Learning bidimensional context dependent models using a context sensitive language

International Conference on Pattern Recognition (ICPR), 1996, Viena (Austria)Automatic generation of models from a set of positive and negative samples and a-priori knowledge (if available) is a crucial issue for pattern recognition applications. Grammatical inference can play an important role in this issue since it can be used to generate the set of model classes, where each class consists on the rules to generate the models. In this paper we present the process of learning context dependent bidimensional objects from outdoors images as context sensitive languages. We show how the process is conceived to overcome the problem of generalizing rules based on a set of samples which have small differences due to noisy pixels. The learned models can be used to identify objects in outdoors images irrespectively of their size and partial occlusions. Some results of the inference procedure are shown in the paper.Peer Reviewe

Filtering graphs to check isomorphism and extracting mapping by using the Conductance Electrical Model

This paper presents a new method of filtering graphs to check exact graph isomorphism and extracting their mapping. Each graph is modeled by a resistive electrical circuit using the Conductance Electrical Model (CEM). By using this model, a necessary condition to check the isomorphism of two graphs is that their equivalent resistances have the same values, but this is not enough, and we have to look for their mapping to find the sufficient condition. We can compute the isomorphism between two graphs in O(N3), where N is the order of the graph, if their star resistance values are different, otherwise the computational time is exponential, but only with respect to the number of repeated star resistance values, which usually is very small. We can use this technique to filter graphs that are not isomorphic and in case that they are, we can obtain their node mapping. A distinguishing feature over other methods is that, even if there exists repeated star resistance values, we can extract a partial node mapping (of all the nodes except the repeated ones and their neighbors) in O(N3). The paper presents the method and its application to detect isomorphic graphs in two well know graph databases, where some graphs have more than 600 nodes.This work was partially funded by CICYT DPI2013-42458-P.Peer reviewe

Integration of perceptal grouping and depth

International Conference on Pattern Recognition (ICPR), 2000, Barcelona (España)Different data acquisition methods are tailored at extracting particular characteristics from a scene and by combining their results a more robust scene description can be created. A method to fuse perceptual groupings extracted from color-based segmentation and depth information from stereo using supervised classification is presented. The merging of data from these two acquisition modules allows for a spatially coherent blend of smooth regions and detail in an image. Depth cues are used to limit the area of interest in the scene and to improve perceptual grouping solving subsegmentation and oversegmentation of the original images. The complexity of the algorithm does not exceed that of the individual acquisition modules. The resulting scene description can then be fed to an object recognition modules for scene interpretation.This work was supported by the project 'Active vision systems based in automatic learning for industrial applications' ().Peer Reviewe

Filtering graphs to check isomorphism and extracting mapping by using the Conductance Electrical Model

© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/This paper presents a new method of filtering graphs to check exact graph isomorphism and extracting their mapping. Each graph is modeled by a resistive electrical circuit using the Conductance Electrical Model (CEM). By using this model, a necessary condition to check the isomorphism of two graphs is that their equivalent resistances have the same values, but this is not enough, and we have to look for their mapping to find the sufficient condition. We can compute the isomorphism between two graphs in O(N-3), where N is the order of the graph, if their star resistance values are different, otherwise the computational time is exponential, but only with respect to the number of repeated star resistance values, which usually is very small. We can use this technique to filter graphs that are not isomorphic and in case that they are, we can obtain their node mapping. A distinguishing feature over other methods is that, even if there exists repeated star resistance values, we can extract a partial node mapping (of all the nodes except the repeated ones and their neighbors) in O(N-3). The paper presents the method and its application to detect isomorphic graphs in two well know graph databases, where some graphs have more than 600 nodes. (C) 2016 Elsevier Ltd. All rights reserved.Postprint (author's draft

Learning the hidden human knowledge of UAV pilots when navigating in a cluttered environment for improving path planning

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksWe propose in this work a new model of how the hidden human knowledge (HHK) of UAV pilots can be incorporated in the UAVs path planning generation. We intuitively know that human’s pilots barely manage or even attempt to drive the UAV through a path that is optimal attending to some criteria as an optimal planner would suggest. Although human pilots might get close but not reach the optimal path proposed by some planner that optimizes over time or distance, the final effect of this differentiation could be not only surprisingly better, but also desirable. In the best scenario for optimality, the path that human pilots generate would deviate from the optimal path as much as the hidden knowledge that its perceives is injected into the path. The aim of our work is to use real human pilot paths to learn the hidden knowledge using repulsion fields and to incorporate this knowledge afterwards in the environment obstacles as cause of the deviation from optimality. We present a strategy of learning this knowledge based on attractor and repulsors, the learning method and a modified RRT* that can use this knowledge for path planning. Finally we do real-life tests and we compare the resulting paths with and without this knowledge.Accepted versio

Deep Lidar CNN to Understand the Dynamics of Moving Vehicles

Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions applied to the data of other sensors typically mounted on autonomous cars (e.g. lidars or radars) are not explored much. In this paper we propose a novel solution to understand the dynamics of moving vehicles of the scene from only lidar information. The main challenge of this problem stems from the fact that we need to disambiguate the proprio-motion of the 'observer' vehicle from that of the external 'observed' vehicles. For this purpose, we devise a CNN architecture which at testing time is fed with pairs of consecutive lidar scans. However, in order to properly learn the parameters of this network, during training we introduce a series of so-called pretext tasks which also leverage on image data. These tasks include semantic information about vehicleness and a novel lidar-flow feature which combines standard image-based optical flow with lidar scans. We obtain very promising results and show that including distilled image information only during training, allows improving the inference results of the network at test time, even when image data is no longer used.Comment: Presented in IEEE ICRA 2018. IEEE Copyrights: Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses. (V2 just corrected comments on arxiv submission

Modeling robot's world with minimal effort

Trabajo presentado al ICRA celebrado en Seattle (US) del 26 al 30 de mayo de 2015.We propose an efficient Human Robot Interaction approach to efficiently model the appearance of all relevant objects in robot's environment. Given an input video stream recorded while the robot is navigating, the user just needs to annotate a very small number of frames to build specific classifiers for each of the objects of interest. At the core of the method, there are several random ferns classifiers that share the same features and are updated online. The resulting methodology is fast (runs at 8 fps), versatile (it can be applied to unconstrained scenarios), scalable (real experiments show we can model up to 30 different object classes), and minimizes the amount of human intervention by leveraging the uncertainty measures associated to each classifier. We thoroughly validate the approach on synthetic data and on real sequences acquired with a mobile platform in outdoor and challenging scenarios containing a multitude of different objects. We show that the human can, with minimal effort, provide the robot with a detailed model of the objects in the scene.Work partially supported by the Spanish Ministry of Science and Innovation under project DPI2013-42458-P, ERA-Net Chistera project ViSen PCIN-2013-047, and by the EU project ARCAS FP7-ICT-2011-28761.Peer Reviewe

URUS: Ubiquitous networking robotics for urban settings

Presentation of the progress of the European's project URUS: Ubiquitous Networking Robotics for Urban SettingsPeer Reviewe

A fast distance between histograms

Iberoamerican Congress on Pattern Recognition (CIARP), 2005, Havana (Cuba)In this paper we present a new method for comparing histograms. Its main advantage is that it takes less time than previous methods. The present distances between histograms are defined on a structure called signature, which is a lossless representation of histograms. Moreover, the type of the elements of the sets that the histograms represent are ordinal, nominal and modulo. We show that the computational cost of these distances is O(z′) for the ordinal and nominal types and O(z′2) for the modulo one, where z′ is the number of non-empty bins of the histograms. In the literature, the computational cost of the algorithms presented depends on the number of bins in the histograms. In most applications, the histograms are sparse, so considering only the non-empty bins dramatically reduces the time needed for comparison. The distances we present in this paper are experimentally validated on image retrieval and the positioning of mobile robots through image recognition.Peer Reviewe

Comparative analysis of human motion trajectory prediction using minimum variance curvature

Presentado al 6th HRI celebrado en Lausanne (Suiza) del 8 al 11 de marzo de 2011.The prediction of human motion intention is a key issue towards intelligent human robot interaction and robot navigation. In this work we present a comparative study of several prediction functions that are based on the minimum curvature variance from the current position to all the potential destination points, that means, the points that are relevant for people motion intention. The proposed predictor computes, at each interval of time, the trajectory from the present to the destination positions, and makes a prediction of the human motion at each interval of time using only the criterion of minimum curvature variation. The method has been validated in the Edinburgh Informatics Forum Pedestrian database.This research was conducted at the Institut de Robotica i Informatica Industrial (CSIC-UPC). It was partially supported by CICYT projects DPI2007-61452 and Ingenio Consolider CSD2007-018.Peer Reviewe