José Gaspar

Faculty

Position: Assistant Professor (IST)

Computer and Robot Vision Lab (VisLab)

tp.aobsilu.ocincet.rsi@gaj

Phone :+351-218418293

Office: 7.19

Personal Page

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Current Projects

Acronym	Name	Funding	Dates
3D-CAVE	Accelerator Framework for Real-Time 3D Reconstruction of Underwater Caves	FCT	2023-03\|2024-09

Closed Projects

Acronym	Name	Funding	Dates
INFANTE	Development of Vehicles and Advanced Systems for the Execution of Underwater Inspection Tasks	FCT	1997\|2001
SIVA	Integrated System for Active Surveillance	FCT	1998-01\|2001-04
URUS	Ubiquitous Networking Robotics in Urban Settings	EU-FP6	2006-12\|2009-11
CONTACT	Learning and Development of Contextual Action	EU-FP6	2005-09\|2009-02
VEMUCARV	Spatial Validation of Complex Urban Grids in Virtual Imersive Environments	FCT	2005-05\|2008-06
OMNISYS	Omnidirectional Vision for Navigation and Control	FCT	2002-09\|2005-08
AuReRo	Human-robot interaction with field robots using augmented reality and interactive mapping	FCT	2011-04\|2014-09
DCCAL	Discrete Cameras Calibration using Properties of Natural Scenes	FCT	2010-01\|2013-06

Publications

Journal Papers

[1] Nuno Barroso Monteiro, João Barreto , José Gaspar, "Standard Plenoptic Cameras Mapping to Camera Arrays and Calibration based on DLT", IEEE Transactions on Circuits and Systems for Video Technology (TCSVT), vol. 30, no. 11, pp. 4090-4099, November, 2020

[2] Rafael dos Anjos, Joao Pereira, José Gaspar, "A navigation paradigm driven classification for video-based rendering techniques", Computers & Graphics, vol. 77, pp. 205-216, 2018

[3] Nuno Barroso Monteiro, Simão Marto, João Pedro Barreto, José Gaspar, "Depth Range Accuracy for Plenoptic Cameras", Computer Vision and Image Understanding (CVIU), Vol. 168, pp. 104-117, March, 2018

[4] Ricardo Galego, A. Ortega, Ricardo Ferreira, Alexandre Bernardino, J. Andrade-Cetto, José Gaspar, "Uncertainty analysis of the DLT-Lines calibration algorithm for cameras with radial distortion", Computer Vision and Image Understanding, Vol. 140, pp. 115–126, November, 2015

[5] A. Ortega, M. Silva, E. H. Teniente, Ricardo Ferreira, Alexandre Bernardino, José Gaspar, J. Andrade-Cetto, "Calibration of an Outdoor Distributed Camera Network with a 3D Point Cloud", Sensors, 14(8), pp. 13708-13729, 2014 - PDF

[6] E. Grossmann, José Gaspar, F. Orabona, "Discrete camera calibration from pixel streams", Computer Vision and Image Understanding (Special issue on Omnidirectional Vision, Camera Networks and Non-conventional Cameras), Volume 114, Issue 2, Pages 198-209, 2010

[7] Joao Santos, "Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape features", Robotics and Autonomous Systems, special issue on Omnidirectional Robot Vision, Vol. 58, Issue 6, 30 June, pp. 784-795, 2010

[8] José Gaspar, Niall Winters, José Santos-Victor, "Vision-based Navigation and Environmental Representations with an Omnidirectional Camera", IEEE Transactions on Robotics and Automation, Vol 16, 6, 2000 - PDF

Conference Papers

[1] André Pereira Nogueira, José Gaspar, "Sensors Calibration and Filter Initialization in Visual Inertial Odometry", Proc. of ICARSC 2022 - IEEE International Conference on Autonomous Robot Systems and Competitions, Santa Maria da Feira, Portugal, 2022

[2] Hugo Conde Barroso, José Gaspar, "Validation of Discrete Event Processes implemented on PLCs based on Petri Nets", Proc. of ICARSC 2021 - IEEE International Conference on Autonomous Robot Systems and Competitions, Santa Maria da Feira, Portugal, 2021

[3] Nuno Monteiro , José Gaspar, "Generalized Camera Array Model for Standard Plenoptic Cameras", Iberian Robotics Conference, (ROBOT 2019). Porto, Portugal, 2019

[4] Nuno Monteiro , José Gaspar, "Standard Plenoptic Camera Calibration for a Range of Zoom and Focus Levels", Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA 2019). Madrid, Spain, 2019

[5] Nuno Barroso Monteiro, João Pedro Barreto, José Gaspar, "Surface Cameras from Shearing for Disparity Estimation on a Lightfield", Proc. of Portuguese Conference on Pattern Recognition (RecPad). Coimbra, Portugal, 2018 - PDF

[6] Simão Marto, Nuno Barroso Monteiro, José Gaspar, "Locally Affine Light Fields as Direct Measurements of Depth", Proc. of Portuguese Conference on Pattern Recognition (RecPad). Coimbra, Portugal, 2018 - PDF

[7] Diogo Portela, Nuno Barroso Monteiro, José Gaspar, "Camera Adaptation for Deep Depth from Light Fields", Proc. of Portuguese Conference on Pattern Recognition (RecPad). Coimbra, Portugal, 2018 - PDF

[8] S. Marto, Nuno Barroso Monteiro, J. P. Barreto, José Gaspar, "Structure from Plenoptic Imaging", Proc. of IEEE ICDL-EPIROB 2017 - 7th Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, Lisbon, Portugal, 2017

[9] Rafael dos Anjos, João Pereira, José Gaspar, Carla Fernandes , "Multiview Layered Depth Image", Proc. WSCG 2017 - 25th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision (selected to publish in Journal of WSCG, vol. 25, issue 2, ISSN 1213-6972), Plzen, Czech Republic, 2017

[10] Nuno Barroso Monteiro, J. P. Barreto, José Gaspar, "Dense Lightfield Disparity Estimation using Total Variation Regularization", Proc. of ICIAR 2016 - International Conference on Image Analysis and Recognition, Póvoa de Varzim, Portugal, 2016

[11] Tiago Marques, Luka Lukić, José Gaspar, "Observation Functions in an Information Theoretic Approach for Scheduling Pan-Tilt-Zoom Cameras in Multi-target Tracking Applications", Proc. of ROBOT 2015 - 2nd Iberian Robotics Conference, Lisbon, Portugal, 2015

[12] Nuno Barroso Monteiro, J. P. Barreto, José Gaspar, "Influence of Positive Instances on Multiple Instance Support Vector Machines", Proc. of ROBOT 2015 - 2nd Iberian Robotics Conference, Lisbon, Portugal, 2015

[13] P. Silva, Ricardo Ferreira, José Gaspar, "Multi-Target Tracking Based in Meanshift and Particle Filters", Proc. of RecPad 2014 - 20th Edition of the Portuguese Conference on Pattern Recognition, Covilhã, Portugal, 2014

[14] Nuno Moutinho, Ricardo Ferreira, José Gaspar, Alexandre Bernardino, José Santos-Victor, "Markerless Online Stereo Calibration for a Humanoid Robot", Proc. of ICDL - EPIROB 2014 - The 4th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, Genoa, Italy, 2014

[15] N. Ribeiro, Ricardo Ferreira, José Gaspar, "Homing a Teleoperated Car using Monocular SLAM", Proc. of RecPad 2013 - 19th edition of the Portuguese Conference on Pattern Recognition, Lisbon, Portugal, 2013 - PDF

[16] A. Ortega, Ricardo Galego, Ricardo Ferreira, Alexandre Bernardino, José Gaspar, J. Andrade-Cetto, "Estimation of Camera Calibration Uncertainty using LIDAR Data", Proc. of ECMR 2013 - 6th European Conference on Mobile Robots, Barcelona, Spain, 2013 - PDF

[17] Ricardo Galego, Ricardo Ferreira, Alexandre Bernardino, E. Grossmann, José Gaspar, "Discrete Camera Autocalibration Consistent with the Frame of the Robotic Pan-Tilt Basis", Proc. of CETC 2013 - Conference on Electronics, Telecommunications and Computers, Lisbon, Portugal, 2013 - PDF

[18] D. Pereira, J. Tomaz, Ricardo Ferreira, José Gaspar, "Mosaicing the Interior of Tubular Structures", Proc. of RecPad 2013 - 19th edition of the Portuguese Conference on Pattern Recognition, Lisbon, Portugal, 2013 - PDF

[19] Ricardo Galego, Ricardo Ferreira, Alexandre Bernardino, E. Grossmann, José Gaspar, "Topological Auto-Calibration of Central Imaging Sensors", Proc. of IbPRIA 2013 - 6th Iberian Conference on Pattern Recognition and Image Analysis, Madeira, Portugal, 2013 - PDF

[20] Ricardo Galego, Ricardo Ferreira, Alexandre Bernardino, E. Grossmann, José Gaspar, "Lens Auto-Classification using a Featureless Methodology", Proc. of RecPad 2013 - 19th edition of the Portuguese Conference on Pattern Recognition, Lisbon, Portugal, 2013 - PDF

[21] T. Castanheira, P. Silva, Ricardo Ferreira, Alexandre Bernardino, José Gaspar, "Visual Tracking of Buses in a Parking Lot", Proc. of RecPad 2013 - 19th edition of the Portuguese Conference on Pattern Recognition, Lisbon, Portugal, 2013 - PDF

[22] Ricardo Galego, Alexandre Bernardino, José Gaspar, "Auto-calibration of Pan-Tilt Cameras including Radial Distortion and Zoom", Proc. of ISVC 2012 - 8th International Symposium on Visual Computing July, Rethymnon, Crete, Greece, 2012 - PDF

[23] Nuno Moutinho, Ricardo Ferreira, José Gaspar, Alexandre Bernardino, A. Takanishi, José Santos-Victor, "Online Calibration of a Humanoid Robot Head from Relative Encoders, IMU Readings and Visual Data", Proc. of IROS 2012 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 2012 - PDF

[24] M. Silva, Ricardo Ferreira, José Gaspar, "Camera Calibration using a Color-Depth Camera: Points and Lines Based DLT including Radial Distortion", Workshop in Color-Depth Camera Fusion in Robotics, IROS 2012, Vilamoura, Portugal, 2012 - PDF

[25] M. Silva, Ricardo Ferreira, José Gaspar, "Effect of Image Resolution on DLT-Lines Camera Calibration Including Radial Distortion", Proc. of RecPad 2012 - 18th Portuguese Conference on Pattern Recognition, Coimbra, Portugal, 2012 - PDF

[26] D. M. Antunes, Dario Figueira, D. M. Matos, Alexandre Bernardino, José Gaspar, "Multiple Hypothesis Tracking in Camera Networks", OMNIVIS - 11th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras, held in conjunction with ICCV 2011, Barcelona, Spain, 2011 - PDF

[27] Nicola Greggio, José Gaspar, Alexandre Bernardino, José Santos-Victor, "Monocular vs Binocular 3D Real-Time Ball Tracking From 2d Ellipses", Proc. of ICINCO 2011 - 8th International Conference on Informatics in Control, Automation and Robotics, Noordwijkerhout, The Netherlands, 2011 - PDF

[28] R. Galego, Alexandre Bernardino, José Gaspar, "Vignetting Correction for Pan-Tilt Surveillance Cameras", Proc. of VISAPP 2011 - International Conference on Computer Vision Theory and Applications, 2011 - PDF

[29] D. Leite, Alexandre Bernardino, José Gaspar, "Auto-Calibration of Pan-Tilt-Zoom Cameras: Estimating Intrinsic and Radial Distortion Parameters", Proc. of RecPad 2011 - 17th Portuguese Conference on Pattern Recognition, Porto Portugal, 2011 - PDF

[30] R. Galego, Ricardo Ferreira, Alexandre Bernardino, José Gaspar, "Enforcing Consistency of Image Gains in Panoramic Mosaics", Proc. of RecPad 2011 - 17th Portuguese Conference on Pattern Recognition, Porto Portugal, 2011 - PDF

[31] D. Antunes, D. M. Matos, José Gaspar, "Improving Domotic Services Combining a Dialog System and a Resident Tracking System", Proc. of Eurocon 2011 - IEEE International Conference on Computer As A Tool, Lisbon, Portugal, 2011 - PDF

[32] Nuno Moutinho, N. Cauli, E. Falotico, Ricardo Ferreira, José Gaspar, Alexandre Bernardino, José Santos-Victor, P. Dario, C. Laschi, "An Expected Perception Architecture using Visual 3D Reconstruction for a Humanoid Robot", Proc. of IROS 2011 - IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, 2011 - PDF

[33] Matthijs Spaan, Plinio Moreno, "ISRobotNet: A Testbed for Sensor and Robot Network Systems", Proc. of IROS 2009 - The IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA, 2009 - PDF

[34] Alexandre Bernardino, "Optical flow based detection in mixed human robot environments", Proc. of ISVC 2009 - 5th International Symposium on Visual Computing, Las Vegas, Nevada, USA, 2009

[35] José Gaspar, "Calibrating an Outdoor Distributed Camera Network using Laser Range Finder Data", Proc. of IROS 2009 - The IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA, 2009

[36] Matteo Taiana, "Sample-Based 3D Tracking of Colored Objects: A Flexible Architecture", Proc. of BMVC 2008 - The British Machine Vision Conference, University of Leeds, Leeds, UK, 2008 - PDF

[37] Matteo Taiana, "Color 3D Model-Based Tracking with Arbitrary Projection Models", Proc. of SIMPAR 2008 - International Conference on Simulation, Modeling and Programming for Autonomous Robots, Workshop on Omnidirectional Robot Vision, Venice, Italy, 2008 - PDF

[38] F. Orabona, "Calibration from statistical properties of the visual world", Proc. of ECCV 2008 - European Conference on Computer Vision, Marseille, France, 2008

[39] Rodrigo Ventura, "Automatic Transcription of Musical-Whistling: Comparing Pitch Detection Methods", Proc. of JETC 20078 - IV Jornadas de Engenharia Electronica e Telecomunicacoes e de Computadores, Lisbon, Portugal, 2008 - PDF

[40] José Gaspar, "Calibrating a Network of Cameras Based on Visual Odometry", Proc. of JETC 2008 - IV Jornadas de Engenharia Electronica e Telecomunicacoes e de Computadores, Lisbon, Portugal, 2008 - PDF

[41] N. Lucas, "EKIT – Tool for Learning Signals, Circuits and Electronic Systems", Proc. of IV Jornadas de Engenharia Electronica e Telecomunicacoes e de Computadores, Lisbon, Portugal, 2008 - PDF

[42] R. Carona, "Control of Unicycle Type Robots: Tracking, Path Following and Point Stabilization", Proc. of JETC 2008 - IV Jornadas de Engenharia Electronica e Telecomunicacoes e de Computadores, Lisbon, Portugal, 2008 - PDF

[43] Matteo Taiana, "3D tracking by Catadioptric Vision Based on Particle Filters", Proc. of Robocup2007 - Robocup International Symposium, Atlanta, USA, 2007 - PDF

[44] Alexandre Bernardino, "On the Use of Perspective Catadioptric Sensors for 3D Model-Based Tracking with Particle Filters", Proc. of IROS 2007 - IEEE International Conference on Intelligent Robots and Systems, San Diego, CA, USA, 2007 - PDF

[45] José Gaspar, "Mosaicking Cluttered Ground Planes Based on Stereo Vision", Proc. of IbPRIA2007 - 3rd Iberian Conference on Pattern Recognition and Image Analysis, Girona, Spain, 2007

[46] José Santos-Victor, José Gaspar, L. Ruivo, "Mosaicing the Interior of Tubular Shapes: 3D-Model Fitting", Proc. of RecPad 2007 - 13ª Conferencia Portuguesa de Reconhecimento de Padroes, Lisbon, Portugal , 2007 - PDF

[47] José Gaspar, J. Vitorino, "Panoramic Mosaics Minimizing Overlappings in the Azimuthal Field-of-View", Proc. of RecPad 2007 - 13ª Conferencia Portuguesa de Reconhecimento de Padroes, Lisbon, Portugal , 2007 - PDF

[48] L. Montano, José Gaspar, José Santos-Victor, "Cooperative localization by fusing vision-based bearing measurements and motion", Proc. IROS2005 - IEEE/RSJ International Conference on Intelligent Rrobots and Systems, Edmonton, Alberta, Canada, 2005 - PDF

[49] José Gaspar, Claudia Decco, Jun Okamoto Jr., José Santos-Victor, "Constant Resolution Omnidirectional Cameras", OMNIVIS'02 - Workshop on Omnidirectional Vision, held with ECCV, Copenhagen, Denmark, 2002 - PDF

[50] N. Winters, José Gaspar, E. Grossmann, José Santos-Victor, "Experiments in Visual-Based Navigation with an Omnidirectional Camera", ICAR2001 Workshop on Omnidirectional Vision Applied to Robotic Orientation and Nondestructive Testing, Budapest, Hungary, 2001 - PDF

[51] José Gaspar, E. Grossmann, José Santos-Victor, "Interactive Reconstruction from an Omnidirectional Image", 9th International Symposium on Intelligent Robotic Systems - SIRS2001 - Toulouse, France, 2001 - PDF

[52] Niall Winters, José Gaspar, Gerard Lacey, José Santos-Victor, "Omni-directional vision for Robot Navigation", IEEE Workshop on Omnidirectional Vision (in conjuntion with CVPR 2000), Hilton Head Island, USA, 2000 - PDF

[53] José Gaspar, José Santos-Victor, "Visual Path Following with a Catadioptric Panoramic Camera", 7th International Symposium on Intelligent Robotic Systems - SIRS99, Coimbra, Portugal, 1999 - PDF

[54] José Gaspar, José Santos-Victor, João Sentieiro, "Ground Plane Obstacle Detection with a Stereo Vision System", International Workshop on Intelligent Robotic Systems - IRS94, Grenoble, France, 1994 - PDF