of recent publications (beginning from 1995) by Georgii Khachaturov.

You can download some compressed papers in PS format.

The main question that provoked the following  series of papers was: How a structural object  model should depend on the available routines of low-level processing?


Robust Identification Based on a Processing-Oriented Object Representation(with F.Macías-Rangel and H. Moncayo) in Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, D. P. Casasent &E. L. Hall, Eds., Proceedings of SPIE, Vol. 4572, 2001.


"Structural Matching to Control the Low-Level  Processing(with F. Macias-Rangel), in Proc. of Congreso International De Computación , CIC2000, 13-17 November 2000,  IPN, Centro de Investigación en Computación, Mexico,  pp. 273-284, 2000.

"Knowledge-Based and Processing-Oriented Object Representation" (with F. Macias-Rangel), in Proceedings of the Workshop AAPR'2000:  Advances in Artificial Perception and Robotics, Eduardo Bayro Corrochano (Ed.), M-00-26 (CC/CIMAT), Guanajuato, Mexico, pp. 151-158, 2000.

Detector-Based Visual Identification of Known Objects ", in Enhanced and Synthetic Vision 2000, J.G. Verly, Ed., Proceedings of SPIE, Vol. 4023, pp. 269-279, 2000.

Three new issues are presented in them  (i) A formalization of low-level processing (ii) A new object representation (TSG-model) for Pattern Recognition (iii) A new image processing scheme for verification if an input image contains an object corresponding to a given TSG-model. The peculiarity of the processing is that its part representing low-level image processing works under full control of typical AI search interacting with the TSG-model of object to be identified.

           In other words, structural identification is reduced in the papers to AI search that manipulates with two kinds of feasible block-operations, the one represented by detectors (this is a formalization of low-level image processing) and the one represented by operations with sets (union, intersection, etc.) of image frame.

The most recent paper of this set extends the technique for the case of possible occlusions and omission of details during detection.


·                                 · Papers related to Intelligent Robot Navigation

The ideas developed in  the following set of  papers, perhaps, are of common interest. In particular, they are related to a challenging application: Planning via Internet a fastest trip by means of all available timetables of all kinds of transport.

        The problem of robot navigation is represented in those papers as an extension of well known shortest path problem on graphs. Then, an efficient resolution for this extended problem is presented. For robotics, this approach leads to a new graph-based representation of its environment. It gives a new point of view about robot learning, perception, and other parts of robot architecture and suggests a new research program for them.

" An Approach to Trip- and Route-Planning Problems", Cybernetics and Systems: An International Journal, Vol. 33, pp. 43-67, 2002, Taylor & Francis Group


" An Approach to the Natural Posed Trip and Route-Planning Problems", in Proceedings of the 2nd International Symposium on Robotics and Automation, ISRA'2000, Monterrey, Mexico, pp. 87-92, 2000.

"A Graph-Based Approach To Intelligent Robot Navigation"  in Proc. of Congreso International De Computación , 15-19 November 1999, pp. 453-461, IPN, Centro de Investigación en Computación, Mexico, 1999.

"Robot Navigation with an Almost Natural Interface", in Proc. of 10th Irish Conference on Artificial Intelligence & Cognitive Science (AICS99), pp. 116-122, University College Cork, Ireland, 1999.

"An approach to the non-Cartesian navigation", in Proc. of SIARP’99 - 4th Iberoamerican Simp. on Patt. Recogn., pp. 67-78, Havana, Cuba, 1999.

The original goal was a one-step extraction of "something one-dimensional in picture, disregarding irrelevant details". It led to a generalization of edgel. "The 3-Frequencies Method" (3FM) was developed for that purpose in


"An Approach to Detection of Line Elements". In Proc. of the Second Asian Conference on Computer Vision (ACCV’95), Vol. III, pp.559-563, 5-8 December 1995, Singapore, 1995.


In the following two papers 3FM was applied to a next step generalization of edgel, and also to extraction of "something 0D".


"Generalization of Local Elements of Pictures",in Proc. of 30th Intl. Symposium on Automative Technology & Automation, ISATA-97, Florence, Italy 16-19 June 1997, pp.257-264, 1997

"Non-matching detection of the local image elements", (with I. Grandi) in Proc. of TIARP’97 – 2d Iberoamerican Workshop on Patt. Recogn., pp. 17-27, Havana, 1997,

This set of three papers presents a simple, robust, and precise method of 3D-pose estimation that can be used, for example, for spacecraft docking and robotics.


"An Approach to Full Pose Estimation for an Automatic Control System Based on Vision", (with H.Moncayo) in Enhanced and Synthetic Vision 1998, J.G. Verly, Ed., Proceedings of SPIE Vol. 3364, pp.303-313, 1998.

"A Monocular 3D Pose Estimator Based on Fourier Technique", in Proc. of III Iberoamerican Workshop on Pattern Recongnition, (Memorias del III Taller Iberoamericano de Reconocimiento de Patrones), March 23-27, 1998, pp.113-129, ICIMAF (Cuba), CIC IPN, IPN (Mexico), 1998.

"Non-uniformity of a pattern and "the best" single view 3D pose estimator"Computación y Sistemas (an international journal in Computer Science, published in CIC IPN, Mexico), vol II, no.2 and 3, pp. 114-125, 1999.

Last actualization: November 28, 2001