(This is professional name. In formal papers the name should be




Born in town of Stryi, Ukraine Republic

Was living: in Sumgait, Azerbaidzhanian SSR; in Moscow; in St.-Petersburg (former Leningrad), RUSSIA; in Mexico City, MEXICO.

Three sons: Vassilii (born on 7 December 1975 in Leningrad), Piotr (born on 9
February 1996 in Mexico City ), and Oleg (born on 27 April 2005 in Mexico City, )

Married to Tatiana Turchakova 

CITIZENSHIP: Mexico and Russian Federation 



Ph.D. equivalent degree in Cybernetics (Candidate of Technical Sciences) from
the Leningrad Polytechnic Institute (with the Keldysh Institute for Applied
Mathematics of Academy of Sciences of the USSR, Moscow, as the leading
referee organization on the dissertation), Leningrad, USSR


M.Sc. degree from the Leningrad State University in Mathematics with minor
in Computer Science, Leningrad, USSR


School-leaving certificate from the Kolmogorov High School in Mathematics
and Physics of Moscow State University, Moscow, USSR


Present - 1994

Research Professor of La Universidad Autonoma Metropolitana,
(Profesor Titular "C") , Mexico City, MEXICO


Vice-Director in Charge of Research & Development, ITM
(Informational Technology and Models) Ltd, Saint-Petersburg, Russia

1993- 1992

Head of Research & Development Department, ITM Ltd.,
St-Petersburg, Russia

1992 - 1986

Head of Laboratory of Mathematics and Computer Science
Technology, CRDIRTC (Central Research & Development Institute
for Robotics and Technical Cybernetics of the St-Petersburg State
Polytechnic University), Saint-Petersburg, Russia

1986- 1984

Senior Research Associate, CRDIRTC, Leningrad, USSR

1984– 1982

Leading Engineer, CRDIRTC, Leningrad, USSR

1982- 1980

Senior Engineer, CRDIRTC, Leningrad, USSR

1980- 1974

Engineer, CRDIRTC, Leningrad, USSR


I am trained in algebraic topology and my master thesis was in this area. Thesis was supervised by Prof. Vladimir A. Rokhlin.

Then, working in CRDIRTC, I dealt with research of a large variety of mathematical applications concerned with information processes, which took place in technical systems. The systems were developed there mainly for use in Spacecraft Industry and for Defense Ministry. During that period I took my part in 14 projects. A brief description of my work in CRDIRTC follows:

1.In 8 projects which were developed in CRDIRTC from 1974 to 1981, I dealt with applications of methods of mathematical statistics, efficient estimation of parameters of stochastic processes, especially of Poisson’s processes. I proposed and researched some original methods and algorithms based on the Nonius’s principle for precise, selective measurement of the positions of a set of pointed photonic sources. In this field, I developed in co-authorship materials for three USSR national patents on 5 objects (one of the 3 patents covers "a device for...", and both remaining patents cover two objects: "a device and a method for..."). My Ph.D. dissertation presented in 1980 is based mainly on those results.

2Later, in a project developed in CRDIRTC in 1981-1983, I worked with simulation of electrical processes in a regulation system for sun batteries of satellites. The mathematical model of the system includes about 150 differential and algebraic equations, as well as a complicated logic. The problem of adequate simulation was successfully solved using an original approach developed specially for the project.

3.In 1984 – 1992, I was in charge of technology of programming for the Buran's manipulator (the Soviet Space Shuttle Program). I took my part in 3 projects concerning with the program. The 2 of them were dedicated, respectively, to software of the Buran's manipulator, and software of the training system for operators of the Buran's manipulator. Under supervision of special commissions, the software of these two projects successfully passed all terrain tests specified by the Program.

4For the same period I initiated and supervised in CRDIRTC research and software development on robot intelligence, computer vision architecture and close fields. In particular, under my supervision and with my personal participation as a researcher and developer, there was successfully developed software for acquisition and computer processing of visual information. The software was a part of laboratory equipment named TEZIS. The project (1985-1987) was supported by the All Union Research Institution for TV, Leningrad. Then, I proposed a new approach to visually guided robot grasping. In particular, I am one of co-authors of the USSR national patent protecting the approach. (The patent covers 2 objects: "a device and a method for...").

During my work in ITM Ltd. I dealt with 2 projects: development of an integrated computer system for the power plant at the city of Surgut (Siberia, Russia); and development of a simulation system of social and economic processes of a region for town planning, which was supported by the Administration of Surgut. The first turn subsystem of the integrated system for the power plant was successfully incorporated in practice. For both projects my role included as supervision as well as research &development functions. (1992-1994).


2000- 2003 (October 16, 2000- October 15, 2003), Grant 400200-5-34812-A of CONACYTfor research project "Structural Recognition in Images".

1996-1998 - Grant 400200-5-1453PAof CONACYTfor research project SAVER (Sistema de Aprendizaje Visual Experimental para Robots; i.e. An Experimental Robot Learning System Based on Vision) .

1994-1996 - a grant of CONACYT for visiting research position to work with Universidad Autonoma Metropolitana, Mexico.


2001-2004: member of SNI (Sistema Nacional de Investigadores, i.e. National System of Researchers of Mexico), level I.


Running lecture courses for master students (Computer Vision, Functional Analysis, Machine Learning, Optimal Filtering, Control Theory), and for undergraduate students (Probability and Statistics), La UAM, Mexico, 1994-2000

Supervising theses (Master in Computer Science), La UAM, Mexico, 1995-2000. Two students were graduated with Honour Medal. Some other theses are in process.

A number of tutorials held at Czech Technical University, Prague, where I was invited to by the Center for Machine Perception for a two months period, November-December 2001.

A number of tutorials held at Vrije Universiteit Brussel organizaed by the Belgian research community on Image Processing Systems, 1998.

Supervising a thesis in Computer Science, the Leningrad Radio Polytechnic College, 1988

Lecturing at Leningrad Pedagogic Institute (some topics of Mathematical Analysis, undergraduate level), 1973

Teaching at Summer School of Leningrad Region for Children Clever at Mathematics, 1970


My native language is Russian. I can speak and write English and Spanish.


Swimming. Growing grapes.


means a technical report;
means author’s certificate on an USSR national patent.


50. " A Scalable, High-Precision, and Low-Noise Detector of Shift-Invariant Image Locations ", Pattern Recognition Letters, 32, DOI 10.1016/j.patrec.2010.10.002, pp.145-152, 2011  .  

49. " Development of a simulator for training a virtual robot and construction of the graphs of GT-model (in Spanish) ", (with N.Rormero-Duran and J.Figueroa-Gonzalez) in Proceedings of the "XX Congreso Nacional y VI Congreso Internacional de Información y Computación, 24-26 December 2007, Chihuahua, Mexico. pp. 155-160, 2007  .  

48. " Synthetic Image of Multiresolution Sketch Leads to New Features ", (with Rafael Moncayo-Muños) in Proceedings of the 2nd International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT 2004), 6-9 September 2004, Thessaloniki, Greece. pp. 872-879, IEEE Computer Society 2004,   ISBN 0-7695-2223-8 .  

The research software for experiments of this paper is here. You can try it with your own pictures.

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

Robust Identification Based on a Processing-Oriented Object Representation(with F.Macías-Rangel and H. Moncayo) Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, D. P. Casasent &E. L. Hall, Eds., Proceedings of SPIE, Vol. 4572, pp. 411-421, 2001.

45. "
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. 

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. 

43."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.

42." 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.

41. "A Graph-Based Approach To Intelligent Robot Navigation,in Proc. of Congreso International De Computación , (CIC1999), 15-19 November 1999, pp. 453-461, IPN, Centro de Investigación en Computación, Mexico, 1999.

40. "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.

39. "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, ISSN 1405-5546), vol II, no.2 and 3, pp. 114-125, 1999.

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

37. "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.

36. "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.

35. "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

34. "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,

33. "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.

32. "Conceptual design of a system of visual understanding" (in Spanish), (with S. González, J.M. Ibarra, H. Moncayo), in Proc. of Simposium International De Computación "Tendencias De La Computación Hacia El Mundo Milenio", 8-10 November 1995, IPN, Centro Nacional de Calculo, Mexico, 1995.

31."Map indexation for simulation of distributed knowledge of robot supplied by visionin Proc. of 3d Conference on Computer Simulation, 15-17 November 1995. pp 151-157, Mexico City: Universidad Panamericana, Mexico, 1995

30. "Architecture and basic algorithms of an adaptive videoprocessor". (in Russian) Abstracts of the 4-th All Union conference Mathematical Methods in Pattern Recognition., part 5, pp. 145-147, Riga, 1989.

29. "A control of the basic conveyer algorithms for video processing in robot vision systems". (in Russian) Abstracts of the 2-nd Republican conference Problems of Creation of Systems for Image Processing, Analysis and Recognition, part 1, pp. 23-24, Tashkent, 1989.

28. "A system for programming and video image processing for the equipment TEZIS based on PDP-11/70(11/30)" (in Russian) (with O.N.Tsyganov and S.N. Nesgovorov)In Abstracts of the 3-rd All-Union conference Mathematical Methods in Pattern Recognition., part 2, pp.144-145, Lvov, 1987.

27. " Processing video information for a robot control system". (in Russian) Ibidum, pp. 29-30, 1987.

26. "TEZIS - the equipment for research of computer vision algorithms. The structural possibilities and software". (in Russian) (with O.N.Tsyganov and S.N.Nesgovorov). In Abstracts of the 4-th Robotics All-Union Meeting., part 2, Kiev, 1987.

25ACP. "Method and device for measurement of position and orientation of visible object by processing video information" (in Russian) (with O.N.Tsyganov, V.S.Ryzhkov and K.N.Stupin){ACP No. 252388}, 1987.

24. "Universal operations of video analysis as the basis of a knowledge representation system for robot". (in Russian) in Abstracts of the All-Union Meeting on Robotics, Voronezh, 1984.


23. "Experience on software development for a many-functional manipulator" (in Russian) (with S.A.Polovko, V.P.Makarychev, K.N.Stupinin Proceedings of Science and Technical Conference on Robotics and Manipulators for Extreme Work Conditions, May 21-22, E.I.Yurevich, Ed., pp. 20-22, Saint-Petersburg, 1992.

22. "Technology of software development for control of an anthropomorphic manipulator" (in Russian) (with S.A.Polovko and K.N.Stupin). In Abstracts of the First All Union workshop for young scientist and specialists Modern State of the Theory and Development Software for Control Systems (October 20-24, 1990, Samarkand), , pp. 77-78, Moscow, 1990.

21. "Flexible management of control processes of an anthropomorphic manipulator"(in Russian) (with K.N.Stupin). Ibidum, pp.80-81, 1990.

20#. "Hardware and Software problems for a special space robot system"(in Russian) (with V.V.Voloshin, K.N.Stupin and others)CRDIRTC No. 4560, Leningrad, 1987.


19#. "Apparatus for control and testing a feed power system"(in Russian), (with O.V.Leikin, Yu.M.Makarov, and others), CRDIRTC No. 03-27-63, Leningrad, 1983.

18#. "Modelling the logical device and the power regulator of generator of the system 17M121" (in Russian) (with L.V.Volodina, N.S.Dmitriev, and others), CRDIRTC, Leningrad, 1982.


17ACP. "Method and device for measurement of parameters to navigate a flying object with respect to landing strip" (in Russian) (with D.V.Galochkin, I.N.Korobkov, S.A.Polovko), {ACP No. 157986}, 1981.

16. "System to research the possibility of estimation of parameters of a mixture of liquid and gas based on use of ionize radiation" (in Russian) (with V.N.Barkovsky, Yu.A.Bessonov, and others), in Abstracts of All-Union Workshop on Automation of Research in Nuclear Physics, Dushanbe, 1980.

15#. "Research on precision limits of photonic systems including many sources and detectors"(in Russian), Ph.D. degree dissertation, CRDIRTC No. 3393, Leningrad, 1980.

14#. "Estimation of parameters to navigate a flying object with respect to landing strip"(in Russian) (with V.N.Nikolaev, L.A.Bessmertny, and others), CRDIRTC No. 3311, Leningrad, 1980.

13ACP. "Method and device for selection and precise measurement of directions to several photonic sources" (in Russian) (with I.N.Korobkov), ACP No.147496, 1980.

12#. "Finding parameters of a photonic navigation system that combines a robust detector and a precise one which produces a periodic set of possible values for optimal measurement direction to source",(in Russian) (with V.N.Nikolaev, V.I.Alexandrov, and others), CRDIRTC No. 3178, Leningrad, 1979.

11#. "A method to find the limits of precision of estimation of direction to a photonic source by means of a spherical system of detectors", (in Russian) (with V.N.Nikolaev, R.S.Shliapnikov, and others), CRDIRTC No. 3164, Leningrad, 1979.

10#. "Algorithms and precision limits of estimation of parameters of an active space object with respect to a passive one for a photonic navigation system", (in Russian) (with V.N.Nikolaev, R.S.Shliapnikov, and others), CRDIRTC No. 2929, Leningrad, 1978.

9ACP. "Device for measurement of direction and distance to a source of X-rays" (in Russian) (with L.T.Vasiljieva, I.N.Korobkov and others),ACP No. 123471, 1978.

6-8#. "Some problems of optimal prediction of movement of an object in atmosphere by processing a set of independent measurements of its position" (in Russian) (with S.V.Trifonov, L.T.Vasiljieva and others), part 1: CRDIRTC No. 2725, 1977; part 2: CRDIRTC No. 2812, 1978; part 3: CRDIRTC No. 2963, 1978.

5#. "Processing the flow of photonic detection to minimize dispersions of parametric estimation of movement of their source" (in Russian) (with E.I.Yurevich, L.T.Vasiljieva and others)CRDIRTC No. 2310, 1976.


4#. "System of Intelligent Support of Town Control: Specifications" (in Russian). ITM No.16-02-93, 1993

3#. "System of Intelligent Support of Town Control: Report on the Draft Project" (in Russian). (with I.G.Belov, M.A.Klupt and othersITM No.10-02-94, 1994.

2#. "Integrated Computer System for the Power Plant No.1 at the City of Surgut: Technical Project on the First Turn Subsystem" (in Russian) (with A.L.Medyntsev, A.A.Nazarov and others). ITM No.18-05-93, 1993.

1#. "Integrated Computer System for the Power Plant No.1 at the City of Surgut: Draft Project on the Second Turn Subsystem" (in Russian). ITM No.21-10-93, 1993.

Last actualization: January 20, 2011