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Author Santos V.; Angel D. Sappa.; Oliveira M. & de la Escalera A. pdf  openurl
  Title Special Issue on Autonomous Driving and Driver Assistance Systems Type Journal Article
  Year 2019 Publication In Robotics and Autonomous Systems Abbreviated Journal  
  Volume (down) 121 Issue Pages  
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  Corporate Author Thesis  
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  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN ISBN Medium  
  Area Expedition Conference  
  Notes Approved no  
  Call Number gtsi @ user @ Serial 119  
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Author Charco, J.L., Sappa, A.D., Vintimilla, B.X., Velesaca, H.O. pdf  openurl
  Title Camera pose estimation in multi-view environments:from virtual scenarios to the real world Type Journal Article
  Year 2021 Publication In Image and Vision Computing Journal. (Article number 104182) Abbreviated Journal  
  Volume (down) Vol. 110 Issue Pages  
  Keywords Relative camera pose estimation, Domain adaptation, Siamese architecture, Synthetic data, Multi-view environments  
  Abstract This paper presents a domain adaptation strategy to efficiently train network architectures for estimating the relative camera pose in multi-view scenarios. The network architectures are fed by a pair of simultaneously acquired

images, hence in order to improve the accuracy of the solutions, and due to the lack of large datasets with pairs of

overlapped images, a domain adaptation strategy is proposed. The domain adaptation strategy consists on transferring the knowledge learned from synthetic images to real-world scenarios. For this, the networks are firstly

trained using pairs of synthetic images, which are captured at the same time by a pair of cameras in a virtual environment; and then, the learned weights of the networks are transferred to the real-world case, where the networks are retrained with a few real images. Different virtual 3D scenarios are generated to evaluate the

relationship between the accuracy on the result and the similarity between virtual and real scenarios—similarity

on both geometry of the objects contained in the scene as well as relative pose between camera and objects in the

scene. Experimental results and comparisons are provided showing that the accuracy of all the evaluated networks for estimating the camera pose improves when the proposed domain adaptation strategy is used,

highlighting the importance on the similarity between virtual-real scenarios.
 
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  Language English Summary Language English Original Title  
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  ISSN ISBN Medium  
  Area Expedition Conference  
  Notes Approved no  
  Call Number cidis @ cidis @ Serial 147  
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Author Victor Santos; Angel D. Sappa; Miguel Oliveira pdf  openurl
  Title Special Issue on Autonomous Driving an Driver Assistance Systems Type Journal Article
  Year 2017 Publication In Robotics and Autonomous Systems Journal Abbreviated Journal  
  Volume (down) Vol. 91 Issue Pages pp. 208-209  
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  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN ISBN Medium  
  Area Expedition Conference  
  Notes Approved no  
  Call Number gtsi @ user @ Serial 65  
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Author Angel D. Sappa; Cristhian A. Aguilera; Juan A. Carvajal Ayala; Miguel Oliveira; Dennis Romero; Boris X. Vintimilla; Ricardo Toledo pdf  url
doi  openurl
  Title Monocular visual odometry: a cross-spectral image fusion based approach Type Journal Article
  Year 2016 Publication Robotics and Autonomous Systems Journal Abbreviated Journal  
  Volume (down) Vol. 86 Issue Pages pp. 26-36  
  Keywords Monocular visual odometry LWIR-RGB cross-spectral imaging Image fusion  
  Abstract This manuscript evaluates the usage of fused cross-spectral images in a monocular visual odometry approach. Fused images are obtained through a Discrete Wavelet Transform (DWT) scheme, where the best setup is em- pirically obtained by means of a mutual information based evaluation met- ric. The objective is to have a exible scheme where fusion parameters are adapted according to the characteristics of the given images. Visual odom- etry is computed from the fused monocular images using an off the shelf approach. Experimental results using data sets obtained with two different platforms are presented. Additionally, comparison with a previous approach as well as with monocular-visible/infrared spectra are also provided showing the advantages of the proposed scheme.  
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  Corporate Author Thesis  
  Publisher Place of Publication Editor  
  Language Enlgish Summary Language English Original Title  
  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN ISBN Medium  
  Area Expedition Conference  
  Notes Approved no  
  Call Number cidis @ cidis @ Serial 54  
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Author Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias; A. Paulo Moreira pdf  url
openurl 
  Title Incremental Texture Mapping for Autonomous Driving Type Journal Article
  Year 2016 Publication Robotics and Autonomous Systems Journal Abbreviated Journal  
  Volume (down) Vol. 84 Issue Pages pp. 113-128  
  Keywords Scene reconstruction, Autonomous driving, Texture mapping  
  Abstract Autonomous vehicles have a large number of on-board sensors, not only for providing coverage all around the vehicle, but also to ensure multi-modality in the observation of the scene. Because of this, it is not trivial to come up with a single, unique representation that feeds from the data given by all these sensors. We propose an algorithm which is capable of mapping texture collected from vision based sensors onto a geometric description of the scenario constructed from data provided by 3D sensors. The algorithm uses a constrained Delaunay triangulation to produce a mesh which is updated using a specially devised sequence of operations. These enforce a partial configuration of the mesh that avoids bad quality textures and ensures that there are no gaps in the texture. Results show that this algorithm is capable of producing fine quality textures.  
  Address  
  Corporate Author Thesis  
  Publisher Place of Publication Editor  
  Language English Summary Language English Original Title  
  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN ISBN Medium  
  Area Expedition Conference  
  Notes Approved no  
  Call Number cidis @ cidis @ Serial 50  
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Author Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias; A. Paulo Moreira pdf  url
openurl 
  Title Incremental Scenario Representations for Autonomous Driving using Geometric Polygonal Primitives Type Journal Article
  Year 2016 Publication Robotics and Autonomous Systems Journal Abbreviated Journal  
  Volume (down) Vol. 83 Issue Pages pp. 312-325  
  Keywords Incremental scene reconstructionPoint cloudsAutonomous vehiclesPolygonal primitives  
  Abstract 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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  Language English Summary Language English Original Title  
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  Area Expedition Conference  
  Notes Approved no  
  Call Number cidis @ cidis @ Serial 49  
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Author Daniela Rato, Miguel Oliviera, Victor Santos, Manuel Gomes & Angel Sappa url  openurl
  Title A Sensor-to-Pattern Calibration Framework for Multi-Modal Industrial Collaborative Cells. Type Journal Article
  Year 2022 Publication Journal of Manufacturing Systems Abbreviated Journal  
  Volume (down) Vol. 64 Issue Pages pp. 497-507  
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  Area Expedition Conference  
  Notes Approved yes  
  Call Number cidis @ cidis @ Serial 184  
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Author Morocho-Cayamcela, M.E. & W. Lim pdf  openurl
  Title Lateral confinement of high-impedance surface-waves through reinforcement learning Type Journal Article
  Year 2020 Publication Electronics Letters Abbreviated Journal  
  Volume (down) Vol. 56 Issue 23, 12 November 2020 Pages pp. 1262-1264  
  Keywords  
  Abstract The authors present a model-free policy-based reinforcement learning

model that introduces perturbations on the pattern of a metasurface.

The objective is to learn a policy that changes the size of the

patches, and therefore the impedance in the sides of an artificially structured

material. The proposed iterative model assigns the highest reward

when the patch sizes allow the transmission along a constrained path

and penalties when the patch sizes make the surface wave radiate to

the sides of the metamaterial. After convergence, the proposed

model learns an optimal patch pattern that achieves lateral confinement

along the metasurface. Simulation results show that the proposed

learned-pattern can effectively guide the electromagnetic wave

through a metasurface, maintaining its instantaneous eigenstate when

the homogeneity is perturbed. Moreover, the pattern learned to

prevent reflections by changing the patch sizes adiabatically. The

reflection coefficient S1, 2 shows that most of the power gets transferred

from the source to the destination with the proposed design.
 
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  Language English Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
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  ISSN ISBN Medium  
  Area Expedition Conference  
  Notes Approved no  
  Call Number cidis @ cidis @ Serial 139  
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Author Ulises Gildardo Quiroz Antúnez, Alejandro Ismael Monterroso Rivas, María Fernanda Calderón Vega, Adán Guillermo Ramírez García pdf  openurl
  Title APTITUDE OF COFFEE (COFFEA ARABICA L.) AND CACAO (THEOBROMA CACAO L.) CROPS CONSIDERING CLIMATE CHANGE Type Journal Article
  Year 2022 Publication Granja Abbreviated Journal  
  Volume (down) Vol. 36 Issue Issue 2 Pages  
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  Notes Approved no  
  Call Number cidis @ cidis @ Serial 200  
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Author Ortiz J.; Londono J.; Novillo F.; Ampuno A.; Chávez M. pdf  url
openurl 
  Title Determinación de Invariantes en Grandes Centros de Datos basados en Topología Fat-Tree Type Journal Article
  Year 2015 Publication Revista Politécnica Abbreviated Journal  
  Volume (down) Vol. 35 Issue Pages pp. 91-96  
  Keywords Invariantes de red, topologías, Fat-tree, simulación, emulación  
  Abstract Durante los últimos años ha existido un fuerte incremento en el acceso a internet, causando que los centros de datos ( DC) deban adaptar dinámicamente su infraestructura de red de cara a enfrentar posibles problemas de congestión, la cual no siempre se da de forma oportuna. Ante esto, nuevas topologías de red se han propuesto en los últimos años, como una forma de brindar mejores condiciones para el manejo de tráfico interno, sin embargo es común que para el estudio de estas mejoras, se necesite recrear el comportamiento de un verdadero DC en modelos de simulación/emulación. Por lo tanto se vuelve esencial validar dichos modelos, de cara a obtener resultados coherentes con la realidad. Esta validación es posible por medio de la identificación de ciertas propiedades que se deducen a partir de las variables y los parámetros que describen la red, y que se mantienen en las topologías de los DC para diversos escenarios y/o configuraciones. Estas propiedades, conocidas como invariantes, son una expresión del funcionamiento de la red en ambientes reales, como por ejemplo la ruta más larga entre dos nodos o el número de enlaces mínimo que deben fallar antes de una pérdida de conectividad en alguno de los nodos de la red. En el presente trabajo se realiza la identificación, formulación y comprobación de dos invariantes para la topología Fat-Tree, utilizando como software emulador a mininet. Las conclusiones muestran resultados concordantes entre lo analítico y lo práctico.  
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  Corporate Author Thesis  
  Publisher Escuela Politécnica Nacional Place of Publication Editor  
  Language Español Summary Language Español Original Title  
  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN ISBN Medium  
  Area Expedition Conference  
  Notes Approved no  
  Call Number cidis @ cidis @ Serial 32  
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