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Author |
Angel Valencia; Roger Idrovo; Angel Sappa; Douglas Plaza; Daniel Ochoa |
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Title |
A 3D Vision Based Approach for Optimal Grasp of Vacuum Grippers |
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Conference Article |
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Year |
2017 |
Publication |
IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics |
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In general, robot grasping approaches are based on the usage of multi-finger grippers. However, when large size objects need to be manipulated vacuum grippers are preferred, instead of finger based grippers. This paper aims to estimate the best picking place for a two suction cups vacuum gripper,
when planar objects with an unknown size and geometry are considered. The approach is based on the estimation of geometric properties of object’s shape from a partial cloud of points (a single 3D view), in such a way that combine with considerations of a theoretical model to generate an optimal contact point
that minimizes the vacuum force needed to guarantee a grasp.
Experimental results in real scenarios are presented to show the validity of the proposed approach. |
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San Sebastian; Spain; May 2017 |
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ECMSM |
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ADAS; 600.086; 600.118 |
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Admin @ si @ VIS2017 |
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2917 |
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Author |
Gioacchino Vino; Angel Sappa |
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Title |
Revisiting Harris Corner Detector Algorithm: a Gradual Thresholding Approach |
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Year |
2013 |
Publication |
10th International Conference on Image Analysis and Recognition |
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7950 |
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354-363 |
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This paper presents an adaptive thresholding approach intended to increase the number of detected corners, while reducing the amount of those ones corresponding to noisy data. The proposed approach works by using the classical Harris corner detector algorithm and overcome the difficulty in finding a general threshold that work well for all the images in a given data set by proposing a novel adaptive thresholding scheme. Initially, two thresholds are used to discern between strong corners and flat regions. Then, a region based criteria is used to discriminate between weak corners and noisy points in the midway interval. Experimental results show that the proposed approach has a better capability to reject false corners and, at the same time, to detect weak ones. Comparisons with the state of the art are provided showing the validity of the proposed approach. |
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Póvoa de Varzim; Portugal; June 2013 |
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Springer Berlin Heidelberg |
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0302-9743 |
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978-3-642-39093-7 |
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ICIAR |
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ADAS; 600.055 |
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Admin @ si @ ViS2013 |
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2562 |
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Author |
Fernando Vilariño; Dan Norton |
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Title |
Using mutimedia tools to spread poetry collections |
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2017 |
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Internet librarian International Conference |
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London; UK; October 2017 |
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ILI |
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MV; 600.097;SIAI |
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no |
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Admin @ si @ ViN2017 |
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3031 |
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Author |
Gabriel Villalonga |
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Title |
Leveraging Synthetic Data to Create Autonomous Driving Perception Systems |
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2021 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Manually annotating images to develop vision models has been a major bottleneck
since computer vision and machine learning started to walk together. This has
been more evident since computer vision falls on the shoulders of data-hungry
deep learning techniques. When addressing on-board perception for autonomous
driving, the curse of data annotation is exacerbated due to the use of additional
sensors such as LiDAR. Therefore, any approach aiming at reducing such a timeconsuming and costly work is of high interest for addressing autonomous driving
and, in fact, for any application requiring some sort of artificial perception. In the
last decade, it has been shown that leveraging from synthetic data is a paradigm
worth to pursue in order to minimizing manual data annotation. The reason is
that the automatic process of generating synthetic data can also produce different
types of associated annotations (e.g. object bounding boxes for synthetic images
and LiDAR pointclouds, pixel/point-wise semantic information, etc.). Directly
using synthetic data for training deep perception models may not be the definitive
solution in all circumstances since it can appear a synth-to-real domain shift. In
this context, this work focuses on leveraging synthetic data to alleviate manual
annotation for three perception tasks related to driving assistance and autonomous
driving. In all cases, we assume the use of deep convolutional neural networks
(CNNs) to develop our perception models.
The first task addresses traffic sign recognition (TSR), a kind of multi-class
classification problem. We assume that the number of sign classes to be recognized
must be suddenly increased without having annotated samples to perform the
corresponding TSR CNN re-training. We show that leveraging synthetic samples of
such new classes and transforming them by a generative adversarial network (GAN)
trained on the known classes (i.e. without using samples from the new classes), it is
possible to re-train the TSR CNN to properly classify all the signs for a ∼ 1/4 ratio of
new/known sign classes. The second task addresses on-board 2D object detection,
focusing on vehicles and pedestrians. In this case, we assume that we receive a set
of images without the annotations required to train an object detector, i.e. without
object bounding boxes. Therefore, our goal is to self-annotate these images so
that they can later be used to train the desired object detector. In order to reach
this goal, we leverage from synthetic data and propose a semi-supervised learning
approach based on the co-training idea. In fact, we use a GAN to reduce the synthto-real domain shift before applying co-training. Our quantitative results show
that co-training and GAN-based image-to-image translation complement each
other up to allow the training of object detectors without manual annotation, and still almost reaching the upper-bound performances of the detectors trained from
human annotations. While in previous tasks we focus on vision-based perception,
the third task we address focuses on LiDAR pointclouds. Our initial goal was to
develop a 3D object detector trained on synthetic LiDAR-style pointclouds. While
for images we may expect synth/real-to-real domain shift due to differences in
their appearance (e.g. when source and target images come from different camera
sensors), we did not expect so for LiDAR pointclouds since these active sensors
factor out appearance and provide sampled shapes. However, in practice, we have
seen that it can be domain shift even among real-world LiDAR pointclouds. Factors
such as the sampling parameters of the LiDARs, the sensor suite configuration onboard the ego-vehicle, and the human annotation of 3D bounding boxes, do induce
a domain shift. We show it through comprehensive experiments with different
publicly available datasets and 3D detectors. This redirected our goal towards the
design of a GAN for pointcloud-to-pointcloud translation, a relatively unexplored
topic.
Finally, it is worth to mention that all the synthetic datasets used for these three
tasks, have been designed and generated in the context of this PhD work and will
be publicly released. Overall, we think this PhD presents several steps forward to
encourage leveraging synthetic data for developing deep perception models in the
field of driving assistance and autonomous driving. |
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Address |
February 2021 |
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Ph.D. thesis |
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Publisher |
Ediciones Graficas Rey |
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Editor |
Antonio Lopez;German Ros |
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978-84-122714-2-3 |
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Notes |
ADAS; 600.118 |
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Call Number |
Admin @ si @ Vil2021 |
Serial |
3599 |
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Author |
Fernando Vilariño |
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Title |
Unveiling the Social Impact of AI |
Type |
Conference Article |
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2020 |
Publication |
Workshop at Digital Living Lab Days Conference |
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September 2020 |
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Notes |
MV; DAG; 600.121; 600.140;SIAI |
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no |
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Call Number |
Admin @ si @ Vil2020 |
Serial |
3459 |
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Author |
Gabriel Villalonga; Antonio Lopez |
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Title |
Co-Training for On-Board Deep Object Detection |
Type |
Journal Article |
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Year |
2020 |
Publication |
IEEE Access |
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ACCESS |
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Pages |
194441 - 194456 |
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Abstract |
Providing ground truth supervision to train visual models has been a bottleneck over the years, exacerbated by domain shifts which degenerate the performance of such models. This was the case when visual tasks relied on handcrafted features and shallow machine learning and, despite its unprecedented performance gains, the problem remains open within the deep learning paradigm due to its data-hungry nature. Best performing deep vision-based object detectors are trained in a supervised manner by relying on human-labeled bounding boxes which localize class instances (i.e. objects) within the training images. Thus, object detection is one of such tasks for which human labeling is a major bottleneck. In this article, we assess co-training as a semi-supervised learning method for self-labeling objects in unlabeled images, so reducing the human-labeling effort for developing deep object detectors. Our study pays special attention to a scenario involving domain shift; in particular, when we have automatically generated virtual-world images with object bounding boxes and we have real-world images which are unlabeled. Moreover, we are particularly interested in using co-training for deep object detection in the context of driver assistance systems and/or self-driving vehicles. Thus, using well-established datasets and protocols for object detection in these application contexts, we will show how co-training is a paradigm worth to pursue for alleviating object labeling, working both alone and together with task-agnostic domain adaptation. |
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ADAS; 600.118 |
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no |
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Admin @ si @ ViL2020 |
Serial |
3488 |
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Author |
Fernando Vilariño |
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Title |
3D Scanning of Capitals at Library Living Lab |
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2019 |
Publication |
“Living Lab Projects 2019”. ENoLL. |
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MV; DAG; 600.140; 600.121;SIAI |
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Admin @ si @ Vil2019c |
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3463 |
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Author |
Fernando Vilariño |
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Title |
Public Libraries Exploring how technology transforms the cultural experience of people |
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Conference Article |
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Year |
2019 |
Publication |
Workshop on Social Impact of AI. Open Living Lab Days Conference. |
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Thessaloniki; Grecia; September 2019 |
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MV; DAG; 600.140; 600.121;SIAI |
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no |
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Admin @ si @ Vil2019b |
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3458 |
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Author |
Fernando Vilariño |
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Title |
Library Living Lab, Numérisation 3D des chapiteaux du cloître de Saint-Cugat : des citoyens co- créant le nouveau patrimoine culturel numérique |
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Conference Article |
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2019 |
Publication |
Intersectorialité et approche Living Labs. Entretiens Jacques-Cartier |
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Montreal; Canada; December 2019 |
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MV; DAG; 600.140; 600.121;SIAI |
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no |
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Call Number |
Admin @ si @ Vil2019a |
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3457 |
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Author |
Fernando Vilariño |
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Title |
Bringing and keeping all the stakeholders together: creating a catalog of models of governance for innovation |
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Miscellaneous |
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2017 |
Publication |
Open Living Lab Days Report |
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Krakow; August 2017 |
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MV; no menciona;SIAI |
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no |
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Admin @ si @ Vil2017b |
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3033 |
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Author |
Fernando Vilariño |
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Title |
Citizen experience as a powerful communication tool: Open Innovation and the role of Living Labs in EU |
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2017 |
Publication |
European Conference of Science Journalists |
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The Open Innovation 2.0 model spearheaded by the European Commission introduces conceptual changes in how innovation processes should be developed. The notion of an innovation ecosystem, and the active participation of the citizens (and all the different actors of the quadruple helix) in innovation processes, opens up new channels for scientific communication, where the citizens (and all actors) can be naturally reached and facilitate the spread of the scientific message in their communities. Unleashing the power of such mechanisms, while maintaining control over the scientific communication done through such channels presents an opportunity and a challenge at the same time.
This workshop will look into key concepts that the Open Innovation 2.0 EU model introduces, and what new opportunities for communication they bring about. Specifically, we will focus on Living Labs, as a key instrument for implementing this innovation model at the regional level, and their potential in creating scientific dissemination spaces. |
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Copenhagen; June 2017 |
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ECSJ |
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Notes |
MV; 600.097;SIAI |
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no |
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Admin @ si @ Vil2017a |
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3032 |
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Author |
Fernando Vilariño |
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Title |
A Machine Learning Approach for Intestinal Motility Assessment with Capsule Endoscopy |
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2006 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Intestinal motility assessment with video capsule endoscopy arises as a novel and challenging clinical fieldwork. This technique is based on the analysis of the patterns of intestinal contractions obtained by labelling all the motility events present in a video provided by a capsule with a wireless micro-camera, which is ingested by the patient. However, the visual analysis of these video sequences presents several im- portant drawbacks, mainly related to both the large amount of time needed for the visualization process, and the low prevalence of intestinal contractions in video.
In this work we propose a machine learning system to automatically detect the intestinal contractions in video capsule endoscopy, driving a very useful but not fea- sible clinical routine into a feasible clinical procedure. Our proposal is divided into two different parts: The first part tackles the problem of the automatic detection of phasic contractions in capsule endoscopy videos. Phasic contractions are dynamic events spanning about 4-5 seconds, which show visual patterns with a high variability. Our proposal is based on a sequential design which involves the analysis of textural, color and blob features with powerful classifiers such as SVM. This approach appears to cope with two basic aims: the reduction of the imbalance rate of the data set, and the modular construction of the system, which adds the capability of including domain knowledge as new stages in the cascade. The second part of the current work tackles the problem of the automatic detection of tonic contractions. Tonic contrac- tions manifest in capsule endoscopy as a sustained pattern of the folds and wrinkles of the intestine, which may be prolonged for an undetermined span of time. Our proposal is based on the analysis of the wrinkle patterns, presenting a comparative study of diverse features and classification methods, and providing a set of appro- priate descriptors for their characterization. We provide a detailed analysis of the performance achieved by our system both in a qualitative and a quantitative way. |
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CVC (UAB) |
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Ph.D. thesis |
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Editor |
Petia Radeva |
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84-933652-7-0 |
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800 |
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MV;SIAI |
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no |
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Admin @ si @ Vil2006; IAM @ iam @ Vil2006 |
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738 |
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Author |
Ekta Vats; Anders Hast; Alicia Fornes |
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Title |
Training-Free and Segmentation-Free Word Spotting using Feature Matching and Query Expansion |
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Conference Article |
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2019 |
Publication |
15th International Conference on Document Analysis and Recognition |
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1294-1299 |
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Word spotting; Segmentation-free; Trainingfree; Query expansion; Feature matching |
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Abstract |
Historical handwritten text recognition is an interesting yet challenging problem. In recent times, deep learning based methods have achieved significant performance in handwritten text recognition. However, handwriting recognition using deep learning needs training data, and often, text must be previously segmented into lines (or even words). These limitations constrain the application of HTR techniques in document collections, because training data or segmented words are not always available. Therefore, this paper proposes a training-free and segmentation-free word spotting approach that can be applied in unconstrained scenarios. The proposed word spotting framework is based on document query word expansion and relaxed feature matching algorithm, which can easily be parallelised. Since handwritten words posses distinct shape and characteristics, this work uses a combination of different keypoint detectors
and Fourier-based descriptors to obtain a sufficient degree of relaxed matching. The effectiveness of the proposed method is empirically evaluated on well-known benchmark datasets using standard evaluation measures. The use of informative features along with query expansion significantly contributed in efficient performance of the proposed method. |
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Sydney; Australia; September 2019 |
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DAG; 600.140; 600.121 |
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Admin @ si @ VHF2019 |
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3356 |
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Diego Velazquez; Josep M. Gonfaus; Pau Rodriguez; Xavier Roca; Seiichi Ozawa; Jordi Gonzalez |
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Logo Detection With No Priors |
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2021 |
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IEEE Access |
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ACCESS |
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9 |
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106998-107011 |
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In recent years, top referred methods on object detection like R-CNN have implemented this task as a combination of proposal region generation and supervised classification on the proposed bounding boxes. Although this pipeline has achieved state-of-the-art results in multiple datasets, it has inherent limitations that make object detection a very complex and inefficient task in computational terms. Instead of considering this standard strategy, in this paper we enhance Detection Transformers (DETR) which tackles object detection as a set-prediction problem directly in an end-to-end fully differentiable pipeline without requiring priors. In particular, we incorporate Feature Pyramids (FP) to the DETR architecture and demonstrate the effectiveness of the resulting DETR-FP approach on improving logo detection results thanks to the improved detection of small logos. So, without requiring any domain specific prior to be fed to the model, DETR-FP obtains competitive results on the OpenLogo and MS-COCO datasets offering a relative improvement of up to 30%, when compared to a Faster R-CNN baseline which strongly depends on hand-designed priors. |
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Admin @ si @ VGR2021 |
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3664 |
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Sergio Vera; Miguel Angel Gonzalez Ballester; Debora Gil |
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A Novel Cochlear Reference Frame Based On The Laplace Equation |
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2015 |
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29th international Congress and Exhibition on Computer Assisted Radiology and Surgery |
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1 |
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1-312 |
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Barcelona; Spain; June 2015 |
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IAM; 600.075 |
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Admin @ si @ VGG2015 |
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2615 |
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