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	Author	Xavier Perez Sala; Cecilio Angulo; Sergio Escalera
	Title	Biologically Inspired Turn Control in Robot Navigation			Type	Conference Article
	Year	2011	Publication	14th Congrès Català en Intel·ligencia Artificial	Abbreviated Journal
	Volume		Issue		Pages	187-196
	Keywords
	Abstract	An exportable and robust system for turn control using only camera images is proposed for path execution in robot navigation. Robot motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames in the image sequence. This information is used to compute the instantaneous rotation angle. Finally, control loop is closed correcting robot displacements when it is requested for a turn command. The proposed system has been successfully tested on the four-legged Sony Aibo robot.
	Address	Lleida
	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	978-1-60750-841-0	Medium
	Area		Expedition		Conference	CCIA
	Notes	HuPBA;MILAB			Approved	no
	Call Number	Admin @ si @ PAE2011a			Serial	1753
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	Author	Eloi Puertas; Sergio Escalera; Oriol Pujol
	Title	Multi-Class Multi-Scale Stacked Sequential Learning			Type	Conference Article
	Year	2011	Publication	10th International Conference on Multiple Classifier Systems	Abbreviated Journal
	Volume	6713	Issue		Pages	197-206
	Keywords
	Abstract
	Address	Napoles, Italy
	Corporate Author				Thesis
	Publisher	Springer	Place of Publication		Editor	Carlo Sansone; Josef Kittler; Fabio Roli
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	MCS
	Notes	HuPBA;MILAB			Approved	no
	Call Number	Admin @ si @ PEP2011b			Serial	1772
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	Author	Xavier Perez Sala; Cecilio Angulo; Sergio Escalera
	Title	Biologically Inspired Path Execution Using SURF Flow in Robot Navigation			Type	Conference Article
	Year	2011	Publication	11th International Work Conference on Artificial Neural Networks	Abbreviated Journal
	Volume	II	Issue		Pages	581--588
	Keywords
	Abstract	An exportable and robust system using only camera images is proposed for path execution in robot navigation. Motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames, so the method is called SURF flow. This information is used to correct robot displacement when a straight forward path command is sent to the robot, but it is not really executed due to several robot and environmental concerns. The proposed system has been successfully tested on the legged robot Aibo.
	Address	Malaga
	Corporate Author				Thesis
	Publisher	Springer Berlin Heidelberg	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	0302-9743	ISBN	978-3-642-21497-4	Medium
	Area		Expedition		Conference	IWANN
	Notes	HuPBA;MILAB			Approved	no
	Call Number	Admin @ si @ PAE2011b			Serial	1773
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	Author	Sergio Escalera
	Title	Multi-Modal Human Behaviour Analysis from Visual Data Sources			Type	Journal
	Year	2013	Publication	ERCIM News journal	Abbreviated Journal	ERCIM
	Volume	95	Issue		Pages	21-22
	Keywords
	Abstract	The Human Pose Recovery and Behaviour Analysis group (HuPBA), University of Barcelona, is developing a line of research on multi-modal analysis of humans in visual data. The novel technology is being applied in several scenarios with high social impact, including sign language recognition, assisted technology and supported diagnosis for the elderly and people with mental/physical disabilities, fitness conditioning, and Human Computer Interaction.
	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	0926-4981	ISBN		Medium
	Area		Expedition		Conference
	Notes	HuPBA;MILAB			Approved	no
	Call Number	Admin @ si @ Esc2013			Serial	2361
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	Author	Alex Pardo; Albert Clapes; Sergio Escalera; Oriol Pujol
	Title	Actions in Context: System for people with Dementia			Type	Conference Article
	Year	2013	Publication	2nd International Workshop on Citizen Sensor Networks (Citisen2013) at the European Conference on Complex Systems	Abbreviated Journal
	Volume		Issue		Pages	3-14
	Keywords	Multi-modal data Fusion; Computer vision; Wearable sensors; Gesture recognition; Dementia
	Abstract	In the next forty years, the number of people living with dementia is expected to triple. In the last stages, people affected by this disease become dependent. This hinders the autonomy of the patient and has a huge social impact in time, money and effort. Given this scenario, we propose an ubiquitous system capable of recognizing daily specific actions. The system fuses and synchronizes data obtained from two complementary modalities – ambient and egocentric. The ambient approach consists in a fixed RGB-Depth camera for user and object recognition and user-object interaction, whereas the egocentric point of view is given by a personal area network (PAN) formed by a few wearable sensors and a smartphone, used for gesture recognition. The system processes multi-modal data in real-time, performing paralleled task recognition and modality synchronization, showing high performance recognizing subjects, objects, and interactions, showing its reliability to be applied in real case scenarios.
	Address	Barcelona; September 2013
	Corporate Author				Thesis
	Publisher	Springer International Publishing	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	0302-9743	ISBN	978-3-319-04177-3	Medium
	Area		Expedition		Conference	ECCS
	Notes	HUPBA;MILAB			Approved	no
	Call Number	Admin @ si @ PCE2013			Serial	2354
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	Author	Miguel Reyes; Gabriel Dominguez; Sergio Escalera
	Title	Feature Weighting in Dynamic Time Warping for Gesture Recognition in Depth Data			Type	Conference Article
	Year	2011	Publication	1st IEEE Workshop on Consumer Depth Cameras for Computer Vision	Abbreviated Journal
	Volume		Issue		Pages	1182-1188
	Keywords
	Abstract	We present a gesture recognition approach for depth video data based on a novel Feature Weighting approach within the Dynamic Time Warping framework. Depth features from human joints are compared through video sequences using Dynamic Time Warping, and weights are assigned to features based on inter-intra class gesture variability. Feature Weighting in Dynamic Time Warping is then applied for recognizing begin-end of gestures in data sequences. The obtained results recognizing several gestures in depth data show high performance compared with classical Dynamic Time Warping approach.
	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	978-1-4673-0062-9	Medium
	Area		Expedition		Conference	CDC4CV
	Notes	HuPBA;MILAB			Approved	no
	Call Number	Admin @ si @ RDE2011			Serial	1893
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	Author	Alvaro Cepero; Albert Clapes; Sergio Escalera
	Title	Quantitative analysis of non-verbal communication for competence analysis			Type	Conference Article
	Year	2013	Publication	16th Catalan Conference on Artificial Intelligence	Abbreviated Journal
	Volume	256	Issue		Pages	105-114
	Keywords
	Abstract
	Address	Vic; October 2013
	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	CCIA
	Notes	HUPBA;MILAB			Approved	no
	Call Number	Admin @ si @ CCE2013			Serial	2324
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	Author	Albert Clapes; Miguel Reyes; Sergio Escalera
	Title	User Identification and Object Recognition in Clutter Scenes Based on RGB-Depth Analysis			Type	Conference Article
	Year	2012	Publication	7th Conference on Articulated Motion and Deformable Objects	Abbreviated Journal
	Volume	7378	Issue		Pages	1-11
	Keywords
	Abstract	We propose an automatic system for user identification and object recognition based on multi-modal RGB-Depth data analysis. We model a RGBD environment learning a pixel-based background Gaussian distribution. Then, user and object candidate regions are detected and recognized online using robust statistical approaches over RGBD descriptions. Finally, the system saves the historic of user-object assignments, being specially useful for surveillance scenarios. The system has been evaluated on a novel data set containing different indoor/outdoor scenarios, objects, and users, showing accurate recognition and better performance than standard state-of-the-art approaches.
	Address	Mallorca
	Corporate Author				Thesis
	Publisher	Springer Berlin Heidelberg	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title	LNCS
	Series Volume		Series Issue		Edition
	ISSN	0302-9743	ISBN	978-3-642-31566-4	Medium
	Area		Expedition		Conference	AMDO
	Notes	HUPBA;MILAB			Approved	no
	Call Number	Admin @ si @ CRE2012			Serial	2010
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	Author	Mohammad Ali Bagheri; Qigang Gao; Sergio Escalera
	Title	Three-Dimensional Design of Error Correcting Output Codes			Type	Conference Article
	Year	2012	Publication	8th International Conference on Machine Learning and Data Mining	Abbreviated Journal
	Volume		Issue		Pages	29-
	Keywords
	Abstract
	Address	Berlin, Germany
	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	MLDM
	Notes	HuPBA;MILAB			Approved	no
	Call Number	Admin @ si @ BGE2012a			Serial	2041
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	Author	Mohammad Ali Bagheri; Qigang Gao; Sergio Escalera
	Title	Error Correcting Output Codes for multiclass classification: Application to two image vision problems			Type	Conference Article
	Year	2012	Publication	16th symposium on Artificial Intelligence & Signal Processing	Abbreviated Journal
	Volume		Issue		Pages	508-513
	Keywords
	Abstract	Error-correcting output codes (ECOC) represents a powerful framework to deal with multiclass classification problems based on combining binary classifiers. The key factor affecting the performance of ECOC methods is the independence of binary classifiers, without which the ECOC method would be ineffective. In spite of its ability on classification of problems with relatively large number of classes, it has been applied in few real world problems. In this paper, we investigate the behavior of the ECOC approach on two image vision problems: logo recognition and shape classification using Decision Tree and AdaBoost as the base learners. The results show that the ECOC method can be used to improve the classification performance in comparison with the classical multiclass approaches.
	Address	Shiraz, Iran
	Corporate Author				Thesis
	Publisher	IEEE Xplore	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN	978-1-4673-1478-7	Medium
	Area		Expedition		Conference	AISP
	Notes	HuPBA;MILAB			Approved	no
	Call Number	Admin @ si @ BGE2012b			Serial	2042
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	Author	Mohammad Ali Bagheri; Qigang Gao; Sergio Escalera
	Title	Efficient pairwise classification using Local Cross Off strategy			Type	Conference Article
	Year	2012	Publication	25th Canadian Conference on Artificial Intelligence	Abbreviated Journal
	Volume	7310	Issue		Pages	25-36
	Keywords
	Abstract	The pairwise classification approach tends to perform better than other well-known approaches when dealing with multiclass classification problems. In the pairwise approach, however, the nuisance votes of many irrelevant classifiers may result in a wrong prediction class. To overcome this problem, a novel method, Local Crossing Off (LCO), is presented and evaluated in this paper. The proposed LCO system takes advantage of nearest neighbor classification algorithm because of its simplicity and speed, as well as the strength of other two powerful binary classifiers to discriminate between two classes. This paper provides a set of experimental results on 20 datasets using two base learners: Neural Networks and Support Vector Machines. The results show that the proposed technique not only achieves better classification accuracy, but also is computationally more efficient for tackling classification problems which have a relatively large number of target classes.
	Address	Toronto, Ontario
	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	0302-9743	ISBN	978-3-642-30352-4	Medium
	Area		Expedition		Conference	AI
	Notes	HuPBA;MILAB			Approved	no
	Call Number	Admin @ si @ BGE2012c			Serial	2044
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	Author	Miguel Angel Bautista; Sergio Escalera; Oriol Pujol
	Title	On the Design of an ECOC-Compliant Genetic Algorithm			Type	Journal Article
	Year	2014	Publication	Pattern Recognition	Abbreviated Journal	PR
	Volume	47	Issue	2	Pages	865-884
	Keywords
	Abstract	Genetic Algorithms (GA) have been previously applied to Error-Correcting Output Codes (ECOC) in state-of-the-art works in order to find a suitable coding matrix. Nevertheless, none of the presented techniques directly take into account the properties of the ECOC matrix. As a result the considered search space is unnecessarily large. In this paper, a novel Genetic strategy to optimize the ECOC coding step is presented. This novel strategy redefines the usual crossover and mutation operators in order to take into account the theoretical properties of the ECOC framework. Thus, it reduces the search space and lets the algorithm to converge faster. In addition, a novel operator that is able to enlarge the code in a smart way is introduced. The novel methodology is tested on several UCI datasets and four challenging computer vision problems. Furthermore, the analysis of the results done in terms of performance, code length and number of Support Vectors shows that the optimization process is able to find very efficient codes, in terms of the trade-off between classification performance and the number of classifiers. Finally, classification performance per dichotomizer results shows that the novel proposal is able to obtain similar or even better results while defining a more compact number of dichotomies and SVs compared to state-of-the-art approaches.
	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	HuPBA;MILAB			Approved	no
	Call Number	Admin @ si @ BEP2013			Serial	2254
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	Author	Vitaliy Konovalov; Albert Clapes; Sergio Escalera
	Title	Automatic Hand Detection in RGB-Depth Data Sequences			Type	Conference Article
	Year	2013	Publication	16th Catalan Conference on Artificial Intelligence	Abbreviated Journal
	Volume		Issue		Pages	91-100
	Keywords
	Abstract	Detecting hands in multi-modal RGB-Depth visual data has become a challenging Computer Vision problem with several applications of interest. This task involves dealing with changes in illumination, viewpoint variations, the articulated nature of the human body, the high flexibility of the wrist articulation, and the deformability of the hand itself. In this work, we propose an accurate and efficient automatic hand detection scheme to be applied in Human-Computer Interaction (HCI) applications in which the user is seated at the desk and, thus, only the upper body is visible. Our main hypothesis is that hand landmarks remain at a nearly constant geodesic distance from an automatically located anatomical reference point. In a given frame, the human body is segmented first in the depth image. Then, a graph representation of the body is built in which the geodesic paths are computed from the reference point. The dense optical flow vectors on the corresponding RGB image are used to reduce ambiguities of the geodesic paths’ connectivity, allowing to eliminate false edges interconnecting different body parts. Finally, we are able to detect the position of both hands based on invariant geodesic distances and optical flow within the body region, without involving costly learning procedures.
	Address	Vic; October 2013
	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	CCIA
	Notes	HuPBA;MILAB			Approved	no
	Call Number	Admin @ si @ KCE2013			Serial	2323
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	Author	Andreas Møgelmose; Chris Bahnsen; Thomas B. Moeslund; Albert Clapes; Sergio Escalera
	Title	Tri-modal Person Re-identification with RGB, Depth and Thermal Features			Type	Conference Article
	Year	2013	Publication	9th IEEE Workshop on Perception beyond the visible Spectrum, Computer Vision and Pattern Recognition	Abbreviated Journal
	Volume		Issue		Pages	301-307
	Keywords
	Abstract	Person re-identification is about recognizing people who have passed by a sensor earlier. Previous work is mainly based on RGB data, but in this work we for the first time present a system where we combine RGB, depth, and thermal data for re-identification purposes. First, from each of the three modalities, we obtain some particular features: from RGB data, we model color information from different regions of the body, from depth data, we compute different soft body biometrics, and from thermal data, we extract local structural information. Then, the three information types are combined in a joined classifier. The tri-modal system is evaluated on a new RGB-D-T dataset, showing successful results in re-identification scenarios.
	Address	Portland; oregon; June 2013
	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	978-0-7695-4990-3	Medium
	Area		Expedition		Conference	CVPRW
	Notes	HUPBA;MILAB			Approved	no
	Call Number	Admin @ si @ MBM2013			Serial	2253
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	Author	Miguel Reyes; Albert Clapes; Jose Ramirez; Juan R Revilla; Sergio Escalera
	Title	Automatic Digital Biometry Analysis based on Depth Maps			Type	Journal Article
	Year	2013	Publication	Computers in Industry	Abbreviated Journal	COMPUTIND
	Volume	64	Issue	9	Pages	1316-1325
	Keywords	Multi-modal data fusion; Depth maps; Posture analysis; Anthropometric data; Musculo-skeletal disorders; Gesture analysis
	Abstract	World Health Organization estimates that 80% of the world population is affected by back-related disorders during his life. Current practices to analyze musculo-skeletal disorders (MSDs) are expensive, subjective, and invasive. In this work, we propose a tool for static body posture analysis and dynamic range of movement estimation of the skeleton joints based on 3D anthropometric information from multi-modal data. Given a set of keypoints, RGB and depth data are aligned, depth surface is reconstructed, keypoints are matched, and accurate measurements about posture and spinal curvature are computed. Given a set of joints, range of movement measurements is also obtained. Moreover, gesture recognition based on joint movements is performed to look for the correctness in the development of physical exercises. The system shows high precision and reliable measurements, being useful for posture reeducation purposes to prevent MSDs, as well as tracking the posture evolution of patients in rehabilitation treatments.
	Address
	Corporate Author				Thesis
	Publisher	Elsevier	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	HuPBA;MILAB			Approved	no
	Call Number	Admin @ si @ RCR2013			Serial	2252
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