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18 Papers

Towards Visual Loop Detection in Underwater Robotics using a Deep Neural Network

Topics: Image Registration; Machine Learning Technologies for Vision; Vision for Robotics; Deep Learning for Visual Understanding ; Simultaneous Localization and Mapping; Mobile and Egocentric Localization

Authors: Antoni Burguera and Francisco Bonin-Font

Affiliation: Universitat de les Illes Balears, Ctra. Valldemossa Km. 7.5, Palma (Illes Balears), 07122, Spain

Digital Object Identifier: 10.5220/0009162806670673

Proceedings of VISAPP 2020, ISBN: 978-989-758-402-2

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This paper constitutes a first step towards the use of Deep Neural Networks to fast and robustly detect underwater visual loops. The proposed architecture is based on an autoencoder, replacing the decoder part by a set of fully connected layers. Thanks to that it is possible to guide the training process by means of a global image descriptor built upon clusters of local SIFT features. After training, the NN builds two different descriptors of the input image. Both descriptors can be compared among different images to decide if they are likely to close a loop. The experiments, performed in coastal areas of Mallorca (Spain), evaluate both descriptors, show the ability of the presented approach to detect loop candidates and favourably compare our proposal to a previously existing method.

Algebraic Formal Modelling for EIGRP using ACP - Formal Description Modelling on EIGRP Routing Protocol

Topic: Conceptual Modeling

Authors: Pedro Juan Roig 1 , Salvador Alcaraz 2 , Katja Gilly 2 and Carlos Juiz 3

Affiliations: 1 Department of Physics and Computer Architecture, Miguel Hernández University, 03202 Elche (Alicante), Spain, Department of Computer Science, University of the Balearic Islands, 07122 Palma de Mallorca and Spain , 2 Department of Physics and Computer Architecture, Miguel Hernández University, 03202 Elche (Alicante) and Spain , 3 Department of Computer Science, University of the Balearic Islands, 07122 Palma de Mallorca and Spain

Digital Object Identifier: 10.5220/0006838802590266

Proceedings of SIMULTECH 2018, ISBN: 978-989-758-323-0

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Fast-converging routing protocols are necessary in order to keep up with the interconnected world we are living in and one of the quickest ones is EIGRP. In this paper, we are going to design two models for network devices running EIGRP by focusing on the main events happening on them. First, a non-timing model is going to be formally described, hence just studying the aforesaid main events without any time constraints. Then, a timing model is going to extend the former with the proper time values associated with each particular event. Both models are going to be formally described by means of manual algebraic derivations using Algebra of Communicating Processes (ACP).
Collapse Button Related Ontology Subjects/Areas/Topics (3)
Conceptual Modeling

Formal Methods

Simulation and Modeling

OSPF Algebraic Formal Modelling using ACP - A Formal Description on OSPF Routing Protocol

Topic: Network Protocols

Authors: Pedro Juan Roig 1 , Salvador Alcaraz 2 , Katja Gilly 2 and Carlos Juiz 3

Affiliations: 1 Department of Physics and Computer Architecture, Miguel Hernández University, 03202 Elche (Alicante), Spain, Department of Computer Science, University of the Balearic Islands, 07122 Palma de Mallorca and Spain , 2 Department of Physics and Computer Architecture, Miguel Hernández University, 03202 Elche (Alicante) and Spain , 3 Department of Computer Science, University of the Balearic Islands, 07122 Palma de Mallorca and Spain

Digital Object Identifier: 10.5220/0006838702210232

Proceedings of ICETE 2018, ISBN: 978-989-758-319-3

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OSPF may well be the most popular routing protocol within Autonomous Systems, being used in all kind of networks around the world. In this paper, we first design a basic model by focusing on the main tasks of a router running OSPF, hence being neighbour discovery and a simplified route management, by means of algebraic derivations using Algebra of Communicating Processes (ACP). Taking this model as a base case scenario, we extend it by adding up some timing behaviour present in real OSPF implementations and by detailing the packet exchanges involved in route management.
Collapse Button Related Ontology Subjects/Areas/Topics (3)
Data Communication Networking

Network Protocols

Telecommunications

Towards a Pre-diagnose of Surgical Wounds through the Analysis of Visual 3D Reconstructions

Topics: Image-Based Modeling and 3D Reconstruction; Stereo Vision and Structure from Motion; Medical Image Applications

Authors: Neus Muntaner Estarellas 1 , Francisco Bonin-Font 2 , Juan J. Segura-Sampedro 3 , Andres Jiménez Ramírez 1 , Pep L. Negre Carrasco 2 , Miquel Massot Campos 2 , Francesc X. Gonzalez-Argenté 3 and Gabriel Oliver Codina 2

Affiliations: 1 University of Sevilla, Spain , 2 University of the Balearic Islands, Spain , 3 University Hospital of Son Espases, Spain

Digital Object Identifier: 10.5220/0006628505890595

Proceedings of VISAPP 2018, ISBN: 978-989-758-290-5

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This paper presents a new methodology to pre-diagnose the state of post-surgical abdominal wounds based on visual information. The process consist of four major phases: a) building dense 3D reconstruction of the abdominal area around the wound, b) selecting an area close to the wound to fit a plane, c) calculating the distance from each point of the 3D model to the plane, d) analyzing this map of distances to infer if the wound is inflamed or not. This method needs to be wrapped in an application to be used by patients in order to save unnecessary visits to the medical center.
Collapse Button Related Ontology Subjects/Areas/Topics (10)
Applications

Image-Based Modeling

Pattern Recognition

Applications and Services

Medical Image Applications

Software Engineering

Computer Vision, Visualization and Computer Graphics

Motion, Tracking and Stereo Vision

Stereo Vision and Structure from Motion
Geometry and Modeling

Towards Robust Image Registration for Underwater Visual SLAM

Topics: Active and Robot Vision; Vision for Robotics

Authors: Antoni Burguera , Francisco Bonin-Font and Gabriel Oliver

Affiliation: Universitat de les Illes Balears, Spain

Digital Object Identifier: 10.5220/0004682005390544

Proceedings of VISAPP 2014/VISIGRAPP, ISBN: 978-989-758-009-3

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This paper proposes a simple and practical approach to perform underwater visual SLAM. The proposal improves the traditional EKF-SLAM by adopting a Trajectory-based schema that reduces the computational requirements. Linearization errors are also reduced by means of an IEKF. One of the most important parts of the proposed SLAM approach is robust image registration, which is used in the data association step making it possible to close loops reliably. Thanks to that, as shown in the experiments, the presented approach provides accurate pose estimates using both a simulated robot and a real one.
Collapse Button Related Ontology Subjects/Areas/Topics (7)
Active and Robot Vision

Motion, Tracking and Stereo Vision

Robotics

Applications

Pattern Recognition

Software Engineering
Computer Vision, Visualization and Computer Graphics

A Serious Game Application using EEG-based Brain Computer Interface

Authors: Francisco José Perales and Esperança Amengual

Affiliation: University of the Balearic Islands, Spain

Digital Object Identifier: 10.5220/0004678102490255

Proceedings of BrainRehab 2013/NEUROTECHNIX, ISBN: 978-989-8565-80-8

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Serious games have demonstrated their effectiveness as a therapeutic resource to deal with motor, sensory and cognitive disabilities. In this article we consider Brain Computer Interfaces (BCI) as a new interaction mechanism that could be used in serious games to improve their rehabilitation activity thanks to the ability of neurofeedback to stimulate the cortical plasticity. We present the brief state-of-the-art of BCI serious games and the factors to be considered in order to develop this particular kind of software that could be highly complex and require experts with different knowledge and skills. We propose a new approach based on the detection of focus features in the game activity. We introduce a system able to assess the Alpha band variations in particular game tasks. Our initial target users are children with cerebral palsy and motor disa-bilities. The system is currently under evaluation with control users before to be operated with the target users in rehabilitation centers.

Grid-based Spatial Keypoint Selection for Real Time Visual Odometry

Topic: Motion and Tracking

Authors: Volker Nannen 1 and Gabriel Oliver 2

Affiliations: 1 Universitat de Girona, Spain , 2 Universitat de les Illes Balears, Spain

Digital Object Identifier: 10.5220/0004270005860589

Proceedings of ICPRAM 2013, ISBN: 978-989-8565-41-9

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Robotic systems can achieve real-time visual odometry by extracting a fixed number of invariant keypoints from the current camera frame, matching them against keypoints from a previous frame, and calculating camera motion from matching pairs. If keypoints are selected by response only they can become concentrated in a small image region. This decreases the chance for keypoints to match between images and increases the chance for a degenerate set of matching keypoints. Here we present and evaluate a simple grid-based method that forces extracted keypoints to follow an even spatial distribution. The benefits of this approach depend on image quality. Real world trials with low quality images show that the method can extend the length of a correctly estimated path by an order of magnitude. In laboratory trials with images of higher quality we observe that the quality of motion estimates can degrade significantly, in particular if the number of extracted keypoints is low. This negative effect can be minimized by using a large number of grid cells.
Collapse Button Related Ontology Subjects/Areas/Topics (8)
Applications

Methodologies and Methods

Pattern Recognition

Computer Vision, Visualization and Computer Graphics

Motion and Tracking

Physiological Computing Systems
Human-Computer Interaction

Motion, Tracking and Stereo Vision

Ontologies for Authoring, or Authoring Ontologies?

Topics: Knowledge Representation and Reasoning; Ontologies; AI and Creativity

Authors: Diana Arellano 1 , Javier Varona 2 and Volker Helzle 1

Affiliations: 1 Filmakademie Baden-Württemberg, Germany , 2 Universitat de les Illes Balears, Spain

Digital Object Identifier: 10.5220/0004330503640369

Proceedings of ICAART 2013, ISBN: 978-989-8565-39-6

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In the last years the use of ontologies has broaden to areas that until some time ago were unthinkable, like storytelling or context/content representation. The main problem with the use of ontologies is that the user responsible of authoring the story needs to input every single element that is required for the story to make sense. Depending on the case, this might be a tedious task. However, once it is done, different stories can be developed by reusing the already defined concepts. The objective of the paper is to provide examples of applications where the use of ontologies conveyed “authoring effort” with satisfactory results. We also state our opinion of why is it better to use ontologies for such tasks, explain our own experience with an use case and propose ideas of what could be enhanced, or taken from other areas, to improve the authoring process.
Collapse Button Related Ontology Subjects/Areas/Topics (12)
AI and Creativity

Enterprise Information Systems

Ontologies

Artificial Intelligence

Enterprise Ontologies

Simulation and Modeling

e-Business

Formal Methods

Soft Computing

Enterprise Engineering

Knowledge Representation and Reasoning

Symbolic Systems

Quantitative Models Evaluating the Effect Climate Change Effects on Tourism - State of the Art

Author: Jaume Rosselló

Affiliation: Universitat de les Illes Balears, Spain

Digital Object Identifier: 10.5220/0004591404790488

Proceedings of MSCCEC 2013/SIMULTECH, ISBN: 978-989-8565-69-3

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In a context of climate change, many destinations are considering what effects can be predicted on the tourist demand and how they should be tackled. This work analyses the most relevant perspectives presented in the literature evaluating the effect of climate change on tourism. A review is made by showing the results that rise from a triple point of view: the consideration of physical changes, the analysis of the tourist attractiveness through climatic indexes and modeling tourism demand. The review suggests that, although some methodologies are on a primary stage of development, results from the different perspectives agree in presenting a similar map of the main affected areas (positively and negatively) in terms of tourism demand and/or tourism attractiveness.

A Comparison Study of Some Configurations of the Uninorm Morphological Edge Detector

Topic: Fuzzy Image, Speech and Signal Processing, Vision and Multimedia

Authors: Manuel González-Hidalgo , Sebastià Massanet , Arnau Mir and Daniel Ruiz-Aguilera

Affiliation: University of the Balearic Islands, Spain

Digital Object Identifier: 10.5220/0004148804100419

Proceedings of FCTA 2012/IJCCI, ISBN: 978-989-8565-33-4

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In this paper, we study the performance of the edge detector from the fuzzy mathematical morphology based on conjunctive uninorms. Several different pairs of uninorm and fuzzy implication (configurations) are considered in the fuzzy morphological gradient. The results are compared using an objective edge detection performance measure, the so-called Pratt’s figure of merit. To reinforce the analysis a K-means clustering algorithm has been applied to study the relation between the configurations and to determine which uninorm and implication have to be chosen to obtain an optimal edge detector. According to the analysis of the obtained results, the idempotent uninorm obtained using the classical negation, and its residual implication is the best configuration in this framework.
Collapse Button Related Ontology Subjects/Areas/Topics (5)
Artificial Intelligence

Fuzzy Image, Speech and Signal Processing, Vision and Multimedia

Soft Computing
Computational Intelligence

Fuzzy Systems

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