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	Author	M. Diaz; Dennys Paillacho; C. Angulo; O. Torres; J. Gonzálalez; J. Albo Canals
	Title	A Week-long Study on Robot-Visitors Spatial Relationships during Guidance in a Sciences Museum			Type	Conference Article
	Year	2014	Publication	ACM/IEEE International Conference on Human-Robot Interaction	Abbreviated Journal
	Volume		Issue		Pages	152-153
	Keywords	social human-robot interaction, spatial relationships, proxemics behavior
	Abstract	In order to observe spatial relationships in social human- robot interactions, a field trial was carried out within the CosmoCaixa Science Museum in Barcelona. The follow me episodes studied showed that the space configurations formed by guide and visitors walking together did not always fit the robot social affordances and navigation requirements to perform the guidance successfully, thus additional commu- nication prompts are considered to regulate effectively the walking together and follow me behaviors.
	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	29
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	Author	Dennis G. Romero; Anselmo Frizera N.; Teodiano Freire B.
	Title	Reconocimiento en-l?nea de acciones humanas basado en patrones de RWE aplicado en ventanas dinámicas de momentos invariantes			Type	Journal Article
	Year	2014	Publication	Revista Iberoamericana de Automática e Informática industrial 00 (2014)	Abbreviated Journal
	Volume	11	Issue		Pages	202-211
	Keywords	Vision por ordenador, Mapas de profundidad, Reconocimiento de acciones humanas, Relative Wavelet Energy, Distancia de ´ Mahalanobis
	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.
	Address
	Corporate Author				Thesis
	Publisher		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	30
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	Author	Miguel Realpe; Boris X. Vintimilla; L. Vlacic
	Title	Towards Fault Tolerant Perception for autonomous vehicles: Local Fusion.			Type	Conference Article
	Year	2015	Publication	IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Siem Reap, 2015.	Abbreviated Journal
	Volume		Issue		Pages	253-258
	Keywords
	Abstract	Many robust sensor fusion strategies have been developed in order to reliably detect the surrounding environments of an autonomous vehicle. However, in real situations there is always the possibility that sensors or other components may fail. Thus, internal modules and sensors need to be monitored to ensure their proper function. This paper introduces a general view of a perception architecture designed to detect and classify obstacles in an autonomous vehicle's environment using a fault tolerant framework, whereas elaborates the object detection and local fusion modules proposed in order to achieve the modularity and real-time process required by the system.
	Address
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	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	cidis @ cidis @			Serial	37
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	Author	Dennys Paillacho; Cecilio Angulo; Marta Díaz.
	Title	An Exploratory Study of Group-Robot Social Interactions in a Cultural Center			Type	Conference Article
	Year	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.
	Address
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language	English	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	67
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	Author	Dennis G. Romero; A. Frizera; Angel D. Sappa; Boris X. Vintimilla; T.F. Bastos
	Title	A predictive model for human activity recognition by observing actions and context			Type	Conference Article
	Year	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.
	Address
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	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	cidis @ cidis @			Serial	43
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	Author	Julien Poujol; Cristhian A. Aguilera; Etienne Danos; Boris X. Vintimilla; Ricardo Toledo; Angel D. Sappa
	Title	A visible-Thermal Fusion based Monocular Visual Odometry			Type	Conference Article
	Year	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.
	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	44
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	Author	Angel D. Sappa; Juan A. Carvajal; Cristhian A. Aguilera; Miguel Oliveira; Dennis G. Romero; Boris X. Vintimilla
	Title	Wavelet-Based Visible and Infrared Image Fusion: A Comparative Study			Type	Journal Article
	Year	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).
	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	47
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	Author	Cristhian A. Aguilera; Francisco J. Aguilera; Angel D. Sappa; Ricardo Toledo
	Title	Learning crossspectral similarity measures with deep convolutional neural networks			Type	Conference Article
	Year	2016	Publication	IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) Workshops	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	The simultaneous use of images from different spectra can be helpful to improve the performance of many com- puter vision tasks. The core idea behind the usage of cross- spectral approaches is to take advantage of the strengths of each spectral band providing a richer representation of a scene, which cannot be obtained with just images from one spectral band. In this work we tackle the cross-spectral image similarity problem by using Convolutional Neural Networks (CNNs). We explore three different CNN archi- tectures to compare the similarity of cross-spectral image patches. Specifically, we train each network with images from the visible and the near-infrared spectrum, and then test the result with two public cross-spectral datasets. Ex- perimental results show that CNN approaches outperform the current state-of-art on both cross-spectral datasets. Ad- ditionally, our experiments show that some CNN architec- tures are capable of generalizing between different cross- spectral domains.
	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	48
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	Author	Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias; A. Paulo Moreira
	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	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.
	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	49
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	Author	Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias; A. Paulo Moreira
	Title	Incremental Texture Mapping for Autonomous Driving			Type	Journal Article
	Year	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.
	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
Permanent link to this record