Vicente ArevaloUniversity of Malaga | UMA · Department of System Engineering and Automatics
Vicente Arevalo
Associate Professor
About
57
Publications
32,176
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540
Citations
Citations since 2017
Introduction
I was born in Cabra, a beautiful small town of the province of Córdoba (Spain), in 1975. I received the M.S. and Ph.D. degrees in Computer Science from the University of Málaga, Spain, in 2001 and 2008, respectively. I joined the Dept. of System Engineering and Automation (University of Málaga) as pre-doctoral researcher in 2003 (granted by the Spanish Gov.), getting the position of associate professor in 2011. My research mainly focuses on mobile robotic, computer vision and remote sensing.
Additional affiliations
June 2003 - present
Position
- PhD. in Computer Sciences - Associate Professor
Description
- My research mainly focuses on mobile robotic, computer vision and remote sensing, being author of more than 35 journal and conference papers.
Publications
Publications (57)
p class="icsmabstract">En este trabajo se presenta una iniciativa encaminada a introducir y fomentar el uso de los videotutoriales como herramienta de apoyo para el aprendizaje de los conceptos básicos del control automático en titulaciones universitarias técnicas. Los contenidos desarrollados, disponibles en el canal de YouTube denominado “Automát...
Este trabajo presenta una experiencia de innovación educativa llevada a cabo en asignaturas impartidas por el Dpto. de Ingeniería de Sistemas y Automática de la Universidad de Málaga en las que se imparten conceptos básicos de control automático. Dicha experiencia ha consistido en el diseño, creación y uso de una serie de videotutoriales en los que...
Este trabajo presenta un prototipo de laboratorio remoto construido a partir de componentes hardware de bajo coste y software open-source. El sistema propuesto tiene como objeto rebajar los costes necesarios para llevar a cabo prácticas de laboratorio en diversas asignaturas impartidas en el Dpto. de Ingeniería de Sistemas y Automática de la Univer...
Image registration, and more generally scene registration, needs to be solved in mobile robotics for a number of tasks including localization, mapping, object recognition, visual odometry and loop-closure. This paper presents a flexible strategy to register scenes based on its planar structure, which can be used with different sensors that acquire...
Setting-out is a crucial and frequently repeated process in construction and civil engineering. It is carried out by qualified operators who, making use of surveying stations, identify reference points to guide workers in their tasks. In this paper, we focus on the particular case of setting-out road/train tunnels and propose a system that automati...
Many applications in the fields of mobile robotics and autonomous vehicles employ two or more 2D laser rangefinders (LRFs) for different purposes: navigation, obstacle detection, 3D mapping or simultaneous localization and mapping. The extrinsic calibration between such sensors (i.e. finding their relative poses) is required to exploit effectively...
The integration of several 2D laser rangefinders in a vehicle is a common resource employed for 3D mapping, obstacle detection and navigation. The extrinsic calibration between such sensors (i.e. finding their relative poses) is required to exploit effectively the sensor measurements and to perform data fusion. The approaches found in the literatur...
The integration of several range cameras in a mobile platform is useful for applications in mobile robotics and autonomous vehicles that require a large field of view. This situation is increasingly interesting with the advent of low cost range cameras like those developed by Primesense. Calibrating such combination of sensors for any geometric con...
The representation of the world upon planar patches has proven to be simple, robust and useful for a variety of robotic tasks, including SLAM, autonomous navigation, or scene recognition. In this work we investigate how to incorporate color information into such representation to improve the matching of planar patches while maintaining the model co...
Simultaneous Localization and Mapping (SLAM) is a central problem for autonomous mobile robotics. Monocular SLAM is one of the ways to tackle the problem, where the only input information are the images from a moving camera. Current approaches for this problem have achieved a good balance between accuracy and density of the map, however, they are n...
In the last very few years, monocular SLAM approaches based on bundle adjustment are achieving amazing results in terms of accuracy, computational efficiency, and density of the map. When such solutions are applied on large scenarios it is crucial for the system scalability to maintain a map representation that permits efficient map optimization an...
Resumen La disponibilidad comercial en los últimos años de imágenes de satélite de alta resolución constituye una inestimable fuente de información para la gestión urbanística de ayuntamientos y administraciones con competencias territoriales. En particular, la comparación automática de este tipo de imágenes facilita enormemente la detección, contr...
This paper presents a new method for recognizing places in indoor environments based on the extraction of planar regions from range data provided by a hand-held RGB-D sensor. We propose to build a plane-based map (PbMap) consisting of a set of 3D planar patches described by simple geometric features (normal vector, centroid, area, etc.). This world...
Este trabajo describe una experiencia que se viene desarrollando en la asignatura "Automática básica", troncal en diversas titulaciones técnicas ("Ingeniero Industrial", "Ingeniero en Electrónica" y "Ingeniero en Automática y Electrónica Industrial"), consistente en la creación de vídeos de apoyo a la docencia. El objetivo de este tipo de contenido...
Resumen — En los últimos años, las soluciones de SLAM monocular basadas en bundle adjustment (BA) sobre keyframes han conseguido excelentes resultados en cuanto a precisión, eficiencia computacional y densidad del mapa. Pese a esto, su ámbito de aplicación está muy limitado, ya que su coste computacional se dispara cuando el mapa crece. El propósit...
This paper presents a mutual-information based optimization algorithm for improving piecewise-linear (PWL) image registration. PWL-registration techniques, which are well-suited for registering images of the same scene with relative local distortions, divide the images in conjugate triangular patches that are individually mapped through affine tran...
This paper presents a procedure to robustly distribute control point (CP) pairs in high-resolution satellite images as a preliminary step for accurate image registration. The proper distribution of the CPs is achieved by means of a quadtree decomposition of a coarse digital terrain model (DTM) of the sensed region. This technique parcels up the ima...
This paper describes SANCHO, a mobile robot intended to perform within crowded areas as a servant, for instance as a fair or congress host. This robot has been constructed upon a commercial platform on which a number of sensors and devices have been integrated. A software control architecture has been implemented and adapted to this particular robo...
Detecting abnd localizing objects from space, like roads, rivers, lakes, etc., is a challenging task with multiple applications in remote sensing. In this paper we address the detection of swimming pools in colour high-resolution images of urban areas acquired by the Quickbird satellite. The main motivation of this work is to survey and localize fi...
Piecewise linear transformation is a powerful technique for coping with the registration of images affected by local geometric distortions, as it is usually the case of high-resolution satellite images. A key point when applying this technique is to divide the images to register according to a suitable common triangular mesh. This comprises two dif...
El número de personas con problemas de movilidad está creciendo en los últimos años en los países desarrollados, como consecuencia de una mayor esperanza de vida y del gran número de accidentes de tráfico. La posibilidad de transferir y adaptar resultados del campo de la robótica a este colectivo resultaría de enorme interés toda vez que repercuta...
In our society, the number of physically impaired people who need some type of mechanical aid for mobility is quickly increasing over time. Advances in technology have permitted the development of robotic wheelchairs which are able to relieve users from tedious operations, like manually controlling the wheelchair along corridors or crowded areas. T...
Image shadow segmentation has become a major issue in satellite remote sensing because of the recent commercial availability of high-resolution images. Detecting shadows is important for successfully carrying out applications such as change detection, land monitoring, object recognition, scene reconstruction, colour correction, etc. This paper pres...
Multitud de aplicaciones de la visión artificial necesitan comparar o integrar imágenes de un mismo objeto pero obtenidas en instantes de tiempo diferentes, con distintos dispositivos (cámaras), desde distintas posiciones, bajo distintas condiciones, etc. Estas diferencias en la captura dan lugar a imágenes con importantes diferencias geométricas r...
In remote sensing, because of the wide diversity of image characteristics (size, spatial and radiometric resolution, terrain relief, observation poses, etc.), image registration methods that work well on certain satellite images may not produce acceptable results for others, requiring more powerful techniques. A variety of registration techniques t...
This paper proposes a method, that integrates image analysis and probabilistic techniques, for counting olive trees in high-resolution satellite images. Counting trees becomes significant for surveying and inventorying forests, and in certain cases relevant for assessing estimates of the production of plantations, as it is the case of the olive tre...
Piecewise-linear methods accomplish the registration by dividing the images in corresponding triangular patches, which are
individually mapped through affine transformations. For this process to be successful, every pair of corresponding patches
must lie on projections of a 3D plane surface; otherwise, the registration may generate undesirable arti...
In remote sensing, because of the wide diversity of image characteristics (size, spatial and radiometric resolution, terrain relief, observation poses, etc.), image registration methods that may work well on certain satellite images will not produce acceptable results for others, requiring more powerful techniques. A variety of registration techniq...
High resolution images provided by latest missions such as QuickBird, Ikonos or OrbView have opened a new and important age in the remote sensing field, mainly in those applications where is crucial to extract detailed information such as buildings, streets, vehicles, etc. The improvement in resolution makes also that something inherent to an image...
El registro de imágenes es una etapa básica en multitud de procesos en el campo de la
teledetección, entre otros para la fusión de imágenes de distintos sensores, para la detección de cambios temporales, para el “cosido” de imágenes, etc. Cuando las imágenes presentan distorsiones locales importantes (por ejemplo debidas a la captura desde distinto...
En este artículo describimos las características fundamentales de la librería de visión artificial y código abierto The Open Computer Vision Library (OpenCV a partir de ahora). La librería OpenCV proporciona un marco de trabajo de alto nivel para el desarrollo de aplicaciones de visión por computador en tiempo real: estructuras de datos, procesamie...
En este artículo describimos las características fundamentales de la librería de visión artificial y código abierto The Open Computer Vision Library (OpenCV a partir de ahora). La librería OpenCV proporciona un marco de trabajo de alto nivel para el desarrollo de aplicaciones de visión por computador en tiempo real: estructuras de datos, procesamie...
En este artículo se presenta un procedimiento de corrección geométrica para la comparación de imágenes de satélite de distinta resolución basado en la búsqueda y emparejamiento automático de puntos control y en el empleo de métodos robustos de regresión para el cálculo de las transformaciones geométricas. El procedimiento al que hacemos referencia...
La disponibilidad comercial en los últimos años de imágenes de satélite de alta resolución constituye una inestimable fuente de información para la gestión urbanística de ayuntamientos y administraciones con competencias territoriales. En particular, la comparación automática de este tipo de imágenes facilita enormemente la detección, control y seg...
The availability of increasing satellite image resolution may help
city administrations in the daily management of the urban development
and planning. In this paper we describe a software system, called
DECASAT, that automatically detects changes between two images taking
from the same scene. This system has been tested successfully with
panchromat...
Resumen En este artículo se presenta un método probabilístico para estimar el desplazamiento de un robot móvil equipado con un sistema de visión estereoscópico. El método evita el emparejamiento directo entre las marcas (puntos) 3D obtenidas por el sistema estéreo en las distintas posiciones del robot mediante el cálculo de la función de densidad d...
Projects
Projects (2)
Desarrollo de una experiencia de innovación educativa que se lleva cabo en asignaturas impartidas por el Dpto. de Ingeniería de Sistemas y Automática de la Universidad de Málaga en las que se imparten conceptos básicos de control automático. Dicha experiencia consiste en el diseño, creación y uso de una serie de videotutoriales en los que se explican estos conceptos con un formato que pretende ser atractivo, ameno y organizado. Para facilitar, propiciar y analizar el uso de los mismos, se han aprovechado las ventajas que supone su publicación en una plataforma tal como YouTube. El objetivo para el que se han concebido estos videotutoriales es reforzar el aprendizaje presencial del alumnado y fomentar su autoaprendizaje.
Desarrollo de un prototipo de laboratorio remoto construido a partir de componentes hardware de bajo coste y software open-source. El sistema propuesto tiene como objeto rebajar los costes necesarios para llevar a cabo prácticas de laboratorio en diversas asignaturas impartidas en el Dpto. de Ingeniería de Sistemas y Automática de la Universidad de Málaga.
