| Records |
| 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 |
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| Volume |
417 |
Issue |
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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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English |
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English |
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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 |
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| Volume |
417 |
Issue |
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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. |
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Springer International Publishing Switzerland 2016 |
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English |
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English |
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Second Iberian Robotics Conference |
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no |
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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 |
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Issue |
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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. |
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IEEE |
Place of Publication |
Palermo, Italy |
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English |
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English |
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2015 International Conference on Renewable Energy Research and Applications (ICRERA) |
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no |
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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 |
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| Volume |
Vol. 16 |
Issue |
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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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English |
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English |
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no |
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cidis @ cidis @ |
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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 |
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Pages |
267-275 |
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| 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. |
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English |
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no |
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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 |
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| Volume |
Vol. 83 |
Issue |
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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. |
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English |
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cidis @ cidis @ |
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49 |
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| Author |
Monica Villavicencio; Alain Abran |
| Title |
Educational Issues in the Teaching of Software Measurement in Software Engineering Undergraduate Programs |
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Conference Article |
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2011 |
Publication |
Joint Conference of the International Workshop on Software Measurement and the International Conference on Software Process and Product Measurement |
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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. |
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IEEE |
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English |
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English |
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gtsi @ user @ |
Serial |
68 |
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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 |
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Vol. 84 |
Issue |
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pp. 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. |
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English |
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no |
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cidis @ cidis @ |
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50 |
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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 |
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2016 |
Publication |
Journal of Automation and Control Engineering (JOACE) |
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Vol. 4 |
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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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English |
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no |
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cidis @ cidis @ |
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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 |
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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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English |
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cidis @ cidis @ |
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52 |
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