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Gerard Canal; Sergio Escalera; Cecilio Angulo |
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A Real-time Human-Robot Interaction system based on gestures for assistive scenarios |
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2016 |
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Computer Vision and Image Understanding |
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CVIU |
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149 |
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65-77 |
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Gesture recognition; Human Robot Interaction; Dynamic Time Warping; Pointing location estimation |
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Abstract |
Natural and intuitive human interaction with robotic systems is a key point to develop robots assisting people in an easy and effective way. In this paper, a Human Robot Interaction (HRI) system able to recognize gestures usually employed in human non-verbal communication is introduced, and an in-depth study of its usability is performed. The system deals with dynamic gestures such as waving or nodding which are recognized using a Dynamic Time Warping approach based on gesture specific features computed from depth maps. A static gesture consisting in pointing at an object is also recognized. The pointed location is then estimated in order to detect candidate objects the user may refer to. When the pointed object is unclear for the robot, a disambiguation procedure by means of either a verbal or gestural dialogue is performed. This skill would lead to the robot picking an object in behalf of the user, which could present difficulties to do it by itself. The overall system — which is composed by a NAO and Wifibot robots, a KinectTM v2 sensor and two laptops — is firstly evaluated in a structured lab setup. Then, a broad set of user tests has been completed, which allows to assess correct performance in terms of recognition rates, easiness of use and response times. |
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Elsevier B.V. |
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HuPBA;MILAB; |
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no |
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Admin @ si @ CEA2016 |
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2768 |
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Mohammad Momeny; Ali Asghar Neshat; Ahmad Jahanbakhshi; Majid Mahmoudi; Yiannis Ampatzidis; Petia Radeva |
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Title |
Grading and fraud detection of saffron via learning-to-augment incorporated Inception-v4 CNN |
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Journal Article |
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2023 |
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Food Control |
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FC |
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147 |
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109554 |
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Saffron is a well-known product in the food industry. It is one of the spices that are sometimes adulterated with the sole motive of gaining more economic profit. Today, machine vision systems are widely used in controlling the quality of food and agricultural products as a new, non-destructive, and inexpensive approach. In this study, a machine vision system based on deep learning was used to detect fraud and saffron quality. A dataset of 1869 images was created and categorized in 6 classes including: dried saffron stigma using a dryer; dried saffron stigma using pressing method; pure stem of saffron; sunflower; saffron stem mixed with food coloring; and corn silk mixed with food coloring. A Learning-to-Augment incorporated Inception-v4 Convolutional Neural Network (LAII-v4 CNN) was developed for grading and fraud detection of saffron in images captured by smartphones. The best policies of data augmentation were selected with the proposed LAII-v4 CNN using images corrupted by Gaussian, speckle, and impulse noise to address overfitting the model. The proposed LAII-v4 CNN compared with regular CNN-based methods and traditional classifiers. Ensemble of Bagged Decision Trees, Ensemble of Boosted Decision Trees, k-Nearest Neighbor, Random Under-sampling Boosted Trees, and Support Vector Machine were used for classification of the features extracted by Histograms of Oriented Gradients and Local Binary Patterns, and selected by the Principal Component Analysis. The results showed that the proposed LAII-v4 CNN with an accuracy of 99.5% has achieved the best performance by employing batch normalization, Dropout, and leaky ReLU. |
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MILAB |
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Admin @ si @ MNJ2023 |
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3882 |
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Giuseppe Pezzano; Oliver Diaz; Vicent Ribas Ripoll; Petia Radeva |
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CoLe-CNN+: Context learning – Convolutional neural network for COVID-19-Ground-Glass-Opacities detection and segmentation |
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2021 |
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Computers in Biology and Medicine |
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CBM |
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136 |
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104689 |
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The most common tool for population-wide COVID-19 identification is the Reverse Transcription-Polymerase Chain Reaction test that detects the presence of the virus in the throat (or sputum) in swab samples. This test has a sensitivity between 59% and 71%. However, this test does not provide precise information regarding the extension of the pulmonary infection. Moreover, it has been proven that through the reading of a computed tomography (CT) scan, a clinician can provide a more complete perspective of the severity of the disease. Therefore, we propose a comprehensive system for fully-automated COVID-19 detection and lesion segmentation from CT scans, powered by deep learning strategies to support decision-making process for the diagnosis of COVID-19. |
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MILAB; no menciona |
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no |
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Admin @ si @ PDR2021 |
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3635 |
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Author |
Eduardo Aguilar; Petia Radeva |
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Title |
Uncertainty-aware integration of local and flat classifiers for food recognition |
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2020 |
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Pattern Recognition Letters |
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PRL |
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136 |
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237-243 |
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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. |
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MILAB; no proj |
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no |
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Admin @ si @ AgR2020 |
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3525 |
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Author |
C. Malagelada; Fosca De Iorio; Fernando Azpiroz; Anna Accarino; Santiago Segui; Petia Radeva; Juan R. Malagelada |
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Title |
New Insight Into Intestinal Motor Function via Noninvasive Endoluminal Image Analysis |
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2008 |
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Gastroenterology |
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135 |
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4 |
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1155–1162 |
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MILAB |
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BCNPCL @ bcnpcl @ MDA2008 |
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1040 |
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