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Author |
Angel D. Sappa; Cristhian A. Aguilera; Juan A. Carvajal Ayala; Miguel Oliveira; Dennis Romero; Boris X. Vintimilla; Ricardo Toledo |
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Title |
Monocular visual odometry: a cross-spectral image fusion based approach |
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Journal Article |
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2016 |
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Robotics and Autonomous Systems Journal |
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Vol. 86 |
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pp. 26-36 |
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Keywords |
Monocular visual odometry LWIR-RGB cross-spectral imaging Image fusion |
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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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cidis @ cidis @ |
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54 |
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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 |
Publication |
Sensors 2020 |
Abbreviated Journal |
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Vol. 2020-June |
Issue |
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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cidis @ cidis @ |
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132 |
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Author |
Ángel Morera, Ángel Sánchez, A. Belén Moreno, Angel D. Sappa, & José F. Vélez |
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Title |
SSD vs. YOLO for Detection of Outdoor Urban Advertising Panels under Multiple Variabilities. |
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Journal Article |
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Year |
2020 |
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Abbreviated Journal |
In Sensors |
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Vol. 2020-August |
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16 |
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pp. 1-23 |
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Keywords |
object detection; urban outdoor panels; one-stage detectors; Single Shot MultiBox Detector (SSD); You Only Look Once (YOLO); detection metrics; object and scene imaging variabilities |
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Abstract |
This work compares Single Shot MultiBox Detector (SSD) and You Only Look Once (YOLO)
deep neural networks for the outdoor advertisement panel detection problem by handling multiple
and combined variabilities in the scenes. Publicity panel detection in images o ers important
advantages both in the real world as well as in the virtual one. For example, applications like Google
Street View can be used for Internet publicity and when detecting these ads panels in images, it could
be possible to replace the publicity appearing inside the panels by another from a funding company.
In our experiments, both SSD and YOLO detectors have produced acceptable results under variable
sizes of panels, illumination conditions, viewing perspectives, partial occlusion of panels, complex
background and multiple panels in scenes. Due to the diculty of finding annotated images for the
considered problem, we created our own dataset for conducting the experiments. The major strength
of the SSD model was the almost elimination of False Positive (FP) cases, situation that is preferable
when the publicity contained inside the panel is analyzed after detecting them. On the other side,
YOLO produced better panel localization results detecting a higher number of True Positive (TP)
panels with a higher accuracy. Finally, a comparison of the two analyzed object detection models
with di erent types of semantic segmentation networks and using the same evaluation metrics is
also included. |
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14248220 |
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no |
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Call Number |
cidis @ cidis @ |
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133 |
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Author |
Charco, J.L., Sappa, A.D., Vintimilla, B.X., Velesaca, H.O. |
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Title |
Camera pose estimation in multi-view environments:from virtual scenarios to the real world |
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Journal Article |
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Year |
2021 |
Publication |
In Image and Vision Computing Journal. (Article number 104182) |
Abbreviated Journal |
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Vol. 110 |
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Keywords |
Relative camera pose estimation, Domain adaptation, Siamese architecture, Synthetic data, Multi-view environments |
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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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English |
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Call Number |
cidis @ cidis @ |
Serial |
147 |
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Author |
Del Pino, J.; Salazar, G.; Cedeño, V. Msc. |
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Title |
Adaptación de un Recomendador de Filtro Colaborativo Basado en el Usuario para la Creación de un Recomendador de Materias de Pregrado Basado en el Historial Académico de los Estudiantes |
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Journal Article |
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Year |
2011 |
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Revista Tecnológica ESPOL |
Abbreviated Journal |
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Vol. 24 |
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pp. 29 - 34 |
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Abstract |
Los sistemas de recomendación son ampliamente utilizados hoy en día gracias a su capacidad de analizar las preferencias de usuarios y sugerir ítems. No obstante, el uso de los recomendadores está limitado a un modelo basado en el usuario y no en su historial de preferencias, discriminando así el campo de aplicación, por ejemplo, a sistemas académicos donde sea primordial el estudio de las decisiones del estudiante a lo largo de su carrera. El presente
trabajo presenta un esfuerzo por adaptar filtros colaborativos basados en el usuario a filtros colaborativos basados en el historial del usuario. Con un conjunto de pruebas mediremos su efectividad utilizando dos algoritmos distintos de similaridad para recomendar materias a un estudiante en el sexto semestre de la carrera de Ingeniería en Electrónica y Telecomunicaciones ofertada por la FIEC – ESPOL. Los resultados muestran que es factible adaptar un recomendador a un modelo basado en el historial del usuario |
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Campus “Gustavo Galindo Velasco” La prosperina Km 30,5 vía perimetral, Guayaquil, Ecuador |
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Español |
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Español |
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Call Number |
cidis @ cidis @ |
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13 |
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Author |
Wilton Agila; Victor M. Huilcapi |
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Title |
Lógica borrosa para la estimación de estados críticos de una pila de combustible PEM |
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Conference Article |
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Year |
2014 |
Publication |
Reconocimientos de Patrones, Control Inteligente y Comunicaciones (MACH 2014) |
Abbreviated Journal |
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5 |
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Keywords |
Caracterización de pilas de combustible PEM, estado de inundación y deshidratación de la membrana polimérica, árbol de decisión borroso, control, lógica difusa |
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Abstract |
La determinación en tiempo real de los estados críticos de operación de la pila de combustible de membrana intercambio protónico (siglas en ingles, PEM) es uno de los principales retos para los sistemas de control de pilas de combustible PEM. En este trabajo, se presenta el desarrollo e implementación de un método no invasivo de bajo coste basado en técnicas de decisión borrosa que permite estimar los estados críticos de operación de la pila de combustible PEM. La estimación se realiza mediante perturbaciones al estado de operación de la pila y el análisis posterior de la evolución temporal del voltaje generado por la pila. La implementación de esta técnica de estimulación-percepción de estado de la pila de combustible para la detección de estados críticos constituye una novedad y un paso hacia el control autónomo en óptimas condiciones de la operación de las pilas de combustible PEM. |
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Universidad de Cuenca |
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Español |
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Español |
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cidis @ cidis @ |
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31 |
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Author |
Ortiz J.; Londono J.; Novillo F.; Ampuno A.; Chávez M. |
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Title |
Determinación de Invariantes en Grandes Centros de Datos basados en Topología Fat-Tree |
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Journal Article |
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2015 |
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Revista Politécnica |
Abbreviated Journal |
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Vol. 35 |
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pp. 91-96 |
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Keywords |
Invariantes de red, topologías, Fat-tree, simulación, emulación |
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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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Escuela Politécnica Nacional |
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Español |
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cidis @ cidis @ |
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32 |
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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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Year |
2015 |
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Revista Politécnica |
Abbreviated Journal |
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Vol. 35 |
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pp. 97-102 |
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Keywords |
Ethernet, CAN, Swichted Ethernet, Sistemas de control en red, Ciclo de comunicación, Control de ajuste de trayectoria |
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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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Escuela Politécnica Nacional |
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Español |
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cidis @ cidis @ |
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