Publications

For any copy requests, please contact by email.

Journal articles

  1. Jani Rönkkönen, Xiaodong Li, Ville Kyrki, and Jouni Lampinen.
    A framework for generating tunable test functions for multimodal optimization.
    Soft Computing, 15(9):1689-1706, 2011.
  2. Ville Kyrki and Danica Kragic.
    Tracking rigid objects using integration of model-based and model-free cues.
    Machine Vision and Applications, 22(2):323-335, 2011.
  3. Yasemin Bekiroglu, Janne Laaksonen, Jimmy Jorgensen, Ville Kyrki, and Danica Kragic.
    Assessing grasp stability based on learning and haptic data.
    IEEE Transactions on Robotics, 27(3):616-629, 2011.
  4. Toni Kuparinen and Ville Kyrki.
    Optimal reconstruction of approximate planar surfaces using photometric stereo.
    IEEE Transactions on Pattern Analysis and Machine Intelligence, 31(12):2282-2289, 2009.
  5. Henri Fennander, Ville Kyrki, Anna Fellman, Antti Salminen, and Heikki Kälviäinen.
    Visual measurement and tracking in laser hybrid welding.
    Machine Vision and Applications, 20(2):103-118, Feb 2009.
  6. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos.
    Complementing visual tracking of moving targets by fusion of tactile sensing.
    Robotics and Autonomous Systems, 57(11):1129-1139, November 2009.
  7. Janne Laaksonen and Ville Kyrki.
    Localization in ambiguous environments using multiple weak cues.
    Intelligent Service Robotics, 1:281-288, 2008.
  8. Isabel Serrano Vicente, Ville Kyrki, Danica Kragic, and Martin Larsson.
    Action recognition and understanding through motor primitives.
    Advanced Robotics, 21(15):1687-1707, 2007.
  9. Joni-Kristian Kamarainen, Ville Kyrki, and Heikki Kälviäinen.
    Local and global Gabor features for object recognition.
    Pattern Recognition and Image Analysis, 17(1):93-105, 2007.
  10. Ville Kyrki, Danica Kragic, and Henrik Christensen.
    Measurement errors in visual servoing.
    Robotics and Autonomous Systems, 54(10):815-827, 2006.
  11. Joni-Kristian Kamarainen, Ville Kyrki, and Heikki Kälviäinen.
    Invariance properties of Gabor filter based features - Overview and applications.
    IEEE Transactions on Image Processing, 15(5):1088-1099, 2006.
  12. Ville Kyrki, Joni-Kristian Kamarainen, and Heikki Kälviäinen.
    Simple Gabor feature space for invariant object recognition.
    Pattern Recognition Letters, 25(3):311-318, 2004.
  13. Ville Kyrki, Jani Peusaari, and Heikki Kälviäinen.
    Intermediate level feature extraction in novel parallel environments.
    Machine Vision and Applications, 13(5-6):363-371, 2003.
  14. Joni-Kristian Kamarainen, Ville Kyrki, Jarmo Ilonen, and Heikki Kalviainen.
    Improving similarity measures of histograms using smoothing projections.
    Pattern Recognition Letters, 24(12):2009-2019, 2003.
  15. Ville Kyrki and Heikki Kälviäinen.
    Combination of local and global line extraction.
    Journal of Real-Time Imaging, 6(2):79-91, April 2000.
  16. Pasi Fränti, Alexey Mednonogov, Ville Kyrki, and Heikki Kälviäinen.
    Content-based matching of line-drawing images using the Hough transform.
    International Journal on Document Analysis and Recognition, 3:117-124, 2000.

Conference articles

  1. Julian Schill, Janne Laaksonen, Markus Przybylski, Ville Kyrki, Tamim Asfour, and Rüdiger Dillmann.
    Learning continuous grasp stability for a humanoid robot hand based on tactile sensing.
    In IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 2012.
    To be published.
  2. Ekaterina Nikandrova and Ville Kyrki.
    What do contacts tell about an object?
    In IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 2012.
    To be published.
  3. Marta Lopez Infante and Ville Kyrki.
    Usability of force-based controllers for physical human-robot interaction.
    In ACM/IEEE International Conference on Human-Robot Interaction, Lausanne, Switzerland, March 6-9 2011.
  4. Janne Laaksonen and Ville Kyrki.
    Probabilistic approach to sensor-based grasping.
    In ICRA 2011 Workshop on Manipulation Under Uncertainty, Shanghai, China, 2011.
  5. Jarmo Ilonen and Ville Kyrki.
    Robust robot-camera calibration.
    In International Conference on Advanced Robotics, ICAR 2011, Tallinn, Estonia, June 20-23 2011.
  6. Laura Fernandez Gallardo and Ville Kyrki.
    Detection of parametrized 3-d primitives from stereo for robotic grasping.
    In International Conference on Advanced Robotics, ICAR 2011, Tallinn, Estonia, June 20-23 2011.
  7. Dan Song, Kai Huebner, Ville Kyrki, and Danica Kragic.
    Learning task constraints in robot grasping.
    In 4th International Conference on Cognitive Systems, Cogsys'10, Zurich, Switzerland, January 2010.
    Poster.
  8. Dan Song, Kai Huebner, Ville Kyrki, and Danica Kragic.
    Learning task constraints for robot grasping using graphical models.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, 2010.
  9. Janne Laaksonen, Ville Kyrki, and Danica Kragic.
    Evaluation of feature representation and machine learning methods in grasp stability learning.
    In IEEE International Conference on Humanoid Robots, Nashville, USA, 2010.
  10. Janne Laaksonen, Javier Felip, Antonio Morales, and Ville Kyrki.
    Embodiment independent manipulation through action abstraction.
    In International Conference on Robotics and Automation, Anchorage, Alaska, May 2010.
  11. Yasemin Bekiroglu, Janne Laaksonen, Jimmy Alison Jorgensen, Ville Kyrki, and Danica Kragic.
    Learning grasp stability based on haptic data.
    In RSS 2010 workshop: Representations for object grasping and manipulation in single and dual arm tasks, Zaragoza, Spain, June-July 2010.
  12. Yasemin Bekiroglu, Ville Kyrki, and Danica Kragic.
    Learning grasp stability with tactile data and hmms.
    In IEEE International Symposium on Robot and Human Interactive Communication, ROMAN 2010, Viareggio, Italy, 2010.
  13. Ville Kyrki.
    Control uncertainty in image-based visual servoing.
    In IEEE International Conference in Robotics and Automation, Kobe, Japan, 2009.
  14. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos.
    Online trajectory following with position based force/vision control.
    In International Conference on Advanced Robotics, ICAR 2009, Munich, Germany, 2009.
  15. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos.
    Multi-modal force/vision sensor fusion in 6-dof pose tracking.
    In International Conference on Advanced Robotics, ICAR 2009, Munich, Germany, 2009.
  16. Jani Rönkkönen, Xiaodong Li, Ville Kyrki, and Jouni Lampinen.
    A generator for multimodal test functions with multiple global optima.
    In The Seventh International Conference on Simulated Evolution And Learning (SEAL 08), pages 239-248, Melbourne, Australia, Dec 7-10 2008.
  17. Pekka Paalanen, Ville Kyrki, and Joni-Kristian Kämäräinen.
    Towards monocular on-line 3d reconstruction.
    In ECCV 2008 Workshop on Vision in Action: Efficient strategies for cognitive agents in complex environments, Marseille, France, 2008.
  18. Yong Liu, Heikki Handroos, Olli Alkkiomäki, Ville Kyrki, and Heikki Kälviäinen.
    Development of a hybrid position/force controlled hydraulic parallel robot for impact treatment.
    In 7th International Conference on Machine Automation, ICMA2008, pages 41-47, Awaji, Japan, Sep 24-26 2008.
  19. Ville Kyrki.
    Quaternion representation for similarity transformations in visual slam.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008, pages 2498-2503, Nice, France, Sept 22-26 2008.
  20. Toni Kuparinen, Ville Kyrki, and Pekka Toivanen.
    Measurement noise in photometric stereo based surface reconstruction.
    In International Conference on Computer Vision Theory and Applications, VISAPP 2008, 2008.
  21. Danica Kragic, Javier Romero, Ville Kyrki, and Antonis Argyros.
    Dynamic time warping for binocular hand tracking and reconstruction.
    In IEEE International Conference on Robotics and Automation, ICRA 2008, 2008.
  22. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos.
    Challenges of vision for real-time sensor based control.
    In Canadian Conference on Computer and Robot Vision, CRV 2008, Windsor, Ontario, Canada, May 28-30 2008.
  23. Yong Liu, Heikki Handroos, Olli Alkkiomäki, Ville Kyrki, and Heikki Kälviäinen.
    Tracking of a moving target by combination of force/velocity control based on vision for a hydraulic manipulator.
    In IEEE International Conference on Mechatronics and Automation, ICMA 2007, Harbin, China, August 5-8 2007.
  24. Janne Laaksonen and Ville Kyrki.
    Localization in ambiguous environments using multiple weak cues.
    In International Conference on Advanced Robotics, ICAR 2007, Jeju, Korea, 2007.
  25. Ville Kyrki, Isabel Serrano, Danica Kragic, and Jan-Olof Eklundh.
    Action recognition and understanding using motor primitives.
    In 16th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2007, Jeju, Korea, 2007.
  26. Toni Kuparinen, Ville Kyrki, Jarno Mielikainen, and Pekka Toivanen.
    Paper surface topography using three-light photometric stereo.
    In Machine Vision Applications, MVA 2007, Tokyo, Japan, May 16-18 2007.
  27. Toni Kuparinen, Ville Kyrki, Jarno Mielikainen, and Pekka Toivanen.
    On surface reconstruction from gradient fields.
    In IEEE International Conference on Image Processing, ICIP 2007, 2007.
  28. Olli Alkkiomäki, Ville Kyrki, Yong Liu, Heikki Handroos, and Heikki Kälviäinen.
    Moving camera moving target tracking by integration of vision and encoder data.
    In International Conference on Advanced Robotics, ICAR 2007, Jeju, Korea, 2007.
  29. Ville Kyrki and Danica Kragic.
    Tracking unobservable rotations by cue integration.
    In IEEE International Conference on Robotics and Automation, ICRA 2006, pages 2744-2750, Orlando, USA, May 2006.
  30. Danica Kragic, Ville Kyrki, Patric Jensfelt, and Frank Lingelbach.
    Drawing a parallel: Benchmarking in computer vision and robotics.
    In Benchmarks in Robotics Research, IROS 2006 Workshop, October 2006.
  31. Danica Kragic and Ville Kyrki.
    Initialization and system modeling in 3-d pose tracking.
    In International Conference on Pattern Recognition, pages 643-646, Hong Kong, August 2006.
  32. Anna Fellman, Henri Fennander, Antti Salminen, and Ville Kyrki.
    Using machine vision for observation of phenomena during laser hybrid welding.
    In 25th International Congress on Applications of Lasers and Electro-Optics, Scottsdale, Arizona, USA, 2006.
  33. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos.
    Smooth transition from motion to force control in robotic manipulation using vision.
    In International Conference on Control, Automation, Robotics and Vision, pages 2037-2042, Singapore, December 2006.
  34. Ville Kyrki and Kerstin Schmock.
    Integration methods of model-free features for 3D tracking.
    In Scandinavian Conference on Image Analysis, SCIA 05, pages 557-566, Joensuu, Finland, June 2005.
  35. Ville Kyrki and Danica Kragic.
    Integration of model-based and model-free cues for visual object tracking in 3D.
    In IEEE International Conference on Robotics and Automation, ICRA 2005, pages 1566-1572, Barcelona, Spain, April 2005.
  36. Ville Kyrki, Danica Kragic, and Henrik I. Christensen.
    New shortest-path approaches to visual servoing.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'04, volume 1, pages 349-354, Sendai, Japan, Sept 28-Oct 2 2004.
  37. Ville Kyrki, Danica Kragic, and Henrik I. Christensen.
    Measurement errors in visual servoing.
    In IEEE International Conference on Robotics and Automation, volume 2, pages 1861-1867, New Orleans, LA, USA, April 26-May 1 2004.
  38. Tuomo Lindh, Jero Ahola, Joni-Kristian Kamarainen, Ville Kyrki, and Jarmo Partanen.
    Bearing damage detection based on statistical discrimination of stator current.
    In Proceedings of the 4th IEEE International Symposium on Diagnostics for Electric Machines, Power Electronics and Drives, pages 177-181, Atlanta, Georgia, USA, Aug 24-26 2003.
  39. Sami Lakaniemi, Pekka Toivanen, and Ville Kyrki.
    Soft morphological filtering of spectral images.
    In Image Analysis, 13th Scandinavian Conference, SCIA 2003, number 2749 in Lecture Notes in Computer Science, pages 298-304, Halmstad, Sweden, June 29 - July 2 2003.
  40. Ville Kyrki, Joni-Kristian Kamarainen, and Heikki Kälviä inen.
    Simple Gabor feature space for invariant object recognition.
    In Proceedings of the 5th International Conference on Advanced Conce pts for Intelligent Vision Systems Theory and Applications, pages 46-51, Ghent, Belgium, 2003.
  41. Joni-Kristian Kamarainen, Ville Kyrki, Tuomo Lindh, Jero Ahola, and Jarmo Partanen.
    Statistical signal discrimination for condition diagnosis.
    In Proceedings of the Finnish Signal Processing Symposium, pages 195-198, Tampere, Finland, May 2003.
  42. Kari Jyrkinen, Mikael Ollikainen, Ville Kyrki, Juha Varis, and Heikki Kälviäinen.
    Optical 3D measurement in the quality assurance of formed sheet metal parts.
    In 17th International Conference on Production Research, Blacksburg, VA, USA, August 3-7 2003.
  43. Joni-Kristian Kamarainen, Ville Kyrki, Heikki Kälviäinen, Miroslav Hamouz, and Josef Kittler.
    Invariant Gabor features for face evidence extraction.
    In Proceedings of IAPR Workshop on Machine Vision and Applications, MVA 2002, pages 228-231, Nara, Japan, December 11-13 2002.
  44. Joni-Kristian Kamarainen, Ville Kyrki, and Heikki Kälviäinen.
    Robustness of Gabor feature parameter selection.
    In Proceedings of IAPR Workshop on Machine Vision and Applications, MVA 2002, pages 132-135, Nara, Japan, December 11-13 2002.
  45. Joni-Kristian Kamarainen, Ville Kyrki, and Heikki Kälviäinen.
    Noise tolerant object recognition using Gabor filtering.
    In Proceedings of DSP2002 14th International Conference on Digital Signal Processing, volume 2, pages 1349-1352, Santorini, Greece, July 1-3 2002.
  46. Joni-Kristian Kamarainen, Ville Kyrki, and Heikki Kälviäinen.
    Fundamental frequency Gabor filters for object recognition.
    In 16th International Conference on Pattern Recognition ICPR2002, volume 1, pages 628-631, Quebec, Canada, August 11-15 2002.
  47. Ville Kyrki, Jani Peusaari, and Heikki Kälviäinen.
    Multiprocessor implementation of the Randomized Hough transform.
    In Proceedings 12th Scandinavian Conference on Image Analysis SCIA 2001, Bergen, Norway, June 11-14 2001.
  48. Ville Kyrki, Joni-Kristian Kamarainen, and Heikki Kälviäinen.
    Invariant shape recognition using global Gabor features.
    In 12th Scandinavian Conference on Image Analysis, pages 671-678, Bergen, Norway, June 11-14 2001.
  49. Ville Kyrki, Joni-Kristian Kamarainen, and Heikki Kälviäinen.
    Content-based image matching using Gabor filtering.
    In ACIVS'2001 3rd International Conference on Advanced Concepts for Intelligent Vision Systems Theory and Applications, pages 45-49, Baden-Baden, Germany, July 2001.
  50. Joni-Kristian Kamarainen, Ville Kyrki, and Heikki Kälviäinen.
    Similarity measures for ordered histograms.
    In Proceedings 12th Scandinavian Conference on Image Analysis SCIA 2001, Bergen, Norway, June 11-14 2001.
  51. Ville Kyrki and Heikki Kälviäinen.
    High precision 2-D geometrical inspection.
    In Proceedings 15th International Conference on Pattern Recognition, volume 4, pages 779-782, Barcelona, Spain, September 3-7 2000.
  52. Ville Kyrki, Jouni Ikonen, Jari Porras, and Heikki Kälviäinen.
    Parallel image processing for line detection in shared-memory and distributed environments.
    In Intelligent Robots and Computer Vision XIX: Algorithms, Techniques, and Active Vision, pages 89-97, Boston, USA, November 5-8 2000.
  53. Leena Ikonen, Ville Kyrki, Pekka Toivanen, and Heikki Kälviäinen.
    Image compression using derivative information with distance transforms.
    In Proceedings of 10th European Signal Processing Conference, pages 957-960, Tampere, Finland, September 5-8 2000.

Books and monographs

  1. Danica Kragic and Ville Kyrki, editors.
    Unifying Perspectives in Computational and Robot Vision.
    Lecture Notes in Electrical Engineering. Springer, 2008.
  2. Ville Kyrki.
    Local and Global Feature Extraction for Invariant Object Recognition.
    PhD thesis, Lappeenranta University of Technology, Lappeenranta, Finland, 2002.
  3. Ville Kyrki.
    Punch press quality assurance using machine vision.
    Master's thesis, Lappeenranta University of Technology, Lappeenranta, Finland, 1999.

Book chapters and articles in collections

  1. Ville Kyrki and Danica Kragic.
    Recent trends in computational and robot vision.
    In Unifying Perspectives in Computational and Robot Vision, Lecture Notes in Electrical Engineering. Springer, 2008.
  2. Lasse Lensu, Marko Palviainen, Michael Frydrych, Ville Kyrki, Sinikka Parkkinen, Timo Jaaskelainen, and Jussi Parkkinen.
    Bakteerirodopsiini ja dna tiedon käsittelyssä.
    In Tiedosta tutkittua, pages 51-56. University of Tampere, Finland, May 6 1999.
    In Finnish.
  3. Yong Liu, Heikki Handroos, Olli Alkkiomäki, Ville Kyrki, and Heikki Kälviäinen.
    Development of a hybrid position/force controlled hydraulic parallel robot for impact treatment.
    In Keiichi Shirase and Seiji Aoyagi, editors, Service Robotics and Mechatronics, pages 61-67. Springer London.

Other scientific works

  1. Ville Kyrki and Joni-Kristian Kamarainen.
    Simple Gabor feature space for invariant object recognition.
    Research Report 83, Lappeenranta University of Technology, Department of Information Technology, 2003.
  2. Joni-Kristian Kamarainen, Ville Kyrki, and Tuomo Lindh.
    Signal discrimination based on power spectrum of filter response.
    Research Report 80, Lappeenranta University of Technology, Department of Information Technology, Lappeenranta, Finland, 2002.
  3. Joni-Kristian Kamarainen, Ville Kyrki, and Heikki Kälviäinen.
    Gabor features for invariant object recognition.
    Research report 79, Lappeenranta University of Technology, Department of Information Technology, 2002.
  4. Joni-Kristian Kamarainen, Ville Kyrki, and Heikki Kälviäinen.
    Fundamental frequency Gabor filters for object recognition.
    Research report 78, Lappeenranta University of Technology, Department of Information Technology, 2002.
  5. Ville Kyrki, Joni-Kristian Kamarainen, and Heikki Kälviäinen.
    Invariant shape recognition using global Gabor features.
    Research Report 72, Lappeenranta University of Technology, Department of Information Technology, Finland, 2000.
  6. Pasi Fränti, Alexey Mednonogov, Ville Kyrki, and Heikki Kälviäinen.
    Content-based retrieval of line-drawing images using hough transform.
    Research Report 71, Lappeenranta University of Technology, Department of Information Technology, Lappeenranta, Finland, 2000.
  7. Ville Kyrki, Jouni Ikonen, Jari Porras, and Heikki Kälviäinen.
    Parallellizing the hough transform in shared-memory and distributed environments.
    Research Report 66, Lappeenranta University of Technology, Department of Information Technology, Lappeenranta, Finland, 1999.
  8. Ville Kyrki, Jouni Ikonen, Jari Porras, and Heikki Kälviäinen.
    Multiprocessor implementation of the Randomized Hough transform.
    Research Report 67, Lappeenranta University of Technology, Department of Information Technology, Lappeenranta, Finland, 1999.

Miscellaneous

  1. Ville Kyrki and Danica Kragic.
    TC spotlight: Computer and robot vision.
    IEEE Robotics and Automation Magazine, June 2011.
    Column.
  2. Ville Kyrki, Heikki Kälviäinen, and Jari Selesvuo.
    Konenäön käyttö levyosien laadunvalvonnassa.
    Ohutlevy 2, 2000.
    pp. 14-15. In Finnish.