Now showing items 1-20 of 20

  • A 3D descriptor to detect task-oriented grasping points in clothing 

    Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (2016)
    Article
    Open Access
    Manipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. ...
  • Active perception of deformable objects using 3D cameras 

    Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Ramisa Ayats, Arnau; Torras, Carme (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
    Conference report
    Open Access
    Perception and manipulation of rigid objects has received a lot of attention, and several solutions have been proposed. In contrast, dealing with deformable objects is a relatively new and challenging task because they ...
  • Breakingnews: article annotation by image and text processing 

    Ramisa Ayats, Arnau; Yan, Fei; Moreno-Noguer, Francesc; Mikolajczyk, Krystian (Institute of Electrical and Electronics Engineers (IEEE), 2018-05-01)
    Article
    Open Access
    Building upon recent Deep Neural Network architectures, current approaches lying in the intersection of Computer Vision and Natural Language Processing have achieved unprecedented breakthroughs in tasks like automatic ...
  • Characterization of textile grasping experiments 

    Alenyà Ribas, Guillem; Ramisa Ayats, Arnau; Moreno-Noguer, Francesc; Torras, Carme (2012)
    Conference report
    Open Access
    Grasping highly deformable objects, like textiles, is an emerging area of research that involves both percep- tion and manipulation abilities. As new techniques appear, it becomes essential to design strategies to compare ...
  • Combining geometric, textual and visual features for predicting prepositions in image descriptions 

    Ramisa Ayats, Arnau; Wang, Josiah; Lu, Ying; Dellandrea, Emmanuel; Moreno-Noguer, Francesc; Gaizauskas, Robert (2016)
    Conference report
    Open Access
    We investigate the role that geometric, textual and visual features play in the task of predicting a preposition that links two visual entities depicted in an image. The task is an important part of the subsequent process ...
  • Determining where to grasp cloth using depth information 

    Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (IOS Press, 2011)
    Conference report
    Open Access
    In this paper we address the problem of finding an initial good grasping point for the robotic manipulation of textile objects lying on a flat surface. Given as input a point cloud of the cloth acquired with a 3D camera, ...
  • Efficient monocular pose estimation for complex 3D models 

    Rubio Romano, Antonio; Villamizar Vergel, Michael Alejandro; Ferraz Colomina, Luis; Peñate Sánchez, Adrián; Ramisa Ayats, Arnau; Simó Serra, Edgar; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference report
    Open Access
    We propose a robust and efficient method to estimate the pose of a camera with respect to complex 3D textured models of the environment that can potentially contain more than 100, 000 points. To tackle this problem we ...
  • Evaluation of random forests on large-scale classification problems using a bag-of-visual-words representation 

    Soler, Xavier; Ramisa Ayats, Arnau; Torras, Carme (2014)
    Conference report
    Open Access
    Random Forest is a very efficient classification method that has shown success in tasks like image segmentation or object detection, but has not been applied yet in large-scale image classification scenarios using a ...
  • Evaluation of three vision based object perception methods for a mobile robot 

    Ramisa Ayats, Arnau; Aldavert Miró, David; Vasudeban, Shrihari; Toledo Morales, Ricardo; López de Mantaras, Ramon (2012)
    Article
    Open Access
    This paper addresses visual object perception applied to mobile robotics. Being able to perceive household objects in unstructured environments is a key capability in order to make robots suitable to perform complex tasks ...
  • FINDDD: A fast 3D descriptor to characterize textiles for robot manipulation 

    Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2013)
    Conference report
    Open Access
    Most current depth sensors provide 2.5D range images in which depth values are assigned to a rectangular 2D array. In this paper we take advantage of this structured information to build an efficient shape descriptor which ...
  • Large-scale image classification using ensembles of nested dichotomies 

    Ramisa Ayats, Arnau; Torras, Carme (IOS Press, 2013)
    Conference report
    Open Access
    Many techniques to reduce the cost at test time in large-scale problems involve a hierarchical organization of classifiers, but are either too expensive to learn or degrade the classification performance. Conversely, in ...
  • Learning RGB-D descriptors of garment parts for informed robot grasping 

    Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (2014)
    Article
    Open Access
    Robotic handling of textile objects in household environments is an emerging application that has recently received considerable attention thanks to the development of domestic robots. Most current approaches follow a ...
  • Multimodal news article analysis 

    Ramisa Ayats, Arnau (2017)
    Conference report
    Open Access
    The intersection of Computer Vision and Natural Language Processing has been a hot topic of research in recent years, with results that were unthinkable only a few years ago. In view of this progress, we want to highlight ...
  • Object detection methods for robot grasping: Experimental assessment and tuning 

    Rigual Aparici, Ferran; Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Torras, Carme (IOS Press, 2012)
    Conference report
    Open Access
    In this work we address the problem of object detection for the purpose of object manipulation in a service robotics scenario. Several implementations of state-of-the-art object detection methods were tested, and the one ...
  • Optimization of robust loss functions for weakly-labeled image taxonomies 

    McAuley, Julian J.; Ramisa Ayats, Arnau; Caetano, Tibério S. (2013)
    Article
    Restricted access - publisher's policy
    The recently proposed ImageNet dataset consists of several million images, each annotated with a single object category. These annotations may be imperfect, in the sense that many images contain multiple objects belonging ...
  • Semantic tuples for evaluation of image sentence generation 

    Ellebracht, Lily Delores; Ramisa Ayats, Arnau; Shantharam Madhyastha, Pranava Swaroop; Cordero Rama, Jose Alejandro; Moreno-Noguer, Francesc; Quattoni, Ariadna (2015)
    Conference report
    Open Access
    The automatic generation of image captions has received considerable attention. The problem of evaluating caption generation systems, though, has not been that much explored. We propose a novel evaluation approach based ...
  • Single image 3D human pose estimation from noisy observations 

    Simó Serra, Edgar; Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Torras, Carme; Moreno-Noguer, Francesc (2012)
    Conference report
    Open Access
    Markerless 3D human pose detection from a single image is a severely underconstrained problem because different 3D poses can have similar image projections. In order to handle this ambiguity, current approaches rely on ...
  • Structured prediction with output embeddings for semantic image annotation 

    Quattoni, Ariadna Julieta; Ramisa Ayats, Arnau; Madhyastha, Pranava S.; Simó Serra, Edgar; Moreno-Noguer, Francesc (2016)
    Conference report
    Open Access
    We address the task of annotating images with semantic tuples. Solving this problem requires an algorithm able to deal with hundreds of classes for each argument of the tuple. In such contexts, data sparsity becomes a key ...
  • The breakingNews dataset 

    Ramisa Ayats, Arnau; Yan, Fei; Moreno-Noguer, Francesc; Mikolajczyk, Krystian (2017)
    Conference report
    Open Access
    We present BreakingNews, a novel dataset with approximately 100K news articles including images, text and captions, and enriched with heterogeneous meta-data (e.g. GPS coordinates and popularity metrics). The tenuous ...
  • Using depth and appearance features for informed robot grasping of highly wrinkled clothes 

    Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Torras, Carme (IEEE, 2012)
    Conference report
    Open Access
    Detecting grasping points is a key problem in cloth manipulation. Most current approaches follow a multiple regrasp strategy for this purpose, in which clothes are sequentially grasped from different points until one of ...