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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 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 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 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.  
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  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 Realpe; Boris X. Vintimilla; Ljubo Vlacic pdf  openurl
  Title A Fault Tolerant Perception system for autonomous vehicles Type Conference Article
  Year (down) 2016 Publication 35th Chinese Control Conference (CCC2016), International Conference on, Chengdu Abbreviated Journal  
  Volume Issue Pages 1-6  
  Keywords Fault Tolerant Perception, Sensor Data Fusion, Fault Tolerance, Autonomous Vehicles, Federated Architecture  
  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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  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 52  
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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 Vol. 4 Issue Pages pp. 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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  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 51  
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Author Cristhian A. Aguilera; Angel D. Sappa; R. Toledo pdf  url
openurl 
  Title LGHD: A feature descriptor for matching across non-linear intensity variations Type Conference Article
  Year (down) 2015 Publication IEEE International Conference on, Quebec City, QC, 2015 Abbreviated Journal  
  Volume Issue Pages 178 - 181  
  Keywords Feature descriptor, multi-modal, multispectral, NIR, LWIR  
  Abstract This paper presents a new feature descriptor suitable to the task of matching features points between images with nonlinear intensity variations. This includes image pairs with significant illuminations changes, multi-modal image pairs and multi-spectral image pairs. The proposed method describes the neighbourhood of feature points combining frequency and spatial information using multi-scale and multi-oriented Log- Gabor filters. Experimental results show the validity of the proposed approach and also the improvements with respect to the state of the art.  
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  Corporate Author Thesis  
  Publisher IEEE Place of Publication Quebec City, QC, Canada 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 2015 IEEE International Conference on Image Processing (ICIP)  
  Notes Approved no  
  Call Number cidis @ cidis @ Serial 40  
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Author Dennis G. Romero; A. Frizera; Angel D. Sappa; Boris X. Vintimilla; T.F. Bastos pdf  url
openurl 
  Title A predictive model for human activity recognition by observing actions and context Type Conference Article
  Year (down) 2015 Publication ACIVS 2015 (Advanced Concepts for Intelligent Vision Systems), International Conference on, Catania, Italy, 2015 Abbreviated Journal  
  Volume Issue Pages 323 - 333  
  Keywords Edge width, Image blu,r Defocus map, Edge model  
  Abstract This paper presents a novel model to estimate human activities – a human activity is defined by a set of human actions. The proposed approach is based on the usage of Recurrent Neural Networks (RNN) and Bayesian inference through the continuous monitoring of human actions and its surrounding environment. In the current work human activities are inferred considering not only visual analysis but also additional resources; external sources of information, such as context information, are incorporated to contribute to the activity estimation. The novelty of the proposed approach lies in the way the information is encoded, so that it can be later associated according to a predefined semantic structure. Hence, a pattern representing a given activity can be defined by a set of actions, plus contextual information or other kind of information that could be relevant to describe the activity. Experimental results with real data are provided showing the validity of the proposed approach.  
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  Language 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 43  
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Author Dennys Paillacho; Cecilio Angulo; Marta Díaz. pdf  openurl
  Title An Exploratory Study of Group-Robot Social Interactions in a Cultural Center Type Conference Article
  Year (down) 2015 Publication IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, International Conference on, Hamburg, Germany, 2015 Abbreviated Journal  
  Volume Issue Pages  
  Keywords  
  Abstract This article describes an exploratory study of social human-robot interaction with the experimental robotic platform MASHI. The experiences were carried out in La B`obila Cultural Center in Barcelona, Spain to study the visitor preferences, characterize the groups and their spatial relationships in this open and unstructured environment. Results showed that visitors prefers to play and dialogue with the robot. Children have the highest interest in interacting with the robot, more than young and adult visitors. Most of the groups consisted of more than 3 visitors, however the size of the groups during interactions was continuously changed. In static situations, the observed spatial relationships denotes a social cohesion in the human-robot interactions.  
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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 gtsi @ user @ Serial 67  
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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 Vol. 35 Issue Pages pp. 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.  
  Address  
  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 33  
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Author Julien Poujol; Cristhian A. Aguilera; Etienne Danos; Boris X. Vintimilla; Ricardo Toledo; Angel D. Sappa pdf  url
openurl 
  Title A visible-Thermal Fusion based Monocular Visual Odometry Type Conference Article
  Year (down) 2015 Publication Iberian Robotics Conference (ROBOT 2015), International Conference on, Lisbon, Portugal, 2015 Abbreviated Journal  
  Volume 417 Issue Pages 517-528  
  Keywords Monocular Visual Odometry; LWIR-RGB cross-spectral Imaging; Image Fusion  
  Abstract The manuscript evaluates the performance of a monocular visual odometry approach when images from different spectra are considered, both independently and fused. The objective behind this evaluation is to analyze if classical approaches can be improved when the given images, which are from different spectra, are fused and represented in new domains. The images in these new domains should have some of the following properties: i) more robust to noisy data; ii) less sensitive to changes (e.g., lighting); iii) more rich in descriptive information, among other. In particular in the current work two different image fusion strategies are considered. Firstly, images from the visible and thermal spectrum are fused using a Discrete Wavelet Transform (DWT) approach. Secondly, a monochrome threshold strategy is considered. The obtained representations are evaluated under a visual odometry framework, highlighting their advantages and disadvantages, using different urban and semi-urban scenarios. Comparisons with both monocular-visible spectrum and monocular-infrared spectrum, are also provided showing the validity of the proposed approach.  
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  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 44  
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Author M. Oliveira; L. Seabra Lopes; G. Hyun Lim; S. Hamidreza Kasaei; Angel D. Sappa; A. Tomé pdf  url
openurl 
  Title Concurrent Learning of Visual Codebooks and Object Categories in Open- ended Domains Type Conference Article
  Year (down) 2015 Publication Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, Hamburg, Germany, 2015 Abbreviated Journal  
  Volume Issue Pages 2488 - 2495  
  Keywords Birds, Training, Legged locomotion, Visualization, Histograms, Object recognition, Gaussian mixture model  
  Abstract In open-ended domains, robots must continuously learn new object categories. When the training sets are created offline, it is not possible to ensure their representativeness with respect to the object categories and features the system will find when operating online. In the Bag of Words model, visual codebooks are usually constructed from training sets created offline. This might lead to non-discriminative visual words and, as a consequence, to poor recognition performance. This paper proposes a visual object recognition system which concurrently learns in an incremental and online fashion both the visual object category representations as well as the codebook words used to encode them. The codebook is defined using Gaussian Mixture Models which are updated using new object views. The approach contains similarities with the human visual object recognition system: evidence suggests that the development of recognition capabilities occurs on multiple levels and is sustained over large periods of time. Results show that the proposed system with concurrent learning of object categories and codebooks is capable of learning more categories, requiring less examples, and with similar accuracies, when compared to the classical Bag of Words approach using codebooks constructed offline.  
  Address  
  Corporate Author Thesis  
  Publisher IEEE Place of Publication Hamburg, Germany 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 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
  Notes Approved no  
  Call Number cidis @ cidis @ Serial 41  
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