Per-Erik Forssén

Senior Associate Professor

My research interests are in visual perception and perceptual learning for robots. Current work includes uncertainty representation, vision for action, and continuous-time modelling of 3D motion.

• Recent preprints
• Conference papers
• Journal papers
• Proceedings (editor)
• Book chapters
• Reports
• Preprints
• In compilation thesis
• PhD theses
• Licentiate theses
• Student theses

Publication list

Recent preprints

Ziliang Xiong, Shipeng Liu, Nathaniel Helgesen, Joakim Johnander, Per-Erik Forssen, CATPlan: Loss-based Collision Prediction in End-to-End Autonomous Driving (2025)  https://arxiv.org/abs/2503.07425

Emil Brissman, Per-Erik Forssén, Johan Edstedt, Camera Calibration without Camera Access – A Robust Validation Technique for Extended PnP Methods (2023)  https://arxiv.org/abs/2302.06949

Yushan Zhang, Johan Edstedt, Bastian Wandt, Per-Erik Forssén, Maria Magnusson, Michael Felsberg, GMSF: Global Matching Scene Flow (2023)  https://arxiv.org/abs/2305.17432

Zahra Gharaee, Felix Järemo Lawin, Per-Erik Forssén, Self-supervised learning of object pose estimation using keypoint prediction (2023)  https://arxiv.org/abs/2302.07360

Ziliang Xiong, Arvi Jonnarth, Abdelrahman Eldesokey, Joakim Johnander, Bastian Wandt, Per-Erik Forssen, Hinge-Wasserstein: Estimating Multimodal Aleatoric Uncertainty in Regression Tasks (2023)  https://arxiv.org/abs/2306.00560

Conference papers

2024

Emmanuele Barberi, Filippo Cucinotta, Per-Erik Forssén, Marcello Raffaele, Fabio Salmeri,  A Differential Entropy-Based Method for Reverse Engineering Quality Assessment, DESIGN TOOLS AND METHODS IN INDUSTRIAL ENGINEERING III, VOL 2, ADM 2023, Lecture Notes in Mechanical Engineering, pp. 451-458, SPRINGER INTERNATIONAL PUBLISHING AG (2024)  https://doi.org/10.1007/978-3-031-58094-9_50

Ziliang Xiong, Arvi Jonnarth, Abdelrahman Eldesokey, Joakim Johnander, Bastian Wandt, Per-Erik Forssén,  Hinge-Wasserstein: Estimating Multimodal Aleatoric Uncertainty in Regression Tasks, IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), pp. 3471-3480, IEEE (2024)  https://doi.org/10.1109/cvprw63382.2024.00351

2023

Emil Brissman, Per-Erik Forssén, Johan Edstedt,  Camera Calibration Without Camera Access - A Robust Validation Technique for Extended PnP Methods, , Gade, R., Felsberg, M., Kämäräinen, JK (eds.), Lecture Notes in Computer Science, pp. 34-49 (2023)  https://doi.org/10.1007/978-3-031-31435-3_3

Emmanuele Barberi, Filippo Cucinotta, Per-Erik Forssén, Marcello Raffaele, Fabio Salmeri,  A differential entropy-based method for reverse engineering quality assessment, (2023)

Yushan Zhang, Johan Edstedt, Bastian Wandt, Per-Erik Forssén, Maria Magnusson, Michael Felsberg,  GMSF: Global Matching Scene Flow, ADVANCES IN NEURAL INFORMATION PROCESSING SYSTEMS 36 (NEURIPS 2023), Advances in Neural Information Processing Systems, NEURAL INFORMATION PROCESSING SYSTEMS (NIPS) (2023)

2021

Mikael Persson, Per-Erik Forssén,  Independently Moving Object Trajectories from Sequential Hierarchical Ransac, VISAPP: PROCEEDINGS OF THE 16TH INTERNATIONAL JOINT CONFERENCE ON COMPUTER VISION, IMAGING AND COMPUTER GRAPHICS THEORY AND APPLICATIONS - VOL. 5: VISAPP, pp. 722-731, SCITEPRESS (2021)  https://doi.org/10.5220/0010253407220731

Mikael Persson, Gustav Häger, Hannes Ovrén, Per-Erik Forssén,  Practical Pose Trajectory Splines With Explicit Regularization, 2021 INTERNATIONAL CONFERENCE ON 3D VISION (3DV 2021), International Conference on 3D Vision, pp. 156-165, Institute of Electrical and Electronics Engineers (IEEE) (2021)  https://doi.org/10.1109/3DV53792.2021.00026

2020

Felix Järemo-Lawin, Per-Erik Forssén,  Registration Loss Learning for Deep Probabilistic Point Set Registration, 2020 International Conference on 3D Vision (3DV), International Conference on 3D Vision, pp. 563-572, IEEE (2020)  https://doi.org/10.1109/3DV50981.2020.00066  https://arxiv.org/pdf/2011.02229.pdf

2018

Felix Järemo Lawin, Martin Danelljan, Fahad Shahbaz Khan, Per-Erik Forssén, Michael Felsberg,  Density Adaptive Point Set Registration, 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, IEEE Conference on Computer Vision and Pattern Recognition, pp. 3829-3837, IEEE (2018)  https://doi.org/10.1109/CVPR.2018.00403

Hannes Ovrén, Per-Erik Forssén,  Spline Error Weighting for Robust Visual-Inertial Fusion, 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, Computer Vision and Pattern Recognition, pp. 321-329 (2018)  https://doi.org/10.1109/CVPR.2018.00041

2017

Gabriel Eilertsen, Per-Erik Forssén, Jonas Unger,  BriefMatch: Dense binary feature matching for real-time optical flow estimation, Proceedings of the Scandinavian Conference on Image Analysis (SCIA17), Puneet Sharma, Filippo Maria Bianchi (eds.), Lecture Notes in Computer Science, pp. 221-233, Springer (2017)  https://doi.org/10.1007/978-3-319-59126-1_19

Jens Ogniewski, Per-Erik Forssén,  Pushing the Limits for View Prediction in Video Coding, PROCEEDINGS OF THE 12TH INTERNATIONAL JOINT CONFERENCE ON COMPUTER VISION, IMAGING AND COMPUTER GRAPHICS THEORY AND APPLICATIONS (VISIGRAPP 2017), VOL 4, pp. 68-76, SCITEPRESS (2017)  https://doi.org/10.5220/0006131500680076

Jens Ogniewski, Per-Erik Forssén,  What is the best depth-map compression for Depth Image Based Rendering?, Computer Analysis of Images and Patterns, Michael Felsberg, Anders Heyden and Norbert Krüger (eds.), Lecture Notes in Computer Science, pp. 403-415, Springer (2017)  https://doi.org/10.1007/978-3-319-64698-5_34

Marcus Wallenberg, Per-Erik Forssen,  Attentional Masking for Pre-trained Deep Networks, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS17), pp. 6149-6154, Institute of Electrical and Electronics Engineers (IEEE) (2017)  https://doi.org/10.1109/IROS.2017.8206516

2016

Felix Järemo-Lawin, Per-Erik Forssén, Hannes Ovrén,  Efficient Multi-frequency Phase Unwrapping Using Kernel Density Estimation, Computer Vision – ECCV 2016 14th European Conference, Amsterdam, The Netherlands, October 11–14, 2016, Proceedings, Part IV, Bastian Leibe, Jiri MatasNicu Sebe and Max Welling (eds.), Lecture Notes in Computer Science, pp. 170-185, Springer (2016)  https://doi.org/10.1007/978-3-319-46493-0_11

Marcus Wallenberg, Per-Erik Forssén,  Improving Random Forests by Correlation-Enhancing Projections and Sample-Based Sparse Discriminant Selection, Proceedings 13th Conference on Computer and Robot Vision CRV 2016, pp. 222-227, Institute of Electrical and Electronics Engineers (IEEE) (2016)  https://doi.org/10.1109/CRV.2016.20

2015

Hannes Ovrén, Per-Erik Forssén,  Gyroscope-based video stabilisation with auto-calibration, 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE International Conference on Robotics and Automation ICRA, pp. 2090-2097 (2015)  https://doi.org/10.1109/ICRA.2015.7139474

2014

Erik Ringaby, Per-Erik Forssén,  A Virtual Tripod for Hand-held Video Stacking on Smartphones, 2014 IEEE INTERNATIONAL CONFERENCE ON COMPUTATIONAL PHOTOGRAPHY (ICCP), IEEE International Conference on Computational Photography, IEEE (2014)  https://doi.org/10.1109/ICCPHOT.2014.6831799

Martin Lesmana, Axel Landgren, Per-Erik Forssén, Dinesh K. Pai,  Active Gaze Stabilization, Proceedings of the 2014 Indian Conference on Computer Vision Graphics and Image Processing, A. G. Ramakrishnan (ed.), pp. 81:1-81:8, ACM Digital Library (2014)  https://doi.org/10.1145/2683483.2683565

2013

Hannes Ovrén, Per-Erik Forssén, David Törnqvist,  Why Would I Want a Gyroscope on my RGB-D Sensor?, Proceedings of 2013 IEEE Workshop on Robot Vision (WORV), pp. 68-75, IEEE (2013)  https://doi.org/10.1109/WORV.2013.6521916

2012

Johan Hedborg, Per-Erik Forssén, Michael Felsberg, Erik Ringaby,  Rolling Shutter Bundle Adjustment, , Computer Vision and Pattern Recognition, pp. 1434-1441, IEEE Computer Society; 1999 (2012)  https://doi.org/10.1109/CVPR.2012.6247831

Marcus Wallenberg, Per-Erik Forssén,  Teaching Stereo Perception to YOUR Robot, Proceedings of 23rd British Machine Vision Conference, pp. 1-12, University of Surrey, UK (2012)  https://doi.org/10.5244/C.26.29

2011

David Sandberg, Per-Erik Forssén, Jens Ogniewski,  Model-Based Video Coding using Colour and Depth Cameras, Digital Image Computing, pp. 158-163, IEEE (2011)  https://doi.org/10.1109/DICTA.2011.33

Erik Ringaby, Per-Erik Forssén,  Rectifying rolling shutter video from hand-held devices, Proceedings SSBA´11 Symposium on Image Analysis (2011)

Erik Ringaby, Per-Erik Forssén,  Scan Rectification for Structured Light Range Sensors with Rolling Shutters, IEEE International Conference on Computer Vision, International Conference on Computer Vision (ICCV), pp. 1575-1582, Barcelona Spain (2011)  https://doi.org/10.1109/ICCV.2011.6126417

Gustav Hanning, Nicklas Forslöw, Per-Erik Forssén, Erik Ringaby, David Törnqvist, Jonas Callmer,  Stabilizing Cell Phone Video using Inertial Measurement Sensors, The Second IEEE International Workshop on Mobile Vision, pp. 1-8, Barcelona Spain (2011)  https://doi.org/10.1109/ICCVW.2011.6130215

Johan Hedborg, Erik Ringaby, Per-Erik Forssén, Michael Felsberg,  Structure and Motion Estimation from Rolling Shutter Video, IEEE International Conference onComputer Vision Workshops (ICCV Workshops), 2011, pp. 17-23, IEEE Xplore (2011)  https://doi.org/10.1109/ICCVW.2011.6130217

Marcus Wallenberg, Michael Felsberg, Per-Erik Forssén, Babette Dellen,  Channel Coding for Joint Colour and Depth Segmentation, Proceedings of  Pattern Recognition 33rd DAGM Symposium, Frankfurt/Main, Germany, August 31 - September 2, Rudolf Mester and Michael Felsberg (ed.), Lecture Notes in Computer Science, pp. 306-315, Springer (2011)  https://doi.org/10.1007/978-3-642-23123-0_31

Marcus Wallenberg, Michael Felsberg, Per-Erik Forssén, Babette Dellen,  Leaf Segmentation using the Kinect, Proceedings of SSBA 2011 Symposium on Image Analysis (2011)

2010

Per-Erik Forssén, Erik Ringaby,  Rectifying rolling shutter video from hand-held devices, IEEE  Conference on  Computer Vision and Pattern Recognition (CVPR), 2010, pp. 507-514, IEEE Computer Society, Los Alamitos, CA, USA (2010)  https://doi.org/10.1109/CVPR.2010.5540173

Erik Ringaby, Jörgen Ahlberg, Per-Erik Forssén, Niclas Wadströmer,  Co-alignmnent of Aerial Push-broom Strips using Trajectory Smoothness Constraints, , pp. 63-66, Swedish Society for automated image analysis (2010)

Erik Ringaby, Jörgen Ahlberg, Niclas Wadströmer, Per-Erik Forssén,  Co-aligning Aerial Hyperspectral Push-broom Strips for Change Detection, Proc. SPIE 7835, Electro-Optical Remote Sensing, Photonic Technologies, and Applications IV, Gary W. Kamerman; Ove Steinvall; Keith L. Lewis; Richard C. Hollins; Thomas J. Merlet; Gary J. Bishop; John D. Gonglewski (ed.), Proceedings Spie, p. Art.nr. 7835B-36, SPIE - International Society for Optical Engineering (2010)  https://doi.org/10.1117/12.865034

Marcus Wallenberg, Per-Erik Forssén,  A Research Platform for Embodied Visual Object Recognition, Proceedings of SSBA 2010 Symposium on Image Analysis, Hendriks Luengo and Milan Gavrilovic (ed.), Centre for Image Analysis Report Series, pp. 137-140 (2010)

2009

Fredrik Larsson, Per-Erik Forssén, Michael Felsberg,  Using Fourier descriptors for local region matching, SSBA (2009)

Fredrik Larsson, Michael Felsberg, Per-Erik Forssén,  Patch Contour Matching by Correlating Fourier Descriptors, Digital Image Computing: Techniques and Applications (DICTA), pp. 40-46, IEEE Computer Society (2009)  https://doi.org/10.1109/DICTA.2009.17

Fredrik Viksten, Per-Erik Forssén, Björn Johansson, Anders Moe,  Comparison of Local Image Descriptors for Full 6 Degree-of-Freedom Pose Estimation, IEEE ICRA, 2009, pp. 2779-2786, IEEE Robotics and Automation Society, Kobe (2009)  https://doi.org/10.1109/ROBOT.2009.5152360

Johan Hedborg, Per-Erik Forssén,  Fast and Accurate Ego-Motion Estimation (2009)

Johan Hedborg, Per-Erik Forssén, Michael Felsberg,  Fast and Accurate Structure and Motion Estimation, International Symposium on Visual Computing, George Bebis, Richard Boyle, Bahram Parvin, Darko Koracin, Yoshinori Kuno, Junxian Wang, Jun-Xuan Wang, Junxian Wang, Renato Pajarola and Peter Lindstrom et al. (eds.), Lecture Notes in Computer Science, pp. 211-222, Springer-Verlag, Berlin Heidelberg (2009)  https://doi.org/10.1007/978-3-642-10331-5_20

2008

Per-Erik Forssén, David Meger, Kevin Lai, Scott Helmer, James J. Little, David G. Lowe,  Informed Visual Search, Proceedings - IEEE International Conference on Robotics and Automation, Robotics and Automation, pp. 935-942, IEEE Robotics and Automation Society, Pasadena (2008)  https://doi.org/10.1109/ROBOT.2008.4543325

David Meger, Per-Erik Forssén, Kevin Lai, Scott Helmer, Sancho McCann, Tristram Southey, Matthew Baumann, James J. Little, David G. Lowe,  Curious George, IROS workshop, 2007, Robotics and Autonomous Systems, pp. 503-511, Elsevier, San Diego, CA (2008)  https://doi.org/10.1016/j.robot.2008.03.008

Johan Hedborg, Per-Erik Forssén,  Synthetic Ground Truth for Feature Trackers, Swedish Symposium on Image Analysis 2008 (2008)

2007

Per-Erik Forssén,  Learning Saccadic Gaze Control via Motion Prediction, IEEE Canadian CRV 2007, IEEE Computer Society, Montreal (2007)

Per-Erik Forssén, David G. Lowe,  Maximally Stable Colour Regions for Recognition and Matching, IEEE Computer Society, Minneapolis, USA (2007)

Per-Erik Forssén, David G. Lowe,  Shape Descriptors for Maximally Stable Extremal Regions, IEEE ICCV 2007, IEEE Computer Society, Rio de Janeiro, Brazil (2007)

Per-Erik Forssén, Hagen Spies,  Multiple Motion Estimation using Channel Matrices, International Workshop on Complex Motion IWCM 2004, p. 54, Springer, LNCS 3417 (2007)

Jan-Erik Källhammer, Dick Eriksson, Gösta Granlund, Michael Felsberg, Anders Moe, Björn Johansson, Johan Wiklund, Per-Erik Forssén,  Near Zone Pedestrian Detection using a Low-Resolution FIR Sensor, Intelligent Vehicles Symposium, 2007 IEEE, Intelligent Vehicles Symposium, IEEE, Istanbul, Turkey (2007)  https://doi.org/10.1109/IVS.2007.4290137

Scott Helmer, David Meger, Per-Erik Forssén, Tristram Southey, Sancho McCann, Pooyan Fazli, James J. Little, David G. Lowe,  The UBC Semantic Robot Vision System, AAAI 2007, AAAI Press, Vancouver (2007)

2006

Per-Erik Forssén, Anders Moe,  Autonomous Learning of Object Appearances using Colour Contour Frames, 3rd Canadian Conference on Computer and Robot Vision, CRV06, Québec City, Québec, Canada, pp. 3-3, IEEE Computer Society, Québec, Canada (2006)  https://doi.org/10.1109/CRV.2006.17

Per-Erik Forssén, Björn Johansson, Gösta Granlund,  Channel Associative Networks for Multiple Valued Mappings, 2nd International Cognitive Vision Workshop, pp. 4-11 (2006)

2005

Michael Felsberg, Per-Erik Forssén, Anders Moe, Gösta Granlund,  A COSPAL Subsystem, AAAI Fall Symposium: From Reactive to Anticipatory Cognitive Embedded Systems, FS-05-05, pp. 65-69, AAAI Press (2005)

2004

Per-Erik Forssén, Anders Moe,  Blobs in Epipolar Geometry, Blobs in Epipolar Geometry 2004, pp. 82-85 (2004)

2003

Per-Erik Forssen,  Channel Smoothing using Integer Arithmetic, Proceedings SSAB03 Symposium on Image Analysis (2003)

Per-Erik Forssén, Gösta Granlund,  Robust multi-scale extraction of blob features, Proceedings or the 13th Scandinavian Conference, SCIA 2003, Josef Bigun and Tomas Gustavsson (ed.), Lecture Notes in Computer Science, pp. 769-769, Springer Berlin/Heidelberg, Berlin, Heidelberg (2003)  https://doi.org/10.1007/3-540-45103-X_3

Hagen Spies, Per-Erik Forssén,  Two-dimensional channel representation for multiple velocities, Proceedings of the 13th Scandinavian Conference of Image Analysis, SCIA 2003, Josef Bigun and Tomas Gustavsson (ed.), Lecture Notes in Computer Science, pp. 356-362, SpringerLink, Berlin, Heidelberg (2003)  https://doi.org/10.1007/3-540-45103-X_49

Hanno Scharr, Michael Felsberg, Per-Erik Forssén,  Noise Adaptive Channel Smoothing of Low-Dose Images, Computer Vision for the Nano-Scale Workshop accompanying CVPR 2003 2003, IEEE Computer Society, Madison (2003)

2002

Per-Erik Forssen,  Successive Recognition using Local State Models, Proceedings SSAB02 Symposium on Image Analysis, pp. 9-12 (2002)

Klas Nordberg, Patrick Doherty, Gunnar Farnebäck, Per-Erik Forssén, Gösta Granlund, Anders Moe, Johan Wiklund,  Vision for a UAV helicopter, International Conference on Intelligent Robots and Systems (IROS), Workshop on Aerial Robotics (2002)

2001

Per-Erik Forssen,  Image Analysis using Soft Histograms, Proceedings of the SSAB Symposium on Image Analysis, pp. 109-112 (2001)

2000

Per-Erik Forssén, Gösta Granlund,  Sparse feature maps in a scale hierarchy, Algebraic Frames for the Perception-Action Cycle, Proceedings Second International Workshop, AFPAC 2000, Gerald Sommer and Yehoshua Y. Zeevi (ed.), Lecture Notes in Computer Science, pp. 186-196, Springer Berlin/Heidelberg, Berlin, Heidelberg (2000)  https://doi.org/10.1007/10722492_13

Journal papers

Simon Kristoffersson Lind, Ziliang Xiong, Per-Erik Forssén, Volker Kruger,  Uncertainty quantification metrics for deep regression, Pattern Recognition Letters 186:91-97 (2024)  https://doi.org/10.1016/j.patrec.2024.09.011  https://arxiv.org/abs/2405.04278

Anderson Tavares, Felix Järemo-Lawin, Per-Erik Forssén,  Assessing Losses for Point Set Registration, IEEE Robotics and Automation Letters 5:3360-3367 (2020)  https://doi.org/10.1109/LRA.2020.2976307

Hannes Ovrén, Per-Erik Forssén,  Trajectory representation and landmark projection for continuous-time structure from motion, The international journal of robotics research 38:686-701 (2019)  https://doi.org/10.1177/0278364919839765

Felix Järemo Lawin, Martin Danelljan, Fahad Shahbaz Khan, Per-Erik Forssén, Michael Felsberg, Density Adaptive Point Set Registration, The IEEE Conference on Computer Vision and Pattern Recognition (CVPR) (2018)  https://arxiv.org/abs/1804.01495

Erik Ringaby, Per-Erik Forssén, Ola Friman, Thomas Olsvik Opsahl, Trym Vegard Haavardsholm, Ingebjørg Kåsen,  Anisotropic Scattered Data Interpolation for Pushbroom Image Rectification, IEEE Transactions on Image Processing 23:2302-2314 (2014)  https://doi.org/10.1109/TIP.2014.2316377

Erik Ringaby, Per-Erik Forssén,  Efficient Video Rectification and Stabilisation for Cell-Phones, International Journal of Computer Vision 96:335-352 (2012)  https://doi.org/10.1007/s11263-011-0465-8

Fredrik Larsson, Michael Felsberg, Per-Erik Forssen,  Correlating Fourier descriptors of local patches for road sign recognition, IET Computer Vision 5:244-254 (2011)  https://doi.org/10.1049/iet-cvi.2010.0040

Marcus Wallenberg, Per-Erik Forssén,  Embodied Object Recognition using Adaptive Target Observations, Cognitive Computation 2:316-325 (2010)  https://doi.org/10.1007/s12559-010-9079-7

Per-Erik Forssen, Anders Moe,  View matching with blob features, Image and Vision Computing 27:99-107 (2009)  https://doi.org/10.1016/j.imavis.2006.10.005

Björn Johansson, Johan Wiklund, Per-Erik Forssén, Gösta Granlund,  Combining shadow detection and simulation for estimation of vehicle size and position, PATTERN RECOGNITION LETTERS 30:751-759 (2009)  https://doi.org/10.1016/j.patrec.2009.03.005

David Meger, Per-Erik Forssén, Kevin Lai, Scott Helmer, Sancho McCann, Tristram Southey, Matthew Baumann, James J. Little, David G. Lowe,  Curious George, Robotics and Autonomous Systems 56:503-511 (2008)

Björn Johansson, Tommy Elfving, Vladimir Kozlov, Y. Censor, Per-Erik Forssén, Gösta Granlund,  The application of an oblique-projected Landweber method to a model of supervised learning, Mathematical and computer modelling 43:892-909 (2006)  https://doi.org/10.1016/j.mcm.2005.12.010

Klas Nordberg, Patrick Doherty, Per-Erik Forssén, Johan Wiklund, Per Andersson,  A flexible runtime system for image processing in a distributed computational environment for an unmanned aerial vehicle, International Journal of Pattern Recognition and Artificial Intelligence 20:763-780 (2006)  https://doi.org/10.1142/S0218001406004867

Luis Merino, Johan Wiklund, Fernando Caballero, Anders Moe, Jose Ramiro Martinez-de Dios, Per-Erik Forssén, Klas Nordberg, Annibal Ollero,  Vision-Based Multi-UAV Position Estimation, IEEE Robotics & Automation Magazine 13:53-62 (2006)  https://doi.org/10.1109/MRA.2006.1678139

Michael Felsberg, P.-E. Forssen, H. Scharr,  Channel smoothing, IEEE Transactions on Pattern Analysis and Machine Intelligence 28:209-222 (2006)  https://doi.org/10.1109/TPAMI.2006.29

Proceedings (editor)

Michael Felsberg, Per-Erik Forssén, Ida-Maria Sintorn, Jonas Unger,  Image Analysis, Image Processing, Computer Vision, Pattern Recognition, and Graphics-11482, Springer (2019)  https://doi.org/10.1007/978-3-030-20205-7

Book chapters

Hannes Ovrén, Per-Erik Forssén, David Törnqvist,  Improving RGB-D Scene Reconstruction using Rolling Shutter Rectification, New Development in Robot Vision, Yu Sun, Aman Behal & Chi-Kit Ronald Chung (eds.), Cognitive Systems Monographs, pp. 55-71, Springer Berlin/Heidelberg (2015)  https://doi.org/10.1007/978-3-662-43859-6_4

Luis Merino, Fernando Caballero, Per-Erik Forssén, Johan Wiklund, Joaquín Ferruz, Jose Ramiro Martinez-de Dios, Anders Moe, Klas Nordberg, Anibal Ollero,  Single and Multi-UAV Relative Position Estimation Based on Natural Landmarks, Advances in Unmanned Aerial Vehicles, Kimon P. Valavanis (ed.), Microprocessor-Based and Intelligent Systems Engineering, pp. 267-307, Springer, Netherlands (2007)  https://doi.org/10.1007/978-1-4020-6114-1_9

Luis Merino, Fernando Caballero, Joaquín Ferruz, Johan Wiklund, Per-Erik Forssen, Anibal Ollero,  Multi-UAV Cooperative Perception Techniques, Multiple Heterogeneous Unmanned Aerial Vehicles, Aníbal Ollero and Ivan Maza (ed.), Springer Tracts in Advanced Robotics, pp. 67-110, Springer, Berlin / Heidelberg (2007)  https://doi.org/10.1007/978-3-540-73958-6_4

Reports

2010

Fredrik Viksten, Per-Erik Forssén,  Maximally Robust Range Regions, LiTH-ISY-R-2961 (2010)

2005

Per-Erik Forssen, Anders Moe,  Contour Descriptors for View-Based Object Recognition, LiTH-ISY-R-2706, Linköping University, Department of Electrical Engineering, Linköping, Sweden (2005)

Per-Erik Forssén, Björn Johansson, Gösta Granlund,  Learning under Perceptual Aliasing, LiTH-ISY-R-2705 (2005)

2004

Per-Erik Forssen, Anders Moe,  Automatic Estimation of Epipolar Geometry from Blob Features, LiTH-ISY-R-2620, Linköping University, Department of Electrical Engineering, Linköping, Sweden (2004)

Michael Felsberg, Per-Erik Forssen, Hanno Scharr,  B-Spline Channel Smoothing for Robust Estimation, LiTH-ISY-R-2579, Linköping University, Department of Electrical Engineering, Linköping, Sweden (2004)

Michael Felsberg, Per-Erik Forssen, Hanno Scharr,  Efficient Robust Smoothing of Low-Level Signal Features, LiTH-ISY-R-2619, Linköping University, Department of Electrical Engineering, Linköping, Sweden (2004)

Michael Felsberg, Hanno Scharr, Per-Erik Forssén,  B-spline channel smoothing for robust estimation , LITH-ISY-R-2579 (2004)

2002

Per-Erik Forssen,  Observations Concerning Reconstructions with Local Support, LiTH-ISY-R-2425, Linköping University, Department of Electrical Engineering, Linköping, Sweden (2002)

Per-Erik Forssen, Gösta Granlund, Johan Wiklund,  Channel Representation of Colour Images, LiTH-ISY-R-2418, Linköping University, Department of Electrical Engineering, Linköping, Sweden (2002)

Gösta Granlund, Per-Erik Forssén, Björn Johansson,  HiperLearn, LiTH-ISY-R-2409 (2002)

Michael Felsberg, Hanno Scharr, Per-Erik Forssen,  The B-Spline Channel Representation: Channel Algebra and Channel Based Diffusion Filtering, LiTH-ISY-R-2461, Linköping University, Department of Electrical Engineering, Linköping, Sweden (2002)

2001

Per-Erik Forssen,  Autonomous Navigation using Active Perception, LiTH-ISY-R-2395, Linköping University, Department of Electrical Engineering, Linköping, Sweden (2001)

Per-Erik Forssen,  Window Matching using Sparse Templates, LiTH-ISY-R-2392, Linköping University, Department of Electrical Engineering, Linköping, Sweden (2001)

2000

Per-Erik Forssen,  Updating Camera Location and Heading using a Sparse Displacement Field, LiTH-ISY-R-2318, Linköping University, Department of Electrical Engineering, Linköping, Sweden (2000)

Per-Erik Forssen, Björn Johansson,  Fractal Coding by Means of Local Feature Histograms, LiTH-ISY-R-2295, Linköping University, Department of Electrical Engineering, Linköping, Sweden (2000)

Preprints

Felix Järemo Lawin, Per-Erik Forssén, Registration Loss Learning for Deep Probabilistic Point Set Registration (2020)  https://arxiv.org/abs/2011.02229

Hannes Ovrén, Per-Erik Forssén, Spline Error Weighting for Robust Visual-Inertial Fusion (2018)  https://arxiv.org/abs/1804.04820

Hannes Ovrén, Per-Erik Forssén, Trajectory Representation and Landmark Projection for Continuous-Time Structure from Motion (2018)  https://arxiv.org/abs/1805.02543

Felix Järemo Lawin, Per-Erik Forssén, Hannes Ovrén, Efficient Multi-Frequency Phase Unwrapping using Kernel Density Estimation (2016)  https://arxiv.org/abs/1608.05209

In compilation thesis

Fredrik Viksten, Per-Erik Forssén, Björn Johansson, Anders Moe,  Local Image Descriptors for Full 6 Degree-of-Freedom Object Pose Estimation and Recognition, , Part of  Local Features for Range and Vision-Based Robotic Automation, Fredrik Viksten, Linköping Studies in Science and Technology. Dissertations 1325, Linköping University Electronic Press, Linköping (2010)

PhD theses

Per-Erik Forssén,  Low and Medium Level Vision Using Channel Representations, Linköping Studies in Science and Technology. Dissertations 858, Linköping University Electronic Press, Linköping (2004)

Licentiate theses

Per-Erik Forssén,  Sparse Representations for Medium Level Vision, Linköping Studies in Science and Technology. Thesis 869, Linköping University Electronic Press, Linköping, Sweden (2001)

Student theses

Per-Erik Forssén,  Detection of Man-made Objects in Satellite Images, LiTH-ISY-Ex 1852 (1997)