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Author |
Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias; A. Paulo Moreira |
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Title  |
Incremental Scenario Representations for Autonomous Driving using Geometric Polygonal Primitives |
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2016 |
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Robotics and Autonomous Systems Journal |
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Vol. 83 |
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pp. 312-325 |
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Incremental scene reconstructionPoint cloudsAutonomous vehiclesPolygonal primitives |
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When an autonomous vehicle is traveling through some scenario it receives a continuous stream of sensor data. This sensor data arrives in an asynchronous fashion and often contains overlapping or redundant information. Thus, it is not trivial how a representation of the environment observed by the vehicle can be created and updated over time. This paper presents a novel methodology to compute an incremental 3D representation of a scenario from 3D range measurements. We propose to use macro scale polygonal primitives to model the scenario. This means that the representation of the scene is given as a list of large scale polygons that describe the geometric structure of the environment. Furthermore, we propose mechanisms designed to update the geometric polygonal primitives over time whenever fresh sensor data is collected. Results show that the approach is capable of producing accurate descriptions of the scene, and that it is computationally very efficient when compared to other reconstruction techniques. |
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cidis @ cidis @ |
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49 |
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Author |
Morocho-Cayamcela, M.E. |
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Title |
Increasing the Segmentation Accuracy of Aerial Images with Dilated Spatial Pyramid Pooling |
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2020 |
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Electronic Letters on Computer Vision and Image Analysis (ELCVIA) |
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Vol. 19 |
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Issue 2 |
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pp. 17-21 |
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cidis @ cidis @ |
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140 |
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Author |
Dennys Paillacho; F. Novillo; W. Agila.; V. Huilcapi |
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Title |
Impacto de las redes de comunicaciones en los Sistemas Robóticos de Control |
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Journal Article |
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2015 |
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Revista Politécnica |
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Vol. 35 |
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pp. 97-102 |
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Ethernet, CAN, Swichted Ethernet, Sistemas de control en red, Ciclo de comunicación, Control de ajuste de trayectoria |
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El análisis de incidencia que tienen las redes de comunicaciones sobre el comportamiento de los sistemas robóticos de control en red muestra grandes dificultades cuando se quieren hacer evaluaciones de tipo analítico. Por tal razón, en este trabajo un análisis que utiliza una aproximación basada en simulación es propuesto, de manera que el comportamiento temporal y espacial de un sistema robótico de control en red pueda ser evaluado. Para tal efecto, se propone un entorno de validación mediante el cual una red de comunicaciones permita distribuir mensajes de control entre el controlador principal y los controladores remotos ubicados en cada articulación angular del robot manipulador planar. Las interacciones entre los componentes del sistema han sido modeladas mediante un sistema de capas. Dicho modelo es llevado a un entorno de simulación con la finalidad de analizar el impacto de distintos parámetros de comunicaciones (i.e. tipo de red, tasa de datos y tamaño de datos) sobre el ciclo de comunicación y el error de seguimiento de trayectoria en un sistema robótico. |
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Escuela Politécnica Nacional |
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Español |
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Español |
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cidis @ cidis @ |
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33 |
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Author |
Juan A. Carvajal; Dennis G. Romero; Angel D. Sappa |
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Title |
Fine-tuning deep convolutional networks for lepidopterous genus recognition |
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2017 |
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Lecture Notes in Computer Science |
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Vol. 10125 LNCS |
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pp. 467-475 |
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gtsi @ user @ |
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63 |
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Author |
Ricaurte P; Chilán C; Cristhian A. Aguilera; Boris X. Vintimilla; Angel D. Sappa |
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Title |
Feature Point Descriptors: Infrared and Visible Spectra |
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2014 |
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Sensors Journal |
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Vol. 14 |
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pp. 3690-3701 |
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cross-spectral imaging; feature point descriptors |
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This manuscript evaluates the behavior of classical feature point descriptors when they are used in images from long-wave infrared spectral band and compare them with the results obtained in the visible spectrum. Robustness to changes in rotation, scaling, blur, and additive noise are analyzed using a state of the art framework. Experimental results using a cross-spectral outdoor image data set are presented and conclusions from these experiments are given. |
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English |
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cidis @ cidis @ |
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28 |
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Author |
Cristhian A. Aguilera, Cristhian Aguilera, Cristóbal A. Navarro, & Angel D. Sappa |
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Title |
Fast CNN Stereo Depth Estimation through Embedded GPU Devices |
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Journal Article |
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2020 |
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Sensors 2020 |
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Vol. 2020-June |
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11 |
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pp. 1-13 |
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Keywords |
stereo matching; deep learning; embedded GPU |
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Abstract |
Current CNN-based stereo depth estimation models can barely run under real-time
constraints on embedded graphic processing unit (GPU) devices. Moreover, state-of-the-art
evaluations usually do not consider model optimization techniques, being that it is unknown what is
the current potential on embedded GPU devices. In this work, we evaluate two state-of-the-art models
on three different embedded GPU devices, with and without optimization methods, presenting
performance results that illustrate the actual capabilities of embedded GPU devices for stereo depth
estimation. More importantly, based on our evaluation, we propose the use of a U-Net like architecture
for postprocessing the cost-volume, instead of a typical sequence of 3D convolutions, drastically
augmenting the runtime speed of current models. In our experiments, we achieve real-time inference
speed, in the range of 5–32 ms, for 1216 368 input stereo images on the Jetson TX2, Jetson Xavier,
and Jetson Nano embedded devices. |
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14248220 |
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Call Number |
cidis @ cidis @ |
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132 |
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Author |
Mónica Villavicencio; Alain Abran |
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Title |
Facts and Perceptions Regarding Software Measurement in Education and in Practice: Preliminary Results |
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Journal Article |
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2011 |
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Journal of Software Engineering and Application |
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pp. 227-234 |
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Software measurement, education, software engineering |
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How is software measurement addressed in undergraduate and graduate programs in universities? Do organizations consider that the graduating students they hire have an adequate knowledge of software measurement? To answer these and related questions, a survey was administered to participants who attended the IWSM-MENSURA 2010 conference in Stuttgart, Germany. Forty-seven of the 69 conference participants (including software development practitioners, software measurement consultants, university professors, and graduate students) took part in the survey. The results indicate that software measurement topics are: A) covered mostly at the graduate level and not at the undergraduate level, and B) not mandatory. Graduate students and professors consider that, of the measurement topics covered in university curricula, specific topics, such as measures for the requirements phase, and measurement techniques and tools, receive more attention in the academic context. A common observation of the practitioners who participated in the survey was that students hired as new employees bring limited software measurement-related knowledge to their organizations. Discussion of the findings and directions for future research are presented. |
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2 CIDIS-FIEC, Escuela Superior Politécnica del Litoral (ESPOL), Guayaquil, Ecuador |
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cidis @ cidis @ |
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17 |
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Author |
Rosero Vasquez Shendry |
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Title |
Facial recognition: traditional methods vs. methods based on deep learning. Advances in Intelligent Systems and Computing – Information Technology and Systems Proceedings of ICITS 2020. |
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2020 |
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615-625 |
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cidis @ cidis @ |
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145 |
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Marta Diaz; Dennys Paillacho; Cecilio Angulo |
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Evaluating Group-Robot Interaction in Crowded Public Spaces: A Week-Long Exploratory Study in the Wild with a Humanoid Robot Guiding Visitors Through a Science Museum. |
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2015 |
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International Journal of Humanoid Robotics |
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Vol. 12 |
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Group-robot interaction; robotic-guide; social navigation; space management; spatial formations; group walking behavior; crowd behavior |
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This paper describes an exploratory study on group interaction with a robot-guide in an open large-scale busy environment. For an entire week a humanoid robot was deployed in the popular Cosmocaixa Science Museum in Barcelona and guided hundreds of people through the museum facilities. The main goal of this experience is to study in the wild the episodes of the robot guiding visitors to a requested destination focusing on the group behavior during displacement. The walking behavior follow-me and the face to face communication in a populated environment are analyzed in terms of guide- visitors interaction, grouping patterns and spatial formations. Results from observational data show that the space configurations spontaneously formed by the robot guide and visitors walking together did not always meet the robot communicative and navigational requirements for successful guidance. Therefore additional verbal and nonverbal prompts must be considered to regulate effectively the walking together and follow-me behaviors. Finally, we discuss lessons learned and recommendations for robot’s spatial behavior in dense crowded scenarios. |
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International Journal of Humanoid Robotics |
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cidis @ cidis @ |
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34 |
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Santos, V., Sappa, A.D., Oliveira, M. & de la Escalera, A. |
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Editorial: Special Issue on Autonomous Driving and Driver Assistance Systems – Some Main Trends |
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2021 |
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In Journal: Robotics and Autonomous Systems. (Article number 103832) |
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Vol. 144 |
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cidis @ cidis @ |
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158 |
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