Publications

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arranged by category

Journal Articles
Book Chapters
Conference Papers
Editorials
Dissertations
Notes and Reports
Patents

selected & arranged by research topic

Image Motion Sensing, Estimation and Analysis (1991-)
Robot Visuo-Motor Coordination (1992-)
Human-Machine Visual Interaction (1994-)
Image and Video Analysis, Representation and Retrieval (1996-)
Tridimensional Computer Vision (2000-)
Vision-Based Adaptive Visualization (2004-)
Computer Vision for the Visually Impaired (2010-)
Color Correction and Image Stitching (2015-)
Computer Vision for Information Forensics (2016-)

Home Biography Selected publications

  Journal Articles

  • F. Bartolini, V. Cappellini, C. Colombo, and A. Mecocci, "Multiwindow least squares approach to the computation of optical flow with discontinuities". Optical Engineering - The Journal of SPIE , 32(6):1250-1256, SPIE 1993.
  • C. Colombo, A. Del Bimbo, and S. Santini, "Optical flow through relaxation in the velocity space". Pattern Recognition Letters , 15:373-382, Elsevier 1994.
  • C. Colombo, M. Rucci, and P. Dario, "Attentive behavior in an anthropomorphic robot vision system". Robotics and Autonomous Systems , 12:121-131, Elsevier 1994.
  • C. Colombo, A. Del Bimbo, and S. Santini, "Optical flow by nonlinear relaxation". Pattern Recognition, 28(7):977-988, Pergamon 1995.
  • C. Colombo, B. Allotta, and P. Dario, "Affine visual servoing for robot relative positioning and landmark-based docking". Advanced Robotics - The International Journal of the Robotics Society of Japan , 9(4):463-480, VSP/RSJ 1995.
  • C. Colombo, E. Kruse, and P. Dario, "Control of camera motions from the planning of image contours". Robotics and Autonomous Systems , 16:29-38, Elsevier 1995.
  • C. Colombo and A. Del Bimbo, "Interacting through eyes". Robotics and Autonomous Systems, 19(3-4):359-368, Elsevier 1997.
  • C. Colombo and B. Allotta, "Image-based robot task planning and control using a compact visual representation". IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans , 29(1):92-100, IEEE 1999.
  • B. Allotta and C. Colombo, "On the use of linear camera-object interaction models in visual servoing". IEEE Transactions on Robotics and Automation , 15(2):350-357, IEEE 1999.
  • C. Colombo and A. Del Bimbo, "Color-induced image representation and retrieval". Pattern Recognition, 32(10):1685-1695, Pergamon 1999.
  • C. Colombo and A. Del Bimbo, "Real-time head tracking from the deformation of eye contours using a piecewise affine camera". Pattern Recognition Letters , 20(7):721-730, Elsevier 1999.
  • C. Colombo, A. Del Bimbo, and P. Pala, "Semantics in visual information retrieval". IEEE Multimedia, 6(3):38-53, IEEE 1999.
  • F. Conticelli, B. Allotta, and C. Colombo, "Hybrid visual servoing: A combination of nonlinear control and linear vision". Robotics and Autonomous Systems, 29:243-256, Elsevier 1999.
  • C. Colombo, "Time to collision from first-order spherical image motion". Robotics and Autonomous Systems, 31(1-2):5-15, Elsevier 2000.
  • C. Colombo, A. Del Bimbo, and I. Genovesi, "Interactive image retrieval by color distribution content". Integrated Computer-Aided Engineering 7(1):79-88, Wiley 2000.
  • C. Colombo, A. Del Bimbo, and P. Pala. "Retrieval of commercials by semantic content: The semiotics perspective". Multimedia Tools and Applications 13(1):93-118, Kluwer 2001.
  • J. Assfalg, M. Bertini, C. Colombo and A. Del Bimbo, "Semantic annotation of sports videos". IEEE Multimedia, 9(2):52-60, IEEE 2002.
  • B. Allotta, C. Colombo, F. Bertocci, L. Scarselli, M. Sgarbi, G. Bioli and V. Colla, "Visione stereo per posizionare semilavorati in legno". Automazione e Strumentazione, LI(3):116-120, 2003 (in Italian).
  • C. Colombo, A. Del Bimbo and A. Valli, "Visual capture and understanding of hand pointing actions in a 3D environment". IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 33(4):677-686, IEEE 2003.
  • J. Assfalg, M. Bertini, C. Colombo, A. Del Bimbo and W. Nunziati, "Semantic annotation of soccer videos: automatic highlights identification". Computer Vision and Image Understanding, 92(2-3):285-305, Academic Press 2003.
  • C. Colombo, A. Del Bimbo and F. Pernici, "Metric 3D reconstruction and texture acquisition of surfaces of revolution from a single uncalibrated view". IEEE Transactions on Pattern Analysis and Machine Intelligence, 27(1):99-114, IEEE 2005.
  • C. Colombo, D. Comanducci and A. Del Bimbo, "Low-cost 3D scanning by exploiting virtual image symmetries". Journal of Multimedia, 1(7):71-76, Academy Publisher 2006.
  • C. Colombo, D. Comanducci, and A. Del Bimbo, "Robust tracking and remapping of eye appearance with passive computer vision". ACM Transactions on Multimedia Computing, Communications, and Applications, 3(4):1-20, ACM Press 2007.
  • C. Colombo, A. Del Bimbo and A. Valli, "A real-time full body tracking and humanoid animation system". Parallel Computing, 34(12):718-726, Elsevier 2008. 
  • D. Fioravanti, C. Colombo, and B. Allotta, "Self-calibrated visual servoing with respect to axial-symmetric 3D objects". Robotics and Autonomous Systems, 57(4):451-459, Elsevier 2009.
  • C. Colombo, D. Comanducci, and A. Del Bimbo, "Shape reconstruction and texture sampling by active rectification and virtual view synthesis". Computer Vision and Image Understanding, 115(2):161-176, 2011.
  • M. Fanfani, F. Bellavia and C. Colombo, "Accurate keyframe selection and keypoint tracking for robust visual odometry". Machine Vision and Applications, 27(6):833-844, August 2016, Springer 2016.
  • F. Bellavia, M. Fanfani, and C. Colombo, "Selective visual odometry for accurate AUV localization". Autonomous Robots, 41(1):133-143, Springer 2017.
  • M. Iuliani, M. Fanfani, C. Colombo and A. Piva, "Reliability Assessment of Principal Point Estimates for Forensic Applications". Journal of Visual Communication and Image Representation, 42:65-77, Elsevier 2017.
  • F. Bellavia and C. Colombo, "Dissecting and Reassembling Color Correction Algorithms for Image Stitching". IEEE Transactions on Image Processing27(2):735-748, IEEE 2018.
  • F. Bellavia and C. Colombo, "Rethinking the sGLOH descriptor". IEEE Transactions on Pattern Analysis and Machine Intelligence, 40(4):931-944, IEEE 2018.
  • D. Comanducci, F. Bellavia and C. Colombo, "Super-resolution based magnification of endothelium cells from biomicroscope videos of the cornea". Journal of Electronic Imaging, 27(4),  043029, SPIE 2018.
  • M. Fanfani, F. Bellavia, M. Iuliani, A. Piva and C. Colombo, "FISH: Face Intensity-Shape Histogram representation for automatic face splicing detection". Journal of Visual Communication and Image Representation, 63, 102586:1-8, Elsevier 2019.

  • Book Chapters

  • C. Colombo, M. Rucci, and P. Dario, "Integrating selective attention and space-variant sensing in machine vision". In J.L.C. Sanz, ed., Image Technology - Advances in Image Processing, Multimedia and Machine Vision, Chapter 3, pp. 109-127, Springer 1996.
  • C. Colombo, A. Del Bimbo, and S. De Magistris, "Interfacing through visual pointers". In R. Cipolla and A.P. Pentland, eds., Computer Vision in Human-Machine Interaction, Chapter 8, pp. 135-153, Cambridge University Press 1998.
  • C. Colombo and A. Del Bimbo, "Visible image retrieval". In L. Bergman and V. Castelli, eds., Image Databases - Search and Retrieval of Digital Imagery, Chapter 2, pp. 11-33, Wiley 2002.
  • J. Assfalg, M. Bertini, C. Colombo and A. Del Bimbo, "Integrating domain knowledge and visual evidence to support highlight detection in sports videos". In B. Furht and O. Marques, eds., The Handbook of Video Databases - Design and Applications, Chapter 5, pp. 97-121, CRC Press 2003.

  • Conference Papers

  • C. Colombo, A. Del Bimbo, and S. Santini, "A relaxation system for real-time optical flow computation". In Proceedings COST 229 WG3 Workshop on Intelligent Terminals, L'Aquila, Italy, April 1992, pp. 153-161, CNR/SSGRR 1993.
  • C. Colombo, A. Del Bimbo, and S. Santini, "A multilayer massively parallel architecture for optical flow computation". In Proceedings 11th IAPR International Conference on Pattern Recognition ICPR'92, The Hague, The Netherlands, August-September 1992, pp. 209-213, IEEE 1992.
  • F. Bartolini, V. Cappellini, C. Colombo, and A. Mecocci, "Enhancement of local optic flow techniques". In Proceedings 4th International Workshop on Time-Varying Image Processing and Moving Object Recognition TVIP'93 , Florence, Italy, June 1993, pp. 359-366, Elsevier 1994.
  • C. Colombo, M. Rucci, D.M. De Micheli, and P. Dario, "Space-variant sensing and selective attention in a robot vision system". In Proceedings 1st International Workshop on Intelligent Robotic Systems IRS'93, Zakopane, Poland, July 1993, pp. 244-257, 1993.
  • C. Colombo, E. Kruse, A.M. Sabatini, and P. Dario, "Vision-based relative positioning through active fixation and contour tracking". In Proceedings 2nd International Symposium on Intelligent Robotic Systems SIRS'94 , Grenoble, France, July 1994, pp. 319-325, 1994.
  • C. Colombo, B. Allotta, and P. Dario, "Affine visual servoing: a framework for relative positioning with a robot". In Proceedings IEEE International Conference on Robotics and Automation ICRA'95, Nagoya, Japan, May 1995, pp. 464-471, IEEE 1995.
  • C. Colombo, B. Allotta, and P. Dario, "Experimental validation of an active visual control scheme based on a reduced set of image parameters". In Proceedings 4th International Symposium on Experimental Robotics ISER'95 , Stanford, U.S.A., June-July 1995, pp. 114-120, Springer LNCIS 1996.
  • C. Colombo and P. Dario, "Visual understanding of gaze pointing actions". In Proceedings 3rd International Symp. on Intelligent Robotic Systems SIRS'95 , Pisa, Italy, July 1995, pp. 356-360, CNR 1995.
  • C. Colombo, S. Andronico, and P. Dario, "Prototype of a vision-based gaze-driven man-machine interface". In Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems IROS'95 , Pittsburgh, U.S.A., August 1995, pp. 188-192, IEEE 1995.
  • C. Colombo, A. Del Bimbo, and S. De Magistris, "Combining head tracking and pupil monitoring in vision-based human-computer interaction". In Proceedings 6th IAPR International Conference on Computer Analysis of Images and Patterns CAIP'95, Prague, Czech Republic, September 1995, pp. 717-722, Springer LNCS 1995.
  • C. Colombo, A. Del Bimbo, and S. De Magistris, "Human-computer interaction based on eye movement tracking". In Proceedings International Conference on Computer Architectures for Machine Perception CAMP'95 , Como, Italy, September 1995, pp. 259-263, IEEE 1995.
  • S. Andronico, A. Starita, C. Colombo, and P. Dario, "Una interfaccia a comando oculare per disabili motori". In Atti 4o Convegno Nazionale Informatica, Didattica e Disabilita` IDD'95 , Napoli, Italy, November 1995, pp. 9-16, CNR 1995. (In Italian.)
  • C. Colombo and J.L. Crowley, "Uncalibrated visual tasks via linear interaction". In Proceedings 4th European Conference on Computer Vision ECCV'96, Cambridge, England, April 1996, pp. (II)583-592, Springer LNCS 1996.
  • C. Colombo and A. Del Bimbo, "Gaze tracing by eye pupil remapping using computer vision". In Proceedings 3rd International Workshop on Visual Form IWVF3, Capri, Italy, May 1997, pp. 89-98, World Scientific 1997.
  • C. Colombo, A. Rizzi, and I. Genovesi, "Histogram families for color-based retrieval in image databases". In Proceedings 9th International Conference on Image Analysis and Processing ICIAP'97 , Firenze, Italy, September 1997, pp. (II)204-211, Springer LNCS 1997.
  • B. Allotta, F. Conticelli, and C. Colombo, "Nonlinear control in camera-object relative positioning". In Proceedings Euroconference on Control and Configuration Aspects of Mechatronics CCAM'97, Ilmenau, Germany, September 1997, pp. 163-168, EFAM 1997.
  • C. Colombo and A. Del Bimbo, "Interazione uomo-macchina con tecniche di computer vision". In Atti 5o Convegno Nazionale Informatica, Didattica e Disabilita` IDD'97, Bologna, Italy, November 1997, pp. 247-250, CNR 1997. (In Italian.)
  • M. Caliani, C. Colombo, A. Del Bimbo, and P. Pala, "Commercial video retrieval by induced semantics". In Proceedings IEEE International Workshop on Content-based Access of Image and Video Databases CAIVD'98 , Bombay, India, January 1998, pp. 72-80, IEEE 1998.
  • C. Colombo and I. Genovesi, "Image querying and retrieval by multiple color distributions". In Proceedings IAPR-IC/ITIM-CNR Workshop on Image and Video Content-Based Retrieval, Milan, Italy, February 1998, pp. 19-26, CNR 1998.
  • B. Bertelli, C. Colombo, L. Lombardi, and P. Pala, "Constructing semantics in commercial video databases". In Proceedings IAPR-IC/ITIM-CNR Workshop on Image and Video Content-Based Retrieval , Milan, Italy, February 1998, pp. 127-129, CNR 1998.
  • C. Colombo, "Time to collision revisited". In Proceedings AI*IA/IAPR-IC Workshop on Artificial Intelligence and Pattern Recognition Techniques for Computer Vision IAPRVA'98, Ferrara, Italy, April 1998, pp. 47-52, 1998.
  • G. Baldi, C. Colombo, and A. Del Bimbo, "Automatic video representation using image mosaics". In Proceedings AI*IA/IAPR-IC Workshop on Artificial Intelligence and Pattern Recognition Techniques for Computer Vision IAPRVA'98 , Ferrara, Italy, April 1998, pp. 152-157, 1998.
  • C. Colombo, A. Del Bimbo, and P. Pala, "Semiotics and semantics in commercial video retrieval". In Proceedings AI*IA/IAPR-IC Workshop on Artificial Intelligence and Pattern Recognition Techniques for Computer Vision IAPRVA'98 , Ferrara, Italy, April 1998, pp. 188-193, 1998.
  • C. Colombo, A. Del Bimbo, and P. Pala, "Retrieval of commercials by video semantics". In Proceedings 1998 IEEE Computer Society Conference on Computer Vision and Pattern Recognition CVPR'98 , Santa Barbara, California, June 1998, pp. 572-577, IEEE 1998.
  • M. Caliani, C. Colombo, A. Del Bimbo, and P. Pala, "Computer analysis of TV spots: The semiotics perspective". In Proceedings 5th IEEE International Conference on Multimedia Computing and Systems ICMCS'98 , Austin, Texas, June-July 1998, pp. 170-179, IEEE 1998.
  • C. Colombo, A. Del Bimbo, and I. Genovesi, "Interactive image retrieval by color distributions". In Proceedings 5th IEEE International Conference on Multimedia Computing and Systems ICMCS'98 , Austin, Texas, June-July 1998, pp. 255-258, IEEE 1998.
  • B. Allotta, F. Conticelli, and C. Colombo, "Robust decoupling control of an image-based visual system". In Proceedings 4th IFAC Nonlinear Control Systems Design Symposium NOLCOS'98, Enschede, the Netherlands, July 1998, pp. 878-883, Elsevier 1998.
  • B. Allotta, F. Conticelli, and C. Colombo, "Asymptotically stable visual servoing of 6-DOF manipulators". In Proceedings 6th International Symposium on Intelligent Robotic Systems SIRS'98, Edinburgh, Scotland, July 1998, pp. 101-108, 1998.
  • C. Colombo, "Computing wide field of view time to collision". In Proceedings 6th International Symposium on Intelligent Robotic Systems SIRS'98 , Edinburgh, Scotland, July 1998, pp. 291-300, 1998. (Best paper runner up award.)
  • J. Assfalg, C. Colombo, A. Del Bimbo, and P. Pala, "Embodying semiotic cues in video retrieval". In Proceedings IAPR International Workshop on Multimedia Information Analysis and Retrieval MINAR'98, Hong Kong, China, August 1998, pp. 47-59, Springer LNCS 1998.
  • C. Colombo and A. Del Bimbo, "Head pose estimation for graphic remapping by visual tracking of eye appearance". In Proceedings AI*IA Workshop "Dialogo e Modelli di Utente nelle Interfacce Intelligenti" , Padova, Italy, September 1998, pp. 169-173, Progetto/CNR 1998.
  • C. Colombo, A. Del Bimbo, and P. Pala, "Content-based retrieval for cultural heritage archives". In Proceedings International Conference on Electronic Imaging and the Visual Arts EVA'99, Florence, Italy, March 1999, pp. 56-59, Pitagora 1999.
  • G. Baldi, C. Colombo, and A. Del Bimbo, "Mosaic-based video summarization". In Proceedings VIII Simposium Nacional de Reconocimiento de Formas y Análisis de Imágenes SNRFAI , Bilbao, Spain, May 1999, pp. (I)27-34, 1999.
  • G. Baldi, C. Colombo, and A. Del Bimbo, "A compact and retrieval-oriented video representation using mosaics". In Proceedings 3rd International Conference on Visual Information Systems VISual99, Amsterdam, The Netherlands, June 1999, pp. 171-178, Springer LNCS 1999.
  • C. Colombo and A. Del Bimbo, "Generalized bounds for time to collision from first-order image motion". In Proceedings 7th IEEE International Conference on Computer Vision ICCV'99, Corfu, Greece, September 1999, pp. 220-226, IEEE 1999.
  • G. Baggiani, C. Colombo and A. Del Bimbo, "GestureMouse : A natural pointing device for advanced human-machine interaction". In Proceedings International Conference on Electronic Imaging and the Visual Arts EVA 2001, Florence, Italy, March 2001, p. 154, Pitagora 2001.
  • J. Assfalg, M. Bertini, C. Colombo and A. Del Bimbo, "Extracting semantic information from news and sport video". In Proceedings 2nd International Symposium on Image and Signal Processing and Analysis ISPA 2001, Pula, Croatia, June 2001, pp. 4-11, IEEE 2001.
  • M. Bertini, C. Colombo and A. Del Bimbo, "Automatic caption localization in videos using salient points". In Proceedings 1st IEEE International Conference on Multimedia & Expo ICME 2001 , Tokio, Japan, August 2001,  IEEE 2001. (On CD-ROM.)
  • G. Baggiani, C. Colombo and A. Del Bimbo, "A vision-driven gesture-based pointer for computer-augmented environments". In Proceedings International Cultural Heritage Informatics Meeting ICHIM 2001, Milan, Italy, September 2001, pp. II:381-387, 2001.
  • J. Assfalg, M. Bertini, C. Colombo and A. Del Bimbo, "Semantic characterization of visual content for sports videos annotation". In Proceedings 2nd International Workshop on Multimedia Databases and Image Communication MDIC 2001, Amalfi, Italy, September 2001, pp. 179-191, Springer LNCS 2001.
  • J. Assfalg, M. Bertini, C. Colombo and A. Del Bimbo, "Semantic annotation of sports videos". In Proceedings International Workshop on Content-Based Multimedia Indexing CBMI'01, Brescia, Italy, September 2001, pp. 341-348, IEEE 2001.
  • C. Colombo, A. Del Bimbo and A. Valli, "Real-time tracking and reproduction of 3D human body motion". In Proceedings 11th International Conference on Image Analysis and Processing ICIAP 2001, Palermo, Italy, September 2001, pp. 108-112, IEEE 2001.
  • G. Baggiani, C. Colombo and A. Del Bimbo, "Puntamento a mano libera in un ambiente 3D con tecniche di visione artificiale". In Proceedings 2001 SIGCHI-Italy Symposium on Human-Computer Interaction HCITALY 2001 , Florence, Italy, September 2001, SIE 2001. (In Italian.)
  • J. Assfalg, M. Bertini, C. Colombo and A. Del Bimbo, "Feature extraction and content analysis for sports videos annotation". In Proceedings 3rd International Workshop on Multimedia Information Retrieval MIR 2001 ", Ottawa, Canada, October 2001, pp. 60-65, ACM 2001.
  • G. Baggiani, C. Colombo and A. Del Bimbo, "Advanced man-machine interface for cultural heritage". In Proceedings 2001 International Conference on Image Processing ICIP 2001, Thessaloniki, Greece, October 2001, pp. 582-585, IEEE 2001.
  • C. Colombo, A. Del Bimbo and A. Valli, "Non intrusive full body tracking for real-time avatar animation". In Proceedings International Workshop on Very Low Bitrate Video Coding VLBV01, Athens, Greece, October 2001, pp. 119-123, 2001.
  •  C. Colombo, A. Del Bimbo and F. Pernici, "Uncalibrated 3D metric reconstruction and flattened texture acquisition from a single view of a surface of revolution". In Proceedings 1st International Symposium on 3D Data Processing Visualization and Transmission 3DPVT 2002, Padova, Italy, June 2002, pp. 277-284, IEEE 2002.
  • J. Assfalg, M. Bertini, C. Colombo, A. Del Bimbo, W. Nunziati, "Highlights detection and recognition in soccer videos". In Proceedings 6th World Multi-Conference on Systemics, Cybernetics and Informatics SCI 2002, Orlando, FL (USA), July 2002,pp. 18-23, IEEE CS 2002. 
  • C. Colombo, A. Del Bimbo and F. Pernici, "Shape reconstruction from a single photograph for 3D object retrieval and visualization". In Proceedings 3rd IEEE International Conference on Multimedia & Expo ICME  2002, Lausanne, Switzerland, August 2002, pp. 897-900, IEEE 2002.
  • J. Assfalg, M. Bertini, C. Colombo, A. Del Bimbo and W. Nunziati, "Detection and recognition of soccer highlights in videos using temporal logic". In Proceedings 2002 EUROFUSE  Workshop on Information Systems EUROFUSE 2002, Varenna, Italy, September 2002.
  • J. Assfalg, M. Bertini, C. Colombo, A. Del Bimbo and W. Nunziati, "Semantic annotation and indexing of news and sports videos".  In Proceedings 29th Conference on Current Trends in Theory and Practice of Informatics SOFSEM  2002, Milovy, Czech Republic, November 2002, pp. 115-131, Springer LNCS 2002.
  • C. Colombo, A. Del Bimbo and P. Pala, "3D image databases: Acquisition and retrieval by content". In Proceedings 4th International Workshop on Multimedia Information Retrieval MIR 2002, special session on Multimedia Content-Based Retrieval for Cultural Heritage Applications , Juan-les-Pins, France, December 2002, ACM 2002.
  • B. Allotta, C. Colombo, F. Bertocci, L. Scarselli, M. Sgarbi, G. Bioli and V. Colla, "A system based on stereo vision for unpacking pieces of wood with an industrial robot". In Proceedings 1st International Workshop on Advances in Service Robotics ASER 2003, Bardolino, Italy, March 2003, pp. 1448-1457, Fraunhofer  IRB 2003.
  • C. Colombo, A. Del Bimbo and F. Pernici, "Structure and texture from single images for 2D/3D class-based visual retrieval". In Proceedings DELOS Workshop on Multimedia Contents in Digital Libraries MDL’03, Crete, Greece, June 2003. 
  • J. Assfalg, M. Bertini, C. Colombo, A. Del Bimbo and W. Nunziati, "Automatic interpretation of soccer videos for highlights extraction and annotation".  In Proceedings ACM Symposium on Applied Computing SAC 2003, Melbourne, FL (USA), March 2003, pp.769-773, ACM 2003.
  • J. Assfalg, M. Bertini, C. Colombo, A. Del Bimbo and W. Nunziati, "Automatic extraction and annotation of soccer video highlights".  In Proceedings  2003 International Conference on Image Processing ICIP 2003, Barcelona, Spain, September 2003.
  • J. Assfalg, M. Bertini, C. Colombo, A. Del Bimbo and W. Nunziati, "Annotation and retrieval of video documents: Sports videos".  In Proceedings 3rd International Symposium on Image and Signal Processing and Analysis ISPA 2003, Rome, Italy, September 2003.
  • J. Assfalg, M. Bertini, C. Colombo, A. Del Bimbo and W. Nunziati, "Highlight extraction in soccer videos".  In Proceedings 12th International Conference on Image Analysis and Processing ICIAP 2003, Mantua, Italy, September 2003, pp. 498-504, IEEE 2003.
  • C. Colombo, D. Comanducci, A. Del Bimbo and F. Pernici, "Painting capture from photos of pottery". In Proceedings International Conference on Electronic Imaging and the Visual Arts EVA 2004, Florence, Italy, March-April 2004, pp. 163-168, Pitagora 2004. 
  • C. Colombo, D. Comanducci, A. Del Bimbo and F. Pernici, "Accurate automatic localization of surfaces of revolution for self-calibration and metric reconstruction". In Proceedings IEEE Workshop on Perceptual Organization in Computer Vision POCV 2004, Washington, DC, USA, June 2004, IEEE 2004. (On CD-ROM.)
  • C. Colombo, A. Del Bimbo and F. Pernici, "Image mosaicing from uncalibrated views of a surface of revolution". In Proceedings 15th British Machine Vision Conference BMVC 2004, London, UK, September 2004, pp. 407-416, BMVA 2004.  
  • C. Colombo, D. Comanducci, A. Del Bimbo and F. Pernici, "Revolutional constraints for low-cost 3D scanning from uncalibrated images". In Proceedings 2nd Workshop Italy-Canada on 3D Digital Imaging and Modeling: Applications of Heritage, Industry, Medicine and Land, Padua, Italy, May 2005. (On CD-ROM.) 
  • C. Colombo, D. Comanducci, A. Del Bimbo and F. Pernici, "3D database population from single views of surfaces of revolution". In Proceedings 13th International Conference on Image Analysis and Processing ICIAP 2005, Cagliari, Italy, September 2005, pp. 834-841, Springer 2005.
  • A. Brazzini and C. Colombo, "Computer vision for interactive skewed video projection". In Proceedings 13th International Conference on Image Analysis and Processing ICIAP 2005, Cagliari, Italy, September 2005, pp. 139-146, Springer 2005.
  • C. Colombo, D. Comanducci, and A. Del Bimbo, "A desktop 3D scanner exploiting rotation and visual rectification of laser profiles". In Proceedings 2006 IEEE International Conference on Vision Systems ICVS06, New York, USA, January 2006. (On CD-ROM.)
  • C. Colombo, D. Comanducci, and A. Del Bimbo, "Camera calibration with two arbitrary coaxial circles". In Proceedings 9th European Conference on Computer Vision ECCV 2006, Graz, Austria, May 2006, pp. I:265-276, Springer 2006.
  • D. Fioravanti, C. Colombo, and B. Allotta, "Visual servoing with a pair of coaxial circles". In Proceedings 8th IFAC International Symposium on Robot Control SYROCO 2006, Bologna, Italy, September 2006. (On CD-ROM.)
  • C. Colombo, D. Comanducci, and A. Del Bimbo, "Behavior monitoring through automatic analysis of video sequences". In Proceedings ACM International Conference on Image and Video Retrieval CIVR 2007, Amsterdam, The Netherlands, July 2007. (On flash disk.)
  • C. Colombo, D. Comanducci, and A. Del Bimbo, "Robust iris localization and tracking based on constrained visual fitting". In Proceedings 14th International Conference on Image Analysis and Processing ICIAP 2007, Modena, Italy, September 2007, pp. 454-458, IEEE 2007.
  • C. Colombo, D. Comanducci, and A. Del Bimbo, "Compact representation and probabilistic classification of human actions in videos". In Proceedings 2007 IEEE International Conference on Advanced Video and Signal based Surveillance AVSS 2007, London, UK, September 2007. (On CD-ROM.)
  • D. Comanducci, A. Maki, C. Colombo, and R. Cipolla, "2D-to-3D photo rendering for 3D displays". In Proceedings 5th International Symposium on 3D Data Processing, Visualization and Transmission 3DPVT 2010, Paris, France, May 2010. (On CD-ROM.) 
  • B. Allotta, A. Caiti, M. Cocco, C. Colombo, W. Daviddi, L. Gualdesi, D. La Monica, and O. Salvetti. "THESAURUS: A marine robotics project for archaeological applications". In Proceedings Workshop on Marine Robotics, 15th International Conference on Advanced Robotics ICAR 2011, Tallinn, Estonia, June 2011 (On CD-ROM).
  • A. Nardi, D. Comanducci, and C. Colombo, "Augmented vision: Seeing beyond field of view and occlusions via uncalibrated visual transfer from multiple viewpoints". In Proceedings 15th Irish Machine Vision and Image Processing Conference IMVIP 2011, Dublin, Ireland, September 2011, pp. 42-48, IEEE 2011. (Best paper award.)
  • C. Guida, D. Comanducci, and C. Colombo, "Automatic bus line number localization and recognition on mobile phones-a computer vision aid for the visually impaired". In Proceedings 16th International Conference on Image Analysis and Processing ICIAP 2011, Ravenna, Italy, September 2011, pp. 323-332, Springer 2011.
  • B. Allotta, A. Caiti, M. Cocco, C. Colombo, W. Daviddi, L. Gualdesi, D. La Monica, D. Moroni, G. Pieri, O. Salvetti and M Tampucci, "THESAURUS: techniques for underwater exploration and archaeology through swarms of autonomous vehicles". In Proceedings 12th International Symposium on Virtual Reality, Archaeology and Cultural Heritarge VAST 2011, Prato, Italy, October 2011, pp. 13-16, Eurographics Association 2011.
  • B. Allotta, S. Bargagliotti, L. Botarelli, A. Caiti, V. Calabrò, G. Casa, M. Cocco, S. Colantonio, C. Colombo et al., "THESAURUS project: Design of new autonomous underwater vehicles for documentation and protection of underwater archaeological sites". In Proceedings 4th International Conference on Cultural Heritarge EuroMed 2012, Limassol, Cyprus, October-November 2012, pp. 486-493, Springer 2012.
  • F. Pazzaglia and C. Colombo, "Visual description and recognition of mechanical tools with a silhouette-based approach". In Proceedings  21st International Conference on Pattern Recognition ICPR 2012, Tsukuba, Japan, November 2012, pp. 2549-2552, IEEE 2012.
  • D. Comanducci and C. Colombo, "Vision-based magnification of corneal endothelium frames". In Proceedings  9th International Conference on Computer Vision Systems ICVS 2013, St. Petersburg, Russia, July 2013, pp. 52-61, Springer 2013.
  • M. Fanfani and C. Colombo, "LaserGun: A tool for hybrid 3D reconstruction". In Proceedings  9th International Conference on Computer Vision Systems ICVS 2013, St. Petersburg, Russia, July 2013, pp. 274-283, Springer 2013.
  • M. Fanfani, F. Bellavia, F. Pazzaglia and C. Colombo, "SAMSLAM: Simulated annealing monocular SLAM". In Proceedings 15th International Conference on Computer Analysis of Images and Patterns CAIP 2013, York, UK, August 2013,  pp. 515-522, Springer 2013.
  • F. Bellavia, M. Fanfani, F. Pazzaglia and C. Colombo, "Robust selective stereo SLAM without loop closure and bundle adjustment". In Proceedings 17th International Conference on Image Analysis and Processing ICIAP 2013, Naples, Italy, September 2013,  pp. I:462-471, Springer 2013.
  • F. Bellavia and C. Colombo, "Estimating the best reference homography for planar mosaics from videos". In Proceedings 10th International Conference on Computer Vision Theory and Applications VISAPP 2015, Berlin, Germany, March 2015, pp. 512-519, Scitepress 2015. 
  • F. Bellavia, M. Fanfani and C. Colombo, "Fast adaptive frame preprocessing for 3D reconstruction". In Proceedings 10th International Conference on Computer Vision Theory and Applications VISAPP 2015, Berlin, Germany, March 2015, pp. 260-267, Scitepress 2015.
  • B. Allotta, R. Costanzi, A. Ridolfi, C. Colombo, F. Bellavia, M. Fanfani et al., "The ARROWS project: Adapting and developing robotics technologies for underwater archaeology". In  Proceedings IFAC Workshop on Navigation and Control of Underwater Vehicles NGCUV 2015, Girona, Spain, April 2015, pp. 194-199, Elsevier 2015.
  • F. Bellavia, M. Fanfani, F. Pazzaglia, C. Colombo, R. Costanzi, N. Monni, A. Ridolfi and B. Allotta, "Piecewise planar underwater mosaicing". In Proceedings MST/IEEE International Conference Oceans '15, Genoa, Italy, May 2015, pp. 1-7, IEEE 2015.
  • F. Bellavia and C. Colombo, "Color correction for image stitching by monotone cubic spline interpolation". In Proceedings 7th Iberian Conference on Pattern Recognition and Image Analysis IbPRIA 2015, Santiago de Compostela, Spain, June 2015 pp. 165-172, Springer 2015.
  • A. Caldini, M. Fanfani and C. Colombo, "Smartphone-based obstacle detection for the visually impaired". In Proceedings 18th International Conference on Image Analysis and Processing ICIAP 2015, Genoa, Italy, September 2015, pp. 480-488, Springer 2015. 
  • F. Bellavia and C. Colombo, "Extending the sGLOH descriptor". In Proceedings 18th International Conference on Image Analysis and Processing ICIAP 2015, Genoa, Italy, September 2015, pp. 354-363, Springer 2015.
  • M. Fanfani, F. Bellavia, G. Bassetti, F. Argenti and C. Colombo, "3D Map Computation from Historical Stereo Photographs of Florence". In Proceedings International Conference on The Future of Heritage Science and Technologies Heri-Tech 2018, Florence, Italy, May 2018. IOP Conference Series: Materials Science and Engineering 364, IOP 2018. (Open access.) 
  • M. Fanfani and C. Colombo, "Structural change detection by direct 3D model comparison". In Proceedings 14th International Conference on Computer Vision Theory and Applications VISAPP 2019, Prague, Czech Republic, February 2019, pp. V:760-767, Scitepress 2019.
  • F. Bellavia and C. Colombo, "An evaluation of recent local image descriptors for real-world applications of image matching".  In Proceedings 16th International Conference on Machine Vision Applications MVA 2019, Tokyo, Japan, May 2019, IEEE 2019. (Open access.)
  • F. Bellavia and C. Colombo, "Which is which? Evaluation of local descriptors for image matching in real-world scenarios".  In Proceedings 18th International Conference on Computer Analysis of Images and Patterns CAIP 2019, Salerno, Italy, September 2019, Springer 2019. (To appear.)  
  • F. Bellavia, M. Iuliani, M. Fanfani, C. Colombo and A. Piva, "PRNU pattern alignment for images and videos based on scene content". In Proceedings 26th International Conference on Image Processing ICIP 2019, Taipei, Taiwan, September 2019, IEEE 2019. (To appear.) 


  • Editorials

  • C. Colombo and J.L. Crowley (eds). "SIRS'95". Proceedings of the 3rd International Symposium on Intelligent Robotic Systems SIRS'95, Pisa, Italy, July 1995, CNR 1995.
  • C. Colombo and J.L. Crowley (eds). "Guest Editorial: Intelligent Robotic Systems '95". Special Issue, Robotics and Autonomous Systems 19(3-4), Elsevier 1997.
  • R. Cipolla, C. Colombo and A. Del Bimbo. Proceedings of the 12th European Conference on Computer Vision ECCV 2012, Florence, Italy, October 2012, Springer 2012. (Foreword.)
  • R. Cipolla, C. Colombo and A. Del Bimbo, "Large-Scale Computer Vision: Geometry, Inference, and Learning". Special issue of the International Journal of Computer Vision, 110(3):241-242, Springer 2014. (Guest editorial.)

  • Dissertations

  • C. Colombo, "Un'architettura ad alto parallelismo per la stima del flusso ottico in una sequenza di immagini". Master's Thesis , University of Florence, Italy, January 1992. (In Italian.)
  • C. Colombo, "Visione artificiale dinamica e interazione robot-ambiente". PhD Thesis, Scuola Superiore Sant'Anna, Pisa, Italy, February 1996. (In Italian.)

  • Notes and Reports

  • C. Colombo, "Self-organizing structures for active/reactive robot vision". Notes for the ESPRIT Workshop on Learning and Neural Networks in Vision, Stockholm, Sweden, May 1994.
  • C. Colombo, "CATalign-User Manual". User manual of the CAT image registration software for computer aided surgery developed for the Istituti Ortopedici Rizzoli, Bologna, Italy, September 1994.
  • C. Colombo and A. Del Bimbo, "Visual interpretation of gaze pointing actions for interaction with 2D/3D graphic environments". Technical note, Università di Firenze, Italy, Dipartimento di Sistemi e Informatica, November 1996.
  • C. Colombo, "Time to collision from a natural perspective". Technical report No. RT-199703-11, Università di Brescia, Italy, Dipartimento di Elettronica per l'Automazione, April 1997.
  • C. Colombo, G. Baldi, and A. Del Bimbo, "Contapersone non intrusivo per autobus con tecniche di computer vision". Technical note, Università di Firenze, Italy, Dipartimento di Sistemi e Informatica, March 1998. (In Italian.)
  • C. Colombo, "Dall'elaborazione di immagini alla visione artificiale". HTML notes for the course held at the Master in Multimedia, RAI-Radiotelevisione Italiana, Firenze, Italy, June 1999 (3rd edition: 2002). (In Italian.)
  • C. Colombo and P. Pala, "Interactive multisensory wood defect detection and classification". Technical note, Università di Firenze, Italy, Dipartimento di Sistemi e Informatica, May 2000.
  • C. Colombo, "Tecnologie multimediali avanzate per l'interazione uomo-macchina". Notes for the seminar Lo sviluppo dell'apprendimento nei bambini colpiti da handicap attraverso i supporti multimediali, RAI-Radiotelevisione Italiana, Firenze, Italy, May 2001. (In Italian.)
  • C. Colombo, "Annotazione automatica di video". Notes for the national PhD course La visione delle macchine, Istituto Internazionale per gli Alti Studi Scientifici  ' Eduardo R. Caianiello', Vietri sul mare (SA), Italy, November 2002. (In Italian.) 
  • C. Colombo. "Ricostruzione metrica con vincoli da immagini non calibrate", Notes for the seminar held at the University of Genoa, Italy, January 2003, and Florence, Italy, March 2003. (In Italian.)
  • C. Colombo, "Visione artificiale per interazione naturale". Notes for the forum Natural User Interfaces at the workshop Interfacce 03, Università di Roma Tor Vergata, Italy, November 2003. (In Italian.)
  • C. Colombo and M. Corsini, "EyeMouse: An interaction device for severely motor-disabled people". Notes for the 1st International Workshop on Natural Interaction, Florence, Italy, March 2004.
  • C. Colombo,"Geometria della visione e Fotografia 3D". Notes for the EC/IFTS Course "Esperto in tecnologie del web e dell’immagine per il settore dei beni culturali", Florence, Italy, April-May 2004.
  • C. Colombo, "EyeMouse: un sistema di interazione a comando oculare". Notes for the workshop La SMA: ricerca, riabilitazione e vita quotidiana, Rome, July 2004. (In Italian.)
  • C. Colombo, "Moto e geometria da sequenze di immagini". Notes for the seminar held at the University of Rome Tor Vergata, September 2004. (In Italian.)

  • Patents

  • C. Colombo, A. Del Bimbo and A. Valli, "PointAt: Method and Apparatus for the Detection of Hand Pointing Gestures". International patent no. PCT/EP02/14739, submitted 2002 (pending).