Università degli Studi di Padova
Dipartimento di Tecnica e
Gestione  dei Sistemi Industriali
                                             

                                            

                   


Alessandro Chiuso

Associate Professor
Dipartimento di Tecnica e Gestione
dei Sistemi Industriali

 Universita di Padova, sede di Vicenza
 stradella San Nicola, 3 -36100 Vicenza, Italy
 Ph. (+39)-0444-998705, (+39)-049-8277709,
Fax (+39)-049-8277699,  e-mail: chiuso at dei.unipd.it                                   

 
  

 RESEARCH                      
TEACHING                         
   PUBLICATIONS                         

                                                 
SHORT BIO

Dr. Chiuso  received the ``Laurea'' degree (summa cum laude) in Telecommunication Engineering from the University of Padova in July 1996 and the Ph.D. (Dottorato di ricerca ) in System Engineering from the University of  Bologna in 2000. Since March 2006 he is Associate Professor with the Dipartimento di Tecnica e Gestione dei Sistemi Industriali, University of Padova. From March 2001 to February 2006 he has been ``Ricercatore'' (Assistant Professor) with the Dept. of Information Engineering, University of Padova. He has held visiting positions with the Dept. of Electrical Engineering, Washington University St. Louis (USA) (visiting research scholar, August 1998-June 1999), with the  Dept. Mathematics, Royal Institute of Technology, Sweden (EU-TMR Post-Doctoral fellow, March 2000 -July 2000),  with the Dept. of Computer Science, Univesity of California Los Angeles (Visiting Researcher - July 2001).

He is Associate Editor of IEEE Transactions on Automatic Control (from 2010), Automatica,  member of the Editorial Board of the journal IET Control Theroy and Applications, member of the IFAC Technical Committee on Modeling, Identification and Signal Processing, of the IEEE CSS Technical Committee on System Identification and Adaptive Control, Senior Member of the IEEE. He has been member of the IEEE Control System Society (CSS) Conference Editorial Board (2004-2009) and a reviewer for Mathematical Reviews of  the American Mathematical Society.


His research interest are mainly in Estimation, Identification Theory and Applications (subspace methods, stochastic realization, distributed estimation, non-linear estimation, hybrid systems), Computer Vision (structure from motion, texture and gait analysis).
  • SIDRA 2008                                       Riunione Nazionale della Societa' dei Docenti e Ricercatori di Automatica (SIDRA)                Vicenza, Italy. 11-13 Settembre, 2008.               
  • International  Conference on Modeling, Estimation  and  Control                                                         A Symposium in Honor of Giorgio Picci       on the Occasion of his sixty-fifth Birthday                                                       Venice, Italy. October 4-5, 2007



   
                                                                          
                   
 
Editorial Activity, Organization of Scientific Events, Reviewing
  • Honors
  • Editorial Boards
  1. Associate Editor of IEEE Transactions on Automatic Control (2010-)
  2. Associate Editor of Automatica (December 1st, 2008 - present)
  3. Member of  the Editorial Board of  IET Control Theory and Applications                                                                                                         (formerly IEE Proceedings on Control Theory and Applications) (March 2007 - present)
  4. Member of the IEEE CSS Conference Editorial Board (CEB) (July 2004 -2009)
  • Program Committee
    1. Member of the International Program Committee of 16th IFAC SYSID 2012, Brussels, Belgium.
    2. Member of the Program Committee of MTNS 2010, July 2010, Budapest, Hungary.
    3. Member of the Program Committee of CDC 2009, December 2009, Shanghai, China.
    4. Member of the International Program Committee (IPC) 15th IFAC SYSID 2009, July 2009, Saint Malo, France.
    5. Member of the International Programm Committee International Conference on Informatics in Control, Automation and Robotics (ICINCO 2009).
    6. Member of the Program Committee of CDC 2008, December 2008, Cancun, Mexico.
    7. Member of the  Program Committee of CDC 2007, New Orleans (LA), USA.
    8. Member of the International Program Committee (IPC) MTNS 2006, Kyoto, Japan.
    9. Member of the International Program Committee (IPC) MED 2006, Ancona, Italy
    10. Member of the Program Committee as Associate Editor of CDC-ECC'05, December 2005, Sevilla, Spain.
    11. Member of  the International Program Committee (IPC) MTNS 2004, Leuven, Belgium.
  • Technical Committees/Reviewing
    1. Member of the   IFAC Technical Committee on Modeling, Identification and Signal Processing
    2. Member of the IEEE CSS Technical Committee on System Identification and Adaptive Control
    3. Reviewer of Mathematical Reviews (American Mathematical Society)
    4. Member of the IEEE Control System Society Conference Editorial Board (IEEE CEB)
    5. Reviewer for the International Journals: Automatica, IEEE Transactions on Automatic Control, IEEE Transactions on Pattern Analysis and Machine Intelligence,  IEEE Transaction on Circuit and Systems II, IEEE Transactions on Signal Processing, Intl. Journal on Time Series Analysis, Intl. Journal on Adaptive Control and Signal Processing, J. of Multivariate Analysis, System and Control Letters.
    6. Reviewer for the International Conferences: American Control Conference (ACC), Conf. on Decision and Control (CDC), IFAC World Congress, Intl. Conf. on Computer Vision and Pattern Recognition (CVPR), European Control Conference (ECC), European Conference on Computer Vision (ECCV), Intl. Conference on Computer Vision (ICCV), Mediterranean Control Conference (MED), Int. Symposium on System Identification (SYSID),  Industrial Electronics Conference (IECON).
  • Organization of  Scientific Events
    1. Co-Organizer (with A. Ferrante and S. Pinzoni) of the International Conference on Modeling Estimation and Control, Venice, Oct. 4-5, 2007.
    2. Co-Organizer (with L. Schenato and S. Zampieri) of the Invited Session ``Distributed Estimation over Sensor Networks'', CDC 2007 , New Orleans, USA
    3. Co-Organizer (with S.J. Qin) of the Invited Session ``New Developments in Closed-Loop Subspace Identification'', IFAC SYSID (International Symposium on System Identification), Newcastle, Australia, March 2006
    4. Organizer of the Invited Session ``New Results in closed loop identification'', IFAC World Congress, Prague, July (2005)
    5. Organizer of a Minisymposium on ``Identification and Control in Computer Vision'', MTNS 2004, Leuven, Belgium.
    6. Co-Organizer (with G. Picci and T. Katayama) of two invited sessions at the IFAC SYSID 2003.
    7. Oganizer of a Tutorial on ``Dynamical Systems in Computer Vision'' at ECCV 2002, Copenhagen.


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Teaching (In Italian)
 
           [System Identification and Data Analysis]         

          [Identification and Data Analysis,  for  Civil Engineering]              

  •  Analisi dei Dati (Ing. per l'Ambiente ed il Territorio)(a.a. 2003-2004, 2004-2005)    

          [Data Analysis,  for Environmental Engineering]                                                                                                      

  •  Segnali e Sistemi (Ing. Meccatronica, sede di Vicenza)(a.a. 2005-2006, 2006-2007, 2007-2008, 2008-2009, 2009-2010)

[Signal and Systems]                                                                                                                         

 
Dottorato:  

  • Identification Tecqniques (focus on  linear time invariant multivariable systems in state space form) (a..a. 2006-2007)
Ricevimento Studenti: per appuntamento (via E-mail)

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Research
         
Identification and Estimation Theory and Applications                 
  • Subspace Identification and Stochastic Realization
    1. Asymptotic Variance, Numerical Conditioning
    2. Closed Loop Identification
  • Distributed Estimation and Quantization
  • Filtering and Identification of Jump Linear Systems
  • Wide Sense Estimation on Lie Groups
Computer Vision
  • Modeling and recognition of dynamic scenes:  Texture, gaits etc.
  • Structure From Motion
    1. Characterization of Visual Illusions
    2. Real Time Motion Estimation
  •  Data Association, Tracking, Shape modeling
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Publications

                                                                                                                                                                                                                      back home
 

Books

1) A. Chiuso, A. Ferrante, S. Pinzoni (Eds) (2007),
      ``Modeling, Estimation and Control. A Festschrift in Honor of Giorgio Picci on the Occasion of his 65th Birthday",
    Springer Lect. Notes in Control and Information Sciences.

2) A. Chiuso, L. Fortuna, M. Frasca, A. Rizzo, L. Schenato, S. Zampieri (Eds) (2009),
      ``Modeling, Estimamtion and Control of Networked Complex Systems''
    Springer series: Understandig Complex Systems.
                                                                                                        
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Journal Papers

 1) A. Chiuso, R. Brockett and S. Soatto  (2000),
    ``Optimal Structure From Motion: Local Ambiguities and Global Estimates".
     IJCV, International Journal on Computer Vision,  39(3), pp. 195-228.

2)  A. Chiuso,  and G. Picci (2001).
    ``Some Algorithmic aspects of Subspace Identification with Inputs",
    Int. Journal Applied Mathematics and Computer Sciences, Vol. 11, No.1, pp. 55-75.

3) A. Chiuso,  P. Favaro, H. Jin and S. Soatto (2002).
    ``Structure from Motion Causally Integrated over Time''.
     IEEE Trans. on Pattern Analysis and Machine Intelligence 24(4),pp. 509-522.

4) G. Doretto, A. Chiuso, Y.N. Wu, S. Soatto (2003),
    ``Dynamic Textures''. 
    Int. Journal of Computer Vision, 51(2) , pp. 91-109

5) A. Chiuso and G. Picci (2004),
   ``Asymptotic Variance of Subspace Estimates".
    Journal of Econometrics, 118(1-2), pp.257--291.

6) A. Chiuso, G. Picci (2004),
    ``On the Ill-conditioning of subspace identification with inputs".
    (regular paper) Automatica, 40(4), pp 575--589.

7) A. Chiuso, G. Picci (2004),
   ``Numerical Conditioning and asymptotic variance of subspace estimates". 
   (brief paper) Automatica, 40(4), pp. 677-683.

 8) A. Chiuso, G. Picci (2004), ``Subspace identification by data orthogonalization and model decoupling".
    (regular paper) Automatica, 40(10), pp. 1689-1703.

9) A. Chiuso, G. Picci (2004), ``Asymptotic Variance of Subspace Identification by data orthogonalization and model decoupling: a comparative study".
    (regular paper) Automatica, 40(10), pp. 1705--1717.

10) A. Chiuso, G. Picci (2005), ``Consistency Analysis of Certain Closed-Loop Subspace Identification Methods".
    (special issue paper), Automatica, Special Issue on System Identification,  41(3), pp. 377--391 .

11) A. Chiuso  (2006), ``Asymptotic Variance of  Closed-Loop Subspace Identification Methods".
     (regular paper), IEEE Transactions on Automatic Control, 51(8), pp. 1299-1314.
      
12) A. Chiuso (2007), ``The role of Vector AutoRegressive modeling in Predictor Based Subspace Identification''
    (regular paper)  Automatica, 43(6), June 2007,  pp. 1034-1048.

13) A. Chiuso (2007) ``On the relation between  CCA and predictor-based subspace identification''
     (regular paper) IEEE Transactions on Automatic Control, 52(10), pp. 1795-1812

14)  A. Bissacco, A. Chiuso and S. Soatto (2007), ``Classification and Recognition of Dynamical Models: The Role of Phase, Independent Components,
 Kernels  and  Optimal Transport''. (regular paper) IEEE Trans. on Pattern Analysis and Machine Intelligence, 29(10).

 15) R. Carli, A. Chiuso, L. Schenato and S. Zampieri (2008), ``Distributed Kalman filtering using consensus strategies''
      (regular paper) IEEE Journal  on Selected Areas in Communications, 26(4), pp. 622-633.

16) A. Chiuso, G. Picci, S. Soatto (2008), ``Wide-sense Estimation on the Special Orthogonal Group''
       Communications in Information and Systems, 8(3), pp. 185-200.

17) A. Chiuso, R. Muradore, E. Marchetti (2009), ``Dynamic Calibration of Adaptive Optics Systems: A System Identification Approach''
       (brief paper) IEEE Transactions on Control Systems Technology, to appear.

18) A. Chiuso (2009), ``On the asymptotic properties of closed loop CCA-type Subspace Algorithms: equivalence results and choice of the future horizon''
       (regular paper) IEEE Transactions on Automatic Control, to appear.

19) G. Pillonetto, A. Chiuso (2009), ``Fast computation of smoothing splines subject to equality constraints''
      (brief paper),   Automatica, to appear.



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Articles in International Books


  1) A. Chiuso and G. Picci (1998)
      ``Visual tracking of points as estimation on the unit sphere'',
      in The Confluence of Vision and Control, D. Kriegman, W. Hager, S. Morse (Eds.),
     Springer LNCIS 1998, pp. 91-104.

2) A. Chiuso, H. Jin, P. Favaro and S. Soatto (2000).
     ``MFm'' : 3-D Motion and Structure from 2-D Motion Causally Integrated Over Time: Implementation.
     In Computer Vision - ECCV 2000, D. Vernon  ed., Lect. Notes in Computer Science 1843, pp. 734-750.

3) A. Chiuso, G. Picci (2002),
      ``Geometry of Oblique Splitting, Minimality and Hankel Operators",
     in  Directions in Mathematical Systems Theory and Optimization, A. Rantzer and C. Byrnes eds.
    Springer Lect. Notes in Control and Information Sciences,  286, pp. 85-124.

4)  R. Vidal, A. Chiuso, S. Soatto and S. Sastry (2003)
      ``Observability Linear Hybrid Systems'',
     In Hybrid Systems: Computation and Control, Lecture Notes in Computer Science 2623, pp. 526-539.  Springer Verlag, 2003

5) P. Saisan, A. Bissacco, A. Chiuso and S. Soatto (2004)
      ``Modeling and Synthesis of facial motion driven by speech",
     In: Computer Vision - ECCV 2004, T. Pajdla and J. Matas eds., Lect. Notes in Computer Science 3023, pp. 453-467.

6) A. Masiero and A. Chiuso (2006),
    ``Non linear temporal texture synthesis, a Monte Carlo approach'',
     Computer Vision -  ECCV 2006, Part II, A. Leonardis, H. Bischof and A. Prinz (eds.),
     Lect. Notes in Computer Science 3952, pp. 283-294.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           back home   

Conference Papers (Referred)

1) A. Chiuso and G. Picci (1998)
   ``A wide-sense estimation theory on the unit sphere''.
   In Proc. of IEEE 37th Conference  on Decision and Control,
  Tampa, Florida, December 1998, pp.3743-9754.

2) A. Chiuso, and G. Picci, (1999),
  ``Subspace Identification by orthogonal decomposition'',
  Proc. 14th IFAC World Congress, Pechino, Cina,  July, 1999,
  Volume H, pp. 241-246.

3) H. Kawauchi, A. Chiuso, T. Katayama, G.Picci. (1999),
    ``Comparison of Two Subspace Identification Methods for Combined Deterministic -Stochastic Systems".
    In Proc. of The 31st ISCIE International Symposium on Stochastic Systems Theory and its Applications,
    Yokohama, Japan, 1999,  pp. 7-12.

4) A. Chiuso and S. Soatto (2000),
     ``3-D Motion and Structure Causally Integrated Over Time: Analysis'', 
    Tutorial lecture presented at  IEEE Intl. Conf. on
    Robotics and Automation, San Francisco, April 2000.
    Preliminary version registered as ESSRL Technical Report 99-001

5) A. Chiuso and G. Picci (2000),
    ``Error Analysis of Certain Subspace Methods".
    In Proc. of IFAC International Symposium on System Identification,
    Santa Barbara, June 2000, pp. 85-90.

6) A. Chiuso and G. Picci (2000),
     ``Probing Inputs for Subspace Identification".
    In  Proc. of IEEE International Conference on Decision and Control CDC 2000,
   Sydney, Australia. (Invited paper number INV0201.)

7) A. Chiuso and S. Soatto (2000), ``Monte Carlo filtering on Lie Groups",
     In Proc. of IEEE International Conference on Decision and Control CDC 2000, Sydney, Australia.
     Regular paper number REG1407.

8) A. Chiuso and G. Picci (2001),
    ``Asymptotic Variance of  Subspace Estimates".
    Proc. of IEEE International Conference on Decision and Control,
    Orlando, Florida,USA, December 2001.

9) A. Bissacco, A. Chiuso, Y. Ma and S. Soatto  (2001)
      ``Recognition of human gaits.''
     In Proc. of the IEEE Intl. Conf. on Comp. Vision and Patt. Recog.,
      Hawaii, Dec. 2001.

10) R. Vidal, A. Chiuso and S. Soatto  (2002)
       ``Observability and Identifiability of Jump Linear Systems''
     In Proc. of the IEEE Conf. on Decision and Control, Las Vegas, USA, 2002.

11) G. Gennari, A. Chiuso, F. Cuzzolin, R. Frezza  (2002)
      ``Integrating dynamic and probabilistic shape information for data association and tracking''
      In  Proc. of the IEEE Conf. on Decision and Control, Las Vegas, USA, 2002.
    
12) A. Chiuso, G. Picci (2003) ``Asymptotic Variance of Subsapce Methods by data Orthogonalization and Model Decoupling'',
      in Proc. of the IFAC Int. Symposium on System Identification (SYSID),  Rotterdam, 2003.

13) A. Chiuso, G. Picci (2003)
      ``Constructing the state of random processes with feedback'',
      in  Proc. of the IFAC Int. Symposium on System Identification (SYSID), Rotterdam, 2003.

14) S. Soatto, A. Chiuso (2003)
      ``Snippets of System Identification in Computer Vision'',
       in Proc. of the IFAC Int. Symposium on System Identification (SYSID),
      Semi-Plenary lecture  given by S. Soatto, Rotterdam, 2003.

15) A. Chiuso  (2004),  ``Asymptotic Variance of  a Certain Closed-Loop Subspace Identification Method" (estended version).
     Proc. of the 43rd IEEE Conf. on Decision and Control, 2004.

 16) A. Chiuso, G. Picci (2004), ``Consistency Analysis of Certain Closed-Loop Subspace Identification Methods" (extended version).
    Proc. of the 43rd IEEE Conf. on Decision and Control, 2004.

17) G. Gennari, A. Chiuso, F. Cuzzolin, R. Frezza  (2004) ``Integration of shape constraints in data association filters''
    Proc. of the 43rd IEEE Conf. on Decision and Control, 2004.

18) A. Chiuso and G. Picci (2005), ``Prediction error vs. Subspace methods in open and closed-loop identification''
     Proc. of the  16th IFAC World Congress, Prague (July 2005)

19) A. Chiuso, A. Ferrante, G. Picci (2005) ``Reciprocal realization and modeling of textured images''
    Proc. of CDC-ECC05, Sevilla, Spain (Dec. 2005).

20) R. Frezza, A. Chiuso (2005) ``Learning and exploiting invariants for multi-target tracking and data association''
     Proc. of CDC-ECC05, Sevilla, Spain (Dec. 2005).

21) A. Chiuso (2005) ``On the relation between  CCA and predictor-based subspace identitifcation''
      Proc. of CDC-ECC05, Sevilla, Spain (Dec. 2005).

22) A. Chiuso, G. Picci (2006) ``Estimating the Asymptotic Variance of Closed-Loop Subspace Estimators''
     Proc. of the IFAC SYSID 2006, Newcastle, Australia (March 2006)

23) A. Chiuso (2006) ``Asymptotic Equivalence of Certain Closed-Loop Subspace Identification Methods''
      Proc. of the IFAC SYSID 2006, Newcastle, Australia (March 2006)

24) A. Chiuso, A Ferrante and G. Picci (2006) ``Realization of Reciprocal processes and applications to computer vision''
      Presented at the Int. Symp. Mathematical Theory of Network and Systems, July 2006.

25) A. Chiuso (2006) ``The role of Vector AutoRegressive modeling in  subspace identitifcation''
       Proc. of the IEEE Conf. on Decision and Control, San Diego, Dec. 2006.     

26)  A. Chiuso (2007), ``Some insights on the choice of the future horizon in CCA-type subspace algorithm''
      Proc. of  American Control Conference, ACC'07

27) A. Chiuso, R. Muradore and E. Fedrigo (2007), ``Adaptive Optics Systems: a challenge for closed-loop subspace identification''
      Proc. of  American Control Conference, ACC'07

28) Rene Vidal, Stefano Soatto, Alessandro Chiuso (2007) Applications of Hybrid System Identification in  Computer Vision,
       Proc. of European Control Conference, Kos, Grece.

29)  R. Carli, A. Chiuso, L. Schenato and S. Zampieri (2007), ``Distributed Kalman filtering using consensus strategies''
      Proc. of IEEE Conf. on Decision and Control, New Orleans, USA, Dec. 2007

30)  R. Carli, A. Chiuso, L. Schenato and S. Zampieri (2007)
     ``Consensus algorithm design for distributed estimation'',
    3rd International Workshop on Networked Control Systems: Tolerant to Faults,  Nancy, France, Jun. 2007

31) A. Chiuso (2008) ``A note on estimation using quantized data''
       17th IFAC World Congress, Seoul (Korea), July 2008.

32) R. Carli, A. Chiuso, L. Schenato and S. Zampieri (2008), ``A PI Consensus Controller for Networked Clocks Synchronization''
        17th IFAC World Congress, Seoul (Korea), July 2008.

33)  E. Toffoli, G. Baldan, G. Albertin, L. Schenato, A. Chiuso, A. Beghi (2008),
    ``Thermodynamic Identification of Buildings using Wireless Sensor Networks''
       17th IFAC World Congress, Seoul (Korea), July 2008.

34) A. Agnoli, A. Chiuso, P. D'Errico, A. Pegoraro, L. Schenato (2008),
     ``Sensor fusion and estimation strategies for data traffic reduction in rooted wireless sensor networks''
     International Symp. on Communication, Control and Signal Processing (ISCCSP 2008), Malta, March 2008.

35) A. Chiuso, R. Muradore, E. Marchetti (2008), ``Dynamic Calibration of Adaptive Optics Systems: A System Identification Approach''
       2008 IEEE Conf. on Dec. and Control.

36) A. Chiuso, L. Schenato (2008), ``Information fusion strategies from distributed filters in packet-drop networks''
       2008 IEEE Conf. on Dec. and Control.

 37) G. Pillonetto, A. Chiuso, G. De Nicolao (2008), ``Predictor Estimation via Gaussian regression''
       2008 IEEE Conf. on Dec. and Control.

38) A. Chiuso, G. Pillonetto, G. De Nicolao (2008), ``Subspace Identification using predictor estimation via Gaussian regression''
       2008 IEEE Conf. on Dec. and Control.

39) A. Chiuso, G. Picci (2008), ``Identification techniques in Computer Vision''
       2008 IEEE Conf. on Dec. and Control (Invited Tutorial Paper)

40) A. Chiuso, L. Schenato (2009), ``Performance bounds for information fusion strategies in packet-drop networks''
   ECC 2009.

41) G. Pillonetto, A. Chiuso (2009), ``Gaussian Processess for Wiener-Hammerstein System Identification''
    IFAC SYSID 2009.

42) M, H. Quang,  G. Pillonetto, A. Chiuso (2009), ``Nonlinear system identification via Gaussian regression and mixtures of  kernels''    
    IFAC SYSID 2009.

 43) G. Pillonetto, A. Chiuso (2009), ``A Bayesian Learning approach to linear system identification with missing data'',
   CDC 2009, accepted. 

44) G. Pillonetto, A. Chiuso, G. De Nicolao (2010), ``Regularized estimation of sums of exponentials in spaces generated by stable spline kernels''
   ACC 2010, accepted. 
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Under Revision

1) R. Carli, A. Chiuso, L. Schenato and S. Zampieri (2008), ``A PI Consensus Controller for Networked Clocks Synchronization''
        Submitted to IEEE Transactions on Automatic Control (Nov. 17, 2008) .

2) G. Pillonetto, A. Chiuso, G. De Nicolao (2009), ``Identification of linear predictors: a Gaussian regression approach''
        Submitted to Automatica (August 2009) .

3) A. Chiuso, L. Schenato (2009), ``Information fusion strategies and performance bounds in packet-drop networks''
      Submitted to Automatica (September 2009)


  
Technical Reports

 1) A. Chiuso, H. Jin, P. Favaro and S. Soatto  (1999),
    ``Application of Extended Kalman Filtering to the Reconstruction of 3-D Shape from Visual Motion".
    ESSRL Technical Report 99-001.

2) A. Chiuso (2000)
    ``A Matlab Toolbox for Subspace Identification'', Universita di Padova.

3) A. Chiuso, G. Picci (2003),
    ``Canonical Correlation Analysis of Linear Stochastic Systems with Inputs'',
    Mittag-Leffler Technical Report No. 45, 2002/2003, Spring
    ISSN 1103-467X, ISN IML-R- 45-02/03--SE+spring.

4) A. Chiuso  (2005), ``Asymptotic Variance of  Closed-Loop Subspace Identification Methods".
     University of Padova - Complete version
    (contains all proofs which have been omitted due to space limitation imposed by the sharp page limit imposed by the Transactions on Automatic Control)
     of the paper  appearing on the IEEE Transactions on Automatic Control (July 2006) .

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