Ara es mostren els items 1-15 de 15

  • 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)
    Text en actes de congrés
    Accés obert
    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 ...
  • Characterization of textile grasping experiments 

    Alenyà Ribas, Guillem; Ramisa Ayats, Arnau; Moreno-Noguer, Francesc; Torras, Carme (2012)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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
    Accés obert
    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 ...
  • Object detection methods for robot grasping: Experimental assessment and tuning 

    Rigual Aparici, Ferran; Ramisa Ayats, Arnau; Alenyà Ribas, Guillem; Torras, Carme (IOS Press, 2012)
    Text en actes de congrés
    Accés obert
    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
    Accés restringit per política de l'editorial
    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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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 ...
  • 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)
    Text en actes de congrés
    Accés obert
    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 ...