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Author Ricaurte P; Chilán C; Cristhian A. Aguilera; Boris X. Vintimilla; Angel D. Sappa
Title Feature Point Descriptors: Infrared and Visible Spectra Type Journal Article
Year 2014 Publication Sensors Journal Abbreviated Journal
Volume Vol. 14 Issue Pages pp. 3690-3701
Keywords cross-spectral imaging; feature point descriptors
Abstract This manuscript evaluates the behavior of classical feature point descriptors when they are used in images from long-wave infrared spectral band and compare them with the results obtained in the visible spectrum. Robustness to changes in rotation, scaling, blur, and additive noise are analyzed using a state of the art framework. Experimental results using a cross-spectral outdoor image data set are presented and conclusions from these experiments are given.
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Call Number cidis @ cidis @ Serial 28
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Author Mildred Cruz; Cristhian A. Aguilera; Boris X. Vintimilla; Ricardo Toledo; Ángel D. Sappa
Title Cross-spectral image registration and fusion: an evaluation study Type Conference Article
Year 2015 Publication 2nd International Conference on Machine Vision and Machine Learning Abbreviated Journal
Volume 331 Issue Pages
Keywords multispectral imaging; image registration; data fusion; infrared and visible spectra
Abstract This paper presents a preliminary study on the registration and fusion of cross-spectral imaging. The objective is to evaluate the validity of widely used computer vision approaches when they are applied at different spectral bands. In particular, we are interested in merging images from the infrared (both long wave infrared: LWIR and near infrared: NIR) and visible spectrum (VS). Experimental results with different data sets are presented.
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Publisher Computer Vision Center Place of Publication Barcelona, Spain Editor
Language English Summary Language English Original Title
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Call Number cidis @ cidis @ Serial 35
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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
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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.
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Call Number cidis @ cidis @ Serial 37
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Author Ma. Paz Velarde; Erika Perugachi; Dennis G. Romero; Ángel D. Sappa; Boris X. Vintimilla
Title Análisis del movimiento de las extremidades superiores aplicado a la rehabilitación física de una persona usando técnicas de visión artificial. Type Journal Article
Year 2015 Publication Revista Tecnológica ESPOL-RTE Abbreviated Journal
Volume Vol. 28 Issue Pages pp. 1-7
Keywords Rehabilitation; RGB-D Sensor; Computer Vision; Upper limb
Abstract Comúnmente durante la rehabilitación física, el diagnóstico dado por el especialista se basa en observaciones cualitativas que sugieren, en algunos casos, conclusiones subjetivas. El presente trabajo propone un enfoque cuantitativo, orientado a servir de ayuda a fisioterapeutas, a través de una herramienta interactiva y de bajo costo que permite medir los movimientos de miembros superiores. Estos movimientos son capturados por un sensor RGB-D y procesados mediante la metodología propuesta, dando como resultado una eficiente representación de movimientos, permitiendo la evaluación cuantitativa de movimientos de los miembros superiores.
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Publisher ESPOL Place of Publication Editor
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Call Number cidis @ cidis @ Serial 39
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Author Miguel Realpe; Boris X. Vintimilla; Ljubo Vlacic
Title Sensor Fault Detection and Diagnosis for autonomous vehicles Type Conference Article
Year 2015 Publication 2nd International Conference on Mechatronics, Automation and Manufacturing (ICMAM 2015), International Conference on, Singapur, 2015 Abbreviated Journal
Volume 30 Issue MATEC Web of Conferences Pages 1-6
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Abstract In recent years testing autonomous vehicles on public roads has become a reality. However, before having autonomous vehicles completely accepted on the roads, they have to demonstrate safe operation and reliable interaction with other traffic participants. Furthermore, in real situations and long term operation, there is always the possibility that diverse components may fail. This paper deals with possible sensor faults by defining a federated sensor data fusion architecture. The proposed architecture is designed to detect obstacles in an autonomous vehicle’s environment while detecting a faulty sensor using SVM models for fault detection and diagnosis. Experimental results using sensor information from the KITTI dataset confirm the feasibility of the proposed architecture to detect soft and hard faults from a particular sensor.
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Publisher EDP Sciences Place of Publication Editor
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Call Number cidis @ cidis @ Serial 42
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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.
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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.
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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 pp. 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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Call Number cidis @ cidis @ Serial 47
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Author Miguel Realpe; Boris X. Vintimilla; Ljubo Vlacic
Title Multi-sensor Fusion Module in a Fault Tolerant Perception System for Autonomous Vehicles Type Journal Article
Year 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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Language English Summary Language English Original Title
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Call Number cidis @ cidis @ Serial 51
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Author Miguel Realpe; Boris X. Vintimilla; Ljubo Vlacic
Title A Fault Tolerant Perception system for autonomous vehicles Type Conference Article
Year 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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Publisher Place of Publication Editor
Language English Summary Language English Original Title
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Notes Approved no
Call Number cidis @ cidis @ Serial 52
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