Recursive region segmentation by analysis of histograms. - Steven A. Shafer; Takeo Kanade (ICASSP, 1982)

Correspondence in Line Drawings of Multiple Views of Objects. - Charles E. Thorpe; Steven A. Shafer (IJCAI, 1983)

Using shadows in finding surface orientations. - Steven A. Shafer; Takeo Kanade (Comput. Vis. Graph. Image Process., 1983)

Gradient space under orthography and perspective. - Steven A. Shafer; Takeo Kanade; John R. Kender (Comput. Vis. Graph. Image Process., 1983)

Error Modelling in Stereo Navigation. - Larry H. Matthies; Steven A. Shafer (FJCC, 1986)

Carnegie Mellon Navlab Vision System. - Takeo Kanade; Charles E. Thorpe; Steven A. Shafer; Martial Hebert (IAS, 1986)

An architecture for sensor fusion in a mobile robot. - Steven A. Shafer; Anthony Stentz; Charles E. Thorpe (ICRA, 1986)

Error modeling in stereo navigation. - Larry H. Matthies; Steven A. Shafer (IEEE J. Robotics Autom., 1987)

Color Image Analysis With An Intrinsic Reflection Model. - Gudrun Klinker; Steven A. Shafer; Takeo Kanade (ICCV, 1988)

The measurement of highlights in color images. - Gudrun Klinker; Steven A. Shafer; Takeo Kanade (Int. J. Comput. Vis., 1988)

Error Modeling in Stereo Navigation. - Larry H. Matthies; Steven A. Shafer (Autonomous Robot Vehicles, 1990)

Local spatial frequency analysis of image texture. - John Krumm; Steven A. Shafer (ICCV, 1990)

A physical approach to color image understanding. - Gudrun Klinker; Steven A. Shafer; Takeo Kanade (Int. J. Comput. Vis., 1990)

Active lens control for high precision computer imaging. - Reg G. Willson; Steven A. Shafer (ICRA, 1991)

Toward autonomous driving: the CMU Navlab. Part I - Perception. - Charles E. Thorpe; Martial Hebert; Takeo Kanade; Steven A. Shafer (IEEE Expert, 1991)

Toward autonomous driving: the CMU Navlab. Part II - Architecture and Systems. - Charles E. Thorpe; Martial Hebert; Takeo Kanade; Steven A. Shafer (IEEE Expert, 1991)

Shape from periodic texture using the spectrogram. - John Krumm; Steven A. Shafer (CVPR, 1992)

Anatomy of a color histogram. - Carol L. Novak; Steven A. Shafer (CVPR, 1992)

Selective Perception for Robot Driving. - Douglas A. Reece; Steven A. Shafer (AAAI, 1993)

What is the center of the image? - Reg G. Willson; Steven A. Shafer (CVPR, 1993)

Depth from focusing and defocusing. - Yalin Xiong; Steven A. Shafer (CVPR, 1993)

A framework for segmentation using physical models of image formation. - Bruce A. Maxwell; Steven A. Shafer (CVPR, 1994)

Variable window Gabor filters and their use in focus and correspondence. - Yalin Xiong; Steven A. Shafer (CVPR, 1994)

Texture Segmentation and Shape in the Same Image. - John Krumm; Steven A. Shafer (ICCV, 1995)

Modeling foreshortening in stereo vision using local spatial frequency. - Mark W. Maimone; Steven A. Shafer (IROS (1), 1995)

Moment filters for high precision computation of focus and stereo. - Yalin Xiong; Steven A. Shafer (IROS (3), 1995)

Control of Perceptual Attention in Robot Driving. - Douglas A. Reece; Steven A. Shafer (Artif. Intell., 1995)

Physics-Based Segmentation: Moving Beyond Color. - Bruce A. Maxwell; Steven A. Shafer (CVPR, 1996)

Physics-Based Segmentation of Complex Objects Using Multiple Hypotheses of Image Formation. - Bruce A. Maxwell; Steven A. Shafer (Comput. Vis. Image Underst., 1997)

Moment and Hypergeometric Filters for High Precision Computation of Focus, Stereo and Optical Flow. - Yalin Xiong; Steven A. Shafer (Int. J. Comput. Vis., 1997)

Hypergeometric Filters for Optical Flow and Affine Matching. - Yalin Xiong; Steven A. Shafer (Int. J. Comput. Vis., 1997)

Dense Structure from a Dense Optical Flow Sequence. - Yalin Xiong; Steven A. Shafer (Comput. Vis. Image Underst., 1998)

EasyLiving: Technologies for Intelligent Environments. - Barry Brumitt; Brian Meyers; John Krumm; Amanda Kern; Steven A. Shafer (HUC, 2000)

Segmentation and Interpretation of Multicolored Objects with Highlights. - Bruce A. Maxwell; Steven A. Shafer (Comput. Vis. Image Underst., 2000)

Ubiquitous computing and the role of geometry. - Barry Brumitt; John Krumm; Brian Meyers; Steven A. Shafer (IEEE Wirel. Commun., 2000)

Interaction Issues in Context-Aware Intelligent Environments. - Steven A. Shafer; Barry Brumitt; Jonathan J. Cadiz (Hum. Comput. Interact., 2001)

Better Living Through Geometry. - Barry Brumitt; Steven A. Shafer (Pers. Ubiquitous Comput., 2001)

XWand: UI for intelligent spaces. - Andrew Wilson; Steven A. Shafer (CHI, 2003)

Data Store Issues for Location-Based Services. - John Krumm; Steven A. Shafer (IEEE Data Eng. Bull., 2005)

A Framework for Creating and Using Maps of Privately Owned Spaces. - Steven A. Shafer (LoCA, 2009)