Environments for Remote Operations”, ANS 7th Topical Meeting on Robotics and Remote Systems, Augusta , GE. April 27 – May 1, 1997.
  • E. Gagnon, J.-F. Rivest, M. Greenspan, and N. Burtnyk, “A Computer Assisted Range Image Registration System for Nuclear Waste Cleanup”, IMTC/96 Joint Conference : IEEE Instrumentation & Measurement Conference & IMEKO Technical Committee 7, Brussels , Belgium , June 4-6, 1996.
  • M. Easter, D. Johnston , and M. Greenspan, “Realtime Collision Prediction on a Machine Tool”, 1996 CSME Forum – Engineering Applications of Mechanics, Hamilton , Ontario , May 1-9 1996.
  • M. Greenspan and N. Burtnyk, “Obstacle Count Independent Real-Time Collision Avoidance”, ICRA96: 1996 IEEE International Conference on Robotics and Automation, vol 2, April 22-29, Minneapolis , 1996, pp 1073-1080.
  • M. Greenspan, M.G. Lipsett, J. Ballantyne, P. Renton, E. Gagnon, and N. Burtnyk, “Laser Range Vision for Tele-Excavation”, 1995 Robotics and Knowledge Based Systems Workshop, Montreal, Quebec, Oct. 15-18, 1995.
  • P. Renton, M. Greenspan, N. Burtnyk, and H. ElMaraghy, “Scan-n-Plan : Collision-Free Autonomous Workspace Exploration”, 1995 Robotics and Knowledge Based Systems Workshop, Montreal , Quebec , Oct. 15-18, 1995.
  • N. Burtnyk and M. Greenspan, “Multiple View Registration of Range Data Using Signature Search”, American Nuclear Society Sixth Topical Meeting on Robotics and Remote Systems, Monterey , CA. Feb. 5- 10, 1995.
  • N. Burtnyk and M. Greenspan, “Signature Search Method for 3-D Pose Refinement with Range Data”, 1994 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Las Vegas , NV . Oct 2-5, 1994.
  • M. Greenspan and D. Johnston , “Collision Avoidance – A Component for Automated Manufacturing”, MAPLE 93 Symposium on Manufacturing Application Programming, Ottawa, Ont., Oct.4-5 1993. pp 127-133.
  • N. Burtnyk and M. Greenspan, “Supervised autonomy – Partitioning Telerobotic Responsibilities Between Human and Machine”, International Conference on Intelligent Teleoperation, Greensboro, NC . November 6-7, 1991, pp 34-42.