Diego Viejo

Diego Viejo
University of Alicante | UA · Computer Sciences and Artificial Intelligence

PhD.

About

47
Publications
9,267
Reads
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207
Citations
Additional affiliations
August 2008 - January 2009
The University of Sydney
Position
  • post-doctoral stay
September 2004 - present
University of Alicante
Position
  • Professor (Associate)

Publications

Publications (47)
Article
Several recent works deal with 3D data in mobile robotic problems, e.g., mapping. Data comes from any kind of sensor (time of flight, Kinect or 3D lasers) that provide a huge amount of unorganized 3D data. In this paper we detail an efficient approach to build complete 3D models using a soft computing method, the Growing Neural Gas (GNG). As neural...
Article
Several recent works deal with 3D data in mobile robotic problems, e.g. mapping or egomotion. Data comes from any kind of sensor such as stereo vision systems, time of flight cameras or 3D lasers, providing a huge amount of unorganized 3D data. In this paper, we describe an efficient method to build complete 3D models from a Growing Neural Gas (GNG...
Article
Full-text available
We are interested in using artificial landmarks obtained by a stereo system not only in SLAM-like algorithms but also feature extraction, map building, and so on. Using a stereo camera we can extract planes and geometrical primitives like that. In order to use these primitives a perceptual model of landmarks is needed. In this paper we present our...
Conference Paper
With the emergence of low cost 3D sensors, the focus is moving towards the recognition and scene understanding of tridimensional data. This kind of representation is really challenging in terms of computation, and it needs the development of new strategies and algorithms to be handled and interpreted. In this work, we propose NurbsNet, a novel ap...
Article
3D data sensors provide an enormous amount of information. It is necessary to develop efficient methods to manage this information under certain time, bandwidth or storage space requirements. In this work, we propose a 3D compression and decompression method. This method also allows the use of the compressed data for a registration process. First...
Article
RGB-D sensors are capable of providing 3D points (depth) together with color information associated with each point. These sensors suffer from different sources of noise. With some kinds of RGB-D sensors, it is possible to pre-process the color image before assigning the color information to the 3D data. However, with other kinds of sensors that is...
Conference Paper
Full-text available
In several computer science degrees there are subjects related to computer vision or robotics. Although those subjects are usually related to industrial engineers, those areas are closely related to computer science, i.e., everyday more and more computer science students begin a master's degree or PhD in robotics. This paper could serve as a guided...
Conference Paper
Full-text available
In 2015, a new degree has been implemented at University of Alicante, degree of robotics. It is the first degree about robotics in Spain and one of the first degrees in the world. Although there are several similar degrees related with robotics, this one consists in a mixture between industrial engineering and computer science. The implementation o...
Article
The use of 3D data in mobile robotics applications provides valuable information about the robot’s environment. However usually the huge amount of 3D information is difficult to manage due to the fact that the robot storage system and computing capabilities are insufficient. Therefore, a data compression method is necessary to store and process thi...
Article
Full-text available
Machine vision is an important subject in computer science and engineering degrees. For laboratory experimentation, it is desirable to have a complete and easy-to-use tool. In this work we present a Java library, oriented to teaching computer vision. We have designed and built the library from the scratch with enfasis on readability and understandi...
Article
In this article, we present a new framework oriented to teach Computer Vision related subjects called JavaVis. It is a computer vision library divided in three main areas: 2D package is featured for classical computer vision processing; 3D package, which includes a complete 3D geometric toolset, is used for 3D vision computing; Desktop package comp...
Article
The use of 3D data in mobile robotics provides valuable information about the robot's environment. Traditionally, stereo cameras have been used as a low-cost 3D sensor. However, the lack of precision and texture for some surfaces suggests that the use of other 3D sensors could be more suitable. In this work we examine the use of two sensors: an inf...
Article
Nowadays, there is an increasing number of robotic applications that need to act in real three-dimensional (3D) scenarios. In this paper we present a new mobile robotics orientated 3D registration method that improves previous Iterative Closest Points based solutions both in speed and accuracy. As an initial step, we perform a low cost computationa...
Article
Full-text available
Recently, the use of RGB-D sensors has been the focus of a lot of research in computer vision and robotics. These kinds of sensors, like Kinect, are able to obtain 3D data together with color information. However, their working range is limited to less than 10 meters, making them useless in some robotics applications, like outdoor mapping. In these...
Chapter
The task of registering three dimensional data sets with rigid motions is a fundamental problem in many areas as computer vision, medical images, mobile robotic, arising whenever two or more 3D data sets must be aligned in a common coordinate system. In this chapter, the authors review registration methods. Focusing on mobile robots area, this chap...
Conference Paper
The task of registering three dimensional data sets with rigid motions is a fundamental problem in many areas as computer vision, medical images, mobile robotic, arising whenever two or more 3D data sets must be aligned in a common coordinate system. In this paper we make a study of registration methods for egomotion calculation on robotics. We are...
Article
Self-organising neural models have the ability to provide a good representation of the input space. In particular the Growing Neural Gas (GNG) is a suitable model because of its flexibility, rapid adaptation and excellent quality of representation. However, this type of learning is time-consuming, especially for high-dimensional input data. Since r...
Conference Paper
Full-text available
Nowadays, the use of RGB-D sensors have focused a lot of research in computer vision and robotics. These kinds of sensors, like Kinect, allow to obtain 3D data together with color information. However, their working range is limited to less than 10 meters, making them useless in some robotics applications, like outdoor mapping. In these environment...
Article
The task of registering three dimensional data sets with rigid motions is a fundamental problem in many areas as computer vision, medical images, mobile robotic, arising whenever two or more 3D data sets must be aligned in a common coordinate system. In this chapter, the authors review registration methods. Focusing on mobile robots area, this chap...
Article
This chapter aims to address the ability of self-organizing neural network models to manage video and image processing in real-time. The Growing Neural Gas networks (GNG) with its attributes of growth, flexibility, rapid adaptation, and excellent quality representation of the input space makes it a suitable model for real time applications. A numbe...
Conference Paper
Several recent works deal with 3D data in mobile robotic problems, e.g. mapping. Data come from any kind of sensor (time of flight cameras and 3D lasers) providing a huge amount of unorganized 3D data. In this paper we detail an efficient method to build complete 3D models from a Growing Neural Gas (GNG). We show that the use of GNG provides better...
Conference Paper
3D data have been used for robotics tasks in the last years. These data provide valuable information about the robot environment. Traditionally, stereo cameras has been used to obtain 3D data, but these kind of cameras do not provide information in the lack of texture. There is a new camera, SR4000, which uses infrared light in order to get richer...
Conference Paper
Several recent works deal with 3D data in mobile robotic problems: mapping and SLAM related problems. Data come from any kind of sensor (time of flight cameras and 3D lasers) providing a huge amount of unorganized 3D data. In this paper we detail an efficient method to build complete 3D models from a Growing Neural Gass (GNG). The GNG obtained is t...
Conference Paper
Full-text available
This paper presents a ground based system for mapping the geology and the geometry of the environment remotely. The main objective of this work is to develop a framework for a mobile robotic platform that can build 3D geological maps. We investigate classification and registration algorithms that can work without any manual intervention. The system...
Article
Full-text available
Several works deal with 3D data in SLAM problem but many of them are focused on short scale maps. In this paper, we propose a method that can be used for computing the 6DoF trajectory performed by a robot from the stereo images captured during a large scale trajectory. The method transforms robust 2D features extracted from the reference stereo ima...
Conference Paper
Full-text available
Several works deal with 3D data in mobile robotic problems. Data come from any kind of sensor providing a huge amount of unorganized 3D data. In this paper we detail an efficient method to build complete 3D models including planar sur-faces and creases from a 3D scene. This information can be used to compute the movement performed by a mobile robot...
Article
Full-text available
Several works deal with 3D data in SLAM problem. Data come from a 3D laser sweeping unit or a stereo camera, both providing a huge amount of data. In this paper, we detail an efficient method to extract a 3D model from raw data. Each model includes planar patches that belong to planar surfaces on the real scene. Then, we use these models in an ICP-...
Article
Full-text available
The present thesis is focused on three dimensional data model reconstruction and on the robot movement estimation computed from data captured during its trajectory. Our main objective is the automatic 3D environment map reconstruction using the six degrees of freedom robot movement estimation. Furthermore, our solutions have been developed for appl...
Conference Paper
Full-text available
Several works deal with 3D data in SLAM problem. Data come from a 3D laser sweeping unit or a stereo camera, both providing a huge amount of data. In this paper, we detail an efficient method to extract planar patches from 3D raw data. Then, we use these patches in an ICP-like method in order to address the SLAM problem. Using ICP with planes is no...
Article
Full-text available
Resumen Este trabajo tiene como objetivo presentar la estructura de la asignatura Técnicas de Inteligencia Artificial en la Universidad de Alicante haciendo especial hincapié en los recursos (nuevas tecnologías, material docente y aplicaciones software) empleados durante el desarrollo de la misma. Parte de estos recursos docentes están siendo emple...
Article
In this paper we present a new framework for teaching computer vision: JavaVis. This tool has several interesting features, such as image format or parameter checking, and it has implemented some of the most widely used algorithms in computer vision. It is easy to use: the user does not have to worry about internal structure and adding a new algori...
Conference Paper
Full-text available
In this paper we propose a method for extracting the planes from a 3D dense map. Three-dimensional data is acquired using active stereo in order to fill texture gaps which are typical in indoor environments. Then, a randomized SLAM algorithm recently proposed by the authors is applied to compute the 3D map by teleoperating a mobile robot. A 3D mesh...
Article
Full-text available
3D map building is a complex robotics task which needs mathematical robust models. From a 3D point cloud, we can use the normal vectors to these points to do feature extraction. In this paper, we will present a robust method for normal estimation and unconstrained 3D-mesh generation from a not-uniformly distributed point cloud. This work has been s...
Article
Full-text available
3D map building is a complex robotics task which needs mathematical robust models. From a 3D point cloud, we can use the normal vectors to these points to do feature extraction. In this paper, we propose to extract geometric primitives (e.g. planes) from the cloud. We will present a robust method for normal estimation.
Article
In this paper we present the open source project JavaVis, oriented to Computer Vision teaching. It consists of a framework with several features that make it useful for that purpose. Some of them are: a) image format, supporting frames and bands for sequence processing, b) code with many algorithms available, it contains implementations of some of...
Article
Full-text available
Several works deal with 3D data in SLAM problem but many of them are focused on short scale maps. In this paper, we propose a method that can be used for computing the 6DoF trajectory performed by a robot from the stereo images captured during a large scale trajectory. The method transforms robust 2D features extracted from the reference stereo ima...
Article
Full-text available
RESUMEN La presente comunicación tiene como objetivo presentar el trabajo de los miembros de la red de investigación en Técnicas de Inteligencia Artificial, en el seno del proyecto de Redes de Investigación en Docencia Universitaria de la Universidad de Alicante, durante el presente curso. Los esfuerzos de la red se están centrando en la elaboració...
Article
Full-text available
Este trabajo se centra en la construcción de mapas 3D a partir de datos de rango obtenidos mediante una cámara estéreo. El proceso de reconstrucción lo hemos dividido en dos fases. En la primera, a partir de datos tomados a intervalos regulares por un robot dentro de un entorno, hemos solucionado parcialmente el problema del error de odometría, hac...
Article
Full-text available
We are interested in using natural landmarks obtained by a stereo system not only in SLAM-like algorithms but also feature extraction, map building, and so on. Using a stereo camera we can extract planes and geometrical primitives like that. In order to use these primitives a perceptual model of landmarks is needed, due to error model can improve t...

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Projects (2)
Project
La atención de personas dependientes, ya sea por enfermedad, accidente, discapacidad, o envejecimiento, es una de las líneas prioritarias de investigación en los países desarrollados en la actualidad. Esta atención, además de servir de ayuda y compañía, se está planteando que sea incluso terapeútica. Por otra parte, se pretende que dicha atención sea en el hogar de la persona, con el objetivo de minimizar el coste de las terapias. La rehabilitación de los pacientes será completa cuando se consiga su integración en la sociedad, bien en el entorno familiar o en un entorno de trabajo y socialización. Para dar solución a este desafío, el principal objetivo científico que persigue este proyecto es fomentar la salud y el bienestar de la sociedad a partir del diseño, desarrollo y evaluación de un asistente para personas con daño cerebral adquirido o dependientes que les ayude ante los retos que plantea su enfermedad en su integración social completa. Este asistente tiene una vertiente en el domicilio del paciente basada en el diseño y uso de un ambiente inteligente de monitorización y aprendizaje activo, y de un robot social autónomo de asistencia y estimulación interactiva en el hogar. Por otro lado, se contempla asistir a los pacientes también en entornos exteriores, ante desorientaciones o situaciones complejas.
Archived project
La atención de personas dependientes, ya sea por enfermedad, accidente, discapacidad, o envejecimiento, es una de las líneas prioritarias de investigación en los países desarrollados en la actualidad. Esta atención, además de servir de ayuda y compañía, se está planteando que sea incluso terapeútica. Por otra parte, se pretende que dicha atención sea en el hogar de la persona, con el objetivo de minimizar el coste de las terapias. Para dar solución a este desafío, el principal objetivo científico que persigue este proyecto es fomentar la salud y el bienestar de la sociedad a partir del diseño, desarrollo y evaluación de una terapia novedosa de rehabilitación cognitiva para personas con daño cerebral adquirido o dependientes. Esta terapia estará basada en el diseño y uso de un ambiente inteligente de monitorización activa y de un robot social autónomo de estimulación interactiva en el hogar. Esto implica la integración de ciertas tecnologías ya existentes, así como aportar soluciones a una diversidad de retos tecnológicos que este tipo de sistemas lleva emparejados. Para ello, se cuenta con un equipo multidisciplinar capaz de abordar cada uno de ellos por separado, y así proporcionar una solución global integradora. Además, se plantea una evaluación experimental con pacientes reales, la cual será llevada a cabo por profesionales clínicos que valorarán la eficacia del sistema en la mejora de la calidad de vida de las personas dependientes. La evaluación será llevada a cabo evaluando tanto la autonomía como el estado cognitivo–afectivo positivo del paciente. Para conseguir el objetivo general propuesto es necesario abordar ciertos retos científicos-tecnológicos que se desglosan en los siguientes objetivos específicos: i) desarrollar un sistema inteligente de monitorización del entorno, que permita realizar la localización y el seguimiento, de manera precisa, de los agentes móviles presentes en un escenario; ii) desarrollar un sistema de interacción multimodal humano-robot que proporcione funcionalidades de interacción de la forma más humana posible; iii) desarrollar un sistema de reconocimiento y manipulación de objetos 3D de tamaño reducido a bordo del robot para proporcionar ayuda al paciente; iv) desarrollar técnicas de auto localización robusta topológica/métrica para dotar al robot de libertad de movimiento y autonomía; v) desarrollar un sistema cognitivo que permita al robot comportarse de manera inteligente; vi) realizar un diseño del escenario de atención y rehabilitación, e identificar métricas, pilotaje y evaluación final del sistema desarrollado con escenarios y pacientes reales; y por último vii) difundir y divulgar los resultados obtenidos a la comunidad científica y a empresas y asociaciones relacionadas con el sector.