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Author Xavier Soria; Angel D. Sappa; Riad Hammoud pdf  openurl
  Title Wide-Band Color Imagery Restoration for RGB-NIR Single Sensor Image. Sensors 2018, 18(7), 2059. Type Journal Article
  Year (down) 2018 Publication Abbreviated Journal  
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  Abstract Multi-spectral RGB-NIR sensors have become ubiquitous in recent years. These sensors allow the visible and near-infrared spectral bands of a given scene to be captured at the same time. With such cameras, the acquired imagery has a compromised RGB color representation due to near-infrared bands (700–1100 nm) cross-talking with the visible bands (400–700 nm). This paper proposes two deep learning-based architectures to recover the full RGB color images, thus removing the NIR information from the visible bands. The proposed approaches directly restore the high-resolution RGB image by means of convolutional neural networks. They are evaluated with several outdoor images; both architectures reach a similar performance when evaluated in different scenarios and using different similarity metrics. Both of them improve the state of the art approaches.  
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  Call Number gtsi @ user @ Serial 96  
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Author Cristhian A. Aguilera; Angel D. Sappa; Ricardo Toledo pdf  openurl
  Title Cross-Spectral Local Descriptors via Quadruplet Network Type Journal Article
  Year (down) 2017 Publication In Sensors Journal Abbreviated Journal  
  Volume 17 Issue Pages 873  
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  Call Number gtsi @ user @ Serial 64  
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Author Juan A. Carvajal; Dennis G. Romero; Angel D. Sappa pdf  openurl
  Title Fine-tuning deep convolutional networks for lepidopterous genus recognition Type Journal Article
  Year (down) 2017 Publication Lecture Notes in Computer Science Abbreviated Journal  
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  Call Number gtsi @ user @ Serial 63  
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Author Victor Santos; Angel D. Sappa; Miguel Oliveira pdf  openurl
  Title Spcial Issue on Autonomous Driving an Driver Assistance Systems Type Journal Article
  Year (down) 2017 Publication In Robotics and Autonomous Systems Journal Abbreviated Journal  
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  Call Number gtsi @ user @ Serial 65  
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Author Angel D. Sappa; Juan A. Carvajal; Cristhian A. Aguilera; Miguel Oliveira; Dennis G. Romero; Boris X. Vintimilla pdf  url
openurl 
  Title Wavelet-Based Visible and Infrared Image Fusion: A Comparative Study Type Journal Article
  Year (down) 2016 Publication Sensors Journal Abbreviated Journal  
  Volume vol 16 Issue Pages 1-15  
  Keywords image fusion; fusion evaluation metrics; visible and infrared imaging; discrete wavelet transform  
  Abstract This paper evaluates different wavelet-based cross-spectral image fusion strategies adopted to merge visible and infrared images. The objective is to find the best setup independently of the evaluation metric used to measure the performance. Quantitative performance results are obtained with state of the art approaches together with adaptations proposed in the current work. The options evaluated in the current work result from the combination of different setups in the wavelet image decomposition stage together with different fusion strategies for the final merging stage that generates the resulting representation. Most of the approaches evaluate results according to the application for which they are intended for. Sometimes a human observer is selected to judge the quality of the obtained results. In the current work, quantitative values are considered in order to find correlations between setups and performance of obtained results; these correlations can be used to define a criteria for selecting the best fusion strategy for a given pair of cross-spectral images. The whole procedure is evaluated with a large set of correctly registered visible and infrared image pairs, including both Near InfraRed (NIR) and LongWave InfraRed (LWIR).  
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  Notes Approved no  
  Call Number cidis @ cidis @ Serial 47  
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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 (down) 2016 Publication Robotics and Autonomous Systems Journal Abbreviated Journal  
  Volume vol 86 Issue Pages 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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  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 Scenario Representations for Autonomous Driving using Geometric Polygonal Primitives Type Journal Article
  Year (down) 2016 Publication Robotics and Autonomous Systems Journal Abbreviated Journal  
  Volume 83 Issue Pages 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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  Notes Approved no  
  Call Number cidis @ cidis @ Serial 49  
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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 (down) 2016 Publication Robotics and Autonomous Systems Journal Abbreviated Journal  
  Volume 84 Issue Pages 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.  
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  Notes Approved no  
  Call Number cidis @ cidis @ Serial 50  
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Author Miguel Realpe; Boris X. Vintimilla; Ljubo Vlacic pdf  openurl
  Title Multi-sensor Fusion Module in a Fault Tolerant Perception System for Autonomous Vehicles Type Journal Article
  Year (down) 2016 Publication Journal of Automation and Control Engineering (JOACE) Abbreviated Journal  
  Volume 4 Issue Pages 430-436  
  Keywords Fault Tolerance, Data Fusion, Multi-sensor Fusion, Autonomous Vehicles, Perception System  
  Abstract Driverless vehicles are currently being tested on public roads in order to examine their ability to perform in a safe and reliable way in real world situations. However, the long-term reliable operation of a vehicle’s diverse sensors and the effects of potential sensor faults in the vehicle system have not been tested yet. This paper is proposing a sensor fusion architecture that minimizes the influence of a sensor fault. Experimental results are presented simulating faults by introducing displacements in the sensor information from the KITTI dataset.  
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  Notes Approved no  
  Call Number cidis @ cidis @ Serial 51  
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Author Dennys Paillacho; F. Novillo; W. Agila.; V. Huilcapi pdf  url
openurl 
  Title Impacto de las redes de comunicaciones en los Sistemas Robóticos de Control Type Journal Article
  Year (down) 2015 Publication Revista Politécnica Abbreviated Journal  
  Volume 35 Issue Pages 97-102  
  Keywords Ethernet, CAN, Swichted Ethernet, Sistemas de control en red, Ciclo de comunicación, Control de ajuste de trayectoria  
  Abstract 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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  Publisher Escuela Politécnica Nacional Place of Publication Editor  
  Language Español Summary Language Español Original Title  
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  Notes Approved no  
  Call Number cidis @ cidis @ Serial 33  
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