Buy at MIT Press Horn, Berthold K. P. Robot Vision. Cambridge, MA: MIT Press/McGraw-Hill, March 1986. ISBN: 0262081598.

Shape From Shading

Horn, Berthold K. P., Richard S. Szeliski, and Alan L. Yuille. "Impossible Shaded Images." IEEE Transactions on Pattern Analysis and Machine Intelligence 15, no. 2 (February 1993): 166-170. ISSN: 01628828.


Horn, Berthold K. P. "Closed-Form Solution of Absolute Orientation Using Unit Quaternions." Journal of the Optical Society of America A 4, no. 4 (April 1987): 629-642. (PDF - 1.6 MB)

Horn, Berthold K. P. "Relative Orientation Revisited." Journal of the Optical Society of America A 8 (October 1991): 1630–1638.

Camera Calibration

Some Notes on Unit Quaternions and Rotation (PDF)

Tsai's Camera Calibration Method Revisited (PDF)

Recovering Baseline and Orientation from Essential Matrix (PDF)

Analog VLSI for Machine Vision

Horn, Berthold K. P. "Parallel Analog Networks for Machine Vision." In Artificial Intelligence at MIT: Expanding Frontiers. Edited by Patrick H. Winston and Sarah A. Shellard. Vol. 2. Cambridge, MA: MIT Press, 1990, pp. 437–471.

Time to Collision Warning Chip (PDF)


Projective Geometry Considered Harmful (PDF)

New Notation for Serial Kinematic Chains (PDF)