Nowadays, one of the most important objectives in health research is the improvement of the living conditions and well-being of the elderly, especially those who live alone. These people may experience undesired or dangerous situations in... more
Nowadays, one of the most important objectives in health research is the improvement of the living conditions and well-being of the elderly, especially those who live alone. These people may experience undesired or dangerous situations in their daily life at home due to physical, sensorial or cognitive limitations, such as forgetting their medication or wrong eating habits. This work focuses on the development of a database in a home, through non-intrusive technology, where several users are residing by combining: a set of non-intrusive sensors which captures events that occur in the house, a positioning system through triangulation using beacons and a system for monitoring the user’s state through activity wristbands. Two months of uninterrupted measurements were obtained on the daily habits of 2 people who live with a pet and receive sporadic visits, in which 18 different types of activities were labelled. In order to validate the data, a system for the real-time recognition of th...
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Gaze control represents an important issue in the interaction between a robot and humans. Specifically, deciding who to pay attention to in a multi-party conversation is one way to improve the naturalness of a robot in human-robot... more
Gaze control represents an important issue in the interaction between a robot and humans. Specifically, deciding who to pay attention to in a multi-party conversation is one way to improve the naturalness of a robot in human-robot interaction. This control can be carried out by means of two different models that receive the stimuli produced by the participants in an interaction, either an on-center off-surround competitive network or a recurrent neural network. A system based on a competitive neural network is able to decide who to look at with a smooth transition in the focus of attention when significant changes in stimuli occur. An important aspect in this process is the configuration of the different parameters of such neural network. The weights of the different stimuli have to be computed to achieve human-like behavior. This article explains how these weights can be obtained by solving an optimization problem. In addition, a new model using a recurrent neural network with LSTM...
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As the basis for analysis and management of heritage assets, 3D laser scanning and photogrammetric 3D reconstruction have been probed as adequate techniques for point cloud data acquisition. The European Directive 2014/24/EU imposes BIM... more
As the basis for analysis and management of heritage assets, 3D laser scanning and photogrammetric 3D reconstruction have been probed as adequate techniques for point cloud data acquisition. The European Directive 2014/24/EU imposes BIM Level 2 for government centrally procured projects as a collaborative process of producing federated discipline-specific models. Although BIM software resources are intensified and increasingly growing, distinct specifications for heritage (H-BIM) are essential to driving particular processes and tools to efficiency shifting from point clouds to meaningful information ready to be exchanged using non-proprietary formats, such as Industry Foundation Classes (IFC). This paper details a procedure for processing enriched 3D point clouds into the REVIT software package due to its worldwide popularity and how closely it integrates with the BIM concept. The procedure will be additionally supported by a tailored plug-in to make high-quality 3D digital survey ...
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Abstract This work presents a novel software architecture to autonomously identify and evaluate the gymnastic activity that people are carrying out. It is composed of three different interconnected layers. The first corresponds to a... more
Abstract This work presents a novel software architecture to autonomously identify and evaluate the gymnastic activity that people are carrying out. It is composed of three different interconnected layers. The first corresponds to a Multilayer Perceptron (MLP) trained from a set of angular magnitudes derived from the information provided by the OpenPose library. This library works frame by frame, so some postures may be incorrectly detected due to eventual occlusions. The MLP layer makes it possible to accurately identify the posture a person is performing. A second layer, based on a Hidden Markov Model (HMM) and the Viterbi algorithm, filters the incorrect spurious postures. Thus, the accuracy of the algorithm is improved, leading to a precise sequence of postures. A third layer identifies the current exercise and evaluates whether the person is doing it at a correct speed. This layer uses an innovative Modified Levenshtein Distance (MLD), which considers not only the number of operations to transform a given sequence, but also the nature of the elements participating in the comparison. The system works in real time with little delay, thus recognizing sequences of arbitrary length and providing continuous feedback on the exercises being performed. An experiment carried out consisted in reproducing the output of the second layer on an autonomous Pepper robot that can be used in environments where physical exercise is performed, such as a residence for the elderly or others. It has reproduced different exercises previously executed by an instructor so that people can copy the robot. The article analyzes the current situation of the automated gymnastic activities recognition, presents the architecture, the different experiments carried out and the results obtained. The integration of the three components (MLP, HMM and MLD) results in a robust system that has allowed us to improve the results of previous works.
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The complexity of robot software systems calls for the use of some well-conceived architecture together with programming tools that support the architecture. These sets of tools are usually named robot programming frameworks. One common... more
The complexity of robot software systems calls for the use of some well-conceived architecture together with programming tools that support the architecture. These sets of tools are usually named robot programming frameworks. One common feature of robot architectures is the modular decomposition of systems into simpler and largely independent components. These components implement primitive actions and report events about their state. These modules are usually connected with different inter-process communication mechanisms. There are two basic communication approaches: client/server and publish/subscribe. The robot programming framework proposed here includes a tool (RoboGraph) to program and coordinate the activity (tasks) of these middleware modules. This tool is easily extensible to any architecture that uses a publish/subscribe communication approach. Project developers use the same task programming IDE (RoboGraph) in two different levels. The first one is to program tasks that ...
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This article shows our work for developing an elder care platform for social interaction and physical and cognitive stimulation using the Pepper robot and Android OS as clients, based on the knowledge acquired on our long-term social... more
This article shows our work for developing an elder care platform for social interaction and physical and cognitive stimulation using the Pepper robot and Android OS as clients, based on the knowledge acquired on our long-term social robotics research experience. The first results of the user’s acceptance of the solution are presented in this article. The platform is able to provide different services to the user, such as information, news, games, exercises or music. The games, which have a bi-modal way of interacting (speech and a touch screen interface), have been designed for cognitive stimulation based on the items of the mini-mental state examination. The results of the user’s performance are stored in a cloud database and can be reviewed by therapists through a web interface that also allows them to establish customized therapy plans for each user. The platform has been tested and validated, first using adult people and then deployed to an elder care facility where the robot h...
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Ancient Egyptians had a complex religion, which was active for longer than the time that has passed since Cleopatra until our days. One amazing belief was to be buried with funerary statuettes to help the deceased carry out his/her tasks... more
Ancient Egyptians had a complex religion, which was active for longer than the time that has passed since Cleopatra until our days. One amazing belief was to be buried with funerary statuettes to help the deceased carry out his/her tasks in the underworld. These funerary statuettes, mainly known as shabtis, were produced in different materials and were usually inscribed in hieroglyphs with formulas including the name of the deceased. Shabtis are important archaeological objects which can help to identify the owners, their jobs, ranks or their families. They are also used for tomb dating because, depending on different elements: color, formula, tools, wig, hand positions, etc., it is possible to associate them to a concrete type or period of time. Shabtis are spread all over the world, in excavations, museums or private collections, and many of them have not been studied and identified because this process requires a deep study and reading of the hieroglyphs. Our system is able to so...
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This work presents an integrated Indoor Positioning System which makes use of WiFi signals and RGB cameras, such as surveillance cameras, to track and identify people navigating in complex indoor environments. Previous works have often... more
This work presents an integrated Indoor Positioning System which makes use of WiFi signals and RGB cameras, such as surveillance cameras, to track and identify people navigating in complex indoor environments. Previous works have often been based on WiFi, but accuracy is limited. Other works use computer vision, but the problem of identifying concrete persons relies on such techniques as face recognition, which are not useful if there are many unknown people, or where the robustness decreases when individuals are seen from different points of view. The solution presented in this paper is based on an accurate combination of smartphones along with RGB cameras, such as those used in surveillance infrastructures. WiFi signals from smartphones allow the persons present in the environment to be identified uniquely, while the data coming from the cameras allow the precision of location to be improved. The system is nonintrusive, and biometric data about subjects is not required. In this pa...
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In this paper, the development of an assistance system for the elderly that combines robots with a network of sensors and actuators is described. The architecture was developed with the aim of interaction. With this reason, the system... more
In this paper, the development of an assistance system for the elderly that combines robots with a network of sensors and actuators is described. The architecture was developed with the aim of interaction. With this reason, the system incorporates particular solutions that are adaptable to the needs of the user, such as a pyramid interaction system, a telepresence robot, a biometric bracelet, and others. In the software, the system is composed of two servers: local and web. The local server is in charge of different modules that interact with direct users and their needs. The web server provides different facilities to external users to access the system remotely. A use case is analyzed where the proposed system is validated.
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In this article, a system for the detection of cracks in concrete tunnel surfaces, based on image sensors, is presented. Both data acquisition and processing are covered. Linear cameras and proper lighting are used for data acquisition.... more
In this article, a system for the detection of cracks in concrete tunnel surfaces, based on image sensors, is presented. Both data acquisition and processing are covered. Linear cameras and proper lighting are used for data acquisition. The required resolution of the camera sensors and the number of cameras is discussed in terms of the crack size and the tunnel type. Data processing is done by applying a new method called Gabor filter invariant to rotation, allowing the detection of cracks in any direction. The parameter values of this filter are set by using a modified genetic algorithm based on the Differential Evolution optimization method. The detection of the pixels belonging to cracks is obtained to a balanced accuracy of 95.27%, thus improving the results of previous approaches.
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The digital documentation of cultural heritage (CH) often requires interpretation and classification of a huge amount of images. The INCEPTION European project focuses on the development of tools and methodologies for obtaining 3D models... more
The digital documentation of cultural heritage (CH) often requires interpretation and classification of a huge amount of images. The INCEPTION European project focuses on the development of tools and methodologies for obtaining 3D models of cultural heritage assets, enriched by semantic information and integration of both parts on a new H-BIM (Heritage - Building Information Modeling) platform. In this sense, the availability of automated techniques that allow the interpretation of photos and the search using semantic terms would greatly facilitate the work to develop the project. In this article the use of deep learning techniques, specifically the convolutional neural networks (CNNs) for analyzing images of cultural heritage is assessed. It is considered that the application of these techniques can make a significant contribution to the objectives sought in the INCEPTION project and, more generally, the digital documentation of cultural heritage.
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The well-known Torrance-Sparrow (1967) reflection model describes the optical properties of objects, by means of the diffuse reflectance of the body material, the Fresnel reflectance of the air-media interface, and the slope roughness.... more
The well-known Torrance-Sparrow (1967) reflection model describes the optical properties of objects, by means of the diffuse reflectance of the body material, the Fresnel reflectance of the air-media interface, and the slope roughness. This paper describes an approach for recovering these parameters from range and brightness (or color) data. Some details about the system built to collect the data are
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Abstract Modeling reflectance properties from real objects is useful for solving many practical problems ranging from industrial inspection to computer graphics. In particular building computer graphics models directly from real objects... more
Abstract Modeling reflectance properties from real objects is useful for solving many practical problems ranging from industrial inspection to computer graphics. In particular building computer graphics models directly from real objects has received increased ...
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espanolEl presente trabajo aporta una metodologia para la obtencion conjunta, secuencial, de las informaciones tridimensional y cromatica. El estudio se fundamenta sobre la triangulacion activa por proyeccion de luz estructurada, ambito... more
espanolEl presente trabajo aporta una metodologia para la obtencion conjunta, secuencial, de las informaciones tridimensional y cromatica. El estudio se fundamenta sobre la triangulacion activa por proyeccion de luz estructurada, ambito en el que propugnamos la consideracion de las distorsiones geometricas. Respecto a la informacion cromatica, proponemos un marco formal encaminado a relacionar los niveles proporcionados por los captadores de imagenes con la realidad fisica. Proponemos finalmente un procedimiento que supone una primera aproximacion a la caracterizacion del comportamiento cromatico intrinseco de las superficies, independiente de la geometria y de las condiciones de iluminacion y observacion. EnglishThis paper proposes a sequential methodology for measuring both tridimensional and color data. Our work is based on structured-light projection, taking into account geometric camera distorsions. With respect to color information, we propose a formal aproach to relate output camera levels to physical reality. Finally, we propose an initial attempt to intrinsic color-surface measurement, independient from shape, and from ilumination and observation conditions.
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ABSTRACT In this work, a method for animating a mechatronic head with realistic appearance is presented. The required actuators have been defined upon the Facial Action Coding System (FACS). The generation of the six basic emotions is... more
ABSTRACT In this work, a method for animating a mechatronic head with realistic appearance is presented. The required actuators have been defined upon the Facial Action Coding System (FACS). The generation of the six basic emotions is addressed: happiness, disgust, sadness, anger, fear and surprise. These expressions are generated by interpolating movements through a sequence of key poses. The voice is integrated in a similar way, using a viseme-based scheme that allows synchronizing voice, lips and mouth movements. Implementation details and results showing suitability of the approach are also given.
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ABSTRACT Mejor Próxima Vista (MPV) y definir trayectorias libres de colisiones para cada perspectiva. Se presentan así alguno de los resultados experimentales obtenidos en laboratorio. Palabras Clave: automatic surface digitising, optical... more
ABSTRACT Mejor Próxima Vista (MPV) y definir trayectorias libres de colisiones para cada perspectiva. Se presentan así alguno de los resultados experimentales obtenidos en laboratorio. Palabras Clave: automatic surface digitising, optical range sensors, range images, viewpoint planning, next best viewpoint.
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Page 1. 1 Development of an expressive social robot Salvador Dominguez´Quijada§, Eduardo Zalama Casanova*, Jaime Gómez García-Bermejo*, José R. Perán González* * ETSII, Dep. of Automatic Control, University of Valladolid ...
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Page 1. A New Beacon-based System for the Localization of Moving Objects Eduardo Zalama Casanova*, Salvador Dominguez Quijada§, Jaime Gómez García-Bermejo*, José R. Perán González* * ETSII, Dep. of Automatic ...
Centro de Informacion y Documentacion Cientifica (CINDOC). C/Joaquin Costa, 22. 28002 Madrid. SPAIN / CINDOC - Centro de Informaciòn y Documentaciòn CientìficaSIGLEESSpai
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El exito de las aplicaciones basadas en la percepcion tridimensional requiere basicamente un algoritmo preciso de calibracion de camaras y un algoritmo robusto de reconstruccion de los datos tridimensionales (3D). Presentamos una... more
El exito de las aplicaciones basadas en la percepcion tridimensional requiere basicamente un algoritmo preciso de calibracion de camaras y un algoritmo robusto de reconstruccion de los datos tridimensionales (3D). Presentamos una metodologia de modelizacion-calibrazion de camaras que modeliza diversos tipos de distorsion en dos componentes: radial y tangencial. Para la estimacion de los parametros del modelo, proponemos la introduccion de una ponderacion del tipo factor de olvido en la funcion a minimizar. Mostramos asimismo una estrategia basada en el concepto de filtro de Kalman, que explota los resultados obtenidos para una reconstruccion optima de las coordenadas 3D. La implantacion y experimentacion de estos algoritmos han permitido evaluar las soluciones propuestas.
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In recent years, Artificial Intelligence Technologies (AIT) have been developed to improve the quality of life of the elderly and their safety in the home. This work focuses on developing a system capable of recognising the most usual... more
In recent years, Artificial Intelligence Technologies (AIT) have been developed to improve the quality of life of the elderly and their safety in the home. This work focuses on developing a system capable of recognising the most usual activities in the daily life of an elderly person in real-time to enable a specialist to monitor the habits of this person, such as taking medication or eating the correct meals of the day. To this end, a prediction model has been developed based on recurrent neural networks, specifically on bidirectional LSTM networks, to obtain in real-time the activity being carried out by the individuals in their homes, based on the information provided by a set of different sensors installed at each person’s home. The prediction model developed in this paper provides a 95.42% accuracy rate, improving the results of similar models currently in use. In order to obtain a reliable model with a high accuracy rate, a series of processing and filtering processes have bee...
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The fruit fly Drosophila Melanogaster has become a model organism in the study of neurobiology and behavior patterns. The analysis of the way the fly moves and its behavior is of great scientific interest for research on aspects such as... more
The fruit fly Drosophila Melanogaster has become a model organism in the study of neurobiology and behavior patterns. The analysis of the way the fly moves and its behavior is of great scientific interest for research on aspects such as drug tolerance, aggression or ageing in humans. In this article, a procedure for detecting, identifying and tracking numerous specimens of Drosophila by means of computer vision-based sensing systems is presented. This procedure allows dynamic information about each specimen to be collected at each moment, and then for its behavior to be quantitatively characterized. The proposed algorithm operates in three main steps: a pre-processing step, a detection and segmentation step, and tracking shape. The pre-processing and segmentation steps allow some limits of the image acquisition system and some visual artifacts (such as shadows and reflections) to be dealt with. The improvements introduced in the tracking step allow the problems corresponding to identity loss and swaps, caused by the interaction between individual flies, to be solved efficiently. Thus, a robust method that compares favorably to other existing methods is obtained.