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Contact
Dr. Frank B. ter Haar
Email: frank.ter.haar at live.com
LinkedIn: http://www.linkedin.com/in/frankterhaar
Selected Projects
H2020 Moses
An innovative 3D World Interpreter System and 3D Digital Twin as a safety mechanism for an Autonomous Crane and a Shore Control Center. A Short-Sea-Shipping innovation
Testing MacGregor autonomous container loading and discharging solution - YouTube
X-Prize
Project lead of the low-latency audio and stereo-eye capture and rendering. Inventor of VR mediated tele-presence, low-latency stereo-camera capture, streaming, and geometric VR-rendering
i-Botics
i-Botics is an Innovation Hub for Research, Development and Implementation for Interaction Robotics.
Student projects:
Stereo Pointclouds for Safety Monitoring of Port Environments | TU Delft Repositories
Hybrid Semantic Mapping for Autonomous Off-Road Driving | TU Delft Repositories
Generative RGB-D Face Completion for Head-Mounted Display Removal | TU Delft Repositories
VR-Together - 2019
Social VR like never seen before!
An end-to-end system for the production and delivery of photorealistic social immersive virtual reality experiences
VR-robotics - 2018
Real-time streaming of calibrated 3D sensor data into the VR-environment of the operator enables him/her to intuitively guide the end-effector of a robot-arm to its target. The correct geometry management is a key element in this process, even a slight offset in the 'known' positioning may cause damage to the robot or the environment.
VR-robotics - 2017
Focus on a VR environment shared by the operator and the remote robot. In this tele-presence scenario the robot is feeding the VR with its 3D sensor data and recognized 3D objects whilst the operator is interpreting the scene and planning the actions for the robot in an intuitive Unity3D environment.
I-Botics – Joint innovation centre for interaction robotics, tno-en-ut-demonstreren-nieuw-technieken-telerobotica-en-touch-sensitivity-i-botics
3D Photogrammetry from Aerial Photos of St Maarten after Hurricane Irma - 2017
3D Photogrammetry to VR inspection @Innovation Fair - 2016
Advisory role on how to record an incident in limited time with available smartphones and how to use 3D photogrammetry tools to create a 3D reconstruction out of these photo's afterwards. By presenting the 3D reconstruction in VR, the scene is frozen in time and can be re-visited over and over again.
2D and 3D Change Detection for Route Clearance - 2015
With main focus on the Geometry management; including camera selection, camera positioning, lens calibration, stereo-calibration, multi-camera calibration, illumination robust change detection, combination of detections with GPS/INS, projecting image-detections to GIS data, and fusion of multi-sensor data.
Defense Magazine: "Materieelgezien"
3D Body scan processing for Anthropometric studies - 2013
Including the 3D processing towards 3D morphable body shape models, secular trend analysis, and 1D body dimension extraction for custom fit products such as army suits, shoes and helmets.
3D CSI Tool and Augmented Reality - 2012
Corporate: TNO 3D Modeling and Augmented reality. https://www.youtube.com/watch?v=Myo1TOLSMHM
3D CSI Tool - 2011
"Een plaats delict (PD) die altijd intact en onderzoekbaar blijft. Op donderdag 27 oktober opent loco-burgemeester Kool van Den Haag het CSI Lab. In dit speciaal ontwikkelde laboratorium kan onderzoek gedaan worden op de virtuele PD, lang nadat de daadwerkelijke plaats van dat misdrijf is opgeruimd en vrijgegeven. Het CSI Lab is als forensische trainingsfaciliteit uniek in de wereld." [Forensische techniek van de toekomst in CSI Lab, website NFI]
TNO Endoscoptic 3D Navigation - 2010
Experience the clear and broad view of the area of interest with Endoscopic 3D Navigation. http://youtu.be/8CYSYH-8JjY
Patents
[Application 18215277.7-1210: Cloud-based camera calibration]
Cloud-Based Camera Calibration
SNB Gunkel, F Ter Haar, HM Stokking
US Patent App. 17/414,804
[Application 18215169.6-1290: Network-based assistance for receiver processing of video data]
Network-based assistance for receiver processing of video data
HM Stokking, F Ter Haar, HN Hindriks
US Patent App. 17/312,883
[Application 17201151.2-1208: Obtaining image data of an object in a scene]
Obtaining image data of an object in a scene
F Ter Haar, N van der Stap, HM Stokking, M Prins, S Gunkel
US Patent 11,582,383
[Patent 10878277 : Ship identification system and method]
Ship identification system and method
K Schutte, SP van den Broek, RJ Ten Hove, AWM Van Eekeren, ...
US Patent 10,878,277
TNO Publications
Frank Bart ter Haar - Google Scholar
Matthijs Van Der Boon, Leonor Fermoselle, Frank Ter Haar, Sylvie Dijkstra-Soudarissanane, Omar Niamut, Deep Learning Augmented Realistic Avatars for Social VR Human Representation. ACM International Conference on Interactive Media Experiences, 2022
Leonor Fermoselle, Alexander Toet, Nirul Hoeba, Jeanine van Bruggen, Nanda van der Stap, Frank B ter Haar, Jan Van Erp. Grasping Temperature: Thermal Feedback in VR Robot Teleoperation, ACM International Conference on Interactive Media Experiences, 2022
Nels Numan, Frank ter Haar, Pablo Cesar, "Generative RGB-D Face Completion for Head-Mounted Display Removal", 2021 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW), 109-116, 2021, IEEE
Simon Gunkel, Rick Hindriks, Karim El Assal, Hans Stokking, Sylvie Dijkstra-Soudarissanane, Frank ter Haar, Omar Niamut, "VRComm: an end-to-end web system for real-time photorealistic social VR communication", Proceedings of the 12th ACM Multimedia Systems Conference, 65-79, 2021
Sylvie Dijkstra-Soudarissanane, Simon Gunkel, Alexandre Gabriel, Leonor Fermoselle, Frank ter Haar, Omar Niamut, "XR Carousel: A Visualization Tool For Volumetric Video", Proceedings of the 12th ACM, 2021
Leonor Fermoselle, Simon Gunkel, Frank ter Haar, Sylvie Dijkstra-Soudarissanane, Alexander Toet, Omar Niamut, Nanda van der Stap, "Let’s Get in Touch! Adding Haptics to Social VR", ACM International Conference on Interactive Media Experiences, 174-179, 2020
Dennis W. J. M. van de Wouw, Frank B. ter Haar, Gijs Dubbelman, and Peter H. N. de With "Development and analysis of a real-time system for automated detection of improvised explosive device indicators from ground vehicles," Journal of Electronic Imaging 28(4), 043009 (12 July 2019). https://doi.org/10.1117/1.JEI.28.4.043009
David B. Van de Merwe, Leendert Van Maanen, Frank B. ter Haar, Roelof J. E. Van Dijk, Nirul Hoeba, Nanda Van der Stap, Human-Robot Interaction During Virtual Reality Mediated Teleoperation: How Environment Information Affects Spatial Task Performance and Operator Situation Awareness, International Conference on Human-Computer Interaction, June 2019
Sylvie Dijkstra-Soudarissanane, Karim El Assal, Simon Gunkel, Frank ter Haar, Rick Hindriks, Jan Willem Kleinrouweler, Omar Niamut, Multi-Sensor Capture and Network Processing for Virtual Reality Conferencing, MMSYS, June 2019
Turkogluy, M.O., Haar, F.B. ter, Stap, N. van der, Incremental Learning-Based Adaptive Object Recognition for Mobile Robots. IEEE/RSJ IROS, October 2018
Oudenhuijzen, A.J.K., Haar, F.B. ter, Digital Head Avatars for combat helmet fit, PASS Conference, October 2018
Gunkel, S.N.B., Stokking, H.M., Prins, M.J., Stap, N. van der, Haar, F.B. ter, Niamut, O.A., Virtual Reality Conferencing: Multi-user immersive VR experiences on the web. MMSys’18: 9th ACM Multimedia Systems Conference, June 12–15, 2018, Amsterdam, Netherlands.
Hollander R.J.M. den, Bouma, H., Rest, J.H.C. van, Hove, J.M. ten, Haar, F.B. ter, Burghouts, G.J., Automatically assessing properties of dynamic cameras for camera selection and rapid deployment of video-content-analysis tasks in large-scale ad-hoc networks. Warsaw, SPIE, Vol. 10441, 2017.
Boer, M.H.T., Bouma, H., Kruithof, M.C., Haar, F.B. ter, Fischer, N.M., Hagendoorn, L.K., Joosten, B., Raaijmakers, S., Automatic analysis of online image data for law enforcement agencies by concept detection and instance search. Proc. SPIE, Vol. 10441, 2017.
Broek, S.P. van den, Nieuwenhuizen, R.P.J., Fischer, N.M., Haar, F.B. ter, Baan, J., Van Der Stap, N., Dijk, J., Schutte, K. Improvements in ship tracking in electro-optical and infrared data using appearance. Electro-Optical and Infrared Systems: Technology and Applications XIII. 28 September 2016.
Oudenhuijzen, A.J.K., Wolfs, B.J.E., Haar, F.B. ter. Helmet fit testing on subjects and 3D avatars. Report TNO 2016 R11080.
Broek, S.P. van den, Haar, F.B. ter, Dijk, J., Eekeren, A.W.M. van. State-of-the-art information extraction techniques. Report TNO 2015 R11504
Zhang, H., Lu, Y.J., Boer, M.H.T. de, Haar, F.B. ter, Schutte, K., Kraaij, W., Ngo, C.W. (2014). VIREO-TNO @ TRECVID 2015: Multimedia Event Detection. Proc. TRECVID 2015 , held in Gaithersburg, MD, USA, November 16 - 18, 2015.
Henri Bouma, Jan Baan, Frank B. ter Haar, Pieter T. Eendebak, Richard J.M. den Hollander, Gertjan J. Burghouts, Remco Wijn, Sebastiaan P. van den Broek, Jeroen H.C. van Rest. Video content analysis on body-worn cameras for retrospective investigation, Proc. SPIE, vol. 9652, 2015.
Henri Bouma, George Azzopardi, Martijn Spitters, Joost de Wit, Corné Versloot, Remco van der Zon, Pieter Eendebak, Jan Baan, Johan-Martijn ten Hove, Adam van Eekeren, Frank ter Haar, Richard den Hollander, Jasper van Huis, Maaike de Boer, Gert van Antwerpen, Jeroen Broekhuijsen, Laura Daniele, Paul Brandt, John Schavemaker, Wessel Kraaij, Klamer Schutte, “TNO at TRECVID 2013: Multimedia Event Detection and Instance Search”, TRECVIC (2013)
Daanen, H.A.M., Ter Haar, F.B. Inventarisatie antropometrische eigenschappen van de voeten van Nederlandse militairen (Inventory of anthropometric properties of the feet of Dutch military). Report TNO 2014 R11420.
Daanen, H.A.M., Woering, A.A., Ter Haar, F.B., Wetenschappelijke ondersteuning maatvoering militaire kleding (Scientific support for sizing of military garments ). Report TNO-2014-R11029.
Frank B. ter Haar, Henk G.B.Reulink, Hein A.M. Daanen, "3D Scanning of Dutch Military: Secular Trends in PCA for 18,000 Soldiers". 4th International Conference and Exhibition on 3D Body Scanning Technologies. Long Beach CA, USA, Nov 2013.
Ter Haar, F.B., Daanen, H.A.M., 3D-scanning: Constructie van een mannelijk en vrouwelijk militair mensmodel ( 3D-scanning: construction of a male and female human model). Report TNO-R-11027, 2013.
Eendebak, P.T., Haar, F.B. ter., 3D reconstruction from UAV images. Report TNO 2013 R10500.
[pdf] H.A.M. Daanen, F.B. Ter Haar. 3D whole body scanners revisited. Displays, volume 34(4), pages 270-275, 2013.
[pdf] Jan Willem Streefkerk, Mark Houben, Pjotr van Amerongen, Frank ter Haar, Judith Dijk, "The ART of CSI: Annotation of Crime Scenes using an Augmented Reality Tool (ART) for Forensic Investigation", HCI International 2013, Las Vegas, July 2013.
F.B. ter Haar, A.W.P. van Heijningen. Vehicle based stereo change detection for countering Improved Explosive Devices, Report TNO 2013 R10121.
[pdf] Bouma, H., Mark, W. van der, Eendebak, P.T., Landsmeer, S., Eekeren, A.W.M. van der, Haar, F.B. ter, Wieringa, F.P., Basten, J.P. van, "Streaming video-based 3D reconstruction method compatible with existing monoscopic and stereoscopic endoscopy systems", Proc. SPIE 8371, Sensing Technologies for Global Health, Military Medicine, Disaster Response, and Environmental Monitoring II; and Biometric Technology for Human Identification IX, 837112. May 2012.
W. van der Mark, F.B. ter Haar, A.W.P. van Heijningen and A.J. Schoolderman, "Vehicle based Countering of Improvised Explosive Devices using 3D Change Detection", NATO SET-175 conference, Copenhagen, Denmark, June 2011.
Mark, W. van der, Cadot, S., Pol, J. van den, Dekker, E. den, Bouma, H., Haar, F. ter, Noordam, J.C., "Vehicle based stereo change detection for countering Improved Explosive Devices", Report TNO-DV 2010 A119.
Doets, P.J.O., Schavemaker, J.G.M., Staalduinen, M. van, Kraaij, W., Raaijmakers, S.A., Landsmeer, S.H., Leeuwen, D.A. van, Munster, R.J. van, Haar, F.B. ter, Bouma, H., Noordam, J.C., Loots, G., Meulenhoff, P.J., Werff, M.R. van der, "Herkenning van Digitale Informatie". Report TNO 2010 35264.
[pdf] Frank B. ter Haar, Richard J. M. den Hollander, and Judith Dijk. Detection of Moving Objects from a Moving Platform in Urban Scenes. In SPIE: Visual Information Processing XIX, volume 7701, 2010.
[pdf] Arvid Halma, Frank ter Haar, Ernst Bovenkamp, Pieter Eendebak, and Adam van Eekeren. Single spin image-icp matching for efficient 3d object recognition. In Proceedings of the ACM workshop on 3D object retrieval (3DOR), pages 21-26, 2010.
PhD publications
Bibtex: bibtexfile.bib
[pdf] Frank B. ter Haar. Reconstruction and Analysis of Shapes from 3D Scans. PhD thesis, Utrecht University, Dept. Computer Science, September 2009. ISBN 978-90-8891-109-5.
[pdf] Frank B. ter Haar and Remco C. Veltkamp. Expression Modeling for Expression-Invariant Facerecognition. Computers and Graphics, 34:231-241, 2010.
Frank B. ter Haar and Remco C. Veltkamp. Automatic Bootstrapping of a Morphable Face Model using Multiple Components. In IEEE International Workshop on 3-D Digital Imaging and Modeling (3DIM), 2009.
Frank B. ter Haar and Remco C. Veltkamp. A 3D Face Matching Framework for Facial Curves. Graphical Models, 71(2):77-91, 2009.
Frank B. ter Haar and Remco C. Veltkamp. 3D Face Model Fitting for Recognition. In European Conference on Computer Vision (ECCV), pages 652-664, 2008.
Frank B. ter Haar and Remco C. Veltkamp. A 3D Face Matching Framework. In Shape Modeling and Applications (SMI), pages 103-110, 2008.
Remco C. Veltkamp and Frank B. ter Haar. SHREC2008: 3D Shape Retrieval Contest. In Shape Modeling and Applications, pages 215-263, 2008.
Frank B. ter Haar, Mohamed Daoudi, and Remco C. Veltkamp. SHape REtrieval Contest 2008: 3D Face Scans. In Shape Modeling and Applications (SMI), pages 225-226, 2008.
Frank B. ter Haar and Remco C. Veltkamp. SHREC'08 Entry: 3D Face Recognition using Facial Contour Curves. In Shape Modeling and Applications (SMI), pages 259-260, 2008.
Remco C. Veltkamp and Frank B. ter Haar. SHREC2007: 3D Shape Retrieval Contest. Technical Report UU-CS-2007-015, Utrecht University, 2007.
Frank B. ter Haar and Remco C. Veltkamp. Automatic Multiview Quadruple Alignment of Unordered Range Scans. In Shape Modeling and Applications (SMI), pages 137-146, 2007.
Frank B. ter Haar and Remco C. Veltkamp. A 3D Face Matching Framework. Technical Report UU-CS-2007-047, Utrecht University, 2007.
Tristan Whitmarsh, Remco C. Veltkamp, Michela Spagnuolo, Simone Marini, and Frank B. ter Haar. Landmark Detection on 3D Face Scans by Facial Model Registration. In 1st Int. Workshop on Shape and Semantics, pages 71-76, 2006.
Remco C. Veltkamp, Remco Ruijsenaars, Michela Spagnuolo, Roelof van Zwol, and Frank B. ter Haar. SHREC2006: 3D Shape Retrieval Contest. Technical Report UU-CS-2006-030, Utrecht University, 2006.
Frank B. ter Haar, Paolo Cignoni, Patrick Min, and Remco C. Veltkamp. A Comparison of Systems and Tools for 3D Scanning. In 3D Digital Imaging and Modeling: Applications of Heritage, Industry, Medicine and Land, 2005.
Frank B. ter Haar and Remco C. Veltkamp. Alignment, Merging and Hole Filling Experiments with 3D Range Scans. Technical Report UU-CS-2005-047, Utrecht University, 2005.
M. Niemeijer, B. van Ginneken, F.B. ter Haar, and M.D. Abramoff. Automatic Detection of the Optic Disc, Fovea and Vascular Arch in Digital Color Photographs of the Retina. In British Machine Vision Conference, pages 109-118, 2005.
Book Chapter
Mohamed Daoudi, Anuj Srivastava, Remco Veltkamp (eds). 3D Face Modeling, Analysis and Recognition. Wiley, 2013. Print ISBN 9780470666418. Online ISBN 9781118592656. DOI10.1002/9781118592656.
Thesis
Reconstruction and Analysis of Shapes from 3D Scans (PhD Thesis) - 2009
In this PhD-thesis we use 3D laser range scans for the acquisition, reconstruction, and analysis of 3D shapes. 3D laser range scanning has proven to be a fast and effective way to capture the surface of an object in a computer. Thousands of depth measurements represent a part of the surface geometry as a cloud of 3D points and geometric algorithms have been developed to turn such 3D point sets into manageable shapes and shape representations for end users or other algorithms. We use 3D laser range scans to evaluate acquisition and reconstruction systems and algorithms, to fully automate the object reconstruction, to find discriminative face features, for automatic landmark extraction, for face identification with and without expressions, and for the statistical modeling of faces.
terHaar09_PhD_ReconstructionAndAnalysis_lowres.pdf
terHaar09_PhD_ReconstructionAndAnalysis_highres.pdf
Final_thesis_UU.pdfAutomatic localization of the optic disc in digital colour images of the human retina (MSc Thesis)
Detection of the optic disc (OD) is an essential step in the automatic analysis of digital colour fundus images. In this thesis the performance of fifteen OD-detection methods are compared. A total of eight methods were implemented as described in the literature and seven new methods were developed.
MSc thesis: terHaar04_MSc_ODdetection.pdf
Local Contrast Enhancement of the intensity image (HSI) is one way to enhance the blood vessels and the optic disc
Personal projects
Amersfoort in 3D using GoogleMaps data combined with 3dGebouwhoogteNL.gml (www.pdok.nl). My python script parses the raw GML data, triangulates the 2D building contours using an Ear Cutting algorithm, uses the building height to create a 3D building object with height color, and exports the all buildings to a single 3d ply file.
3D photo reconstruction from a museum object.
Animated gif after image registration. My personal best photo-sequence of my wonderful safari in South-Africa back in 2014.
