Detecting and tracking using 2D laser range finders and deep learning

Detecting and tracking people using 2D laser rangefinders (LRFs) is challenging due to the features of the human leg motion, high levels of self-occlusion and the existence of objects which are similar to the human legs. Previous approaches use datasets that are manually labelled with support of images of the scenes. We propose a system with a calibrated monocular camera and 2D LRF mounted on a mobile robot in order to generate a dataset of leg patterns through automatic labelling which is valid to achieve a robust and efficient 2D LRF-based people detector and tracker. First, both images and 2D laser data are recorded during the robot navigation in indoor environments. Second, the people detection boxes and keypoints obtained by a deep learning-based object detector are used to locate both people and their legs on the images. The coordinates frame of 2D laser is extrinsically calibrated to the camera coordinates allowing our system to automatically label the leg instances. The automatically labelled dataset is then used to achieve a leg detector by machine learning techniques. To validate the proposal, the leg detector is used to develop a Kalman filter-based people detection and tracking algorithm which is experimentally assessed. The experimentation shows that the proposed system overcomes the Angus Leigh’s detector and tracker which is considered the state of the art on 2D LRF-based people detector and tracker.This work was supported under Grant PID2019-104818RB-I00 funded by MCIN/AEI/10.13039/501100011033 and by ‘‘European Regional Development Fund (ERDF) A way of making Europe’’.Funding for open access charge: Universidad de Granada / CBUA

Using a Deep Learning Model on Images to Obtain a 2D Laser People Detector for a Mobile Robot

Recent improvements in deep learning techniques applied to images allow the detection of people with a high success rate. However, other types of sensors, such as laser rangefinders, are still useful due to their wide field of vision and their ability to operate in different environments and lighting conditions. In this work we use an interesting computational intelligence technique such as the deep learning method to detect people in images taken by a mobile robot. The masks of the people in the images are used to automatically label a set of samples formed by 2D laser range data that will allow us to detect the legs of people present in the scene. The samples are geometric characteristics of the clusters built from the laser data. The machine learning algorithms are used to learn a classifier that is capable of detecting people from only 2D laser range data. Our people detector is compared to a state-of-the-art classifier. Our proposal achieves a higher value of F1 in the test set using an unbalanced dataset. To improve accuracy, the final classifier has been generated from a balanced training set. This final classifier has also been evaluated using a test set in which we have obtained very high accuracy values in each class. The contribution of this work is 2-fold. On the one hand, our proposal performs an automatic labeling of the samples so that the dataset can be collected under real operating conditions. On the other hand, the robot can detect people in a wider field of view than if we only used a camera, and in this way can help build more robust behaviors.This work has been supported by the Spanish Government TIN2016- 76515-R Grant, supported with Feder funds

Uso de técnicas de preprocesamiento de imágenes y aprendizaje para la detección de cambios de atención de una persona en procesos de interacción persona-robot

Uno de los sensores fundamentales en problemas de interacción persona-robot es la visión. En este trabajo realizamos un estudio en el que, a partir de imágenes de la cara de una persona, extraemos una serie de características relevantes para la clasificación de ciertas actitudes de dicha persona. Gran parte de estas actitudes representan realmente conceptos imprecisos o subjetivos difíciles de definir. En concreto estudiaremos el problema de la detección de la atención que mantiene una persona en relación a un robot de servicio que dispone de una cámara como mecanismo de percepción. Así, nuestro objetivo es utilizar un algoritmo de aprendizaje que, a partir de las características extraídas de la imagen de la cara, permita asignar un incremento o decremento de la atención de la persona en relación a una imagen previ

Street design in the recent urban planning. Murcia, 2001-2016

[EN] The 'prodigious decade' of Spanish urbanism caused a large expansion of urban lands, but also a much greater amount of planned but undeveloped land. The planning for this 'expectant city' is a challenge for the future of our cities. In this work, the streets proposed in these plans are analysed by evaluating their dimensional characteristics (surface and width) and their habitability (pedestrian-cyclist space and previsions of tree lines). The research is focused on the city of Murcia, paradigmatic case of the expansive urbanism typical of the real estate bubble. We have studied 2,096 streets from 92 partial plans approved during the period 2002-2013. The results show how the analysed variables change according to the use and density of the sectors and can be useful to evaluate the improvement of the habitability of these streets before their execution.[ES] La década prodigiosa del urbanismo español provocó una gran expansión de suelo, pero también una mucho mayor cantidad de suelo planificado sin desarrollar. La ordenación propuesta para esta ‘ciudad expectante’ supone un reto de cara al futuro de nuestras ciudades. En este trabajo, se analizan las calles propuestas en estos planes evaluando características dimensionales (superficie y ancho) y de habitabilidad (espacio peatonal-ciclista y arbolado). El estudio se realiza para el caso de la ciudad de Murcia, paradigmático del urbanismo de carácter expansivo propio de la burbuja inmobiliaria. Hemos estudiado 2.096 calles de 92 planes parciales aprobados durante el periodo 2002-2013. Los resultados muestran el cambio de las variables analizadas según el uso y densidad de los sectores y pueden ser útiles para evaluar las posibilidades de mejorar la habitabilidad de estas calles antes de su ejecución. Ayuntamiento de MurciaGarcía Martín, FM.; Ros Sempere, M.; Silvente Martínez, MJ. (2021). La calle proyectada en el planeamiento urbanístico reciente. Murcia, 2001-2016. VLC arquitectura. Research Journal. 8(2):151-182. https://doi.org/10.4995/vlc.2021.12744OJS15118282Aguado Fernández, María Dolores, ed. Áreas urbanas +50 Información estadística de las Grandes Áreas Urbanas españolas 2012, 2013.Aliaga Sola, Ignacio. "Nuevos desarrollos urbanísticos en el Campo de Murcia. Implicaciones territoriales y planeamiento municipal." Papeles de geografía 48, no. 47 (2008): 5-24.Andrés Sarasa, José Luis. "Análisis del centro de Murcia: El caso de la calle de Correos." Papeles de Geografía, no. 14 (1988).Andrés Sarasa, José Luis. "Incertidumbres en el espacio agrícola y proceso urbanizador «resort» en la Región de Murcia." Cuadernos de Turismo, no. 4 (2004).Appleyard, Donald, M. S. Gerson, and M. Lintell. Livable streets. Berkeley: University of Carlifornia Press, 1981.Appleyard, Donald, Kevin Lynch, and John R. Myer. The view from the road. Cambridge: The M.I.T. Press, 1964.Banham, Reyner. Los Angeles. The architecture of Four Ecologies. London: The Penguin Press, 1971.Berghauser Pont, Meta, and Per Haupt. Space, density and urban form. TU delft, 2009.Biddulph, Mike. "Radical streets? The impact of innovative street designs on liveability and activity in residential areas." URBAN DESIGN International, no. 17 (2012): 178-205. https://doi.org/10.1057/udi.2012.13Buchanan, Colin. Traffic in towns: a study of the long term problems of traffic in urban areas. London: H. M. Stationery Off., 1963.Burriel de Orueta, Eugenio L. "Empty urbanism: the bursting of the Spanish housing bubble." Urban Research and Practice 9, no. 2 (2016): 158-80. https://doi.org/10.1080/17535069.2015.1110196Burriel de Orueta, Eugenio L. "La «década prodigiosa» del urbanismo español (1997-2006)." Scripta Nova. Revista electrónica de Geografía y Ciencias Sociales 12, no. 270 (2008): 64.Calvo García-Tornel, Francisco. Continuidad y cambio en la Huerta de Murcia. Murcia: Academia Alfonso X el Sabio., 1982.Caniggia, Gianfranco, y Gian Luigi Maffei. Composizione architettonica e tipologia edilizia. Venezia: Marsilio Editori, 1979.Cerdá, Ildefonso. Teoría general de la urbanización, 1867.Conzen, Michael P. "Alnwick, Northumberland: A study in town-plan analysis." Transactions and Papers (Institute of British Geographers), no. 27 (1960): 3-9-11-3-122. https://doi.org/10.2307/621094Cort Botí, César. Murcia un ejemplo sencillo de trazado urbano. Madrid: Sucesores de Rivadeneyra, 1932.Ewing, Reid, and Susan Handy. "Measuring the unmeasurable: Urban design qualities related to walkability." Journal of Urban Design 14, no. 1 (2009): 65-84. https://doi.org/10.1080/13574800802451155Frisby, David. "Straight or crooked streets? The contested rational spirit of the modern metropolis." In Modernism and the spirit of the city, edited by Ian Boyd Whyte, 57-84. Londres: Routledge, 2003.García González, María Cristina. César Cort [1893-1978] y la cultura urbanística de su tiempo. Madrid: ABADA Editores, 2018.García Martín, Fernando Miguel. Forma urbana en la construcción de la periferia de Málaga, Murcia y Valladolid a lo largo del siglo XX. Sevilla: Editorial Universidad de Sevilla, 2020.Gehl, Jan. Livet mellen husene. Copenhagen: Arkitektes Forlag, 1971.Gómez Viñas, Jesús. "Pontevedra: Estrategias integradas de movilidad y desarrollo urbano." Revista de Obras Públicas, no. 3626 (2021): 81-85.Górgolas Martín, Pedro. "Del «urbanismo expansivo» al «urbanismo regenerativo»: directrices y recomendaciones para reconducir la herencia territorial de la década prodigiosa del urbanismo español (1997-2007). Aplicación al caso de estudio del litoral andaluz." Ciudad y Territorio Estudios Territoriales LI, no. 199 (2019): 81-100.Gravagnuolo, Benedetto. Historia del urbanismo en Europa, 1750-1960. Madrid: Ediciones Akal, 1998.Hernández Aja, Agustín. "¿Tráfico contra calles?: Tipología de calles de Madrid." Ciudad y territorio Estudios territoriales, no. 91-92 (1992): 157-80.Istrate, Aura Luciana, and Fei Chen. "Liveable streets in Shanghai: Definition, characteristics and design." Progress in Planning, no. September 2020 (2021): 100544. https://doi.org/10.1016/j.progress.2021.100544Jacobs, Jane. The death and life of great american cities. New York: Random House Inc., 1961.Karndacharuk, Auttapone, Douglas J. Wilson, and Roger Dunn. "A Review of the Evolution of Shared (Street) Space Concepts in Urban Environments." Transport Reviews 34, no. 2 (2014): 190-220. https://doi.org/10.1080/01441647.2014.893038Li, Miaoyi, Jixiang Liu, Yifei Lin, Longzhu Xiao, and Jiangping Zhou. "Revitalizing historic districts: Identifying built environment predictors for street vibrancy based on urban sensor data." Cities 117, no. April 2020 (2021): 103305. https://doi.org/10.1016/j.cities.2021.103305López De Lucio, Ramón. Vivienda colectiva, espacio público y ciudad: evolución y crisis en el diseño de tejidos residenciales, 1860-2010. Madrid, 2012.López Ordóñez, Carlos Fernando, Jaume Roset Calzada, and Gilkauris María Rojas Cortorreal. "Análisis de la radiación solar directa en las calles de Barcelona, en base a la relación entre su morfología y vegetación." ACE: Architecture, City and Environment = Arquitectura, Ciudad y Entorno 12, no. 34 (2017): 45-68.Lu, Xiaodong, Jian Kang, Peisheng Zhu, Jun Cai, Fei Guo, and Yuan Zhang. "Influence of urban road characteristics on traffic noise." Transportation Research Part D 75, (September 2019): 136-55. https://doi.org/10.1016/j.trd.2019.08.026Lynch, Kevin. A theory of good city form. Cambridge: The Massachusetts Institute of Technology, 1981.Martin, Leslie, and Lionel March. Urban spaces and structures. I. Cambridge: Cambridge University Press, 1972.Montolio, Carlos Alonso, and Isabel Crespo Cabillo. "Repercusión acústica de la morfología urbana en calles peatonales." ACE: Architecture, City and Environment = Arquitectura, Ciudad y Entorno 14, no. 41 (2019): 175-84. https://doi.org/10.5821/ace.14.41.8209Moya González, Luis. La práctica del planeamiento urbanístico. Madrid: Editorial Síntesis, 1994.Mumford, Eric. "El discurso del CIAM sobre urbanismo." Bitácora Urbano Territorial 11, no. 1 (2007): 96-115.Muratori, Saverio. Studi per una operante storia urbana di Venezia I. Roma: Istituto poligrafico dello Stato, 1959.Navarro Vera, José Ramón, and Armando Ortuño Padilla. "Impacto de los campos de Golf en Levante." Ciudad y Territorio Estudios Territoriales 42, no. 163 (2010): 35-48.Oke, T R. "Street Design and Urban Canopy Layer Climate." Energy and buildings, no. 11 (1988): 103-13. https://doi.org/10.1016/0378-7788(88)90026-6Rodríguez Tarduchy, María José. Forma y ciudad en los límites de la arquitectura y el urbanismo. Madrid: Cinter Divulgación Técnica, 2011.Ros Sempere, Marcos, Fernando Miguel García Martín, María José Silvente Martínez, Juan Martín García, Alfredo Pérez Morales, and Jesús Ochoa Rego. "Planeamiento y crecimiento urbano reciente en Murcia, 2001-2017." In II Congreso Internacional ISUF-H. Ciudad y formas urbanas: perspectivas transversales. Libro de resúmenes, 180. Zaragoza: Prensas de la Universidad de Zaragoza, 2018.Rueda Palenzuela, Salvador. "Vitoria-Gasteiz: La implantación del modelo de supermanzanas." Revista de Obras Públicas, no. 3626 (2021): 67-73.Ruiz Apilánez, Borja, Kayvan Karimi, Irene García Camacha, and Raúl Martín. "Shared space streets: design, user perception and performance." URBAN DESIGN International, no. 22 (2017): 267-84. https://doi.org/10.1057/s41289-016-0036-2Ruiz Apilánez, Borja, José María de Ureña, and Eloy Solís Trapero. "La revitalización de la calle: estrategias basadas en la remodelación." Ciudad y Territorio Estudios Territoriales, no. 180 (2014): 393-412.Sauter, Daniel, and Marco Huettenmoser. "Liveable streets and social inclusion." Urban Design International 13, no. 2 (2008): 67-79. https://doi.org/10.1057/udi.2008.15Scudellari, Jacopo, Luca Staricco, and Elisabetta Vitale Brovarone. "Implementing the Supermanzana approach in Barcelona. Critical issues at local and urban level." Journal of Urban Design 25, no. 6 (2020): 675-96. https://doi.org/10.1080/13574809.2019.1625706Shane, Grahame. "The street in the twentieth century." The Cornell Journal of Architecture, no. 2 (1983): 42-53.Southworth, Michael, and Eran Ben-Joseph. "Street standards and the shaping of suburbia." Journal of the American Planning Association 61, no. 1 (1995): 65-81. https://doi.org/10.1080/01944369508975620Southworth, Michael, y Eran Ben-Joseph. Streets and the shaping of towns and cities. Washington: Island Press, 2003.Talavera García, Rubén, and Julio A. Soria-Lara. "Q-PLOS, developing an alternative walking index. A method based on urban design quality." Cities, no. 45 (2015): 7-17. https://doi.org/10.1016/j.cities.2015.03.003Talavera García, Rubén, Julio A. Soria-Lara, and Luis Miguel Valenzuela Montes. "La calidad peatonal como método para evaluar entornos de movilidad urbana." Documents d'Analisi Geografica 60, no. 1 (2014): 161-88. https://doi.org/10.5565/rev/dag.55Terán, Manuel de. "Dos calles madrileñas: las de Alcalá y Toledo." 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Anlysis using geographical information system in the city of Cartagena

[SPA] A partir de un listado de edificaciones modernistas de la ciudad de Cartagena, y mediante el empleo de Sistemas de Información Geográfica, se realizan los mapas temáticos en función de diferentes variables mostrando cartográficamente los arquitectos que los realizaron,los usos para los que se proyectaron o el grado de catalogación actual de los mismos, que pueden relacionarse con las principales rutas modernistas de la ciudad. A partir del estudio espacial de la ubicación de los edificios seleccionados aparecen dos ejes de concentración de los mismos, muy bien diferenciados, que coinciden con los principales ejes de la ciudad amurallada: el eje Norte-Sur entre la puerta de Madrid y la del Muelle, que continua extramuros en la misma dirección en las casas baratas y el otro eje fundamental Oeste-Este, que coincide con el eje de la puerta de San José, que también continúa extramuros con la estación de ferrocarril. Este estudio es susceptible de incorporarse a un geoportal siendo este la herramienta óptima para la difusión y conocimiento de la información obtenida sobre el modernismo en la ciudad. [ENG] Based on a list of art nouveau buildings on Cartagena, and using Geographic Information Systems, we have made thematic maps rooted in different variables, cartographically showing the architects who created them, current uses and the degree of cataloging, which may relate with the modernist routes of the city. From the study of the location of selected buildings we can observe two axes of concentration of buildings, which coincide with the principal axes of the walled city: the North-South axis from the Puerta de Madrid toPuerta del Muelle, which continues outside the walls in the same direction at Casas Baratas and other main West-East, which coincides with the axis of the Puerta de San Jose, which also continues outside the walls until the railway station. This study is sensitive to join a geoportal as an optimal tool for dissemination and knowledge of information obtained on modernism in the Cartagena

Encuesta sobre docencia online en las Facultades de Enfermería y Medicina de la Universidad de Murcia.

We present the results of a survey on virtual teaching carried out by the Delegations of Nursing and Medicine Students of the University of Murcia (Spain). It has been carried out in the period of suspension of classroom teaching at the University of Murcia, prior to the spring break period. In general, the perception of the students of the Faculties of Nursing and Medicine is far from being satisfactory. Then, the teachers must make an effort to try to fill the deficiencies in the training of students caused by the face-to-face closure of the University.Presentamos los resultados de una encuesta sobre docencia virtual realizada por las Delegaciones de Estudiantes de Enfermería y Medicina de la Universidad de Murcia. Ha sido llevada a cabo en el período de suspensión de la docencia presencial en la Universidad de Murcia, previo al período de vacaciones de primavera. En general, la percepción del estudiantado de las Facultades de Enfermería y Medicina dista de ser satisfactoria, por lo que los profesores debemos hacer un esfuerzo para intentar suplir las deficiencias en la formación de los estudiantes tras el cierre presencial de la Universidad

Guidelines for the use and interpretation of assays for monitoring autophagy (3rd edition)

In 2008 we published the first set of guidelines for standardizing research in autophagy. Since then, research on this topic has continued to accelerate, and many new scientists have entered the field. Our knowledge base and relevant new technologies have also been expanding. Accordingly, it is important to update these guidelines for monitoring autophagy in different organisms. Various reviews have described the range of assays that have been used for this purpose. Nevertheless, there continues to be confusion regarding acceptable methods to measure autophagy, especially in multicellular eukaryotes. For example, a key point that needs to be emphasized is that there is a difference between measurements that monitor the numbers or volume of autophagic elements (e.g., autophagosomes or autolysosomes) at any stage of the autophagic process versus those that measure fl ux through the autophagy pathway (i.e., the complete process including the amount and rate of cargo sequestered and degraded). In particular, a block in macroautophagy that results in autophagosome accumulation must be differentiated from stimuli that increase autophagic activity, defi ned as increased autophagy induction coupled with increased delivery to, and degradation within, lysosomes (inmost higher eukaryotes and some protists such as Dictyostelium ) or the vacuole (in plants and fungi). In other words, it is especially important that investigators new to the fi eld understand that the appearance of more autophagosomes does not necessarily equate with more autophagy. In fact, in many cases, autophagosomes accumulate because of a block in trafficking to lysosomes without a concomitant change in autophagosome biogenesis, whereas an increase in autolysosomes may reflect a reduction in degradative activity. It is worth emphasizing here that lysosomal digestion is a stage of autophagy and evaluating its competence is a crucial part of the evaluation of autophagic flux, or complete autophagy. Here, we present a set of guidelines for the selection and interpretation of methods for use by investigators who aim to examine macroautophagy and related processes, as well as for reviewers who need to provide realistic and reasonable critiques of papers that are focused on these processes. These guidelines are not meant to be a formulaic set of rules, because the appropriate assays depend in part on the question being asked and the system being used. In addition, we emphasize that no individual assay is guaranteed to be the most appropriate one in every situation, and we strongly recommend the use of multiple assays to monitor autophagy. Along these lines, because of the potential for pleiotropic effects due to blocking autophagy through genetic manipulation it is imperative to delete or knock down more than one autophagy-related gene. In addition, some individual Atg proteins, or groups of proteins, are involved in other cellular pathways so not all Atg proteins can be used as a specific marker for an autophagic process. In these guidelines, we consider these various methods of assessing autophagy and what information can, or cannot, be obtained from them. Finally, by discussing the merits and limits of particular autophagy assays, we hope to encourage technical innovation in the field

Memoría del proyecto de innovación docente: una herramienta para auto-evaluación on-line de programación de ordenadores

Una herramienta que permita realizar auto-estudio y auto-evaluación en asignaturas de programació