Selected Publication

Robust 3D mapping has become an attractive field of research with direct application in the booming domain of self-driving cars. In this paper, we propose a new method for feature selection in laser-based point clouds with a view to achieving robust and accurate 3D mapping. The proposed method follows a double stage approach to map building. In a first stage, the method compensates the point cloud distortion using a rough estimation of the 3-DOF vehicle motion, given that range measurements are received at different times during continuous LIDAR motion. In a second stage, the 6-DOF motion is accurately estimated and the point cloud is registered using a combination of distinctive point cloud features. The appropriate combination of such features, namely vertical poles, road curbs, plane surfaces, etc. reveals to be a powerful tool to achieving accurate mapping and robustness to aggressive motion and temporary low density of features. We show and analyse the results obtained after testing the proposed method with a dataset collected in our own experiments on the Campus of the University of Alcalá (Spain) using the DRIVERTIVE vehicle equipped with a Velodyne-32 sensor. In addition, we evaluate the robustness and accuracy of the method for laser-based localisation in a self-driving application.
In IROS 2018

Publications

Journal Papers

    2018

  • High-Level Interpretation of Urban Road Maps Fusing Deep Learning-Based Pixelwise Scene Segmentation and Digital Navigation Maps.
    JOURNAL OF ADVANCED TRANSPORTATION

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  • 2017

  • Assistive Intelligent Transportation Systems: the need for user localization and anonymous disability identification.
    IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE

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  • 2015

  • Expert video-surveillance system for real-time detection of suspicious behaviors in shopping malls.
    EXPERT SYSTEMS WITH APPLICATIONS

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  • 2014

  • Parking assistance system for leaving perpendicular parking lots: experiments in daytime/nighttime conditions.
    IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE

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  • Fusion of Optimized Indicators from Advanced Driver Assistance Systems (ADAS) for Driver Drowsiness Detection.
    SENSORS

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  • 2013

  • Automatic Thermal Leakage Detection in Building Facades Using Laser and Thermal Images.
    COMPUTER AIDED SYSTEMS THEORY EUROCAST 2011

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  • Real-time vision-based blind spot warning system: Experiments with motorcycles in daytime/nighttime conditions.
    INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY

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  • 2012

  • Gaze Fixation System for the Evaluation of Driver Distractions Induced by IVIS.
    IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS

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  • Stereo region-of-Interest selection for pedestrian protection: A survey.
    TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES

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  • 2011

  • Autonomous Pedestrian Collision Avoidance using a Fuzzy Steering Controller.
    IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS

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  • Surface Classification for Road Distress Detection System Enhancement.
    COMPUTER AIDED SYSTEMS THEORY - EUROCAST 2011

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Conference Papers

    2018

  • Intelligent feature selection method for accurate laser-based mapping and localisation in self-driving cars.
    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems

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  • 2014

  • Vehicle Model Recognition Using Geometry and Appearance of Car Emblems from Rear View Images.
    17th International IEEE Conference on Intelligent Transportation Systems

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  • 2013

  • Automatic thermographic inspection of buildings envelope using laser and thermal imagesAutomatic.
    14th International Conference on Computer Aided Systems Theory EUROCAST 2013

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  • 2012

  • Vision-Based drowsiness detector for Real Driving Conditions.
    IEEE Intelligent Vehicle Symposium 2012

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  • 2011

  • Assessment Of Distractions Inferred By In-Vehicle Information Systems On a Naturalistic Simulator.
    14th International IEEE Annual Conference on Intelligent Transportation Systems (IEEE ITSC 2011)

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  • Drowsiness Monitoring Based on Driver and Driving Data Fusion.
    14th International IEEE Annual Conference on Intelligent Transportation Systems (IEEE ITSC 2011)

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  • Visual Odometry and map fusion for GPS navigation assistance.
    Proceedings of the 20th IEEE international symposium on industrial electronics

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  • Extended Floating Car Data System - Experimental Study.
    IEEE Intelligent Vehicle Symposium 2011

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  • Vision-based Applications for Traffic Conditions and Road Surface Quality Assessment.
    13th International Conference on Computer Aided Systems Theory. EUROCAST 2011

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  • Vision-based Target Detection on Critical Transport Infraestructures.
    13th International Conference on Computer Aided Systems Theory. EUROCAST 2011

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  • 2010

  • Vision-Based Drowsiness Detector for a Realistic Driving Simulator.
    13th International IEEE Conference on Intelligent Transportation Systems (IEEE ITSC 2010)

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  • 2005

  • Low Level Control in States Space for the Pioneer.
    The International Conference on Computer as a Tool. EUROCON

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Research Projects as Scientific Collaborator

    Public Funding

  • Interacción predictiva entre vehículos autónomos cooperativos y usuarios vulnerables de carretera orientada al usuario final. Scientific Responsible: Ignacio Parra Alonso and David Fernández Llorca, 2018, Financed by Spanish Ministry of Economy and Competitiveness (MINECO).
  • Transporte Inteligente, Sostenible e Integrado. Scientific Responsible: Miguel Ángel Sotelo Vázquez, 2017, Financed by Spanish Ministry of Economy and Competitiveness (MINECO).
  • Evaluación del traspaso de control y la entrega de información en sistemas de asistencia a la conducción avanzados. Scientific Responsible: Ignacio Parra Alonso, 2017, Financed by University of Alcalá (UAH).
  • (AutoDrive) Advancing fail-aware, fail-safe, and fail-operational electronic components, systems, and architectures for fully automated driving to make future mobility safer, affordable, and end-user. Scientific Responsible: Miguel Ángel Sotelo Vázquez, 2017, Financed by European Commission. H2020-ECSEL Programme.
  • Percepción Cooperativa: Integración de sensores y comunicaciones V2X en entornos reales de conducción autónoma cooperativa. Scientific Responsible: Ignacio Parra Alonso, 2016, Financed by University of Alcalá (UAH).
  • IMPROVE - Intelligent predictive Methods for the PROtection of Vulnerable road usErs. Scientific Responsible: Miguel Ángel Sotelo Vázquez and David Fernández, 2015, Financed by Spanish Ministry of Economy and Competitiveness (MINECO).
  • (DAInt) Detección anticipada de la intención de peatones en situaciones de cruce para un vehículo inteligente. Scientific Responsible: Ignacio Parra Alonso, 2015, Financed by University of Alcalá (UAH).
  • (VISPEED) Vision-based speed detection at fixed locations. Scientific Responsible: David Fernández Llorca, 2015, Financed by General Traffic Division of Spain (DGT), Ministry of the Interior.
  • Smart Driving Applications. Scientific Responsible: Luis M. Bergasa Pascual, 2015, Financed by Spanish Ministry of Economy and Competitiveness (MINECO).
  • (SEGVAUTO-TRIES-CM) Innovative sensing and intelligent systems. Scientific Responsible: Miguel Ángel Sotelo Vázquez, 2014, Financed by Regional Government of Madrid, Spain.
  • Parking assistance system for leaving perpendicular parking lots in daytime/nighttime conditions. Scientific Responsible: David Fernández Llorca, 2014, Financed by University of Alcalá (UAH).
  • Vehicle model and make recognition in traffic control applications. Scientific Responsible: David Fernández Llorca, 2013, Financed by University of Alcalá (UAH).
  • (VISETRAF) Sistema VIsual de localización y reconocimiento de SEñales de Tráfico en colaboración con equipos de RAdio Frecuencia. Scientific Responsible: Miguel Ángel García Garrido, 2011, Financed by Regional Government of Castilla-León.
  • (RoboCity2030 II-CM) Service Robots for Improving the Quality of Life of Citizens in Metropolitan Areas II. Scientific Responsible: Luis M. Bergasa Pascual, 2010, Financed by Regional Government of Madrid, Spain.
  • (CABINTEC II) Cabina Inteligente para el Transporte por Carretera II. Scientific Responsible: Luis M. Bergasa Pascual, 2009, Financed by Spanish Ministry of Science and Technology (MICINN).
  • (SISLOPEWI) Sistema de localización de personas basado en medida de la señal WIFI. Scientific Responsible: Manuel Ocaña Miguel, 2009, Financed by University of Alcalá (UAH).
  • (CABINTEC) Cabina Inteligente para el Transporte por Carretera. Scientific Responsible: Luis M. Bergasa Pascual, 2007, Financed by Spanish Ministry of Science and Technology (MICINN).
  • Private Funding

  • Advanced Driver Assistance Systems: Pedestrian Detection and Diagnosis Functions. Part II Scientific Responsible: Luis M. Bergasa Pascual and Miguel Ángel Sotelo Vázquez, 2010, Financed by FICOMIRRORS, S.A..
  • Advanced Driver Assistance Systems: Pedestrian Detection and Diagnosis Functions Scientific Responsible: Luis M. Bergasa Pascual; Miguel Ángel Sotelo Vázquez, 2008, Financed by FICOMIRRORS, S.A..

Contact

  • +34 918856622
  • ivan.garciad@uah.es
  • Alcalá de Henares, Madrid, Spain.