Per-Erik Forssén

Senior Associate Professor

My research interests are in visual perception and perceptual learning for robots. Current work includes uncertainty representation, vision for action, and continuous-time modelling of 3D motion.

CV for Per-Erik Forssén

Academic Degrees

October 2009: Docent in Computer Vision
Talk title: "Robot Vision, More than Meets the Eye"
March 2004: Doctor of Philosophy in Computer Vision
PhD thesis: "Channel Representations for Low and Medium Level Vision", Supervisor Prof. Gösta Granlund.
February 2001: Licentiate of Engineering in Computer Vision
Licentiate thesis (halftime PhD): "Sparse Representations for Medium Level Vision", Supervisor Prof. Gösta Granlund.
December 1997: Master of Science in Computer Science and Engineering
Master's Thesis: "Detection of Man-made Objects in Satellite Images", Work conducted at the Swedish Space Corporation in Kiruna, Sweden. Supervisor Dr. Sören Molander.

Employment History

February 2020 - present
Associate Professor (Biträdande professor), Linköping University
January 2013 - January 2020
Associate Professor (Universitetslektor), Linköping University
April 2009 - December 2012
Assistant Professor (LiU Foass), Linköping University
May 2008 - March 2009
Research Associate, Linköping University
January 2008 - April 2008
Research Engineer, Computer Vision Lab, Linköping
January 2006 - December 2007
Post-doctoral Fellow, University of British Columbia, Canada
June 2004 - December 2005
1st Research Engineer, 20% teaching, Computer Vision Lab, Linköping
May 2004 - December 2005
Computer Vision Consultant, (15-25 h/month) ATS AB, Linköping
November 1998 - May 2004
PhD Student Position (20% teaching), Computer Vision Lab, Linköping
July 1998 - November 1998
Teaching Assistant/Programmer, Computer Vision Lab, Linköping
Spring 1998
English Language Studies (Full Time), Linköping University
Summer 1996
Assistant Computer Network Analyst, SEMA Group, Örebro and Stockholm
June 1994 - August 1995
Military Service, Technician/Under-Officer
August 1992 - December 1997
Studies in Computer Science and Engineering Programme (with breaks for military service and summer employment)

Awards and memberships

ICVGIP 2014 best paper award. December 2014.
SSBA 2014 industry prize. March 2014.
PRCV Colloquium 2012 Invited Speaker. October 2012.
ECMR 2011 Invited speaker, September 2011.
DICTA 2011 Best Colour Paper Prize
IMVW 2011 Best Paper Award
ECCV 2010 Reviewer Award
Winner of the 2007 Semantic Robot Vision Challenge. Core member of the winning UBC team.
SSBA board member March 2012-March 2022.
Member of IEEE since August 2007.

Publications

Teaching

TSBB19 Machine Learning for Computer Vision, LiU, Examiner and lecturer, Autumn 2021,Autumn 2022,Autumn 2023, Autumn 2024, Autumn 2025.
WASP Project course, WASP, Project supervisor. Autumn 2019, Autumn 2021 (2 groups).
WASP Learning feature representations, WASP, Lecturer. Autumn 2020, Autumn 2022, Autumn 2024.
AI och Digitalisering, Översiktskurs, LiU, Course development, lectures and a computer lab in an external course managed by LiU Uppdagsutbildning.
TSBB06 Multidimensional Signal Analysis, LiU, Acting examiner and lecturer Autumn 2018.
TSBB17 Visual Recognition and Detection, LiU, Examiner and lecturer, Autumn 2018, Autumn 2019, Autumn 2020.
Visual Object Recognition, 8hp. LiU Course development of a graduate course. Updated course content, gave 8 lectures, and selected articles for reading. Attended by 15 PhD students, and 15 external people. Autumn 2014 and Spring 2015
Geometry for Computer Vision, 6hp. with Klas Nordberg. Updated course content and gave 5 of the lectures. Spring 2014
Biological Vision Systems, 6hp. LiU Course development of a graduate course together with Michael Felsberg. The course featured 4h lectures and 32h of student led seminars. It had 16 attendees (11 presenting PhD students, 5 other participants). Selected all papers and topics and moderated the seminars. Spring 2013
Computer Vision, LiU Course development of an external course held at Saab Dynamics with Michael Felsberg. Extent: 5 lectures totalling at 10h. Spring 2013
Computer Vision on Rolling Shutter Cameras. Tutorial held at the CVPR 2012 conference. (with Erik Ringaby and Johan Hedborg)
TSBB15 Computer Vision, LiU, Examiner and course manager, Teaching 6h+6h preparations, Spring 2012, Spring 2013, Spring 2014, Spring 2015, Spring 2016, Spring 2017, Spring 2018, Spring 2019, Spring 2020, Spring 2021.
TNM089 Imaging Technology, LiU, Guest Lecturer, 2h+4h preparations, Autumn 2011
Geometry for Computer Vision, LiU Course development of a graduate course together with Klas Nordberg. extent: 8hp. The course featured 16h lectures, 23 attendees (9 PhD students, 14 from industry), written exam for 6 people, corrected and supervised project assignments. Spring 2010
TS1017 Computer Vision, LiU, Teaching 4h+4h, Spring 2011
TSBB12 Computer Vision, LiU, Teaching 8h+8h preparations, Contributed to course development, Spring 2009, Teaching 8h+8h Spring 2010
Visual Object Recognition, LiU, Complete course development of a graduate course, extent:8hp, teaching 14h lectures, 24 attendees (11 PhD students, and 13 from local companies), Written exam for 11 people, corrected and supervised project assignments, Autumn 2008
TSBB09 Image Sensors, LiU, Contributed to course development in a new undergraduate course, Assisted students during one 4h computer session, Autumn 2008, Demo of Kinect Autumn 2010, Demo and talk on Kinect Autumn 2011.
CVL Article Club, LiU, Planning and execution of a seminar series covering the latest research in Computer and Robot Vision, also offered as a PhD course, Spring 2008, Spring 2009 - ongoing.
525 Image Understanding II, UBC, guest lecturer. Spring 2006
TSBB04 Computer Vision, LiU, assistant lecturer, lab-exercise development. Autumn 1999, Autumn 2000, Autumn 2001, Autumn 2002, Autumn 2003, Autumn 2004, Autumn 2005
TSBB35 Multidimensional Signal Analysis, LiU, project supervisior, lab-exercise development. Autumn 2000, Spring 2001, Spring 2002, Spring 2003, Spring 2004, Spring 2005
TSBB65 Images and Graphics, LiU, computer excersise assistant. Spring 2001, Spring 2002, Spring 2003, Spring 2004, Spring 2005
TSBB53 Images and Graphics, Project Course, LiU, project development and supervision. Spring 2003, Spring 2004, Spring 2005

Supervision of PhD students

Currently supervising: Ziliang Xiong, Bao Long Tran, Fredrik Lundell, Johannes Hägerlind.
Currently co-supervising: Carl Hoffstedt, Shipeng Liu, Garima Bazard.
Supervised Erik Ringaby (PhD September 2014), Marcus Wallenberg (PhD January 2017), Hannes Ovrén (PhD September 2018), Jens Ogniewski (Lic December 2020), Felix Järemo Lawin (PhD August 2021), Mikael Persson (PhD March 2022)
Co-supervised Fredrik Viksten with Prof Forchheimer (PhD September 2010), Fredrik Larsson with Prof Felsberg (PhD November 2011), Johan Hedborg with Prof Felsberg (PhD May 2012), Kristoffer Öfjäll with Prof Felsberg (PhD April 2016), and Bertil Grelsson with Prof Felsberg (April 2019), Gustav Häger with Prof Felsberg (PhD May 2021), and Andreas Robinson with Prof Felsberg (PhD June 2021), Emil Brissman with Prof Felsberg (PhD April 2023), Arvi Jonnarth with Prof Felsberg (PhD October 2024).

Committee work

Faculty opponent for Yaroslava Lochman, CTH, December 2025.
Member of PhD grading committee (betygskommitté) for Behnaz Kavoosighafi, LiU, August 2025.
Member of PhD grading committee (betygskommitté) for Georg Hess, CTH, May 2025.
Member of PhD grading committee (betygskommitté) for Adam Tonderski, LTH, February 2025.
Member of PhD grading committee (betygskommitté) for Iulian Emil Tampu, LiU, November 2024.
Member of PhD grading committee (betygskommitté) for Felix Rydell, KTH, June 2024.
Licentiate thesis examiner for Johan Jönemo, LiU, March 2024.
Member of PhD grading committee (betygskommitté) for Lucas Brynte, CTH, February 2024.
Member of PhD grading committee (betygskommitté) for Marcus Klasson, KTH, November 2022.
Member of PhD grading committee (betygskommitté) for David Nilsson, LTH, June 2022.
Licentiate thesis examiner for Amanda Olmin, LiU, May 2022.
Faculty Opponent for Dinh-Cuong Hoang, OrU, December 2021.
Member of PhD grading committee (betygskommitté) for Zhongguo Li, LTH, May 2021.
Licentiate thesis examiner (betygsförrättare) for Andreas Bergström, LiU, Feb 2020.
Member of PhD grading committee (betygskommitté) for Erik Bylow, LTH, April 2018.
Member of PhD grading committee (betygskommitté) for Daniel Canelhas, OrU, October 2017.
Member of PhD grading committee (betygskommitté) for Mårten Wadenbäck, LTH, April 2017.
Member of PhD grading committee (betygskommitté) for Silvio Giancola, Politecnico di Milano, February 2017.
Member of PhD grading committee (betygskommitté) for Johan Fredriksson, LTH, December 2016.
Member of PhD grading committee (betygskommitté) for Joel Kronander, LiU, December 2015.
Member of PhD grading committee (betygskommitté) for Erik Ask, LTH, October 2014.
External licentiate thesis reviewer (opponent) for Mårten Wadenbäck, LTH, September 2014.
Member of PhD grading committee (betygskommitté) for Daniel Forsberg, LiU, May 2013.
Member of PhD grading committee (betygskommitté) for Babak Rasolzadeh, KTH, January 2012.
Member of PhD grading committee (betygskommitté) for Jeroen Hol, LiU, June 2011.
Member of PhD grading committee (betygskommitté) for Olof Enqvist, LTH, April 2011.
Member of PhD grading committee (betygskommitté) for Martin Byröd, LTH, June 2010.
External licentiate thesis reviewer (opponent) for Olof Enqvist, LTH, June 2009.
Member of PhD grading committee (betygskommitté) for Henrik Andreasson, OrU, September 2008.

Supervised and Examined Masters

Supervised Robert Söderberg
View Dependent Recognition of Objects, February 2002
Supervised Andreas Böckert
Vehicle Detection and Classification in Video Sequences, August 2002
Supervised Per Öberg
Tracking By Image Processing in a Real-Time System, March 2003
Examined Jan-Willhelm Isoz
Calibration of Multispectral Sensors, December 2005
Examined Markus Olgemar
Camera Based Navigation, October 2008
Examined Marcus Wallenberg
A Single-Camera Gaze Tracker using Controlled Infrared Illumination, March 2009
Examined Alexander Tuttle
Saliency Maps using Channel Representations, January 2010
Examined Anders Lind
High-speed View Matching using Region Descriptors, August 2010
Examined Axel Landgren
A Robotic Camera Platform for Evaluation of Biomimetic Gaze Stabilization using Adaptive Cerebellar Feedback, September 2010
Examined Andreas Schöndell
Evaluation of methods for segmentation of 3D range image data, January 2011
Examined David Sandberg
Model-Based Video Coding Using a Colour and Depth Camera, June 2011
Examined Gustav Hanning
Video Stabilization and Rolling Shutter Correction using Inertial Measurement Sensors, June 2011
Examined Tobias Lundqvist
3D mapping with iPhone, October 2011
Examined Anton Nordmark
Kinect 3D Mapping, October 2012
Examined Magnus Stigson
Object Tracking Using Tracking-Learning-Detection in Thermal Infrared Video, May 2013
Examined Victor Johansson
3D Position Estimation of a Person of Interest in Multiple Video Sequences: Person of Interest Recognition, September 2013
Examined Johannes Markström
3D Position Estimation of a Person of Interest in Multiple Video Sequences: People Detection, September 2013
Examined Eric Gratorp
Evaluation of online hardware video stabilization on a moving platform, October 2013
Examined Morgan Bengtsson
Indoor 3D Mapping using Kinect, April 2014
Examined Felix Järemo Lawin
Depth data processing and 3D reconstruction using the Kinect v2, August 2015
Examined Peter Thulin
Anomaly detection for product inspection and surveillance applications, September 2015
Examined Mikael Jonsson
Make it Flat: Detection and Correction of Planar Regions in Triangle Meshes, March 2016
Examined David Habrman
Face Recognition with Preprocessing and Neural Networks, May 2016
Examined Pontus Lindberg
Automatic Measurement of Volume for on-Truck Timber Stacks, June 2016
Examined Richard Bondemark
Improving SLAM on a TOF Camera by Exploiting Planar Surfaces, August 2016
Examined Ola Grankvist
Recognition and Registration of 3D Models in Depth Sensor Data, September 2016
Examined Lukas Tallund
Handling of Rolling Shutter Effects in Monocular Semi-Dense SLAM Algorithms, December 2016
Examined Alexander Poole
Real-Time Image Segmentation for Augmented Reality by Combining multi-Channel Thresholds, September 2017
Examined Emil Rundgren
Automatic Volume Estimation of Timber from Multi-View Stereo 3D Reconstruction, October 2017
Examined Robert Norlander
Make it Complete: Surface Reconstruction Aided by Geometric Primitives, October 2017
Examined Fredrik Fridborn
Reading Barcodes with Neural Networks, November 2017
Examined Johan Lind
Make it Meaningful: Semantic Segmentation of Three-Dimensional Urban Scene Models, December 2017
Examined Mattias Carlsson
Neural Networks for Semantic Segmentation in the Food Packaging Industry, February 2018
Examined Björn Kernell
Improving Photogrammetry Using Semantic Segmentation, May 2018
Examined Fredrik Olsson
Feature Based Learning for Point Cloud Labeling and Grasp Point Detection, August 2018
Examined Adam Nyberg
Transforming Thermal Images to Visible Spectrum Images Using Deep Learning, August 2018
Examined Victor Tranell
Semantic Segmentation of Oblique Views in a 3D Environment, January 2019
Examined Viktor Ringdahl
Stereo camera pose estimation to enable loop detection, January 2019
Examined Jonathan Sjölund
Detection of Frozen Video Subtitles using Machine Learning, June 2019
Examined Carl Ekman
Traffic Sign Classification using Computationally Efficient Convolutional Neural Networks, June 2019
Examined Angelina Johansson and Jacob Grönlund
Defect Detection and OCR on Steel, June 2019
Examined Malcolm Vigren and Linus Eriksson
End-to-end Road Lane Detection and Estimation using Deep Learning, June 2019
Examined Denise Härnström
Classification of Clothing Attributes Across Domains, February 2020
Examined Johan Thornström
Domain Adaptation of Unreal Images for Image Classification, February 2020
Examined Karin Fritz
Instance Segmentation of Buildings in Satellite Imagery, March 2020
Examined Björn Runow
Deep Learning for Point Detection in Images, June 2020
Examined Sabina Serra
Deep Learning for Semantic Segmentation of 3D Point Clouds from an Airborne LiDAR, August 2020
Examined Emir Alkazhami
Facial Identity Embeddings for Deepfake Detection in Videos, October 2020
Examined Mimmi Lindberg
Forensic Validation of 3D Models, November 2020
Examined Erik Örjehag
Unsupervised Learning for Structure from Motion, March 2021
Examined Kerstin Söderqvist
Anomaly Detection in Images and Videos Using Photo-Response Non-Uniformity, April 2021
Examined Lovisa Nilsson
Data-driven Methods for Sonar Imaging, June 2021
Examined Tim Yngesjö
3D Reconstruction from Satellite Imagery Using Deep Learning, June 2021
Examined Marcus Bejgrowicz and Jonas Rydgård
Semantic Segmentation of Building Materials in Real World Images Using 3D Information, June 2021
Examined Gustav Wahlquist
Improving Automatic Image Annotation using Metadata, June 2021
Examined Marcus Dahlqvist
Adaptive Losses for Camera Pose Supervision, June 2021
Examined Malin Rudin
Evaluation of Optical Flow for Estimation of Liquid Glass Flow Velocity, August 2021
Examined Anton Hjert
Machine Learning for LiDAR-SLAM - In Forest Terrains, November 2021
Examined Axel Ahlqvist
Examining Difficulties in Weed Detection, May 2022
Examined Emily Fredriksson
Classification of Terrain Roughness from Nationwide Data Sources Using Deep Learning, June 2022
Examined Justus Karlsson
GPS-Free UAV Geo-Localization Using a Reference 3D Database, June 2022
Examined Emily Olsson
Lens Distortion Correction Without Camera Access, June 2022
Examined Lovisa Stålebrink
Object Detection via Contextual Information, June 2022
Examined Gustav Dahmén and Erica Strand
Forest Growth and Volume Estimation using Machine Learning, June 2022
Examined Paul Bäcker (LiU/ISY - HKA Karlsruhe)
Stereoscopic Multispectral Photometric Stereo for Road Surface Estimation, August 2022
Examined Arvid Karlhede
Online Camera-IMU Calibration, September 2022
Examined Evelina Hult
Toward Equine Gait Analysis: Semantic Segmentation and 3D Reconstruction, January 2023
Examined Matheus Vieira Bernat
Topical Classification of Images in Wikipedia, January 2023
Examined Lovisa Byman and Johanna Carlson
Generation of Synthetic Traffic Sign Images Using Diffusion Models, May 2023
Examined Simon Hermansson
Learning Embeddings for Fashion Images, June 2023
Examined Moltas Enåkander
ISAR Imaging Enhancement Without High-Resolution Ground Truth, June 2023
Examined Erik Lidman
Visual Bird's-Eye View Object Detection for Autonomous Driving, June 2023
Examined Benjamin Bolgakov and Anton Frank (bachelor thesis)
Camera Calibration for Zone Positioning and 2D-SLAM: Autonomous Warehouse Solutions for Toyota Material Handling, June 2023
Examined Ludvig Dillén
Feature-Aware Point Transformer for Point Cloud Alignment Classification, October 2023
Examined William Torberntsson
Event-based Visual Odometry using Asynchronous Corner Feature Detection and Tracking, May 2024
Examined Tai Ta
Asynchronous Event-Feature Detection and Tracking for SLAM Initialization, May 2024
Examined Anton Eldeborg Lundin and Rasmus Winzell
Low-Power UAV Detection Using Spiking Neural Networks and Event Cameras, May 2024
Examined Adam Borgstrand
Confidence Calibrated Point Cloud Segmentation with Limited Data, June 2024
Examined Oskar Savinainen
Uncertainty Estimation and Confidence Calibration in YOLO5Face, June 2024
Examined Anton Myhrberg
Objective Tracking of Gait Patterns in Trotters, February 2025
Examined Sabina Pegler and Rebecca Lejdå
Data Extraction for Vision-Based Learning from Demonstration, June 2025
Examined Viktor Bergkvist
Neuromorphic Depth Estimation with Machine Learning, June 2025
Examined Mustafa Rahmati
Performance Measurement of UNet and DeepLabV3Plus for Semantic Segmentation of Weeds and Crops, June 2025
Examined Viktor Johansson
SMEAREST: Smear Estimation on Blurry Images with Attention Mechanisms, August 2025
Examined Victor Eriksson
Learned Visibility Filtering for Accurate 2D-to-3D Semantic Projection in LiDAR Point Clouds, August 2025
Examined Lucas Vessby
Synthetic Data Generation from 3D Rendered Scenes for Motion Blur Prediction, August 2025
Examined Ture Pontén
Tool Use for Vision-Language Models in Building Analysis with Street View Imagery, June 2026
Examined Edvard Nilsson
Directional Visual Perception for Object Sonification in Indoor Environments, June 2026
Examined Simon Hansson
Algorithms for Sonifying Objects into Spatial Audio using Head-Related Transfer Functions, June 2026