| Records |
| 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 |
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| Volume |
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Issue |
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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. |
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IEEE |
Place of Publication |
Quebec City, QC, Canada |
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English |
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English |
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2015 IEEE International Conference on Image Processing (ICIP) |
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no |
| Call Number |
cidis @ cidis @ |
Serial |
40 |
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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 |
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Issue |
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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. |
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IEEE |
Place of Publication |
Hamburg, Germany |
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English |
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English |
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2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
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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 |
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| 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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EDP Sciences |
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English |
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English |
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no |
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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 |
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Issue |
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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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no |
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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 |
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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 |
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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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Conference |
Second Iberian Robotics Conference |
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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 |
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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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Thesis |
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| Publisher |
IEEE |
Place of Publication |
Palermo, Italy |
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| Language |
English |
Summary Language |
English |
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2015 International Conference on Renewable Energy Research and Applications (ICRERA) |
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Approved |
no |
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cidis @ cidis @ |
Serial |
46 |
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| Author |
A. Amato; F. Lumbreras; Angel D. Sappa |
| Title |
A general-purpose crowdsourcing platform for mobile devices |
Type |
Conference Article |
| Year |
2014 |
Publication |
Computer Vision Theory and Applications (VISAPP), 2014 International Conference on, Lisbon, Portugal, 2014 |
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| Volume |
3 |
Issue |
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Pages |
211-215 |
| Keywords |
Crowdsourcing Platform, Mobile Crowdsourcing |
| Abstract |
This paper presents details of a general purpose micro-taskon-demand platform based on the crowdsourcing philosophy. This platformwas specifically developed for mobile devices in order to exploit the strengths of such devices; namely: i) massivity, ii) ubiquityand iii) embedded sensors.The combined use of mobile platforms and the crowdsourcing model allows to tackle from the simplest to the most complex tasks.Users experience is the highlighted feature of this platform (this fact is extended to both task-proposer and task- solver).Proper tools according with a specific task are provided to a task-solver in order to perform his/her job in a simpler, faster and appealing way.Moreover, a task can be easily submitted by just selecting predefined templates, which cover a wide range of possible applications.Examples of its usage in computer vision and computer games are provided illustrating the potentiality of the platform. |
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Thesis |
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IEEE |
Place of Publication |
Lisbon, Portugal |
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English |
Summary Language |
English |
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Computer Vision Theory and Applications (VISAPP), 2014 International Conference on |
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Approved |
no |
| Call Number |
cidis @ cidis @ |
Serial |
25 |
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| 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 |
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1 |
Issue |
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Pages |
545 -550 |
| Keywords |
Infrared Imaging, Feature Point Descriptors |
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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. |
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IEEE |
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English |
Summary Language |
English |
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2014 International Conference on Computer Vision Theory and Applications (VISAPP) |
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Approved |
no |
| Call Number |
cidis @ cidis @ |
Serial |
26 |
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| Author |
N. Onkarappa; Cristhian A. Aguilera; B. X. Vintimilla; Angel D. Sappa |
| Title |
Cross-spectral Stereo Correspondence using Dense Flow Fields |
Type |
Conference Article |
| Year |
2014 |
Publication |
Computer Vision Theory and Applications (VISAPP), 2014 International Conference on, Lisbon, Portugal, 2014 |
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3 |
Issue |
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Pages |
613 - 617 |
| Keywords |
Cross-spectral Stereo Correspondence, Dense Optical Flow, Infrared and Visible Spectrum |
| Abstract |
This manuscript addresses the cross-spectral stereo correspondence problem. It proposes the usage of a dense flow field based representation instead of the original cross-spectral images, which have a low correlation. In this way, working in the flow field space, classical cost functions can be used as similarity measures. Preliminary experimental results on urban environments have been obtained showing the validity of the proposed approach. |
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IEEE |
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English |
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English |
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2014 International Conference on Computer Vision Theory and Applications (VISAPP) |
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Approved |
no |
| Call Number |
cidis @ cidis @ |
Serial |
27 |
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