Ismael García-Varea

Ismael García-Varea
University of Castilla-La Mancha · Computer Systems

PhD

About

109
Publications
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885
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Publications

Publications (109)
Article
Full-text available
Many of the research problems in robot vision involve the detection of keypoints, areas with salient information in the input images and the generation of local descriptors, that encode relevant information for such keypoints. Computer vision solutions have recently relied on Deep Learning techniques, which make extensive use of the computational c...
Article
The great popularity of smartphones, together with the increasingly important aim of providing context-aware services, has spurred interest in developing indoor tracking systems. Accurate tracking and localization systems are seen as key services for most context-aware applications. Research projects making use of radio signals detected by radio in...
Chapter
One of the most common tasks in assistive robotics is to find some specific object in a home environment. Usually, this task is tackled by adding the objects of interest to a map of the environment as soon as the objects are detected by the vision system of the robot. However, these maps are usually static, and do not take into account the dynamic...
Chapter
Wi-Fi-based indoor localization mechanisms have attracted many research efforts in recent years due to the widespread use of this technology. All robots in indoor scenarios use this technology to provide Internet connection for Cloud services in speech understanding or human-robot interaction. However, this technology can also be used to provide lo...
Chapter
A 3D semantic map can be defined as a grid-based representation of the environment, where each bin stores a probability distribution over the possible elements to be found in it. This probability distribution can be obtained with any state-of-the-art image classifier, while the 3D position depends on the localization accuracy of the robot, the sens...
Chapter
The problem of people detection and tracking in unmanned ground vehicles has been studied in depth in computer vision and autonomous robotics research communities. Different well-known proposals have already been proposed to solve the problem of people detection and tracking using machine vision algorithms. However, for unmanned aerial vehicles, it...
Article
CORTEX is a cognitive robotics architecture inspired by three key ideas: modularity, internal modelling and graph representations. CORTEX is also a computational framework designed to support early forms of intelligence in human interacting robots by selecting, a priori, a functional decomposition of the capabilities of the robot. This set of abili...
Article
Full-text available
With the growing development of smartphones equipped with Wi-Fi technology and the need of inexpensive indoor location systems, many researchers are focusing their efforts on the development of Wi-Fi-based indoor localization methods. However, due to the difficulties in characterizing the Wi-Fi radio signal propagation in such environments, the dev...
Article
Full-text available
The generation of semantic environment representations is still an open problem in robotics. Most of the current proposals are based on metric representations, and incorporate semantic information in a supervised fashion. The purpose of the robot is key in the generation of these representations, which has traditionally reduced the inter-usability...
Article
Full-text available
The development of Internet of Things (IoT) benefits from: (a) the connections between devices equipped with multiple sensors; (b) wireless networks; and (c) processing and analysis of the gathered data. The growing interest in the use of IoT technologies has led to the development of numerous diverse applications, many of which are based on the kn...
Chapter
The recognition of objects and their features is a fundamental task for social robots that could be improved with the combination of different sources of information, such as the ones provided by visual or speech understanding systems. In this paper, we present a first approach to fusion semantic localization and conversational skills for social ro...
Conference Paper
The semantic segmentation problem has been widely studied in the computer vision community. However, state-of-the-art solutions based on deep learning are only available for 2D images. The lack of large annotated datasets makes more difficult the training of models with 3D images. In this work we propose to use the already available 2D deep learnin...
Chapter
Full-text available
The goal of the LifeBots project is the study and development of long-life mechanisms that facilitate and improve the integration of robotics platforms in smart homes to support elder and handicapped people. Specifically the system aims to design, build and validate an assistive ecosystem formed by a person living in a smart home with a social robo...
Thesis
Full-text available
The development of wireless networks and devices equipped with multiple sensors, and their connection to storage centres and data processing through the Internet, has led to the implementation of Internet of Things (IoT). The growing interest in the use of IoT technologies has generated the development of numerous and diverse applications. The prop...
Article
Despite the outstanding results of Convolutional Neural Networks (CNNs) in object recognition and classification, there are still some open problems to address when applying these solutions to real-world problems. Specifically, CNNs struggle to generalize under challenging scenarios, like recognizing the variability and heterogeneity of the instanc...
Conference Paper
Full-text available
The increasing interest on deploying ubiquitous context-based services has spurred the need of developing indoor localization mechanisms. Such systems should take advantage of the large amount of wireless networks and radio interfaces already incorporated in most mobile consumer devices. Among the existing radio interfaces, Bluetooth Low Energy (BL...
Article
Full-text available
Bluetooth Low Energy (BLE) 4.0 beacons will play a major role in the deployment of energy-efficient indoor localization mechanisms. Since BLE4.0 is highly sensitive to fast fading impairments, numerous ongoing studies are currently exploring the use of supervised learning algorithm as an alternative approach to exploit the information provided by t...
Conference Paper
Computational thinking may be defined as the systematic development of critical thinking and problem solving skills supported by computational concepts. The literature shows the numerous benefits of implementing the ideas behind computational thinking in the teaching/learning process at very early ages. This means in practice that children and teen...
Article
Full-text available
Nowadays, there is a great interest in developing accurate wireless indoor localization mechanisms enabling the implementation of many consumer-oriented services. Among the many proposals, wireless indoor localization mechanisms based on the Received Signal Strength Indication (RSSI) are being widely explored. Most studies have focused on the evalu...
Article
Indoor scene classification is usually approached from a computer vision perspective. However, in some fields like robotics, additional constraints must be taken into account. Specifically, in systems with low resources, state-of-the-art techniques (CNNs) cannot be successfully deployed. In this paper, we try to close this gap between theoretical a...
Poster
Full-text available
The Robotics Cognitive Architecture CORTEX is introduced along with two use cases where itis being applied.
Article
Any robot should be provided with a proper representation of its environment in order to perform navigation and other tasks. In addition to metrical approaches, topological mapping generates graph representations in which nodes and edges correspond to locations and transitions. In this article, we present LexToMap, a topological mapping procedure t...
Article
Full-text available
The accurate localization of end-users and resources is seen as one of the main pillars toward the successful implementation of context-based applications. While current outdoor localization mechanisms fulfill most application requirements, the design of accurate indoor localization mechanisms is still an open issue. Most research efforts are focus...
Article
Finding an appropriate image representation is a crucial problem in robotics. This problem has been classically addressed by means of computer vision techniques, where local and global features are used. The selection or/and combination of different features is carried out taking into account repeatability and distinctiveness, but also the specific...
Article
Full-text available
Traditionally, the indoor scene classification problem has been approached from a 2D image recognition point of view. In most visual scene classification systems, a descriptor for the input image is generated to obtain a suitable representation that includes features related to color, shape or spatial information. Techniques based on the use of a s...
Article
The semantic localization problem in robotics consists in determining the place where a robot is located by means of semantic categories. The problem is usually addressed as a supervised classification process, where input data correspond to robot perceptions while classes to semantic categories, like kitchen or corridor. In this paper we propose...
Article
This article describes the Robot Vision challenge, a competition that evaluates solutions for the visual place classification problem. Since its origin, this challenge has been proposed as a common benchmark where worldwide proposals are measured using a common overall score. Each new edition of the competition introduced novelties, both for the t...
Article
In this article we describe a semantic localization dataset for indoor environments named ViDRILO. The dataset provides five sequences of frames acquired with a mobile robot in two similar office buildings under different lighting conditions. Each frame consists of a point cloud representation of the scene and a perspective image. The frames in the...
Conference Paper
In robotics, simulation plays a fundamental role for testing the models and techniques in a controlled environment prior to conducting experiments on real physical agents. In addition, some kind of scenarios can be easily reproduced within a simulator which is not always possible with a real robot. Building simulation environments, however, can be...
Conference Paper
Object categorization from robot perceptions has become one of the most well-known problems in robotics. How to select proper representations for these perceptions, specially when using RGB-D images, has received a significant attention in the last years. We present in this paper an object categorization approach from RGB-D images. This approach is...
Conference Paper
Visual descriptors are widely used in several recognition and classification tasks in robotics. The main challenge for these tasks is to find a descriptor that could represent the image content without losing representative information of the image. Nowadays, there exists a wide range of visual descriptors computed with computer vision techniques a...
Conference Paper
Detection of keypoints in an image is a crucial step in most registration and recognition tasks. The information encoded in RGB-D images can be redundant and, usually, only specific areas in the image are useful for the classification process. The process of identifying those relevant areas is known as keypoint detection. The use of keypoints can f...
Conference Paper
Full-text available
Semantic localization describes the surrounding of a robot by using semantic labels. These labels are used to identify neighboring objects , but also the category of the place where the robot is located. Mul-timodal human-robot interaction refers to the communication between humans and robots by means of several information sources. This paper pres...
Conference Paper
Full-text available
This paper describes the genesis of Gualzru, a robot commissioned by a large Spanish technological company to provide advertisement services in open public spaces. Gualzru has to stand by at an interactive panel observing the people passing by and, at some point, select a promising candidate and approach her to initiate a conversation. After a smal...
Conference Paper
Nowdays it is very common the use of Open Source Software in different fields in society. For example, OpenOffice is widely used instead its proprietary competitor to write documents, prepare presentations, spreedsheets, etc. Evidently, Linux operating systems has a great acceptance in academic and industry. Other OSS packages widely used are, for...
Conference Paper
Full-text available
This paper presents an overview of the ImageCLEF 2014 evaluation lab. Since its first edition in 2003, ImageCLEF has become one of the key initiatives promoting the benchmark evaluation of algorithms for the annotation and retrieval of images in various domains, such as public and personal images, to data acquired by mobile robot platforms and medi...
Article
Full-text available
This paper introduces a taxonomy of vision systems for ground mobile robots. In the last five years, a significant number of relevant papers have contributed to this subject. Firstly, a thorough review of the papers is proposed to discuss and classify both past and the most current approaches in the field. As a result, a global picture of the state...
Conference Paper
Full-text available
This paper presents an overview of the ImageCLEF 2013 lab. Since its first edition in 2003, ImageCLEF has become one of the key initiatives promoting the benchmark evaluation of algorithms for the cross-language annotation and retrieval of images in various domains, such as public and personal images, to data acquired by mobile robot platforms and...
Conference Paper
Full-text available
Developing a simple multimodal interaction game with a 31 dof's mobile manipulator can become a challenging enterprise. A conceptually simple task quickly unfolds into a rather complex ensemble of driver-oriented, framework-based, software-enabled, state-machine controlled mechatronics. In this paper we propose a multimodal interaction game designe...
Article
Full-text available
This paper presents a theoretical and general differentiation among descriptional induction, explanatory induction and abduction. Descriptional induction is based on the idea of compression (justified by mean-or cross-validation). Explanatory induction is characterised by a 'balanced' compression (exception-free validation). Finally, abduction is t...
Article
Full-text available
After the initial relevance of deduction in AI, nowadays, inductive learning, and all its varieties (abductive reasoning, reasoning by analogy, connectionism, ILP, grammatical inference, HMM, EBR, etc.), are beginning to play a more central and still agglutinative role in the proper subset of AI devoted to make intelligent machines. The issue has b...
Article
Nowadays, information retrieval systems are widely available and routinely used by many non-skilled computer users. Therefore, user interfaces have to be simple, natural and, above all, they should not require any technical knowledge. To this end, an architecture to develop interactive systems that allow users to access to databases using natural l...
Article
Full-text available
The Workshop of Physical Agents intends to be a forum for information and experience exchange in different areas regarding the concept of agent in physical environments, especially applied to the control and coordination of autonomous systems: robots, mobile robots, industrial processes or complex systems. This special issue is devoted to the selec...
Conference Paper
This article describes the RobotVision@ImageCLEF 2013 challenge, which addresses two problems: place classification and object recognition. Participants of the challenge were asked to classify rooms on the basis of image sequences captured by cameras mounted on a mobile robot. They were also asked to detect the appearance or lack of several objects...
Conference Paper
The objective of this article is reporting the participation of the SIMD-IDIAP group in the RobotVision@ImageCLEF 2012 challenge. This challenge addresses the problem of multimodal place classification, and the 2012 edition has been organized by the members of the SIMDIDIAP team. One of the main novelties in the 2012 edition of the task has been th...
Conference Paper
Full-text available
La robótica social está experimentando un gran auge en las últimas décadas. Estos robots permiten interactuar con el ser humano o con otros robots siguiendo pautas y comportamientos sociales. Los escenarios de uso de los robots sociales van desde la robótica del hogar hasta la asistencia en museos, vigilancia, seguridad o incluso, en la rehabilitac...
Conference Paper
Full-text available
State-of-the-art Machine Translation (MT) systems are still far from being perfect. An alternative is the so-called Interactive Machine Translation (IMT) framework, where the knowledge of a human translator is combined with the MT system. We present a statistical IMT system able to learn from user feedback by means of the application of online lear...
Article
Full-text available
In the last decade competitions proved to be a very efficient way of encouraging researchers to advance the state of the art in different research fields in artificial intelligence.In this paper we focus on the optional task of the RobotVision@ImageCLEF competition, which consists of a visual place classification problem where images are not isolat...
Chapter
Nowadays, one of the main problems in information retrieval is filtering the great amount of information currently available. Late fusion techniques merge the outcomes of different information retrieval systems to generate a single result that, hopefully, could increase the overall performance by taking advantage of the strengths of all the individ...
Conference Paper
Full-text available
Object detection is a key point in robotics, both in localization and robot decision making. Genetic Algorithms (GAs) have proven to work well in this type of tasks, but they usually give rise to heavy computational processes. The scope of this study is the Standard Platform category of the RoboCup soccer competition, and so real-time object detect...
Conference Paper
Full-text available
This article presents a new approach to mobile robot vision based on genetic algorithms. The major contribution of this proposal is the real-time adaptation of genetic algorithms, which are generally used offline. In order to achieve this goal, the execution time must be as short as possible. The scope of this system is the Standard Platform catego...
Conference Paper
Full-text available
State-of-the-art Machine Translation (MT) systems are still far from being perfect. An alternative is the so-called Interactive Machine Translation (IMT) framework. In this framework, the knowledge of a human translator is combined with a MT system. The vast majority of the existing work on IMT makes use of the well-known batch learning paradigm. I...
Conference Paper
This paper presents the techniques developed by the SIMD group and the results obtained for the 2010 RobotVision task in the ImageCLEF competition. The approach presented tries to solve the problem of robot localization using only visual information. The proposed system presents a classification method using training sequences acquired under differ...
Conference Paper
Speech recognition systems are not typically able to produce error-free results in real scenarios. On account of this, human intervention is usually needed. This intervention can be included into the system by following the Computer Assisted Speech Transcription (CAST) approach, where the user constantly interacts with the system during the transcr...
Conference Paper
We present an interactive text generation system aimed at providing assistance for text typing in different environments. This system works by predicting what the user is going to type based on the text he or she typed previously. A multimodal interface is included, intended to facilitate the text generation in constrained environments. The prototy...
Conference Paper
Interactive text generation is aimed at facilitating text generation in those situations where text typing is somehow constrained. This approach achieves a significant amount of typing effort reduction in most tasks. Natural language based interfaces for information retrieval constitute a good scenario to include this kind of assistance in order to...