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	Author	Akhil Gurram; Ahmet Faruk Tuna; Fengyi Shen; Onay Urfalioglu; Antonio Lopez
	Title	Monocular Depth Estimation through Virtual-world Supervision and Real-world SfM Self-Supervision			Type	Journal Article
	Year	2021	Publication	IEEE Transactions on Intelligent Transportation Systems	Abbreviated Journal	TITS
	Volume	23	Issue	8	Pages	12738-12751
	Keywords
	Abstract	Depth information is essential for on-board perception in autonomous driving and driver assistance. Monocular depth estimation (MDE) is very appealing since it allows for appearance and depth being on direct pixelwise correspondence without further calibration. Best MDE models are based on Convolutional Neural Networks (CNNs) trained in a supervised manner, i.e., assuming pixelwise ground truth (GT). Usually, this GT is acquired at training time through a calibrated multi-modal suite of sensors. However, also using only a monocular system at training time is cheaper and more scalable. This is possible by relying on structure-from-motion (SfM) principles to generate self-supervision. Nevertheless, problems of camouflaged objects, visibility changes, static-camera intervals, textureless areas, and scale ambiguity, diminish the usefulness of such self-supervision. In this paper, we perform monocular depth estimation by virtual-world supervision (MonoDEVS) and real-world SfM self-supervision. We compensate the SfM self-supervision limitations by leveraging virtual-world images with accurate semantic and depth supervision and addressing the virtual-to-real domain gap. Our MonoDEVSNet outperforms previous MDE CNNs trained on monocular and even stereo sequences.
	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	ADAS; 600.118			Approved	no
	Call Number	Admin @ si @ GTS2021			Serial	3598
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	Author	Gabriel Villalonga; Antonio Lopez
	Title	Co-Training for On-Board Deep Object Detection			Type	Journal Article
	Year	2020	Publication	IEEE Access	Abbreviated Journal	ACCESS
	Volume		Issue		Pages	194441 - 194456
	Keywords
	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.
	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	ADAS; 600.118			Approved	no
	Call Number	Admin @ si @ ViL2020			Serial	3488
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	Author	Yi Xiao; Felipe Codevilla; Akhil Gurram; Onay Urfalioglu; Antonio Lopez
	Title	Multimodal end-to-end autonomous driving			Type	Journal Article
	Year	2020	Publication	IEEE Transactions on Intelligent Transportation Systems	Abbreviated Journal	TITS
	Volume		Issue		Pages	1-11
	Keywords
	Abstract	A crucial component of an autonomous vehicle (AV) is the artificial intelligence (AI) is able to drive towards a desired destination. Today, there are different paradigms addressing the development of AI drivers. On the one hand, we find modular pipelines, which divide the driving task into sub-tasks such as perception and maneuver planning and control. On the other hand, we find end-to-end driving approaches that try to learn a direct mapping from input raw sensor data to vehicle control signals. The later are relatively less studied, but are gaining popularity since they are less demanding in terms of sensor data annotation. This paper focuses on end-to-end autonomous driving. So far, most proposals relying on this paradigm assume RGB images as input sensor data. However, AVs will not be equipped only with cameras, but also with active sensors providing accurate depth information (e.g., LiDARs). Accordingly, this paper analyses whether combining RGB and depth modalities, i.e. using RGBD data, produces better end-to-end AI drivers than relying on a single modality. We consider multimodality based on early, mid and late fusion schemes, both in multisensory and single-sensor (monocular depth estimation) settings. Using the CARLA simulator and conditional imitation learning (CIL), we show how, indeed, early fusion multimodality outperforms single-modality.
	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	ADAS			Approved	no
	Call Number	Admin @ si @ XCG2020			Serial	3490
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	Author	Andres Mafla; Ruben Tito; Sounak Dey; Lluis Gomez; Marçal Rusiñol; Ernest Valveny; Dimosthenis Karatzas
	Title	Real-time Lexicon-free Scene Text Retrieval			Type	Journal Article
	Year	2021	Publication	Pattern Recognition	Abbreviated Journal	PR
	Volume	110	Issue		Pages	107656
	Keywords
	Abstract	In this work, we address the task of scene text retrieval: given a text query, the system returns all images containing the queried text. The proposed model uses a single shot CNN architecture that predicts bounding boxes and builds a compact representation of spotted words. In this way, this problem can be modeled as a nearest neighbor search of the textual representation of a query over the outputs of the CNN collected from the totality of an image database. Our experiments demonstrate that the proposed model outperforms previous state-of-the-art, while offering a significant increase in processing speed and unmatched expressiveness with samples never seen at training time. Several experiments to assess the generalization capability of the model are conducted in a multilingual dataset, as well as an application of real-time text spotting in videos.
	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; 600.121; 600.129; 601.338			Approved	no
	Call Number	Admin @ si @ MTD2021			Serial	3493
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	Author	Rahma Kalboussi; Aymen Azaza; Joost Van de Weijer; Mehrez Abdellaoui; Ali Douik
	Title	Object proposals for salient object segmentation in videos			Type	Journal Article
	Year	2020	Publication	Multimedia Tools and Applications	Abbreviated Journal	MTAP
	Volume	79	Issue	13	Pages	8677-8693
	Keywords
	Abstract	Salient object segmentation in videos is generally broken up in a video segmentation part and a saliency assignment part. Recently, object proposals, which are used to segment the image, have had significant impact on many computer vision applications, including image segmentation, object detection, and recently saliency detection in still images. However, their usage has not yet been evaluated for salient object segmentation in videos. Therefore, in this paper, we investigate the application of object proposals to salient object segmentation in videos. In addition, we propose a new motion feature derived from the optical flow structure tensor for video saliency detection. Experiments on two standard benchmark datasets for video saliency show that the proposed motion feature improves saliency estimation results, and that object proposals are an efficient method for salient object segmentation. Results on the challenging SegTrack v2 and Fukuchi benchmark data sets show that we significantly outperform the state-of-the-art.
	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	LAMP; 600.120			Approved	no
	Call Number	KAW2020			Serial	3504
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	Author	Diana Ramirez Cifuentes; Ana Freire; Ricardo Baeza Yates; Joaquim Punti Vidal; Pilar Medina Bravo; Diego Velazquez; Josep M. Gonfaus; Jordi Gonzalez
	Title	Detection of Suicidal Ideation on Social Media: Multimodal, Relational, and Behavioral Analysis			Type	Journal Article
	Year	2020	Publication	Journal of Medical Internet Research	Abbreviated Journal	JMIR
	Volume	22	Issue	7	Pages	e17758
	Keywords
	Abstract	Background: Suicide risk assessment usually involves an interaction between doctors and patients. However, a significant number of people with mental disorders receive no treatment for their condition due to the limited access to mental health care facilities; the reduced availability of clinicians; the lack of awareness; and stigma, neglect, and discrimination surrounding mental disorders. In contrast, internet access and social media usage have increased significantly, providing experts and patients with a means of communication that may contribute to the development of methods to detect mental health issues among social media users. Objective: This paper aimed to describe an approach for the suicide risk assessment of Spanish-speaking users on social media. We aimed to explore behavioral, relational, and multimodal data extracted from multiple social platforms and develop machine learning models to detect users at risk. Methods: We characterized users based on their writings, posting patterns, relations with other users, and images posted. We also evaluated statistical and deep learning approaches to handle multimodal data for the detection of users with signs of suicidal ideation (suicidal ideation risk group). Our methods were evaluated over a dataset of 252 users annotated by clinicians. To evaluate the performance of our models, we distinguished 2 control groups: users who make use of suicide-related vocabulary (focused control group) and generic random users (generic control group). Results: We identified significant statistical differences between the textual and behavioral attributes of each of the control groups compared with the suicidal ideation risk group. At a 95% CI, when comparing the suicidal ideation risk group and the focused control group, the number of friends (P=.04) and median tweet length (P=.04) were significantly different. The median number of friends for a focused control user (median 578.5) was higher than that for a user at risk (median 372.0). Similarly, the median tweet length was higher for focused control users, with 16 words against 13 words of suicidal ideation risk users. Our findings also show that the combination of textual, visual, relational, and behavioral data outperforms the accuracy of using each modality separately. We defined text-based baseline models based on bag of words and word embeddings, which were outperformed by our models, obtaining an increase in accuracy of up to 8% when distinguishing users at risk from both types of control users. Conclusions: The types of attributes analyzed are significant for detecting users at risk, and their combination outperforms the results provided by generic, exclusively text-based baseline models. After evaluating the contribution of image-based predictive models, we believe that our results can be improved by enhancing the models based on textual and relational features. These methods can be extended and applied to different use cases related to other mental disorders.
	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	ISE; 600.098; 600.119			Approved	no
	Call Number	Admin @ si @ RFB2020			Serial	3552
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	Author	Mohamed Ali Souibgui; Asma Bensalah; Jialuo Chen; Alicia Fornes; Michelle Waldispühl
	Title	A User Perspective on HTR methods for the Automatic Transcription of Rare Scripts: The Case of Codex Runicus Just Accepted			Type	Journal Article
	Year	2023	Publication	ACM Journal on Computing and Cultural Heritage	Abbreviated Journal	JOCCH
	Volume	15	Issue	4	Pages	1-18
	Keywords
	Abstract	Recent breakthroughs in Artificial Intelligence, Deep Learning and Document Image Analysis and Recognition have significantly eased the creation of digital libraries and the transcription of historical documents. However, for documents in rare scripts with few labelled training data available, current Handwritten Text Recognition (HTR) systems are too constraint. Moreover, research on HTR often focuses on technical aspects only, and rarely puts emphasis on implementing software tools for scholars in Humanities. In this article, we describe, compare and analyse different transcription methods for rare scripts. We evaluate their performance in a real use case of a medieval manuscript written in the runic script (Codex Runicus) and discuss advantages and disadvantages of each method from the user perspective. From this exhaustive analysis and comparison with a fully manual transcription, we raise conclusions and provide recommendations to scholars interested in using automatic transcription tools.
	Address
	Corporate Author				Thesis
	Publisher	ACM	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; 600.121; 600.162; 602.230; 600.140			Approved	no
	Call Number	Admin @ si @ SBC2023			Serial	3732
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	Author	Razieh Rastgoo; Kourosh Kiani; Sergio Escalera
	Title	Sign Language Recognition: A Deep Survey			Type	Journal Article
	Year	2021	Publication	Expert Systems With Applications	Abbreviated Journal	ESWA
	Volume	164	Issue		Pages	113794
	Keywords
	Abstract	Sign language, as a different form of the communication language, is important to large groups of people in society. There are different signs in each sign language with variability in hand shape, motion profile, and position of the hand, face, and body parts contributing to each sign. So, visual sign language recognition is a complex research area in computer vision. Many models have been proposed by different researchers with significant improvement by deep learning approaches in recent years. In this survey, we review the vision-based proposed models of sign language recognition using deep learning approaches from the last five years. While the overall trend of the proposed models indicates a significant improvement in recognition accuracy in sign language recognition, there are some challenges yet that need to be solved. We present a taxonomy to categorize the proposed models for isolated and continuous sign language recognition, discussing applications, datasets, hybrid models, complexity, and future lines of research in the field.
	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; no proj			Approved	no
	Call Number	Admin @ si @ RKE2021a			Serial	3521
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	Author	Jun Wan; Chi Lin; Longyin Wen; Yunan Li; Qiguang Miao; Sergio Escalera; Gholamreza Anbarjafari; Isabelle Guyon; Guodong Guo; Stan Z. Li
	Title	ChaLearn Looking at People: IsoGD and ConGD Large-scale RGB-D Gesture Recognition			Type	Journal Article
	Year	2022	Publication	IEEE Transactions on Cybernetics	Abbreviated Journal	TCIBERN
	Volume	52	Issue	5	Pages	3422-3433
	Keywords
	Abstract	The ChaLearn large-scale gesture recognition challenge has been run twice in two workshops in conjunction with the International Conference on Pattern Recognition (ICPR) 2016 and International Conference on Computer Vision (ICCV) 2017, attracting more than 200 teams round the world. This challenge has two tracks, focusing on isolated and continuous gesture recognition, respectively. This paper describes the creation of both benchmark datasets and analyzes the advances in large-scale gesture recognition based on these two datasets. We discuss the challenges of collecting large-scale ground-truth annotations of gesture recognition, and provide a detailed analysis of the current state-of-the-art methods for large-scale isolated and continuous gesture recognition based on RGB-D video sequences. In addition to recognition rate and mean jaccard index (MJI) as evaluation metrics used in our previous challenges, we also introduce the corrected segmentation rate (CSR) metric to evaluate the performance of temporal segmentation for continuous gesture recognition. Furthermore, we propose a bidirectional long short-term memory (Bi-LSTM) baseline method, determining the video division points based on the skeleton points extracted by convolutional pose machine (CPM). Experiments demonstrate that the proposed Bi-LSTM outperforms the state-of-the-art methods with an absolute improvement of 8.1% (from 0.8917 to 0.9639) of CSR.
	Address	May 2022
	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; no menciona			Approved	no
	Call Number	Admin @ si @ WLW2022			Serial	3522
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	Author	Ajian Liu; Xuan Li; Jun Wan; Yanyan Liang; Sergio Escalera; Hugo Jair Escalante; Meysam Madadi; Yi Jin; Zhuoyuan Wu; Xiaogang Yu; Zichang Tan; Qi Yuan; Ruikun Yang; Benjia Zhou; Guodong Guo; Stan Z. Li
	Title	Cross-ethnicity Face Anti-spoofing Recognition Challenge: A Review			Type	Journal Article
	Year	2020	Publication	IET Biometrics	Abbreviated Journal	BIO
	Volume	10	Issue	1	Pages	24-43
	Keywords
	Abstract	Face anti-spoofing is critical to prevent face recognition systems from a security breach. The biometrics community has %possessed achieved impressive progress recently due the excellent performance of deep neural networks and the availability of large datasets. Although ethnic bias has been verified to severely affect the performance of face recognition systems, it still remains an open research problem in face anti-spoofing. Recently, a multi-ethnic face anti-spoofing dataset, CASIA-SURF CeFA, has been released with the goal of measuring the ethnic bias. It is the largest up to date cross-ethnicity face anti-spoofing dataset covering 3 ethnicities, 3 modalities, 1,607 subjects, 2D plus 3D attack types, and the first dataset including explicit ethnic labels among the recently released datasets for face anti-spoofing. We organized the Chalearn Face Anti-spoofing Attack Detection Challenge which consists of single-modal (e.g., RGB) and multi-modal (e.g., RGB, Depth, Infrared (IR)) tracks around this novel resource to boost research aiming to alleviate the ethnic bias. Both tracks have attracted 340 teams in the development stage, and finally 11 and 8 teams have submitted their codes in the single-modal and multi-modal face anti-spoofing recognition challenges, respectively. All the results were verified and re-ran by the organizing team, and the results were used for the final ranking. This paper presents an overview of the challenge, including its design, evaluation protocol and a summary of results. We analyze the top ranked solutions and draw conclusions derived from the competition. In addition we outline future work directions.
	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; no proj			Approved	no
	Call Number	Admin @ si @ LLW2020b			Serial	3523
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	Author	Razieh Rastgoo; Kourosh Kiani; Sergio Escalera
	Title	Hand pose aware multimodal isolated sign language recognition			Type	Journal Article
	Year	2020	Publication	Multimedia Tools and Applications	Abbreviated Journal	MTAP
	Volume	80	Issue		Pages	127–163
	Keywords
	Abstract	Isolated hand sign language recognition from video is a challenging research area in computer vision. Some of the most important challenges in this area include dealing with hand occlusion, fast hand movement, illumination changes, or background complexity. While most of the state-of-the-art results in the field have been achieved using deep learning-based models, the previous challenges are not completely solved. In this paper, we propose a hand pose aware model for isolated hand sign language recognition using deep learning approaches from two input modalities, RGB and depth videos. Four spatial feature types: pixel-level, flow, deep hand, and hand pose features, fused from both visual modalities, are input to LSTM for temporal sign recognition. While we use Optical Flow (OF) for flow information in RGB video inputs, Scene Flow (SF) is used for depth video inputs. By including hand pose features, we show a consistent performance improvement of the sign language recognition model. To the best of our knowledge, this is the first time that this discriminant spatiotemporal features, benefiting from the hand pose estimation features and multi-modal inputs, are fused for isolated hand sign language recognition. We perform a step-by-step analysis of the impact in terms of recognition performance of the hand pose features, different combinations of the spatial features, and different recurrent models, especially LSTM and GRU. Results on four public datasets confirm that the proposed model outperforms the current state-of-the-art models on Montalbano II, MSR Daily Activity 3D, and CAD-60 datasets with a relative accuracy improvement of 1.64%, 6.5%, and 7.6%. Furthermore, our model obtains a competitive results on isoGD dataset with only 0.22% margin lower than the current state-of-the-art model.
	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; no menciona			Approved	no
	Call Number	Admin @ si @ RKE2020			Serial	3524
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	Author	Eduardo Aguilar; Petia Radeva
	Title	Uncertainty-aware integration of local and flat classifiers for food recognition			Type	Journal Article
	Year	2020	Publication	Pattern Recognition Letters	Abbreviated Journal	PRL
	Volume	136	Issue		Pages	237-243
	Keywords
	Abstract	Food image recognition has recently attracted the attention of many researchers, due to the challenging problem it poses, the ease collection of food images, and its numerous applications to health and leisure. In real applications, it is necessary to analyze and recognize thousands of different foods. For this purpose, we propose a novel prediction scheme based on a class hierarchy that considers local classifiers, in addition to a flat classifier. In order to make a decision about which approach to use, we define different criteria that take into account both the analysis of the Epistemic Uncertainty estimated from the ‘children’ classifiers and the prediction from the ‘parent’ classifier. We evaluate our proposal using three Uncertainty estimation methods, tested on two public food datasets. The results show that the proposed method reduces parent-child error propagation in hierarchical schemes and improves classification results compared to the single flat classifier, meanwhile maintains good performance regardless the Uncertainty estimation method chosen.
	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	MILAB; no proj			Approved	no
	Call Number	Admin @ si @ AgR2020			Serial	3525
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	Author	Giuseppe Pezzano; Vicent Ribas Ripoll; Petia Radeva
	Title	CoLe-CNN: Context-learning convolutional neural network with adaptive loss function for lung nodule segmentation			Type	Journal Article
	Year	2021	Publication	Computer Methods and Programs in Biomedicine	Abbreviated Journal	CMPB
	Volume	198	Issue		Pages	105792
	Keywords
	Abstract	Background and objective:An accurate segmentation of lung nodules in computed tomography images is a crucial step for the physical characterization of the tumour. Being often completely manually accomplished, nodule segmentation turns to be a tedious and time-consuming procedure and this represents a high obstacle in clinical practice. In this paper, we propose a novel Convolutional Neural Network for nodule segmentation that combines a light and efficient architecture with innovative loss function and segmentation strategy. Methods:In contrast to most of the standard end-to-end architectures for nodule segmentation, our network learns the context of the nodules by producing two masks representing all the background and secondary-important elements in the Computed Tomography scan. The nodule is detected by subtracting the context from the original scan image. Additionally, we introduce an asymmetric loss function that automatically compensates for potential errors in the nodule annotations. We trained and tested our Neural Network on the public LIDC-IDRI database, compared it with the state of the art and run a pseudo-Turing test between four radiologists and the network. Results:The results proved that the behaviour of the algorithm is very near to the human performance and its segmentation masks are almost indistinguishable from the ones made by the radiologists. Our method clearly outperforms the state of the art on CT nodule segmentation in terms of F1 score and IoU of and respectively. Conclusions: The main structure of the network ensures all the properties of the UNet architecture, while the Multi Convolutional Layers give a more accurate pattern recognition. The newly adopted solutions also increase the details on the border of the nodule, even under the noisiest conditions. This method can be applied now for single CT slice nodule segmentation and it represents a starting point for the future development of a fully automatic 3D segmentation software.
	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	MILAB; no proj			Approved	no
	Call Number	Admin @ si @ PRR2021			Serial	3530
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	Author	Daniela Rato; Miguel Oliveira; Vitor Santos; Manuel Gomes; Angel Sappa
	Title	A sensor-to-pattern calibration framework for multi-modal industrial collaborative cells			Type	Journal Article
	Year	2022	Publication	Journal of Manufacturing Systems	Abbreviated Journal	JMANUFSYST
	Volume	64	Issue		Pages	497-507
	Keywords	Calibration; Collaborative cell; Multi-modal; Multi-sensor
	Abstract	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.
	Address
	Corporate Author				Thesis
	Publisher	Science Direct	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	MSIAU; MACO			Approved	no
	Call Number	Admin @ si @ ROS2022			Serial	3750
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	Author	Xavier Soria; Gonzalo Pomboza-Junez; Angel Sappa
	Title	LDC: Lightweight Dense CNN for Edge Detection			Type	Journal Article
	Year	2022	Publication	IEEE Access	Abbreviated Journal	ACCESS
	Volume	10	Issue		Pages	68281-68290
	Keywords
	Abstract	This paper presents a Lightweight Dense Convolutional (LDC) neural network for edge detection. The proposed model is an adaptation of two state-of-the-art approaches, but it requires less than 4% of parameters in comparison with these approaches. The proposed architecture generates thin edge maps and reaches the highest score (i.e., ODS) when compared with lightweight models (models with less than 1 million parameters), and reaches a similar performance when compare with heavy architectures (models with about 35 million parameters). Both quantitative and qualitative results and comparisons with state-of-the-art models, using different edge detection datasets, are provided. The proposed LDC does not use pre-trained weights and requires straightforward hyper-parameter settings. The source code is released at https://github.com/xavysp/LDC
	Address	27 June 2022
	Corporate Author				Thesis
	Publisher	IEEE	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	MSIAU; MACO; 600.160; 600.167			Approved	no
	Call Number	Admin @ si @ SPS2022			Serial	3751
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