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	Author	M. Oliveira; L. Seabra Lopes; G. Hyun Lim; S. Hamidreza Kasaei; Angel D. Sappa; A. Tomé
	Title	Concurrent Learning of Visual Codebooks and Object Categories in Open- ended Domains			Type	Conference Article
	Year	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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	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
	Keywords
	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.
	Address
	Corporate Author				Thesis
	Publisher	EDP Sciences	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	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.
	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	Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias
	Title	Scene representations for autonomous driving: an approach based on polygonal primitives			Type	Conference Article
	Year	2015	Publication	Iberian Robotics Conference (ROBOT 2015), Lisbon, Portugal, 2015	Abbreviated Journal
	Volume	417	Issue		Pages	503-515
	Keywords	Scene reconstruction, Point cloud, Autonomous vehicles
	Abstract	In this paper, we present a novel methodology to compute a 3D scene representation. The algorithm uses macro scale polygonal primitives to model the scene. 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. Results show that the approach is capable of producing accurate descriptions of the scene. In addition, the algorithm is very efficient when compared to other techniques.
	Address
	Corporate Author				Thesis
	Publisher	Springer International Publishing Switzerland 2016	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	Second Iberian Robotics Conference
	Notes				Approved	no
	Call Number	cidis @ cidis @			Serial	45
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	Author	Wilton Agila; Ricardo Cajo; Douglas Plaza
	Title	Experts Agents in PEM Fuel Cell Control			Type	Conference Article
	Year	2015	Publication	4ta International Conference on Renewable Energy Research and Applications	Abbreviated Journal
	Volume		Issue		Pages	896 - 900
	Keywords	s- PEM Fuel Cell; Expert Agent; Perceptive Agents; Acting Agent; Fuzzy Controller
	Abstract	In the control of the PEM (Proton Exchange Membrane) fuel cell, the existence of both deliberative and reactive processes that facilitate the tasks of control resulting from a wide range of operating scenarios and range of conditions it is required. The latter is essential to adjust its parameters to the multiplicity of circumstances that may occur in the operation of the PEM stack. In this context, the design and development of an expert-agents based architecture for autonomous control of the PEM stack in top working conditions is presented. The architecture integrates perception and control algorithms using sensory and context information. It is structured in a hierarchy of levels with different time window and level of abstraction. The monitoring model and autonomic control of PEM stack has been validated with different types of PEM stacks and operating conditions demonstrating high reliability in achieving the objective of the proposed energy efficiency. Dynamic control of the wetting of the membrane is a clear example.
	Address
	Corporate Author				Thesis
	Publisher	IEEE	Place of Publication	Palermo, Italy	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 International Conference on Renewable Energy Research and Applications (ICRERA)
	Notes				Approved	no
	Call Number	cidis @ cidis @			Serial	46
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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).
	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	267-275
	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	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
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	Author	Monica Villavicencio; Alain Abran
	Title	Educational Issues in the Teaching of Software Measurement in Software Engineering Undergraduate Programs			Type	Conference Article
	Year	2011	Publication	Joint Conference of the International Workshop on Software Measurement and the International Conference on Software Process and Product Measurement	Abbreviated Journal
	Volume		Issue		Pages	239-244
	Keywords	measurement; software engineering; higher education
	Abstract	In mature engineering disciplines and science, mathematics and measurement are considered as important subjects to be taught in university programs. This paper discusses about these subjects in terms of their respective meanings and complementarities. It also presents a discussion regarding their maturity, relevance and innovations in their teaching in engineering programs. This paper pays special attention to the teaching of software measurement in higher education, in particular with respect to mathematics and measurement in engineering in general. The findings from this analysis will be useful for researchers and educators interested in the enhancement of educational issues related to software measurement.
	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
	Notes				Approved	no
	Call Number	gtsi @ user @			Serial	68
Permanent link to this record