Elena López-Guillén

Elena López-Guillén
University of Alcalá | UAH · Department of Electronics

About

25
Publications
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205
Citations

Publications

Publications (25)
Article
Full-text available
Autonomous Driving (AD) promises an efficient, comfortable and safe driving experience. Nevertheless, fatalities involving vehicles equipped with Automated Driving Systems (ADSs) are on the rise, especially those related to the perception module of the vehicle. This paper presents a real-time and power-efficient 3D Multi-Object Detection and Tracki...
Article
Full-text available
Urban complex scenarios are the most challenging situations in the field of Autonomous Driving (AD). In that sense, an AD pipeline should be tested in countless environments and scenarios, escalating the cost and development time exponentially with a physical approach. In this paper we present a validation of our fully-autonomous driving architectu...
Article
Full-text available
Nowadays, Artificial Intelligence (AI) is growing by leaps and bounds in almost all fields of technology, and Autonomous Vehicles (AV) research is one more of them. This paper proposes the using of algorithms based on Deep Learning (DL) in the control layer of an autonomous vehicle. More specifically, Deep Reinforcement Learning (DRL) algorithms su...
Article
Full-text available
Monitoring driver attention using the gaze estimation is a typical approach used on road scenes. This indicator is of great importance for safe driving, specially on Level 3 and Level 4 automation systems, where the take over request control strategy could be based on the driver’s gaze estimation. Nowadays, gaze estimation techniques used in the st...
Article
The purpose of this paper is to implement a computer-aided diagnosis (CAD) system for multiple sclerosis (MS) based on analysing the outer retina as assessed by multifocal electroretinograms (mfERGs). MfERG recordings taken with the RETI‐port/scan 21 (Roland Consult) device from 15 eyes of patients diagnosed with incipient relapsing-remitting MS an...
Chapter
This work presents the validation of our fully-autonomous driving architecture in the CARLA open-source simulator, by using some challenging driving scenarios inspired on the CARLA Autonomous Driving Challenge (CADC), focusing on our decision-making layer, based on Hierarchical Interpreted Binary Petri Nets (HIBPN). First, our ROS (Robot Operating...
Chapter
Gaze estimation is a typical approach to monitor the driver attention on the road scene. This indicator is of great importance in safe driving and in the design of the takeover control strategy for a Level 3 and Level 4 automation system. Nowadays, most of eye gaze tracking techniques are intrusive and costly, which limits their applicability over...
Book
The book reports on cutting-edge Artificial Intelligence (AI) theories and methods aimed at the control and coordination of agents acting and moving in a dynamic environment. It covers a wide range of topics relating to: autonomous navigation, localization and mapping; mobile and social robots; multiagent systems; human-robot interaction; perceptio...
Chapter
This paper presents a real-time 3D Multi Object Detection and Tracking (DAMOT) method proposed for the UAH autonomous electric car. It allows the vehicle to recognize 360 surrounding objects and uniquely identify them to be able to follow their trajectory in scene by only receiving a 3D point cloud through ROS framework. First, we describe our prop...
Chapter
The goal of this work is to evaluate the task of autonomous driving in urban environment using Deep Q-Network Agents. For this purpose, several approaches based on DQN agents will be studied. The DQN agent learn a policy (set of actions) for lane following tasks using visual and driving features obtained from sensors onboard the vehicle and a model...
Article
Full-text available
This paper presents the development process of a robust and ROS-based Drive-By-Wire system designed for an autonomous electric vehicle from scratch over an open source chassis. A revision of the vehicle characteristics and the different modules of our navigation architecture is carried out to put in context our Drive-by-Wire system. The system is c...
Article
Full-text available
Automated Driving Systems (ADSs) require robust and scalable control systems in order to achieve a safe, efficient and comfortable driving experience. Most global planners for autonomous vehicles provide as output a sequence of waypoints to be followed. This paper proposes a modular and scalable waypoint tracking controller for Robot Operating Syst...
Article
Robotic obstacle avoidance is an important issue in robotic navigation for unknown or partially known, dynamic environments. A good number of techniques have already been proposed to navigate obstacles in this kind of environment. They include a series of velocity space methods that have been successful implemented in several applications. They for...
Article
Full-text available
The purpose of this paper is to evaluate the feasibility of diagnosing multiple sclerosis (MS) using optical coherence tomography (OCT) data and a support vector machine (SVM) as an automatic classifier. Forty-eight MS patients without symptoms of optic neuritis and forty-eight healthy control subjects were selected. Swept-source optical coherence...
Article
Full-text available
Purpose To determine if a novel analysis method will increase the diagnostic value of the multifocal electroretinogram (mfERG) in diagnosing early-stage multiple sclerosis (MS). Methods We studied the mfERG signals of OD (Oculus Dexter) eyes of fifteen patients diagnosed with early-stage MS (in all cases < 12 months) and without a history of optic...
Article
Full-text available
The interest in fisheye cameras has recently risen in the autonomous vehicles field, as they are able to reduce the complexity of perception systems while improving the management of dangerous driving situations. However, the strong distortion inherent to these cameras makes the usage of conventional computer vision algorithms difficult and has pre...
Chapter
We present a system to carry out the automatic detection of structural changes through a Deconvolutional Neural Network (DNN) in images synthesized from panoramas provided by an online and open source map tool, Google Street View (GSV). Our approach is motivated by the need of more efficient and frequent updates on large-scale maps for autonomous d...
Chapter
Full-text available
This paper presents a global positioning system for an autonomous electric vehicle based on a Real-Time Kinematic Global Navigation Satellite System (RTK- GNSS), and an incremental-encoder odometry system. Both elements are fused to a single system by an Extended Kalman Filter (EKF), reaching centimeter accuracy. Some varied experiments have been c...
Article
Full-text available
Background The response of many biomedical systems can be modelled using a linear combination of damped exponential functions. The approximation parameters, based on equally spaced samples, can be obtained using Prony’s method and its variants (e.g. the matrix pencil method). This paper provides a tutorial on the main polynomial Prony and matrix pe...
Conference Paper
Glaucoma is a leading cause of permanent blindness. Glaucoma has an initial phase difficult to diagnose, so different measures are used to evaluate it. One of them is a retinography exam which is used to determinate the ratio between the cup and the disc areas, and vein shifting in disc perimeter. A system that allows different measures and calcula...

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