@article {, title = {Label Augmentation to Improve Generalization of Deep Learning Semantic Segmentation of Laparoscopic Images}, journal = {IEEE Access}, volume = {10}, year = {2022}, month = {03/2022}, pages = {37345-37359}, publisher = {IEEE}, address = {EEUU}, issn = {2169-3536}, doi = {10.1109/ACCESS.2022.3162630}, author = {Leticia Monasterio and Daniel Pizarro and Javier Macias-Guarasa} } @article {, title = {Texture-Generic Deep Shape-From-Template}, journal = {IEEE Access}, volume = {9}, year = {2021}, month = {2021}, pages = {75211 - 75230}, issn = {0162-8828}, doi = {10.1109/ACCESS.2021.3082011}, author = {Fuentes-Jimenez, David and Daniel Pizarro and Casillas-Perez, David and Collins, Toby and Bartoli, Adrien} } @article {, title = {Towards dense people detection with deep learning and depth images}, journal = {Engineering Applications of Artificial Intelligence}, volume = {106}, year = {2021}, month = {11/2021}, pages = {104484}, issn = {0952-1976}, doi = {10.1016/j.engappai.2021.104484}, author = {Fuentes-Jimenez, David and Cristina Losada-Guti{\'e}rrez and Casillas-Perez, David and Javier Macias-Guarasa and Daniel Pizarro and Martin-Lopez, Roberto and Luna, Carlos A.} } @article {, title = {Acoustic source localization with deep generalized cross correlations}, journal = {Signal Processing}, volume = {187}, year = {2021}, month = {10/2021}, pages = {108169}, issn = {01651684}, doi = {10.1016/j.sigpro.2021.108169}, author = {Vera-Diaz, Juan Manuel and Daniel Pizarro and Javier Macias-Guarasa} } @article {, title = {The Isowarp: The Template-Based Visual Geometry of Isometric Surfaces}, journal = {International Journal of Computer Vision}, volume = {129}, year = {2021}, month = {07/2021}, pages = {2194 - 2222}, issn = {0920-5691}, doi = {10.1007/s11263-021-01472-w}, author = {Casillas-Perez, David and Daniel Pizarro and Fuentes-Jimenez, David and Manuel Mazo and Bartoli, Adrien} } @article {, title = {Robust Isometric Non-Rigid Structure-from-Motion}, journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence}, year = {2021}, month = {06/2021}, pages = {1 - 1}, issn = {0162-8828}, doi = {10.1109/TPAMI.2021.3089923}, author = {Parashar, Shaifali and Daniel Pizarro and Bartoli, Adrien} } @conference {, title = {Towards Domain Independence in CNN-based Acoustic Localization using Deep Cross Correlations}, booktitle = {2020 28th European Signal Processing Conference (EUSIPCO)2020 28th European Signal Processing Conference (EUSIPCO)}, year = {2021}, month = {01/2021}, pages = {226 - 230}, publisher = {IEEE}, organization = {IEEE}, address = {Amsterdam, Netherlands}, isbn = {978-9-0827-9705-3}, doi = {10.23919/Eusipco47968.2020.9287466}, author = {Vera-Diaz, Juan Manuel and Daniel Pizarro and Javier Macias-Guarasa} } @article {, title = {DPDnet: A robust people detector using deep learning with an overhead depth camera}, journal = {Expert Systems with Applications}, volume = {146}, year = {2020}, month = {05/2020}, pages = {113168}, issn = {09574174}, doi = {10.1016/j.eswa.2019.113168}, author = {Fuentes-Jimenez, David and Martin-Lopez, Roberto and Cristina Losada-Guti{\'e}rrez and Casillas-Perez, David and Javier Macias-Guarasa and Luna, Carlos A. and Daniel Pizarro} } @article {, title = {Towards End-to-End Acoustic Localization Using Deep Learning: From Audio Signals to Source Position Coordinates}, journal = {Sensors}, volume = {18}, year = {2018}, month = {10/2018}, pages = {1-22}, publisher = {MDPI}, abstract = {This paper presents a novel approach for indoor acoustic source localization using microphone arrays, based on a Convolutional Neural Network (CNN). In the proposed solution, the CNN is designed to directly estimate the three-dimensional position of a single acoustic source using the raw audio signal as the input information and avoiding the use of hand-crafted audio features. Given the limited amount of available localization data, we propose, in this paper, a training strategy based on two steps. We first train our network using semi-synthetic data generated from close talk speech recordings. We simulate the time delays and distortion suffered in the signal that propagate from the source to the array of microphones. We then fine tune this network using a small amount of real data. Our experimental results, evaluated on a publicly available dataset recorded in a real room, show that this approach is able to produce networks that significantly improve existing localization methods based on SRP-PHAT strategies and also those presented in very recent proposals based on Convolutional Recurrent Neural Networks (CRNN). In addition, our experiments show that the performance of our CNN method does not show a relevant dependency on the speaker{\textquoteright}s gender, nor on the size of the signal window being used.}, issn = {1424-8220}, doi = {10.3390/s18103418}, author = {Vera-Diaz, Juan Manuel and Daniel Pizarro and Javier Macias-Guarasa} } @article {, title = {Digital implementation of a self-triggered control approach for a mechatronic}, journal = {International Journal of Intelligent Machines and Robotics}, volume = {1}, year = {2018}, month = {03/2018}, pages = {1-9}, issn = {2398-7529}, doi = {10.1504/IJIMR.2018.090945}, author = {Carlos Santos and Daniel Pizarro and Felipe Espinosa and Marta Marr{\'o} and Cristina Losada-Guti{\'e}rrez} } @phdthesis {, title = {Mathematical Modelling and Optimization Strategies for Acoustic Source Localization in Reverberant Environments}, year = {2017}, month = {03/2017}, school = {Alcala}, abstract = {Thesis presented as compendium of articles (a summary document is also provided). The publications generated are: }, attachments = {https://mail.geintra-uah.org/system/files/private/20170315-phdthesis-josevelasco.pdf}, author = {Jos{\'e} F. Velasco}, editor = {Daniel Pizarro and Javier Macias-Guarasa} } @conference {, title = {As-Rigid-As-Possible Volumetric Shape-from-Template}, booktitle = {IEEE International Conference on Computer Vision ICCV 2016}, year = {2016}, month = {10/2016}, pages = {1-10}, publisher = {IEEE}, organization = {IEEE}, address = {Santiago de Chile }, author = {S. Parashar and Daniel Pizarro and A. Bartoli and T. Collins} } @article {, title = {TDOA Matrices: Algebraic Properties and Their Application to Robust Denoising With Missing Data}, journal = {IEEE Transactions on Signal Processing}, volume = {64}, year = {2016}, month = {10/2016}, pages = {5242 - 5254}, issn = {1053-587X}, doi = {10.1109/TSP.2016.2593690}, author = {Jos{\'e} F. Velasco and Daniel Pizarro and Javier Macias-Guarasa and Asaei, Afsaneh} } @conference {, title = {Inextensible Non-Rigid Shape-From-Motion by Second-Order Cone Programming}, booktitle = {IEEE Conference on Computer Vision and Pattern Recognition CVPR 2016}, year = {2016}, month = {07/2016}, pages = {1-10}, publisher = {IEEE Conference Publications}, organization = {IEEE Conference Publications}, address = {Las Vegas, EEUU}, author = {A. Chatkuli and Daniel Pizarro and T. Collins and A. Bartoli} } @conference {, title = {Isometric Non-Rigid Shape-from-Motion in Linear Time}, booktitle = {IEEE Conference on Computer Vision and Pattern Recognition CVPR 2016}, year = {2016}, month = {07/2016}, pages = {1-10}, publisher = {IEEE}, organization = {IEEE}, address = {Las Vegas, EEUU}, author = {S. Parashar and Daniel Pizarro and A. Bartoli} } @conference {, title = {Shape-From-Template in Flatland}, booktitle = {IEEE Conference on Computer Vision and Pattern Recognition CVPR 2016}, year = {2016}, month = {07/2016}, pages = {1-10}, publisher = {IEEE}, organization = {IEEE}, address = {Boston, EEUU}, author = {M. Gallardo and Daniel Pizarro and A. Bartoli and T. Collins} } @phdthesis {, title = {Local Analytic and Global Covex Methods for the 3D reconstruction of Isometric Deformable Surfaces}, year = {2016}, author = {Ajad Chhatkuli}, editor = {Daniel Pizarro} } @article {, title = {Proposal and validation of an analytical generative model of SRP-PHAT power maps in reverberant scenarios}, journal = {Signal Processing}, volume = {119}, year = {2015}, month = {08/2015}, pages = {209-228}, issn = {0165-1684}, doi = {10.1016/j.sigpro.2015.08.003}, author = {Jos{\'e} F. Velasco and Carlos J. Mart{\'\i}n-Arguedas and Javier Macias-Guarasa and Daniel Pizarro and Manuel Mazo} } @article {, title = {Let Your Body Speak: Communicative Cue Extraction on Natural Interaction using RGBD Data}, journal = {IEEE Transactions on Multimedia}, year = {2015}, month = {06/2015}, pages = {1 - 1}, issn = {1520-9210}, doi = {10.1109/TMM.2015.2464152}, author = {Marcos-Ramiro, Alvaro and Daniel Pizarro and Marta Marron and Gatica-Perez, Daniel} } @article {, title = {Metric Corrections of the Affine Camera}, journal = {Computer Vision and Image Understanding }, volume = {135}, year = {2015}, month = {05/2015}, pages = {141 - 156 }, publisher = {ELSEVIER}, address = {EEUU}, issn = {0162-8828}, author = {Daniel Pizarro and A. Bartoli and T. Collins} } @conference {Velasco_ICASSP2015, title = {Novel GCC-PHAT Model in Diffuse Sound Field for Microphone Array Pairwise Distance Based Calibration}, booktitle = {IEEE 40th International Conference on Acoustics, Speech and Signal Processing (ICASSP)}, year = {2015}, month = {04/2015}, pages = {2669-2673}, abstract = {We propose a novel formulation of the generalized cross correlation with phase transform (GCC-PHAT) for a pair of microphones in diffuse sound field. This formulation elucidates the links between the microphone distances and the GCC-PHAT output. Hence, it leads to a new model that enables estimation of the pairwise distances by optimizing over the distances best matching the GCC-PHAT observations. Furthermore, the relation of this model to the coherence function is elaborated along with the dependency on the signal bandwidth. The experiments conducted on real data recordings demonstrate the theories and support the effectiveness of the proposed method.}, keywords = {Diffuse sound field, Generalized cross correlation, Microphone array calibration, Pairwise distance estimation, Phase transform}, isbn = {978-1-4673-6997-8}, author = {Jos{\'e} F. Velasco and Taghizadeh, Mohammad J. and Asaei, Afsaneh and Bourlard, Herv{\'e} and C. J. Martin and Javier Macias-Guarasa and Daniel Pizarro}, editor = {.} } @article {, title = {EMFi-based Ultrasonic Sensory Array for 3D Localization of Reflectors using Positioning Algorithms}, journal = {IEEE Transactions on Pattern Analysis and machine Intelligence }, volume = {1}, year = {2015}, month = {01/2015}, pages = {1-10}, publisher = {IEEE}, address = {EEUU}, issn = {0162-8828}, author = {Daniel Pizarro and A. Bartoli and Y. Gerend and F. Chadebecq} } @phdthesis {, title = {An{\'a}lisis de escenas empleando c{\'a}maras de tiempo de vuelo}, year = {2015}, author = {David Jim{\'e}nez}, editor = {Manuel Mazo and Daniel Pizarro} } @article {, title = {Single Frame Correction of Motion Artifacts in PMD-based Time of Flight Cameras}, journal = {Image and Vision Computing}, volume = {32}, year = {2014}, month = {12/2014}, pages = {1127-1143}, issn = {XX789}, doi = {10.1016/j.imavis.2014.08.014 }, author = {D. Jimenez and Daniel Pizarro and Manuel Mazo} } @conference {, title = {Automatic Blinking Detection towards Stress Discovery}, booktitle = {16th International Conference on Multimodal Interaction (ICMI2014)}, year = {2014}, month = {11/2014}, pages = {1-4}, address = {Estambul, turquia}, isbn = {978-1-4503-2885 }, doi = {10.1145/2663204.2663239. }, author = {M. Ramiro and Marta Marron and D. Gatica and Daniel Pizarro} } @conference {, title = {Capturing Upper Body Motion in Conversation: an Appearance Quasi-Invariant Approach}, booktitle = {16th International Conference on Multimodal Interaction (ICMI2014)}, year = {2014}, month = {11/2014}, pages = {327-334}, address = {Estambul, Turquia}, isbn = {978-1-4503-2885}, doi = {10.1145/2663204.2663267}, author = {Marta Marron and D. Gatica and Daniel Pizarro} } @conference {, title = {Computer assisted laparoscopic myomectomy by augmenting the uterus with pre-operative MRI data}, booktitle = {IEEE International Symposium on Mixed and Augmented Reality (ISMAR 2014)}, year = {2014}, month = {09/2014}, pages = {1-4}, publisher = {IEEE}, organization = {IEEE}, address = {Munich, Alemania}, author = {Daniel Pizarro and A. Bartoli and T. Collins} } @conference {, title = {Non-Rigid Shape from motion for isometric surfaces using infinitesimal planarity }, booktitle = {British Machine Vision Conference BMVC 2104}, year = {2014}, month = {09/2014}, pages = {1.4}, publisher = {IEEE}, organization = {IEEE}, address = { Nottingham, Reino Unido }, isbn = {978-1-4799-5743-9}, author = {Daniel Pizarro and A. Bartoli and A. Chhatkull} } @conference {, title = {Stable template {\textendash}based isometric 3D recostrution in all imaging conditions by linear least.squares.}, booktitle = {IEEE Conferencie on computer vision and pattern recognition (CVPR 2104) }, year = {2014}, month = {06/2014}, pages = {1-4}, publisher = {IEEE}, organization = {IEEE}, address = {Columbus, (EEUU)}, author = {Daniel Pizarro and A. Bartoli and A. Chhatkull} } @article {, title = {Modelling and Correction of Multipath Interference in Time of Flight Cameras}, journal = {Image and Vision Computing}, volume = {32}, year = {2014}, month = {01/2014}, pages = {1-13}, publisher = {ELSEVIER}, issn = {0262-8856}, doi = {10.1016/j.imavis.2013.10.008}, url = {www.sciencedirect.com/science/article/pii/S0262885613001650}, author = {D.Jimenez and Daniel Pizarro and Manuel Mazo and Sira E. Palazuelos} } @phdthesis {, title = {Interacci{\'o}n de m{\'u}ltiples personas con espacios inteligentes}, year = {2014}, author = {{\'A}lvaro Marcos Ramiro}, editor = {Daniel Pizarro and Marta Marron} } @conference {, title = {Face likelihood functions for visual tracking in intelligent spaces}, booktitle = {IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics SocietyIECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society}, year = {2013}, month = {11/2013}, pages = {7825 - 7830}, publisher = {IEEE}, organization = {IEEE}, address = {Vienna, Austria}, doi = {10.1109/IECON.2013.6700440}, attachments = {https://mail.geintra-uah.org/system/files/2013-iecon-franksanabria-facelikelihoodfunctions.pdf}, author = {Frank Sanabria-Macias and Enrique Mara{\~n}{\'o}n-Reyes and Soto-Vega, Pedro and Marta Marron and Javier Macias-Guarasa and Daniel Pizarro} } @article {, title = {Captura de movimiento y reconocimiento de actividades para m{\'u}ltiples personas mediante un enfoquebayesiano{\textquotedblright}}, journal = {Revista Iberoamericana de Autom{\'a}tica e Inform{\'a}tica Industrial}, volume = {10}, year = {2013}, month = {04/2013}, pages = {170-177}, publisher = {Elsevier}, address = {Espa{\~n}a}, issn = {1697-7912,}, doi = {10.1016/j.riai.2013.03.007,}, author = {Alvaro Marcos and Marta Marron and Manuel Mazo and Daniel Pizarro} } @article {, title = {Identification and Tracking of Robots in an Intelligent Space using Static Cameras and an XPFCP}, journal = {Robotics and Autonomous Systems}, volume = {61}, year = {2013}, month = {02/2013}, pages = {75-86}, abstract = {This paper tackles the problem of identification and tracking of multiple robots in an intelligent space using an array of cameras placed in fixed positions within the environment. Several types of agents can be found in an intelligent space: controlled agents (mobile robots) and uncontrolled ones (users and obstacles). The information transferred between the controlled agents and the intelligent space is limited to the control commands sent to the robots and the measures of the odometers received from the robots. The proposed solution allows the localization of mobile agents, even if they are not robots; however, we have focused on the controlled agents. The proposal does not require prior knowledge or invasive landmarks on board the robots. It starts from the segmentation of different agents in motion that allows obtaining the boundaries of all robots and an estimation of all 3D points that define those boundaries. Then, the identification of the robots is obtained by comparing the components of the linear velocity estimated by the motion segmentation algorithm and received from the odometers. In order to track the robots, an eXtended Particle Filter with Classification Process is employed. Several experimental tests have been carried out and the obtained results validate the proposal.}, issn = {0921-8890}, doi = {10.1016/j.robot.2012.11.007}, author = {Cristina Losada-Guti{\'e}rrez and Manuel Mazo and Sira E. Palazuelos and Daniel Pizarro and Marta Marron and Jos{\'e} F. Velasco} } @article {, title = {Captura de movimiento y reconocimiento de actividades para m{\'u}ltiples personas mediante un enfoque bayesiano}, journal = {Revista Iberoamericana de Automatica e Informatica Industrial. RIAII}, volume = {10}, year = {2013}, month = {01/2013}, pages = {170-177}, publisher = {RIAII}, address = {Espa{\~n}a}, issn = {1697-7912}, author = {Alvaro Marcos and Daniel Pizarro and Marta Marron and Manuel Mazo} } @article {, title = {Source Localization with Acoustic Sensor Arrays Using Generative Model Based Fitting with Sparse Constraints}, journal = {Sensors}, volume = {12}, year = {2012}, month = {10/2012}, pages = {13781-13812}, publisher = {MPDI AG}, keywords = {acoustic localization, microphone array sensors, optimization techniques, sparse modeling}, issn = {1424-8220}, attachments = {https://mail.geintra-uah.org/system/files/paperlocalizationsparse2012-sensors-12-13781.pdf}, author = {Jos{\'e} F. Velasco and Daniel Pizarro and Javier Macias-Guarasa} } @article {, title = {Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance}, journal = {Sensors}, volume = {11}, year = {2011}, month = {9/2011}, pages = {8339 - 8357}, issn = {1424-8220}, doi = {10.3390/s110908339}, author = {Felipe Espinosa and Carlos Santos and Marta Marron and Daniel Pizarro and Valdes, Fernando and Dongil, Javier}, editor = { and and and } } @conference {, title = {Posicionamiento 3D de robots m{\'o}viles en un espacio inteligente mediante c{\'a}maras fijas}, booktitle = {XVIII Seminario Anual de Autom{\'a}tica y Electr{\'o}nica Industrial (SAAEI 2011)}, year = {2011}, month = {2011}, pages = {783-788}, isbn = {978-84-933682-3-4}, attachments = {https://mail.geintra-uah.org/system/files/saaei11_losada.pdf}, author = {Cristina Losada-Guti{\'e}rrez and Manuel Mazo and Sira E. Palazuelos and Daniel Pizarro and Marta Marron} } @conference {, title = {Captura de movimiento de m{\'u}ltiples personas mediante GPLVM y un PF mixto}, booktitle = {Seminario Anual de Autom{\'a}tica, Electr{\'o}nica Industrial e Instrumentaci{\'o}n (SAAEI)}, year = {2011}, month = {07/2011}, pages = {-}, issn = {978-84-933682-3-4}, attachments = {https://mail.geintra-uah.org/system/files/private/saaei2011-amarcos.pdf}, author = {Alvaro Marcos and Daniel Pizarro and Marta Marron and }, editor = { and and and } } @conference {, title = {Interfaz hombre-m{\'a}quina basado en el an{\'a}lisis de gestos faciales mediante visi{\'o}n artificial}, booktitle = {Seminario Anual de Autom{\'a}tica, Electr{\'o}nica Industrial e Instrumentaci{\'o}n 2011 (SAAEI{\textquoteright}2011)}, year = {2011}, month = {07/2011}, pages = {819-824 }, address = {Badajoz (Spain)}, isbn = {978-84-933682-3-4}, attachments = {https://mail.geintra-uah.org/system/files/paperdefinitivoactas-velasco-saaei2011.pdf , https://mail.geintra-uah.org/system/files/20110523-saaei-poster-velasco-v2.pdf , https://mail.geintra-uah.org/system/files/20110523-saaei-poster-velasco-v2.ppt}, author = {Jos{\'e} F. Velasco and Daniel Pizarro and Javier Macias-Guarasa and Cristina Losada-Guti{\'e}rrez} } @conference {, title = {Modelado de arrays de micr{\'o}fonos como c{\'a}maras de perspectiva en aplicaciones de localizaci{\'o}n de locutores}, booktitle = {Seminario Anual de Autom{\'a}tica, Electr{\'o}nica Industrial e Instrumentaci{\'o}n 2011 (SAAEI{\textquoteright}2011)}, year = {2011}, month = {07/2011}, pages = {843-849}, address = {Badajoz (Spain)}, isbn = {978-84-933682-3-4}, attachments = {https://mail.geintra-uah.org/system/files/2011-saaei-legra.pdf , https://mail.geintra-uah.org/system/files/paperfinalenactas-legra-saaei2011.pdf , https://mail.geintra-uah.org/system/files/20110705-presentacionlegra-saaei2011-v3.pdf , https://mail.geintra-uah.org/system/files/private/20110705-presentacionlegra-saaei2011-v3.ppt}, author = {Alejandro Legra-Rios and Javier Macias-Guarasa and Daniel Pizarro and Marta Marron} } @conference {, title = {Seguimiento audiovisual de locutor usando un filtro de part{\'\i}culas con proceso de clasificaci{\'o}n}, booktitle = {Seminario Anual de Autom{\'a}tica, Electr{\'o}nica Industrial e Instrumentaci{\'o}n 2011 (SAAEI{\textquoteright}2011)}, year = {2011}, month = {07/2011}, pages = {843-849}, address = {Badajoz (Spain)}, isbn = {978-84-933682-3-4}, attachments = {https://mail.geintra-uah.org/system/files/2011-saaei-sanabria.pdf , https://mail.geintra-uah.org/system/files/paperdefinitivoactas-sanabria-saaei2011-3.pdf , https://mail.geintra-uah.org/system/files/private/20110523-saaei-poster-sanabria-v4.ppt , https://mail.geintra-uah.org/system/files/20110523-saaei-poster-sanabria-v4.pdf}, author = {Frank Sanabria-Macias and Javier Macias-Guarasa and Marta Marron and Daniel Pizarro and Enrique Mara{\~n}{\'o}n-Reyes} } @article {788, title = {An Intelligent Architecture Based on Field Programmable Gate Arrays Designed to Detect Moving Objects by Using Principal Component Analysis}, journal = {Sensors}, volume = {10}, year = {2010}, month = {12/2010}, pages = {9232-9251}, abstract = {This paper presents a complete implementation of the Principal Component Analysis (PCA) algorithm in Field Programmable Gate Array (FPGA) devices applied to high rate background segmentation of images. The classical sequential execution of different parts of the PCA algorithm has been parallelized. This parallelization has led to the specific development and implementation in hardware of the different stages of PCA, such as computation of the correlation matrix, matrix diagonalization using the Jacobi method and subspace projections of images. On the application side, the paper presents a motion detection algorithm, also entirely implemented on the FPGA, and based on the developed PCA core. This consists of dynamically thresholding the differences between the input image and the one obtained by expressing the input image using the PCA linear subspace previously obtained as a background model. The proposal achieves a high ratio of processed images (up to 120 frames per second) and high quality segmentation results, with a completely embedded and reliable hardware architecture based on commercial CMOS sensors and FPGA devices.}, issn = {1424-8220}, doi = {10.3390/s101009232}, url = {http://www.mdpi.com/1424-8220/10/10/9232/}, author = {Ignacio Bravo and Manuel Mazo and Jose L. Lazaro and Alfredo Gardel and P. Jim{\'e}nez and Daniel Pizarro} } @mastersthesis {729, title = {Estudio, implementaci{\'o}n y evaluaci{\'o}n de un sistema de localizaci{\'o}n de locutores basado en el modelado de arrays de micr{\'o}fonos como c{\'a}maras de perspectiva}, year = {2010}, month = {09/2010}, pages = {114}, publisher = {Alcala}, type = {Master}, address = {Alcala de Henares}, keywords = {arrays de micr{\'o}fonos, c{\'a}maras de perspectiva, localizaci{\'o}n de hablantes}, attachments = {https://mail.geintra-uah.org/system/files/private/20100927-TM-Final-AlejandroLegra.pdf , https://mail.geintra-uah.org/system/files/private/20100927-presentaciontm-final-alejandrolegra.pdf , https://mail.geintra-uah.org/system/files/private/20100201-anteproyectoTM-AlejandroLegra_0.pdf}, author = {Alejandro Legra-Rios}, editor = {Javier Macias-Guarasa and Daniel Pizarro} } @conference {811, title = {Fuzzy Decentralized Control for guidance of a convoy of robots in non-linear trajectories}, booktitle = {IEEE Conference on Emerging Technologies and Factory Automation (ETFA), 2010 }, year = {2010}, month = {09/2010}, pages = {8}, abstract = {This article presents a control solution for the guidance of wheeled convoy units in non-linear trajectories. The proposal consists of a Mamdani fuzzy controller to solve the Decentralized Control problem as applied to a set of units following a leader, whilst guaranteeing the so called {\textquotedblleft}string stability{\textquotedblright} condition of the convoy. Fuzzy control design is described for each of the follower units, whose action is determined by their own motion state, that of its predecessor and the leader{\textquoteright}s trajectory. The {\textquotedblleft}string stability{\textquotedblright} is ensured by the adjustment of the linear velocity transfer function for each unit. Results are given for simulated and experimental trials carried out with P3-DX robot units sharing a wireless network.}, author = {Carlos Santos and Felipe Espinosa and Daniel Pizarro and Fernando Vald{\'e}s and Enrique Santiso and Isabel D{\'\i}az} } @mastersthesis {767, title = {Interfaz hombre--m{\'a}quina basado en el an{\'a}lisis de los gestos faciales mediante visi{\'o}n artificial}, year = {2010}, month = {09/2010}, pages = {135}, publisher = {Department of Electronics}, address = {Alcal{\'a} de Henares}, attachments = {https://mail.geintra-uah.org/system/files/private/documento_0.pdf , https://mail.geintra-uah.org/system/files/private/presentacion_0.pdf}, author = {Jos{\'e} F. Velasco}, editor = {Daniel Pizarro} } @article {911, title = {Stereo Vision Tracking of Multiple Objects in Complex Indoor Environments}, journal = {Sensors}, volume = {10}, year = {2010}, month = {09/2010}, pages = {8865-8887}, publisher = {MDPI - Open Access Publishing}, abstract = {This paper presents a novel system capable of solving the problem of tracking multiple targets in a crowded, complex and dynamic indoor environment, like those typical of mobile robot applications. The proposed solution is based on a stereo vision set in the acquisition step and a probabilistic algorithm in the obstacles position estimation process. The system obtains 3D position and speed information related to each object in the robot{\textquoteright}s environment; then it achieves a classification between building elements (ceiling, walls, columns and so on) and the rest of items in robot surroundings. All objects in robot surroundings, both dynamic and static, are considered to be obstacles but the structure of the environment itself. A combination of a Bayesian algorithm and a deterministic clustering process is used in order to obtain a multimodal representation of speed and position of detected obstacles. Performance of the final system has been tested against state of the art proposals; test results validate the authors{\textquoteright} proposal. The designed algorithms and procedures provide a solution to those applications where similar multimodal data structures are found.}, keywords = {mobile robots, Multi-Object Tracking, position estimation, stereo-vision}, issn = {1424-8220}, doi = {10.3390/s101008865}, url = {http://www.mdpi.com/1424-8220/10/10/8865/ }, attachments = {https://mail.geintra-uah.org/system/files/sensors-def.pdf}, author = {Marta Marron and Garcia, Juan Carlos and Miguel Angel Sotelo and Daniel Pizarro and Manuel Mazo and Jose Maria Ca{\~n}as and Cristina Losada-Guti{\'e}rrez and Alvaro Marcos} } @conference {5637025, title = {Motion segmentation and 3D positioning of multiple mobile robots using an array of static cameras in an intelligent space}, booktitle = {2010 IEEE International Symposium on Industrial Electronics (ISIE)}, year = {2010}, month = {07/2010}, pages = {2847 -2852}, keywords = {3D positioning, 3D rigid motion parameter, angular velocity, arrays, cameras, function minimization, greedy algorithms, greedy iterative algorithm, image motion analysis, image segmentation, intelligent space, invasive landmark, iterative methods, k-means algorithm, linear velocity, mobile robots, motion control, motion segmentation, multi-robot systems, multiple mobile robot, objective function, position control, segmentation boundary, static camera array, synchronized camera}, doi = {10.1109/ISIE.2010.5637025}, author = {Cristina Losada-Guti{\'e}rrez and Manuel Mazo and Sira E. Palazuelos and Daniel Pizarro and Marta Marron} } @conference {, title = {Tracking multiple agents in an intelligent space with probabilistic algorithms and a camera ring}, booktitle = {IEEE International Symposium on Industrial Electronics}, year = {2010}, month = {07/2010}, pages = {2871-2876}, author = {Marta Marron and Daniel Pizarro and Alvaro Marcos and Raquel Jalvo and Garcia, Juan Carlos and Manuel Mazo} } @article {, title = {GPCA vs PCA in Recognition and 3-D Localization of Ultrasound Reflectors}, journal = {Sensors}, volume = {10}, year = {2010}, month = {05/2010}, pages = {4825-48-37}, publisher = {MDPI}, address = {Suiza}, issn = {1424-8220}, doi = {10.3390/s100504825}, author = {Carlos Andres Luna and J.A. Jimenez and Daniel Pizarro and Cristina Losada-Guti{\'e}rrez} } @article {915, title = {Localization of Mobile Robots Using Odometry and an External Vision Sensor}, journal = {Sensors}, volume = {10}, year = {2010}, month = {04/2010}, pages = {3655-3680}, publisher = {MDPI - Open Access Publishing}, abstract = {This paper presents a sensor system for robot localization based on the information obtained from a single camera attached in a fixed place external to the robot. Our approach firstly obtains the 3D geometrical model of the robot based on the projection of its natural appearance in the camera while the robot performs an initialization trajectory. This paper proposes a structure-from-motion solution that uses the odometry sensors inside the robot as a metric reference. Secondly, an online localization method based on a sequential Bayesian inference is proposed, which uses the geometrical model of the robot as a link between image measurements and pose estimation. The online approach is resistant to hard occlusions and the experimental setup proposed in this paper shows its effectiveness in real situations. The proposed approach has many applications in both the industrial and service robot fields.}, keywords = {artificial vision, Intelligent spaces, robotics}, issn = {1424-8220}, doi = {10.3390/s100403655}, url = {http://www.mdpi.com/1424-8220/10/4/3655/}, attachments = {https://mail.geintra-uah.org/system/files/sensors-10-03655.pdf}, author = {Daniel Pizarro and Manuel Mazo and Enrique Santiso and Marta Marron and David Jimenez and Santiago Cobreces and Cristina Losada-Guti{\'e}rrez} } @article {s100403261, title = {Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots}, journal = {Sensors}, volume = {10}, number = {4}, year = {2010}, month = {04/2010}, pages = {3261{\textendash}3279}, abstract = {This paper presents a method for obtaining the motion segmentation and 3D localization of multiple mobile robots in an intelligent space using a multi-camera sensor system. The set of calibrated and synchronized cameras are placed in fixed positions within the environment (intelligent space). The proposed algorithm for motion segmentation and 3D localization is based on the minimization of an objective function. This function includes information from all the cameras, and it does not rely on previous knowledge or invasive landmarks on board the robots. The proposed objective function depends on three groups of variables: the segmentation boundaries, the motion parameters and the depth. For the objective function minimization, we use a greedy iterative algorithm with three steps that, after initialization of segmentation boundaries and depth, are repeated until convergence.}, issn = {1424-8220}, doi = {10.3390/s100403261}, url = {http://www.mdpi.com/1424-8220/10/4/3261/}, attachments = {https://mail.geintra-uah.org/system/files/private/Articulo_Sensors_Cristina_Losada.pdf}, author = {Cristina Losada-Guti{\'e}rrez and Manuel Mazo and Sira E. Palazuelos and Daniel Pizarro and Marta Marron} } @inbook {809, title = {Electronics proposal for telerobotics operation of P3-DX units}, booktitle = {Remote and Telerobotics}, year = {2010}, month = {03/2010}, pages = {16}, publisher = {INTECH}, organization = {INTECH}, chapter = {Electronics proposal for telerobotics operation of P3-DX units.}, address = {Croatia}, keywords = {electronic architecture for telerobotics, Player-Stage and Matlab-Simulink integration, teleopeartion of P3-DX robot}, isbn = {978-953-307-081-0}, author = {Felipe Espinosa and Marcelo Salazar and Daniel Pizarro and Fernando Vald{\'e}s} } @article {, title = {Grid Impedance Monitoring System for DistributedPower Generation Electronic Interfaces}, journal = {IEEE Transactions on Instrumentation and Measurement }, volume = {58}, year = {2009}, month = {agosto/2009}, pages = {3112-3121}, publisher = {IEEE}, address = {EEUU}, issn = {0018-9456}, doi = {10.1109/TIM.2009.2016883}, author = {Santiago Cobreces and Emilio Bueno and Daniel Pizarro and F. J. Rodriguez} } @mastersthesis {563, title = {T{\'e}cnicas de reconstrucci{\'o}n volum{\'e}trica en tiempo real y su aplicaci{\'o}n a la detecci{\'o}n de personas}, year = {2009}, month = {10/2009}, publisher = {Universidad de Alcal{\'a}}, attachments = {https://mail.geintra-uah.org/system/files/private/RaquelJalvo_TFC.pdf}, author = {Raquel Jalvo}, editor = {Daniel Pizarro} } @conference {357, title = {Multi-agent 3D Tracking in Intelligent Spaces with a Single Extended Particle Filter}, booktitle = {WISP 2009. 6th IEEE International Symposium on Intelligent Signal Processing}, year = {2009}, month = {09/2009}, pages = {305 - 310}, address = {Budapest}, abstract = {

A new method for tracking multiple objects in an intelligent space is proposed in this paper. The observation model is based on a camera ring statically mounted at the ceiling of the environment in order to obtain all relevant information related to the different objects that wonder (get into and go out) in the space of interest. In the paper, the two subsystems used to track all static and dynamic entities wondering in the intelligent space: a three-dimensional reconstruction of these entities; and, an individual track of all these entities in their movement along the environment with probabilistic techniques. The reliability, and robustness of the proposal presented is finally also demonstrated in this paper with different tests.

}, keywords = {Intelligent spaces, position estimation, Probabilistic Algorithms, three-dimensional reconstruction}, isbn = {978-1-4244-5058-9}, attachments = {https://mail.geintra-uah.org/system/files/37_Marron.pdf}, author = {Marta Marron and Daniel Pizarro and Garcia, Juan Carlos and Alvaro Marcos and Raquel Jalvo and Manuel Mazo} } @conference {5286549, title = {3D motion segmentation and 3D localization of mobile robots using an array of static cameras and objective function minimization}, booktitle = {Intelligent Signal Processing, 2009. WISP 2009. IEEE International Symposium on}, year = {2009}, month = {08/2009}, pages = {299 -304}, abstract = {This paper presents a method for obtaining the 3D motion segmentation and 3D localization of mobile robots using an array of calibrated cameras that are placed in fixed positions within the environment. This proposal does not rely on previous knowledge or invasive landmarks on board the robots. The proposal is based on the minimization of an objective function. This function includes information of all the cameras and depends on three groups of variables: the segmentation boundaries, the 3D rigid motion parameters (linear and angular velocity components) and depth (distance to the cameras). For the objective function minimization, we use a greedy algorithm that, after initialization, consists of three iterative steps. The use of multiple cameras increases notably the system robustness against occlusions and lighting changes. The accuracy of the results is also improved with regard to the methods where a single camera is used.}, keywords = {3D localization, 3D motion segmentation, image segmentation, mobile robots, objective function minimization, static cameras}, doi = {10.1109/WISP.2009.5286549}, attachments = {https://mail.geintra-uah.org/system/files/private/wisp09_MotionSegmentation_Cris.pdf}, author = {Cristina Losada-Guti{\'e}rrez and Manuel Mazo and Sira E. Palazuelos and Daniel Pizarro and Marta Marron and Francisco Redondo} } @article {, title = {Grid Impedance Monitoring System for DistributedPower Generation Electronic Interfaces}, journal = {IEEE Transactions on Instrumentation and Measurement }, volume = {58}, year = {2009}, month = {08/2009}, pages = {3112 - 3121 }, publisher = {IEEE}, address = {USA}, issn = {0018-9456}, doi = {10.1109/TIM.2009.2016883}, author = {Santiago Cobreces and Emilio Bueno and Daniel Pizarro and F. J. Rodriguez} } @article {916, title = {Localization and Reconstruction of Mobile Robots Using a Camera Ring}, journal = {IEEE Transaction on Instrumentation and Measurements}, volume = {58}, year = {2009}, month = {08/2009}, pages = {2396 - 2409}, publisher = {IEEE Instrumentation and Measurements Society}, abstract = {In this paper a system capable of obtaining the 3D pose of a mobile robot using a ring of calibrated cameras attached to the environment is proposed. The system robustly tracks point fiducials in the image plane of the set of cameras generated by the robot{\textquoteright}s rigid shape in motion. Each fiducial is identified with a point belonging to a sparse 3D geometrical model of robot{\textquoteright}s structure. Such model allows direct pose estimation from image measurements and it can be easily enriched at each iteration with new points as the robot motion evolves. The process is divided in an initialization step, where the structure of the robot is obtained and an online step, which is solved using sequential Bayesian inference. The approach allows to model properly uncertainty in measurements and estimations, at the same time it serves as a regularization step in pose estimation. The proposed system is verified using simulated and real data.}, keywords = {computer vision, Intelligent spaces, robotics}, issn = {0018-9456}, doi = {10.1109/TIM.2009.2016380 }, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4967948 }, attachments = {https://mail.geintra-uah.org/system/files/private/2379_0_art_0_jvh5gf.pdf}, author = {Daniel Pizarro and Manuel Mazo and Enrique Santiso and Marta Marron and Ignacio Fern{\'a}ndez} } @conference {, title = {Seguimiento de m{\'u}ltiples objetos en espacios inteligentes mediante un {\'u}nico filtro de part{\'\i}culas}, booktitle = {Seminario Anual de Autom{\'a}tica, Electr{\'o}nica Industrial e Instrumentaci{\'o}n (SAAEI)}, year = {2009}, month = {07/2009}, pages = {42}, isbn = {978-84-692-2596-7}, author = {Alvaro Marcos and Marta Marron and Daniel Pizarro and Raquel Jalvo and Manuel Mazo} } @conference {424, title = {Seguimiento Tridimensional de M{\'u}ltiples Objetos en Espacios Inteligentes Mediante Un {\'U}nico Filtro de Part{\'\i}culas}, booktitle = {SAAEI 09}, year = {2009}, note = {

}, month = {06/2009}, pages = {6}, isbn = {978-84-692-2596-7}, attachments = {https://mail.geintra-uah.org/system/files/Seguimiento_Tridimensional_de_Multiples_Objetos_en_Espacios_Inteligentes_Mediante_Un_Unico_PF_2.pdf}, author = {Alvaro Marcos and Marta Marron and Daniel Pizarro and Raquel Jalvo and Manuel Mazo} } @phdthesis {268, title = {Localizaci{\'o}n de robots m{\'o}viles en espacios inteligentes utilizando c{\'a}maras externas y marcas naturales}, volume = {PhD.}, year = {2009}, month = {01/2009}, pages = {250}, school = {Universidad de Alcala}, type = {PhD.}, address = {Alcala de Henares (Madrid)}, abstract = {

This thesis deals with the problem of mobile robot localization using static cameras
placed in the environment. The presented approach is based in the idea of \“Intelligent
Space\”, where a distributed intelligence controls cameras and robots to serve in a certain
task. The previous works that shares the same approach are focused on placing artificial
landmarks on the robots. This thesis focuses on approaches that do not need previous
knowledge about the robot and make use of the natural appearance of the robot.
The localization process proposed in this thesis is based on natural landmarks, which
are detected in the image plane of the set of cameras and correspond to a 3D model of the
robot.
The proposed localization system is divided in two steps. Firstly, a initialization step
obtains the 3D model of the robot and its initial pose. Secondly, using a sequential approach,
the pose of the robot is obtained at each time instant.
The initialization step is solved in this thesis for any number of cameras using a
structure-from-motion approach, where odometry serves as a metric reference in the single
camera case. Besides, the proposed approach avoids using natural landmark corresponden-
ces between multiple cameras, which allows to initialize the 3D model for non-overlapping
views.
The sequential step proposed in this thesis uses the 3D model, obtained in the afore-
mentioned initialization step, for retrieving robot\’s pose in a estimation-correction scheme.
This step includes robust techniques that remove outliers from the measurements.
In addition to the filtering approach, a non-iterative and of low complexity solution to
the mPnP (multiple perspective n point) problem is proposed.
The probabilistic approach performs coherent data fusion between all information avai-
lable and it allows to estimate uncertainty in the obtained robot\’s pose.
The solution presented in this thesis has been experimentally assessed using synthetic
generated data and experiments from a real environment with cameras, robots and obs-
tacles. The resulting method is proved to be stable against occlusions and illumination
changes, which makes it suitable to real situations.

}, url = {http://dspace.uah.es/dspace/bitstream/10017/2671/1/tesis.pdf}, attachments = {https://mail.geintra-uah.org/system/files/tesisDanielPizarro.pdf}, author = {Daniel Pizarro}, editor = {Manuel Mazo and Enrique Santiso} } @mastersthesis {432, title = {Sistema de monitorizaci{\'o}n mediante visi{\'o}n artificial de zonas de riesgo potencial para la circulaci{\'o}n ferroviaria y seguridad de las personas}, year = {2009}, pages = {207}, publisher = {Department of Electronics}, abstract = {

\ \ \  En la actualidad, las comunicaciones ferroviarias presentan a lo largo de su recorrido una serie de puntos considerados focos de alta siniestralidad. Los pasos a nivel son un ejemplo de estos puntos, en los que la seguridad se basa principalmente en la utilizaci\ón de se\ñales de tr\áfico y sistemas de\  barreras. Dichos sistemas tradicionales no son efectivos, produciendo en ocasiones atropellamientos y descarrilamientos del tren.

La finalidad del proyecto es el dise\ño de un sistema que contribuya a un aumento de la seguridad en el transporte por ferrocarril, centr\ándose en puntos de alta siniestralidad, y con la finalidad de reducir el n\úmero de accidentes. El objetivo es la inclusi\ón de sensores en los puntos cr\íticos que sean capaces de comunicar su situaci\ón al tren en el momento en el que \éste dispone de suficiente distancia para realizar un frenado seguro.


\ \ \  El presente trabajo final de carrera se encuentra enmarcado dentro del proyecto de investigaci\ón \“Sistema Global de Supervisi\ón de Zonas de Riesgo Potencial para la Circulaci\ón Ferroviaria y Seguridad de las personas\”(AVIZOR), realizado conjuntamente por el Departamento de Electr\ónica de la Universidad de Alcal\á y las empresas ADIF, RENFE, SEPSA y LOGYTEL.


\ \ \  El proyecto AVIZOR, y consecuentemente el presente trabajo, permitir\á a las unidades de tren, en concreto al maquinista, disponer, de forma\  anticipada a la llegada al punto conflictivo, de la informaci\ón necesaria que proporcione suficiente capacidad de reacci\ón para evitar un posible accidente. Esta informaci\ón consiste en im\ágenes e indicadores de alarma resultantes del an\álisis autom\ático de im\ágenes tomadas por c\ámaras est\áticas, dispuestas en los pasos a nivel ferroviarios. Dicho an\álisis tendr\á como objetivo la obtenci\ón de aquellas \áreas de la imagen que corresponden con objetos, personas u otro tipo de obst\áculo que implique un peligro para la circulaci\ón del tren o la seguridad de las personas.


\ \ \  De este modo el sistema constar\á de un m\ódulo de procesamiento de im\ágenes autom\ático y un m\ódulo de env\ío de v\ídeo en tiempo real a trav\és de una red inal\ámbrica, que conecta el paso a nivel con el tren.

}, attachments = {https://mail.geintra-uah.org/system/files/private/final_0.pdf}, author = {David Jimenez}, editor = {Daniel Pizarro} } @mastersthesis {421, title = {Sistema de detecci{\'o}n de obst{\'a}culos y robots mediante m{\'u}ltiples c{\'a}maras en espacios inteligentes}, year = {2008}, month = {12/2008}, pages = {141}, publisher = {Department of Electronics}, type = {Master}, address = {Alcala de Henares (SPAIN)}, abstract = {

Este proyecto aborda la problem\ática de la detecci\ón de objetos en espacios inteligentes independientemente de la naturaleza de los mismos. Para ello, emplea la informaci\ón del entorno proporcionada desde un array calibrado de c\ámaras que lo cubre.

La detecci\ón se realiza bajo condiciones reales y se basa en la segmentaci\ón de fondo invariante a la iluminaci\ón, y en el proyectado de la misma sobre un plano de referencia.

As\í mismo se resuelve la navegaci\ón fiable de un agente rob\ótico por el espacio inteligente al que a su a vez se hace el seguimiento basado en la odometr\ía proporcionada.

}, attachments = {https://mail.geintra-uah.org/system/files/TFC.pdf}, author = {Victor Espejo}, editor = {Daniel Pizarro} } @inbook {913, title = {A Bayesian Solution to Robustly Track Multiple Objects from Visual Data}, booktitle = {INTELLIGENT TECHNIQUES AND TOOLS FOR NOVEL SYSTEM ARCHITECTURES}, series = {Studies in Computational Intelligence}, volume = {109}, year = {2008}, month = {09/2008}, pages = {531-547}, publisher = {Springer-Verlag. }, organization = {Springer-Verlag. }, address = {Berlin/Heidelberg (ALEMANIA)}, abstract = {Different solutions have been proposed for multiple objects tracking based on probabilistic algorithms. In this chapter, the authors propose the use of a single particle filter to track a variable number of objects in a complex environment. Estimator robustness and adaptability are both increased by the use of a clustering algorithm. Measurements used in the tracking process are extracted from a stereovision system, and thus, the 3D position of the tracked objects is obtained at each time step. As a proof of concept, real results are obtained in a long sequence with a mobile robot moving in a cluttered scene.}, keywords = {artificial vision, bayesian estimation, Multi-Object Tracking}, isbn = {978-3-540-77621-5}, doi = {10.1007/978-3-540-77623-9_30}, url = {http://www.springer.com/engineering/mathematical/book/978-3-540-77621-5}, attachments = {https://mail.geintra-uah.org/system/files/private/a_bayesian_solution-fulltext.pdf}, author = {Marta Marron and Garcia, Juan Carlos and Miguel Angel Sotelo and Daniel Pizarro and Ignacio Bravo and Jose Luis Martin} } @mastersthesis {423, title = {T{\'e}cnicas de Reconstrucci{\'o}n Volum{\'e}trica a partir de M{\'u}ltiples C{\'a}maras. Aplicaci{\'o}n en Espacios Inteligentes}, year = {2008}, month = {09/2008}, pages = {104}, publisher = {Department of Electronics}, type = {Master}, address = {Alcala de Henares (SPAIN)}, abstract = {

Este proyecto se encuentra entre los trabajos que van dirigidos a dotar a los espacios de inteligencia y mas concretamente a la reconstruccion volumetrica de objetos con multiples camaras dentro de estos espacios. Para su realizacion se parte de una plataforma hardware y una estrategia software.

El sistema hardware, se compone de un conjunto de camaras calibradas para la adquisicion de datos y uno o varios computadores encargados del procesamiento y representacion de los mismos. A lo largo del proyecto se detallan las posibles configuraciones y optimizaciones que se han realizado.

En el software, se trabaja bajo linux utilizando distintos tipos de librer{\i}as especializadas para cada tarea. As{\i} se han desarrollado aplicaciones con OpenCV para la adquisicion de imagenes con OpenSG para generar los entornos virtuales, en los que se visualizaran las reconstrucciones de los volumenes.

A lo largo de este trabajo, se afrontan algunos problemas tanto de programacion como de hardware: la ubicacion de los elementos sensoriales, la adquisicion, acondicionamiento y procesamiento de datos, el conocimiento e integracion de los perifericos, la gestion de herramientas y aplicaciones para optimizar los recursos del sistema, las formas mas adecuadas de reducir tiempos de computacion etc ... son cuestiones tratadas y resueltas, exponiendo las posibles alternativas y la solucion optima final aplicada.

}, attachments = {https://mail.geintra-uah.org/system/files/TFC-Javi.pdf}, author = {Javier Rodr{\'\i}guez}, editor = {Daniel Pizarro} } @conference {44, title = {Robot and Obstacles Localization and Tracking with an External Camera Ring}, booktitle = {2008 IEEE International Conference on Robotics and Automation (ICRA08)}, year = {2008}, month = {05/2008}, pages = {516-521}, publisher = {IEEE}, organization = {IEEE}, address = {Pasadena, California (USA)}, abstract = {In this paper a ring of calibrated and synchronized
cameras is used for achieving robot and obstacle localization
inside a common observed area. To avoid complex appearance
matching derived from the wide-baseline arrangement of cameras,
a metric occupancy grid is obtained by intersection of
silhouettes projected onto the floor. A particle filter is proposed
for tracking multiple objects by using the grid as observation
data. A clustering algorithm is included in the filter to increase
the robustness and adaptability of the multimodal estimation
task. To preserve identity of the robot from the set of tracked
objects, odometry readings are used to compute a Maximum
Likelihood (ML) global trajectory identification. As a proof of
concept, real results are obtained in a long sequence with a
mobile robot moving in a human-cluttered scene.

}, isbn = {978-1-4244-1647-9}, issn = {1050-4729}, doi = {10.1109/ROBOT.2008.4543259 }, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4543259\&isnumber=4543169}, attachments = {https://mail.geintra-uah.org/system/files/2008-icra-pizarro.pdf}, author = {Daniel Pizarro and Marta Marron and Daniel Peon and Manuel Mazo and Garcia, Juan Carlos and Miguel Angel Sotelo and Enrique Santiso} } @conference {PIZARRO:2007:INRIA-00198431:1, title = {Mobile Robot Geometry Initialization from Single Camera}, booktitle = {6th International Conference on Field and Service Robotics - FSR 2007 Field and Service Robotics Springer Tracts in Advanced Robotics}, series = {{S}pringer {T}racts in {A}dvanced {R}obotics}, volume = {42}, year = {2007}, note = {

{I}.: {C}omputing {M}ethodologies/{I}.2: {ARTIFICIAL} {INTELLIGENCE}/{I}.2.9: {R}obotics

}, month = {12/2007}, pages = {10}, publisher = {Springer}, organization = {Springer}, address = {Chamonix France}, abstract = {

{U}sing external cameras to achieve robot localization has been widely proposed in the area of {I}ntelligent {S}paces. {R}ecently, an online approach that simultaneously obtains robot\’s pose and its 3{D} structure using a single external camera has been developed [8]. {S}uch proposal relies on a proper initialization of pose and structure information of the robot. {T}he present paper proposes a solution to initialization which consists of retrieving 3{D} structure and motion of a rigid object from a set of point matches measured by the camera. {A} batch {S}tructure from {M}otion ({SFM}) approach is proposed along a short path. {B}y incorporating odometry information available in the robot, the ambiguity generated by a single view in the solution is solved. {W}e propose to describe robot\’s motion and image detection as statistical processes in which the uncertainty is properly modelled. {U}sing a {G}aussian equivalence of the processes involved, the {SFM} cost function is expressed as a {M}aximum {L}ikelihood optimization. {T}he paper shows the improvements of the approach in the presence of the usual odometry drift noise, compared with those using {E}uclidean distance as a likelihood. {T}he proposed method is assessed on synthetic and real data.

}, url = {http://hal.inria.fr/inria-00198431/en/}, author = {Daniel Pizarro and Manuel Mazo and Enrique Santiso and Hashimoto, Hideki} } @conference {362, title = {Localisation and Reconstruction of Mobile Robots in Intelligent Spaces. A single camera solution}, booktitle = {2007 IEEE International Symposium on Industrial Electronics2007 IEEE International Symposium on Industrial Electronics}, year = {2007}, month = {11/2007}, pages = {2185 - 2190}, publisher = {IEEE}, organization = {IEEE}, address = {Vigo, Spain}, isbn = {978-1-4244-0755-2}, doi = {10.1109/ISIE.2007.4374947}, author = {Daniel Pizarro and Manuel Mazo and Enrique Santiso and Hashimoto, Hideki} } @conference {919, title = {Comparing a Kalman Filter and a Particle Filter in a Multiple Objects Tracking Application}, booktitle = {2007 IEEE International Symposium on Intelligent Signal Processing}, year = {2007}, month = {10/2007}, pages = {1-6}, publisher = {IEEE}, organization = {IEEE}, address = {Alcal{\'a} de Henares, Spain}, abstract = {Two of the most important solutions in position estimation are compared, in this paper, in order to test their efficiency in a multi-tracking application in an unstructured and complex environment. A Particle Filter is extended and adapted with a clustering process in order to track a variable number of objects. The other approach is to use a Kalman Filter with an association algorithm for each of the objects to track. Both algorithms are described in the paper and the results obtained with their real-time execution in the mentioned application are shown. Finally interesting conclusions extracted from this comparison are remarked at the end.}, keywords = {Multi-Object Tracking, position estimation, Probabilistic Algorithms, robotics}, isbn = {978-1-4244-0829-0}, doi = {10.1109/WISP.2007.4447520 }, url = {http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?asf_arn=null\&asf_iid=null\&asf_pun=4447489\&asf_in=null\&asf_rpp=null\&asf_iv=null\&asf_sp=null\&asf_pn=3 }, attachments = {https://mail.geintra-uah.org/system/files/private/wisp07_def.pdf}, author = {Marta Marron and Garcia, Juan Carlos and Miguel Angel Sotelo and M. Cabello and Daniel Pizarro and Francisco Huerta and Jesus Cerro} } @conference {367, title = {Pose and Sparse Structure of a Mobile Robot using an External Camera}, booktitle = {2007 IEEE International Symposium on Intelligent Signal Processing2007 IEEE International Symposium on Intelligent Signal Processing}, year = {2007}, month = {10/2007}, pages = {1 - 6}, publisher = {IEEE}, organization = {IEEE}, address = {Alcala de Henares, Spain}, isbn = {978-1-4244-0829-0}, doi = {10.1109/WISP.2007.4447642}, author = {Daniel Pizarro and Enrique Santiso and Manuel Mazo and Marta Marron} } @article {244, title = {Guidance of a mobile robot using an array of static cameras located in the environment}, journal = {Autonomous Robots}, volume = {23}, year = {2007}, month = {09/2007}, pages = {305-324}, publisher = {Springer Netherlands}, address = {Netherlands}, abstract = {

This paper presents a new proposal for positioning and guiding mobile robots in indoor environments. The proposal is based on the information provided by static cameras located in the movement environment. This proposal falls within the scope of what are known as intelligent environments; in this case, the environment is provided with cameras that, once calibrated, allow the position of the robots to be obtained. Based on this information, control orders for the robots can be generated using a radio frequency link. In order to facilitate identification of the robots, even under extremely adverse ambient lighting conditions, a beacon consisting of four circular elements constructed from infrared diodes is mounted on board the robots. In order to identify the beacon, an edge detection process is carried out. This is followed by a process that, based on the algebraic distance, obtains the estimated ellipses associated with each element of the beacon. Once the beacon has been identified, the coordinates of the centroids for the elements that make up the beacon are obtained on the various image planes. Based on these coordinates, an algorithm is proposed that takes into account the standard deviation of the error produced in the various cameras in ascertaining the coordinates of the beacon\’s elements. An odometric system is also used in guidance that, in conjunction with a Kalman Filter, allows the position of the robot to be estimated during the time intervals required to process the visual information provided by the cameras

}, keywords = {Array of cameras, Infrared beacons, Intelligent environments, Mobile robot guidance}, issn = {0929-5593 }, doi = {10.1007/s10514-007-9049-4}, url = {http://www.springerlink.com/content/747660271r65v460/}, attachments = {https://mail.geintra-uah.org/system/files/private/guidance_of_a_mobile.pdf}, author = {Fernandez, Ignacio and Manuel Mazo and Jose L. Lazaro and Daniel Pizarro and Enrique Santiso and Pedro Martin and Cristina Losada-Guti{\'e}rrez} } @conference {333, title = {Obtenci{\'o}n Robusta de la Pose de M{\'u}ltiples Objetos mediante C{\'a}maras en Espacios Inteligentes}, booktitle = {Seminario Anual de Autom{\'a}tica, Electr{\'o}nica Industrial e Instrumentaci{\'o}n (SAAEI{\textasciiacute}07)}, volume = {Actas del SAAEI{\textasciiacute}07}, year = {2007}, month = {09/2007}, pages = {1-6}, isbn = {978-968-9182-52-8}, author = {Amaia Santiago and Daniel Pizarro and Manuel Mazo and Enrique Santiso} } @mastersthesis {433, title = {Sistema de detecci{\'o}n de objetos mediante c{\'a}maras. Aplicaci{\'o}n a espacios inteligentes}, year = {2007}, month = {09/2007}, pages = {244}, publisher = {Department of Electronics}, type = {Master}, address = {Alcala de Henares (SPAIN)}, abstract = {

Este proyecto aborda el problema de la obtenci\ón de la posici\ón y orientaci\ón m\étrica de los objetos tridimensionales en un entorno. Se propone un sistema de c\ámaras calibradas e interconectadas que forman un \“Espacio Inteligente\”. El objetivo es realizar tareas de b\úsqueda y reconocimiento de objetos en im\ágenes. Cada objeto es detectado a partir de un modelo geom\étrico de puntos identificados en la imagen mediante caracter\ísticas pseudo-invariantes a la deformaci\ón proyectiva. Mediante una posterior identificaci\ón robusta, el sistema es capaz de obtener la posici\ón y orientaci\ón del objeto buscado.

El uso de caracter\ísticas basadas en informaci\ón local, permiten que el sistema sea invariante a cambios de iluminaci\ón, grandes oclusiones y cambios de perspectiva. Se proponen varios algoritmos de estimaci\ón robusta que permiten realizar la detecci\ón y el proceso de correspondencia para varias repeticiones espaciales del mismo objeto. Adem\ás, el sistema es ampliable a una o varias c\ámaras de manera sencilla.

Para validar el enfoque propuesto se presentan ejemplos de detecci\ón de objetos en im\ágenes reales y se analizar\á las limitaciones y problemas asociados a dicho enfoque.

}, keywords = {HOUGH, Intelligent spaces, RANSAC, SIFT}, attachments = {https://mail.geintra-uah.org/system/files/private/Proyecto.pdf}, author = {Amaia Pe}, editor = {Daniel Pizarro} } @conference {276, title = {Localizacion Simultanea a la Reconstruccion de Robots Moviles en Espacios Inteligentes mediante Multiples Camaras}, booktitle = {Seminario Anual de Automatica, Electronica Industrial e Instrumentacion (SAAEI{\textasciiacute}06)}, volume = {1}, year = {2006}, month = {09/2006}, pages = {1-6}, chapter = {1}, address = {Gijon, Spain}, keywords = {global positioning system, Intelligent environments, Mapping applications, mobile robots}, isbn = {84-8317-564-9}, attachments = {https://mail.geintra-uah.org/system/files/private/Localizacion_Simultanea_a_la_Reconstruccion_SAAEI_PIZARRO_06.pdf}, author = {Daniel Pizarro and Enrique Santiso and Manuel Mazo} } @article {823, title = {Correcci{\'o}n de luminosidad no homog{\'e}nea de un cable incoherente de fibra {\'o}ptica, calibrado para transmisi{\'o}n de im{\'a}genes}, journal = {CONECtr{\'o}nica. Tecnolog{\'\i}a y Elementos de Conexi{\'o}n y Conectividad}, year = {2005}, month = {2005}, pages = {1-10}, issn = {1136-7539}, url = {http://www.conectronica.com/Cables-Fibra-Optica/Correcci\%C3\%B3n-de-iluminaci\%C3\%B3n-no-homog\%C3\%A9nea-de-un-cable-incoherente-de-fibras-\%C3\%B3pticas-calibrado-para-transmisi\%C3\%B3n-de-im\%C3\%A1genes.html}, author = {O. Demuynck and Jose L. Lazaro and Oscar Esteban and Daniel Pizarro and J. Gamo} } @conference {390, title = {Simultaneous localization and structure reconstruction of mobile robots with external cameras}, booktitle = {Proceedings of the IEEE International Symposium on Industrial Electronics, 2005. ISIE 2005.}, volume = {3}, year = {2005}, month = {06/2005}, pages = {1321- 1326}, address = {Dubrovnik, Croatia}, abstract = {

This paper presents a way to achieve robot positioning using visual information from cameras placed in the environment. The goal is to obtain both the global position and a not fixed amount of features from the robot. There is a defined algorithm that implements 3D reconstruction at the same time the position of the robot is updated. The problem statement is equivalent to visual SLAM process and therefore all definitions are made in a top-down Bayesian process. This document presents a novel study of robot positioning simultaneous with 3D reconstruction, with one camera and unknown robot landmarks, which is easily expanded to a multicamera process. It{\textquoteright}s assumed that odometric information is always present in the system, so it is used in both estimation and initialization phases.

}, keywords = {cameras, image reconstruction, mobile robots, robot vision}, isbn = {0-7803-8738-4}, doi = {10.1109/ISIE.2005.1529116}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=1529116\&isnumber=32654}, attachments = {https://mail.geintra-uah.org/system/files/private/ISIE05-Dani.pdf}, author = {Daniel Pizarro and Manuel Mazo and Enrique Santiso} }