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	Author	Arnau Ramisa; Shrihari Vasudevan; David Aldavert; Ricardo Toledo; Ramon Lopez de Mantaras
	Title	Evaluation of the SIFT Object Recognition Method in Mobile Robots: Frontiers in Artificial Intelligence and Applications			Type	Conference Article
	Year	2009	Publication	12th International Conference of the Catalan Association for Artificial Intelligence	Abbreviated Journal
	Volume	202	Issue		Pages	9-18
	Keywords
	Abstract	General object recognition in mobile robots is of primary importance in order to enhance the representation of the environment that robots will use for their reasoning processes. Therefore, we contribute reduce this gap by evaluating the SIFT Object Recognition method in a challenging dataset, focusing on issues relevant to mobile robotics. Resistance of the method to the robotics working conditions was found, but it was limited mainly to well-textured objects.
	Address	Cardona, Spain
	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	0922-6389	ISBN	978-1-60750-061-2	Medium
	Area		Expedition		Conference	CCIA
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ RVA2009			Serial	1248
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	Author	Arnau Ramisa; Ramon Lopez de Mantaras; Ricardo Toledo
	Title	Comparing Combinations of Feature Regions for Panoramic VSLAM			Type	Conference Article
	Year	2007	Publication	4th International Conference on Informatics in Control, Automation and Robotics	Abbreviated Journal
	Volume		Issue		Pages	292–297
	Keywords
	Abstract
	Address	Angers (France)
	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	ICINCO
	Notes	RV;ADAS			Approved	no
	Call Number	Admin @ si @ RLA2007			Serial	900
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	Author	Arnau Ramisa; David Aldavert; Shrihari Vasudevan; Ricardo Toledo; Ramon Lopez de Mantaras
	Title	The IIIA30 MObile Robot Object Recognition Datset			Type	Conference Article
	Year	2011	Publication	11th Portuguese Robotics Open	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	Object perception is a key feature in order to make mobile robots able to perform high-level tasks. However, research aimed at addressing the constraints and limitations encountered in a mobile robotics scenario, like low image resolution, motion blur or tight computational constraints, is still very scarce. In order to facilitate future research in this direction, in this work we present an object detection and recognition dataset acquired using a mobile robotic platform. As a baseline for the dataset, we evaluated the cascade of weak classifiers object detection method from Viola and Jones.
	Address	Lisboa
	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	Robotica
	Notes	RV;ADAS			Approved	no
	Call Number	Admin @ si @ RAV2011			Serial	1777
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	Author	Arnau Ramisa; David Aldavert; Shrihari Vasudevan; Ricardo Toledo; Ramon Lopez de Mantaras
	Title	Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot			Type	Journal Article
	Year	2012	Publication	Journal of Intelligent and Robotic Systems	Abbreviated Journal	JIRC
	Volume	68	Issue	2	Pages	185-208
	Keywords
	Abstract	This paper addresses visual object perception applied to mobile robotics. Being able to perceive household objects in unstructured environments is a key capability in order to make robots suitable to perform complex tasks in home environments. However, finding a solution for this task is daunting: it requires the ability to handle the variability in image formation in a moving camera with tight time constraints. The paper brings to attention some of the issues with applying three state of the art object recognition and detection methods in a mobile robotics scenario, and proposes methods to deal with windowing/segmentation. Thus, this work aims at evaluating the state-of-the-art in object perception in an attempt to develop a lightweight solution for mobile robotics use/research in typical indoor settings.
	Address
	Corporate Author				Thesis
	Publisher	Springer Netherlands	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	0921-0296	ISBN		Medium
	Area		Expedition		Conference
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ RAV2012			Serial	2150
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	Author	Arnau Ramisa; Alex Goldhoorn; David Aldavert; Ricardo Toledo; Ramon Lopez de Mantaras
	Title	Combining Invariant Features and the ALV Homing Method for Autonomous Robot Navigation Based on Panoramas			Type	Journal Article
	Year	2011	Publication	Journal of Intelligent and Robotic Systems	Abbreviated Journal	JIRC
	Volume	64	Issue	3-4	Pages	625-649
	Keywords
	Abstract	Biologically inspired homing methods, such as the Average Landmark Vector, are an interesting solution for local navigation due to its simplicity. However, usually they require a modification of the environment by placing artificial landmarks in order to work reliably. In this paper we combine the Average Landmark Vector with invariant feature points automatically detected in panoramic images to overcome this limitation. The proposed approach has been evaluated first in simulation and, as promising results are found, also in two data sets of panoramas from real world environments.
	Address
	Corporate Author				Thesis
	Publisher	Springer Netherlands	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	0921-0296	ISBN		Medium
	Area		Expedition		Conference
	Notes	RV;ADAS			Approved	no
	Call Number	Admin @ si @ RGA2011			Serial	1728
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	Author	Arnau Ramisa; Adriana Tapus; Ramon Lopez de Mantaras; Ricardo Toledo
	Title	Mobile Robot Localization using Panoramic Vision and Combination of Feature Region Detectors			Type	Conference Article
	Year	2008	Publication	IEEE International Conference on Robotics and Automation,	Abbreviated Journal
	Volume		Issue		Pages	538–543
	Keywords
	Abstract
	Address	Pasadena; CA; USA
	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	ICRA
	Notes	RV;ADAS			Approved	no
	Call Number	Admin @ si @ RTL2008			Serial	1144
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	Author	Arnau Ramisa; Adriana Tapus; David Aldavert; Ricardo Toledo; Ramon Lopez de Mantaras
	Title	Robust Vision-Based Localization using Combinations of Local Feature Regions Detectors			Type	Journal Article
	Year	2009	Publication	Autonomous Robots	Abbreviated Journal	AR
	Volume	27	Issue	4	Pages	373-385
	Keywords
	Abstract	This paper presents a vision-based approach for mobile robot localization. The model of the environment is topological. The new approach characterizes a place using a signature. This signature consists of a constellation of descriptors computed over different types of local affine covariant regions extracted from an omnidirectional image acquired rotating a standard camera with a pan-tilt unit. This type of representation permits a reliable and distinctive environment modelling. Our objectives were to validate the proposed method in indoor environments and, also, to find out if the combination of complementary local feature region detectors improves the localization versus using a single region detector. Our experimental results show that if false matches are effectively rejected, the combination of different covariant affine region detectors increases notably the performance of the approach by combining the different strengths of the individual detectors. In order to reduce the localization time, two strategies are evaluated: re-ranking the map nodes using a global similarity measure and using standard perspective view field of 45°. In order to systematically test topological localization methods, another contribution proposed in this work is a novel method to see the degradation in localization performance as the robot moves away from the point where the original signature was acquired. This allows to know the robustness of the proposed signature. In order for this to be effective, it must be done in several, variated, environments that test all the possible situations in which the robot may have to perform localization.
	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	0929-5593	ISBN		Medium
	Area		Expedition		Conference
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ RTA2009			Serial	1245
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	Author	Arnau Baro; Pau Riba; Jorge Calvo-Zaragoza; Alicia Fornes
	Title	Optical Music Recognition by Recurrent Neural Networks			Type	Conference Article
	Year	2017	Publication	14th IAPR International Workshop on Graphics Recognition	Abbreviated Journal
	Volume		Issue		Pages	25-26
	Keywords	Optical Music Recognition; Recurrent Neural Network; Long Short-Term Memory
	Abstract	Optical Music Recognition is the task of transcribing a music score into a machine readable format. Many music scores are written in a single staff, and therefore, they could be treated as a sequence. Therefore, this work explores the use of Long Short-Term Memory (LSTM) Recurrent Neural Networks for reading the music score sequentially, where the LSTM helps in keeping the context. For training, we have used a synthetic dataset of more than 40000 images, labeled at primitive level
	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	ICDAR
	Notes	DAG; 600.097; 601.302; 600.121			Approved	no
	Call Number	Admin @ si @ BRC2017			Serial	3056
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	Author	Arnau Baro; Pau Riba; Jorge Calvo-Zaragoza; Alicia Fornes
	Title	Optical Music Recognition by Long Short-Term Memory Networks			Type	Book Chapter
	Year	2018	Publication	Graphics Recognition. Current Trends and Evolutions	Abbreviated Journal
	Volume	11009	Issue		Pages	81-95
	Keywords	Optical Music Recognition; Recurrent Neural Network; Long ShortTerm Memory
	Abstract	Optical Music Recognition refers to the task of transcribing the image of a music score into a machine-readable format. Many music scores are written in a single staff, and therefore, they could be treated as a sequence. Therefore, this work explores the use of Long Short-Term Memory (LSTM) Recurrent Neural Networks for reading the music score sequentially, where the LSTM helps in keeping the context. For training, we have used a synthetic dataset of more than 40000 images, labeled at primitive level. The experimental results are promising, showing the benefits of our approach.
	Address
	Corporate Author				Thesis
	Publisher	Springer	Place of Publication		Editor	A. Fornes, B. Lamiroy
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title	LNCS
	Series Volume		Series Issue		Edition
	ISSN		ISBN	978-3-030-02283-9	Medium
	Area		Expedition		Conference	GREC
	Notes	DAG; 600.097; 601.302; 601.330; 600.121			Approved	no
	Call Number	Admin @ si @ BRC2018			Serial	3227
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	Author	Arnau Baro; Pau Riba; Jorge Calvo-Zaragoza; Alicia Fornes
	Title	From Optical Music Recognition to Handwritten Music Recognition: a Baseline			Type	Journal Article
	Year	2019	Publication	Pattern Recognition Letters	Abbreviated Journal	PRL
	Volume	123	Issue		Pages	1-8
	Keywords
	Abstract	Optical Music Recognition (OMR) is the branch of document image analysis that aims to convert images of musical scores into a computer-readable format. Despite decades of research, the recognition of handwritten music scores, concretely the Western notation, is still an open problem, and the few existing works only focus on a specific stage of OMR. In this work, we propose a full Handwritten Music Recognition (HMR) system based on Convolutional Recurrent Neural Networks, data augmentation and transfer learning, that can serve as a baseline for the research community.
	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	DAG; 600.097; 601.302; 601.330; 600.140; 600.121			Approved	no
	Call Number	Admin @ si @ BRC2019			Serial	3275
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	Author	Arnau Baro; Pau Riba; Alicia Fornes
	Title	Towards the recognition of compound music notes in handwritten music scores			Type	Conference Article
	Year	2016	Publication	15th international conference on Frontiers in Handwriting Recognition	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	The recognition of handwritten music scores still remains an open problem. The existing approaches can only deal with very simple handwritten scores mainly because of the variability in the handwriting style and the variability in the composition of groups of music notes (i.e. compound music notes). In this work we focus on this second problem and propose a method based on perceptual grouping for the recognition of compound music notes. Our method has been tested using several handwritten music scores of the CVC-MUSCIMA database and compared with a commercial Optical Music Recognition (OMR) software. Given that our method is learning-free, the obtained results are promising.
	Address	Shenzhen; China; October 2016
	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	2167-6445	ISBN		Medium
	Area		Expedition		Conference	ICFHR
	Notes	DAG; 600.097			Approved	no
	Call Number	Admin @ si @ BRF2016			Serial	2903
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	Author	Arnau Baro; Pau Riba; Alicia Fornes
	Title	A Starting Point for Handwritten Music Recognition			Type	Conference Article
	Year	2018	Publication	1st International Workshop on Reading Music Systems	Abbreviated Journal
	Volume		Issue		Pages	5-6
	Keywords	Optical Music Recognition; Long Short-Term Memory; Convolutional Neural Networks; MUSCIMA++; CVCMUSCIMA
	Abstract	In the last years, the interest in Optical Music Recognition (OMR) has reawakened, especially since the appearance of deep learning. However, there are very few works addressing handwritten scores. In this work we describe a full OMR pipeline for handwritten music scores by using Convolutional and Recurrent Neural Networks that could serve as a baseline for the research community.
	Address	Paris; France; September 2018
	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	WORMS
	Notes	DAG; 600.097; 601.302; 601.330; 600.121			Approved	no
	Call Number	Admin @ si @ BRF2018			Serial	3223
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	Author	Arnau Baro; Pau Riba; Alicia Fornes
	Title	Musigraph: Optical Music Recognition Through Object Detection and Graph Neural Network			Type	Conference Article
	Year	2022	Publication	Frontiers in Handwriting Recognition. International Conference on Frontiers in Handwriting Recognition (ICFHR2022)	Abbreviated Journal
	Volume	13639	Issue		Pages	171-184
	Keywords	Object detection; Optical music recognition; Graph neural network
	Abstract	During the last decades, the performance of optical music recognition has been increasingly improving. However, and despite the 2-dimensional nature of music notation (e.g. notes have rhythm and pitch), most works treat musical scores as a sequence of symbols in one dimension, which make their recognition still a challenge. Thus, in this work we explore the use of graph neural networks for musical score recognition. First, because graphs are suited for n-dimensional representations, and second, because the combination of graphs with deep learning has shown a great performance in similar applications. Our methodology consists of: First, we will detect each isolated/atomic symbols (those that can not be decomposed in more graphical primitives) and the primitives that form a musical symbol. Then, we will build the graph taking as root node the notehead and as leaves those primitives or symbols that modify the note’s rhythm (stem, beam, flag) or pitch (flat, sharp, natural). Finally, the graph is translated into a human-readable character sequence for a final transcription and evaluation. Our method has been tested on more than five thousand measures, showing promising results.
	Address	December 04 – 07, 2022; Hyderabad, India
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title	LNCS
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	ICFHR
	Notes	DAG; 600.162; 600.140; 602.230			Approved	no
	Call Number	Admin @ si @ BRF2022b			Serial	3740
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	Author	Arnau Baro; Jialuo Chen; Alicia Fornes; Beata Megyesi
	Title	Towards a generic unsupervised method for transcription of encoded manuscripts			Type	Conference Article
	Year	2019	Publication	3rd International Conference on Digital Access to Textual Cultural Heritage	Abbreviated Journal
	Volume		Issue		Pages	73-78
	Keywords	A. Baró, J. Chen, A. Fornés, B. Megyesi.
	Abstract	Historical ciphers, a special type of manuscripts, contain encrypted information, important for the interpretation of our history. The first step towards decipherment is to transcribe the images, either manually or by automatic image processing techniques. Despite the improvements in handwritten text recognition (HTR) thanks to deep learning methodologies, the need of labelled data to train is an important limitation. Given that ciphers often use symbol sets across various alphabets and unique symbols without any transcription scheme available, these supervised HTR techniques are not suitable to transcribe ciphers. In this paper we propose an un-supervised method for transcribing encrypted manuscripts based on clustering and label propagation, which has been successfully applied to community detection in networks. We analyze the performance on ciphers with various symbol sets, and discuss the advantages and drawbacks compared to supervised HTR methods.
	Address	Brussels; May 2019
	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	DATeCH
	Notes	DAG; 600.097; 600.140; 600.121			Approved	no
	Call Number	Admin @ si @ BCF2019			Serial	3276
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	Author	Arnau Baro; Carles Badal; Pau Torras; Alicia Fornes
	Title	Handwritten Historical Music Recognition through Sequence-to-Sequence with Attention Mechanism			Type	Conference Article
	Year	2022	Publication	3rd International Workshop on Reading Music Systems (WoRMS2021)	Abbreviated Journal
	Volume		Issue		Pages	55-59
	Keywords	Optical Music Recognition; Digits; Image Classification
	Abstract	Despite decades of research in Optical Music Recognition (OMR), the recognition of old handwritten music scores remains a challenge because of the variabilities in the handwriting styles, paper degradation, lack of standard notation, etc. Therefore, the research in OMR systems adapted to the particularities of old manuscripts is crucial to accelerate the conversion of music scores existing in archives into digital libraries, fostering the dissemination and preservation of our music heritage. In this paper we explore the adaptation of sequence-to-sequence models with attention mechanism (used in translation and handwritten text recognition) and the generation of specific synthetic data for recognizing old music scores. The experimental validation demonstrates that our approach is promising, especially when compared with long short-term memory neural networks.
	Address	July 23, 2021, Alicante (Spain)
	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	WoRMS
	Notes	DAG; 600.121; 600.162; 602.230; 600.140			Approved	no
	Call Number	Admin @ si @ BBT2022			Serial	3734
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