| |
Records |
Links |
|
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. |
|
| |
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 |
51 |
|
| Permanent link to this record |
| |
|
| |
|
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. |
|
| |
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 |
52 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Cristhian A. Aguilera; Angel D. Sappa; R. Toledo |
|
| |
Title |
LGHD: A feature descriptor for matching across non-linear intensity variations |
Type |
Conference Article |
| |
Year |
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. |
|
| |
Address |
|
|
| |
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 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Henry O. Velesaca, Steven Araujo, Patricia L. Suarez, Ángel Sanchez & Angel D. Sappa |
|
| |
Title |
Off-the-Shelf Based System for Urban Environment Video Analytics. |
Type |
Conference Article |
| |
Year |
2020 |
Publication |
The 27th International Conference on Systems, Signals and Image Processing (IWSSIP 2020) |
Abbreviated Journal |
|
|
| |
Volume |
2020-July |
Issue |
9145121 |
Pages |
459-464 |
|
| |
Keywords |
Greenhouse gases, carbon footprint, object detection, object tracking, website framework, off-the-shelf video analytics. |
|
| |
Abstract |
This paper presents the design and implementation details of a system build-up by using off-the-shelf algorithms for urban video analytics. The system allows the connection to public video surveillance camera networks to obtain the necessary
information to generate statistics from urban scenarios (e.g., amount of vehicles, type of cars, direction, numbers of persons, etc.). The obtained information could be used not only for traffic management but also to estimate the carbon footprint of urban scenarios. As a case study, a university campus is selected to
evaluate the performance of the proposed system. The system is implemented in a modular way so that it is being used as a testbed to evaluate different algorithms. Implementation results are provided showing the validity and utility of the proposed approach. |
|
| |
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 |
21578672 |
ISBN |
978-172817539-3 |
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
|
Approved |
no |
|
| |
Call Number |
cidis @ cidis @ |
Serial |
125 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Marta Diaz; Dennys Paillacho; Cecilio Angulo |
|
| |
Title |
Evaluating Group-Robot Interaction in Crowded Public Spaces: A Week-Long Exploratory Study in the Wild with a Humanoid Robot Guiding Visitors Through a Science Museum. |
Type |
Journal Article |
| |
Year |
2015 |
Publication |
International Journal of Humanoid Robotics |
Abbreviated Journal |
|
|
| |
Volume |
Vol. 12 |
Issue |
|
Pages |
|
|
| |
Keywords |
Group-robot interaction; robotic-guide; social navigation; space management; spatial formations; group walking behavior; crowd behavior |
|
| |
Abstract |
This paper describes an exploratory study on group interaction with a robot-guide in an open large-scale busy environment. For an entire week a humanoid robot was deployed in the popular Cosmocaixa Science Museum in Barcelona and guided hundreds of people through the museum facilities. The main goal of this experience is to study in the wild the episodes of the robot guiding visitors to a requested destination focusing on the group behavior during displacement. The walking behavior follow-me and the face to face communication in a populated environment are analyzed in terms of guide- visitors interaction, grouping patterns and spatial formations. Results from observational data show that the space configurations spontaneously formed by the robot guide and visitors walking together did not always meet the robot communicative and navigational requirements for successful guidance. Therefore additional verbal and nonverbal prompts must be considered to regulate effectively the walking together and follow-me behaviors. Finally, we discuss lessons learned and recommendations for robot’s spatial behavior in dense crowded scenarios. |
|
| |
Address |
|
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
International Journal of Humanoid Robotics |
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 |
34 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Dennis G. Romero; A. F. Neto; T. F. Bastos; Boris X. Vintimilla |
|
| |
Title |
RWE patterns extraction for on-line human action recognition through window-based analysis of invariant moments |
Type |
Conference Article |
| |
Year |
2012 |
Publication |
5th Workshop in applied Robotics and Automation (RoboControl) |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
Human action recognition, Relative Wavelet Energy, Window-based temporal analysis. |
|
| |
Abstract |
This paper presents a method for on-line human action recognition on video sequences. An analysis based on Mahalanobis distance is performed to identify the “idle” state, which defines the beginning and end of the person movement, for posterior patterns extraction based on Relative Wavelet Energy from sequences of invariant moments. |
|
| |
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 |
23 |
|
| Permanent link to this record |
| |
|
| |
|
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). |
|
| |
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 |
|
| Permanent link to this record |
| |
|
| |
|
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 |
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. |
|
| |
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 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
P. Ricaurte; C. Chilán; C. A. Aguilera-Carrasco; B. X. Vintimilla; Angel D. Sappa |
|
| |
Title |
Performance Evaluation of Feature Point Descriptors in the Infrared Domain |
Type |
Conference Article |
| |
Year |
2014 |
Publication |
Computer Vision Theory and Applications (VISAPP), 2014 International Conference on, Lisbon, Portugal, 2013 |
Abbreviated Journal |
|
|
| |
Volume |
1 |
Issue |
|
Pages |
545 -550 |
|
| |
Keywords |
Infrared Imaging, Feature Point Descriptors |
|
| |
Abstract |
This paper presents a comparative evaluation of classical feature point descriptors when they are used in the long-wave infrared spectral band. Robustness to changes in rotation, scaling, blur, and additive noise are evaluated using a state of the art framework. Statistical results using an outdoor image data set are presented together with a discussion about the differences with respect to the results obtained when images from the visible spectrum are considered. |
|
| |
Address |
|
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
IEEE |
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 |
2014 International Conference on Computer Vision Theory and Applications (VISAPP) |
|
| |
Notes |
|
Approved |
no |
|
| |
Call Number |
cidis @ cidis @ |
Serial |
26 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Ortiz J.; Londono J.; Novillo F.; Ampuno A.; Chávez M. |
|
| |
Title |
Determinación de Invariantes en Grandes Centros de Datos basados en Topología Fat-Tree |
Type |
Journal Article |
| |
Year |
2015 |
Publication |
Revista Politécnica |
Abbreviated Journal |
|
|
| |
Volume |
Vol. 35 |
Issue |
|
Pages |
pp. 91-96 |
|
| |
Keywords |
Invariantes de red, topologías, Fat-tree, simulación, emulación |
|
| |
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 |
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 |
32 |
|
| Permanent link to this record |
