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Daniela Rato; Miguel Oliveira; Vitor Santos; Manuel Gomes; Angel Sappa |
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Title |
A sensor-to-pattern calibration framework for multi-modal industrial collaborative cells |
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Journal Article |
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2022 |
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Journal of Manufacturing Systems |
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JMANUFSYST |
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64 |
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497-507 |
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Calibration; Collaborative cell; Multi-modal; Multi-sensor |
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Collaborative robotic industrial cells are workspaces where robots collaborate with human operators. In this context, safety is paramount, and for that a complete perception of the space where the collaborative robot is inserted is necessary. To ensure this, collaborative cells are equipped with a large set of sensors of multiple modalities, covering the entire work volume. However, the fusion of information from all these sensors requires an accurate extrinsic calibration. The calibration of such complex systems is challenging, due to the number of sensors and modalities, and also due to the small overlapping fields of view between the sensors, which are positioned to capture different viewpoints of the cell. This paper proposes a sensor to pattern methodology that can calibrate a complex system such as a collaborative cell in a single optimization procedure. Our methodology can tackle RGB and Depth cameras, as well as LiDARs. Results show that our methodology is able to accurately calibrate a collaborative cell containing three RGB cameras, a depth camera and three 3D LiDARs. |
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Science Direct |
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MSIAU; MACO |
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no |
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Admin @ si @ ROS2022 |
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3750 |
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Rafael E. Rivadeneira; Angel Sappa; Boris X. Vintimilla; Riad I. Hammoud |
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Title |
A Novel Domain Transfer-Based Approach for Unsupervised Thermal Image Super-Resolution |
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Journal Article |
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Year |
2022 |
Publication |
Sensors |
Abbreviated Journal |
SENS |
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22 |
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6 |
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2254 |
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Thermal image super-resolution; unsupervised super-resolution; thermal images; attention module; semiregistered thermal images |
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This paper presents a transfer domain strategy to tackle the limitations of low-resolution thermal sensors and generate higher-resolution images of reasonable quality. The proposed technique employs a CycleGAN architecture and uses a ResNet as an encoder in the generator along with an attention module and a novel loss function. The network is trained on a multi-resolution thermal image dataset acquired with three different thermal sensors. Results report better performance benchmarking results on the 2nd CVPR-PBVS-2021 thermal image super-resolution challenge than state-of-the-art methods. The code of this work is available online. |
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MSIAU; |
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no |
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Admin @ si @ RSV2022b |
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3688 |
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Author |
Patricia Suarez; Dario Carpio; Angel Sappa |
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Title |
Enhancement of guided thermal image super-resolution approaches |
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2024 |
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Neurocomputing |
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NEUCOM |
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573 |
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127197 |
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1-17 |
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Guided image processing techniques are widely used to extract meaningful information from a guiding image and facilitate the enhancement of the guided one. This paper specifically addresses the challenge of guided thermal image super-resolution, where a low-resolution thermal image is enhanced using a high-resolution visible spectrum image. We propose a new strategy that enhances outcomes from current guided super-resolution methods. This is achieved by transforming the initial guiding data into a representation resembling a thermal-like image, which is more closely in sync with the intended output. Experimental results with upscale factors of 8 and 16, demonstrate the outstanding performance of our approach in guided thermal image super-resolution obtained by mapping the original guiding information to a thermal-like image representation. |
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MSIAU |
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no |
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Admin @ si @ SCS2024 |
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3998 |
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Joan Serrat; Felipe Lumbreras; Francisco Blanco; Manuel Valiente; Montserrat Lopez-Mesas |
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Title |
myStone: A system for automatic kidney stone classification |
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Journal Article |
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2017 |
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Expert Systems with Applications |
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ESA |
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89 |
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41-51 |
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Kidney stone; Optical device; Computer vision; Image classification |
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Kidney stone formation is a common disease and the incidence rate is constantly increasing worldwide. It has been shown that the classification of kidney stones can lead to an important reduction of the recurrence rate. The classification of kidney stones by human experts on the basis of certain visual color and texture features is one of the most employed techniques. However, the knowledge of how to analyze kidney stones is not widespread, and the experts learn only after being trained on a large number of samples of the different classes. In this paper we describe a new device specifically designed for capturing images of expelled kidney stones, and a method to learn and apply the experts knowledge with regard to their classification. We show that with off the shelf components, a carefully selected set of features and a state of the art classifier it is possible to automate this difficult task to a good degree. We report results on a collection of 454 kidney stones, achieving an overall accuracy of 63% for a set of eight classes covering almost all of the kidney stones taxonomy. Moreover, for more than 80% of samples the real class is the first or the second most probable class according to the system, being then the patient recommendations for the two top classes similar. This is the first attempt towards the automatic visual classification of kidney stones, and based on the current results we foresee better accuracies with the increase of the dataset size. |
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ADAS; MSIAU; 603.046; 600.122; 600.118 |
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Admin @ si @ SLB2017 |
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3026 |
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Author |
Joan Serrat; Felipe Lumbreras; Idoia Ruiz |
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Title |
Learning to measure for preshipment garment sizing |
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Journal Article |
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Year |
2018 |
Publication |
Measurement |
Abbreviated Journal |
MEASURE |
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130 |
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327-339 |
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Apparel; Computer vision; Structured prediction; Regression |
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Clothing is still manually manufactured for the most part nowadays, resulting in discrepancies between nominal and real dimensions, and potentially ill-fitting garments. Hence, it is common in the apparel industry to manually perform measures at preshipment time. We present an automatic method to obtain such measures from a single image of a garment that speeds up this task. It is generic and extensible in the sense that it does not depend explicitly on the garment shape or type. Instead, it learns through a probabilistic graphical model to identify the different contour parts. Subsequently, a set of Lasso regressors, one per desired measure, can predict the actual values of the measures. We present results on a dataset of 130 images of jackets and 98 of pants, of varying sizes and styles, obtaining 1.17 and 1.22 cm of mean absolute error, respectively. |
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ADAS; MSIAU; 600.122; 600.118 |
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Admin @ si @ SLR2018 |
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3128 |
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