José Gaspar Assistant Professor Instituto Superior Técnico

Research Interests | Projects | Omnidirectional Vision | Publications | Teaching : MSc / TFCs | Links | Data I/O | Contact Me

---

Last index.html update: 2-9-2024

Research interests:

Main interests: Visual Navigation and Calibration. Our endeavour is designing and developing navigation systems making parsimonious use of hardware and computational resources. More in detail, we approach navigation of wheeled, legged or humanoid robots, involving continuous self-calibration based on proprioceptive data as provided by vision and inertial sensors. While many approaches rely on costly computational resources to do full environment reconstruction, as e.g. SLAM, we explore the use of customized vision sensors, topological, appearance-based representations and attention mechanisms to develop efficient navigation systems. Our work targets designing and developing novel non-conventional cameras, combining different reflective surfaces with lenses, space-variant imaging, different sensitivity spectra, depth sensing, aggregation of multiple cameras, and active light projection.

Worked/working areas: Topological Camera-Calibration; Networked Cameras Calibration; Multi Target Tracking; Video Surveillance; Omnidirectional Vision; Vision-based Nonlinear Control for Unicycle Robots; Ground Plane Obstacle Detection; Stereo Matching and Surface Reconstruction. Keywords: Computer and Robot Vision, namely 3D information recovery, Visual self-localization and Navigation for mobile robots and Visual Obstacle detection.

ORCID: 0000-0002-9502-2151. Google Scholar: iVM2NhkAAAAJ. ResearcherID: C-6565-2008. Scopus Author ID: 7006015443. Ciência Vitae: 3A14-F0B2-0FDA. ResearchGate: José Gaspar.

Topological Camera-Calibration Project

• DCCAL: Discrete Cameras Calibration using Properties of Natural Scenes, 2010-2013 (FCT PTDC/EEA-CRO/105413/2008).

All Projects

• 3D-CAVE Accelerator Framework for Real-Time 3D Reconstruction of Underwater Caves, 2023-2024 (FCT 2022.04020.PTDC)
• AHA: Augmented Human Assistance, 2014-2017 (CMUP-ERI/HCI/0046/2013).
• SEAGULL: Sistemas Inteligentes De Suporte Ao Conhecimento Situacional Marítimo Baseados Em Veículos Aéreos Não Tripulados, 2013-2015 (QREN 34063).
• HDA, High Definition Analytics, 2010-2013 (QREN 13750).
• DICO(RE)2S, Discount Coupon Recommendation and Redemption System, 2011-2013 (EU Project EU-FP7-SME-262451).
• RoboSoM, A Robotic Sense of Movement, 2009-2012 (EU project EU-FP7-ICT-248366).
• AuReRo, Augmented Reality Robotics, 2011-2014 (FCT - PTDC/EIA-CCO/113257/2009).
• URUS, Ubiquitous Networking Robotics in Urban Settings, 2006-2009 (EU project FP6-EU-IST-045062).
• CONTACT, Learning and Development of Contextual Action, 2005-2008 (EU project FP6-2003-NEST-A/STREP).
• VEMUCARV, Spatial Validation of Complex Urban Grids in Virtual Immersive Environments, 2005-2008, (FCT).
• CAVIAR, Context Aware Vision using Image-based Active Recognition, 2002-2005 (EU project FP6-EU-IST-2001-37540).
• OMNISYS, Omnidirectional Vision for Navigation and Control, 2002-2005 (FCT).

Catadioptric System for Omnidirectional Vision:

Omnidirectional cameras give omni-awareness to mobile robots. This is a principal motivation for all the work we have done, and will continue doing, on omnidirectional sensors. Finding the desired parameters, the required materials and finding lots of help to build it, was the effort that makes really a pleasure to see the labmate performing the first Visual Path Following experiments.

Click here for our 360deg camera www page Click here for the VPF www page Click here for brief instructions on how to connect to the Scout-Robots Click here for a brief intro to our software structure

For an extended listing of links to research and commercial omnidirectional cameras you may wish to check the Page of Omnidirectional Vision hosted by the GRASP Laboratory .

Publications:

• Visual-Inertial Odometry for Metric-Scale Mapping of Underwater Caves, Arthur Lago, Nuno Neves, Rodrigo Ventura, José Gaspar, IEEE Int. Conf. on Autonomous Robot Systems and Competitions (ICARSC), pp. 183-188, doi: 10.1109/ICARSC61747.2024.10535924, 2024. IEEEXplore (best paper, Arthur's LinkedIn msg)
• Plenoptic Camera Viewpoints Rotation to Improve 3D Face Reconstruction, António Castilho Maia, José António Gaspar, IEEE Int. Conf. on Autonomous Robot Systems and Competitions (ICARSC), pp. 163-168, doi: 10.1109/ICARSC58346.2023.10129588, 2023. IEEEXplore
• Event-based feature tracking in a visual inertial odometry framework, José Ribeiro-Gomes, José Gaspar, Alexandre Bernardino, Front. Robot. AI, Sec. Robot Vision and Artificial Perception, Vol.10, doi: 10.3389/frobt.2023.994488, 2023. Frontiers in Robotics and AI
• Sensors Calibration and Filter Initialization in Visual Inertial Odometry, André Pereira Nogueira, José António Gaspar, IEEE Int. Conf. on Autonomous Robot Systems and Competitions (ICARSC), pp. 85-90, doi: 10.1109/ICARSC55462.2022.9784783, 2022. IEEEXplore
• Validation of Discrete Event Processes implemented on PLCs based on Petri Nets, H. C. Barroso and J. A. Gaspar, IEEE Int. Conf. on Autonomous Robot Systems and Competitions (ICARSC), pp. 143-148, doi: 10.1109/ICARSC52212.2021.9429807, 2021. Preprint webpage
• Standard Plenoptic Cameras Mapping to Camera Arrays and Calibration based on DLT, Nuno Barroso Monteiro, João P. Barreto, and José António Gaspar, IEEE Transactions on Circuits and Systems for Video Technology, (IEEE-TCSVT, journal) 2019. Preprint
• Generalized Camera Array Model for Standard Plenoptic Cameras Nuno Barroso Monteiro, and José António Gaspar. Iberian Robotics conference (Robot 2019). Springer, 2019. PDF
• Standard Plenoptic Camera Calibration for a Range of Zoom and Focus Levels, Nuno Barroso Monteiro and José António Gaspar, Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA), July 1-4, 2019. PDF
• A Navigation Paradigm Driven Classification for Video-Based Rendering Techniques, Rafael K. dos Anjos, João Pereira and José Gaspar, Computers & Graphics (Elsevier-CG, journal) Elsevier 2018 Preprint HTML
• Camera Adaptation for Deep Depth from Light Fields, D. Portela, N. Monteiro, J. Gaspar, "24th Portuguese Conference on Pattern Recognition (RecPad 2018)", 26st October, Coimbra, Portugal. PDF file
• Locally Affine Light Fields as Direct Measurements of Depth, S. Marto, N. Monteiro, J. Gaspar, "24th Portuguese Conference on Pattern Recognition (RecPad 2018)", 26st October, Coimbra, Portugal. PDF file
• Surface Cameras from Shearing for Disparity Estimation on a Lightfield, N. Monteiro, J. Barreto, J. Gaspar, "24th Portuguese Conference on Pattern Recognition (RecPad 2018)", 26st October, Coimbra, Portugal. PDF file
• Depth range accuracy for plenoptic cameras, Nuno Barroso Monteiro, Simão Marto, João Pedro Barreto, José Gaspar, Computer Vision and Image Understanding (Elsevier-CVIU, journal), ISSN 1077-3142, Vol.168, pp.104-117, March 2018 Preprint, supplementary material, HTML
• Structure from Plenoptic Imaging, S. Marto, N. Monteiro, J-P. Barreto, J. Gaspar, Int. Conf. on Development and Learning and on Epigenetic Robotics, IEEE ICDL-EpiRob, 2017 PDF file
• Multiview Layered Depth Image, R. Anjos, J. Pereira, J. Gaspar, C. Fernandes, 25th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision (selected to publish in Journal of WSCG, Vol.25 No.2, ISSN 1213-6972), 2017 PDF file
• Dense Lightfield Disparity Estimation using Total Variation Regularization, Nuno Barroso Monteiro, João Pedro Barreto, and José Gaspar. ICIAR 2016. PDF file
• Influence of Positive Instances on Multiple Instance Support Vector Machines, Nuno Barroso Monteiro, João Pedro Barreto, José Gaspar, Second Iberian Robotics Conference (Robot 2015), Vol.418 of the series Advances in Intelligent Systems and Computing pp 259-271, Springer, 28 November, 2015. PDF file
• Observation Functions in an Information Theoretic Approach for Scheduling Pan-Tilt-Zoom Cameras in Multi-target Tracking Applications, Tiago Marques, Luka Lukic, José Gaspar, Robot 2015, Second Iberian Robotics Conference, Vol.418 of the series Advances in Intelligent Systems and Computing pp 503-515, Springer, 28 November, 2015. PDF file
• Uncertainty analysis of the DLT-Lines calibration algorithm for cameras with radial distortion, R. Galego, A. Ortega, R. Ferreira, A. Bernardino, J. Andrade-Cetto, J. Gaspar. Computer Vision and Image Understanding (Elsevier-CVIU, journal) Vol.140, pp.115-126, Elsevier, November 2015 HTML and PDF file
• Discrete Camera Autocalibration Consistent with the Frame of the Robotic Pan-Tilt Basis, R. Galego, R. Ferreira, A. Bernardino, E. Grossmann, J. Gaspar, Procedia Technology 17, 186-193, 2014 Elsevier HTML and PDF. (This is a revised version of the paper defended at Conf. on Electronics, Telecommunications and Computers, Lisboa, Portugal (CETC) 2013. PDF file.).
• Multi-Target Tracking Based in Meanshift and Particle Filters, P. Silva, R. Ferreira, J. Gaspar, "20th Portuguese Conference on Pattern Recognition (RecPad 2014)", 31st October, Lisbon, Portugal. PDF file
• Markerless Online Stereo Calibration for a Humanoid Robot, N. Moutinho, R. Ferreira, J. Gaspar, A. Bernardino, J. Santos-Victor, ICDL-Epirob 2014, PDF file.
• Calibration of an Outdoor Distributed Camera Network with a 3D Point Cloud, Agustín Ortega, Manuel Silva, Ernesto H. Teniente, Ricardo Ferreira, Alexandre Bernardino, José Gaspar and Juan Andrade-Cetto, Sensors (MDPI-Sensors, journal), July 29, 2014, 14(8), 13708-13729; doi:10.3390/s140813708. PDF file
• Mosaicing the Interior of Tubular Structures, D. Pereira, J. Tomaz, R. Ferreira, J. Gaspar, "19th Portuguese Conference on Pattern Recognition (RecPad 2013)", 1st November, Lisbon, Portugal. PDF file
• Homing a Teleoperated Car using Monocular SLAM, Nuno Ribeiro, Ricardo Ferreira, José Gaspar, "19th Portuguese Conference on Pattern Recognition (RecPad 2013)", 1st November, Lisbon, Portugal. PDF file
• Lens Auto-Classification using a Featureless Methodology, Ricardo Galego, Ricardo Fereira, Alexandre Bernardino, Etienne Grossmann, José Gaspar, "19th Portuguese Conference on Pattern Recognition (RecPad 2013)", 1st November, Lisbon, Portugal. PDF file
• Visual Tracking of Buses in a Parking Lot, T. Castanheira, P. Silva, R. Ferreira, A. Bernardino, J. Gaspar, "19th Portuguese Conference on Pattern Recognition (RecPad 2013)", 1st November, Lisbon, Portugal. PDF file
• Estimation of Camera Calibration Uncertainty using LIDAR Data, A. Ortega, R. Galego, R. Ferreira, A. Bernardino, J. Gaspar and J. Andrade-Cetto, European Conference on Mobile Robots (ECMR) 2013, 25-27 September, Barcelona, Spain. PDF file
• Topological Auto-Calibration of Central Imaging Sensors, R. Galego, R. Ferreira, A. Bernardino, E. Grossmann and J. Gaspar, IbPRIA 2013. PDF file
• Camera Calibration using a Color-Depth Camera: Points and Lines Based DLT including Radial Distortion, M. Silva, R. Ferreira, J. Gaspar, In WS in Color-Depth Camera Fusion in Robotics, held with IROS 2012, October 7, 2012, Vilamoura, Portugal. PDF file
• Effect of Image Resolution on DLT-Lines Camera Calibration Including Radial Distortion, M. Silva, R. Ferreira, J. Gaspar, In 18th Portuguese Conference on Pattern Recognition (RecPad 2012), Coimbra, Portugal, October 2012. PDF file
• Online Calibration of a Humanoid Robot Head from Relative Encoders, IMU Readings and Visual Data, Nuno Moutinho, Martim Brandão, Ricardo Ferreira, José Gaspar, Alexandre Bernardino, Atsuo Takanishi, José Santos-Victor, IROS 2012. PDF file
• Auto-calibration of Pan-Tilt Cameras including Radial Distortion and Zoom, Ricardo Galego, Alexandre Bernardino, José Gaspar, International Symposium on Visual Computing (ISVC), July 16-18, Crete, Greece, 2012. PDF file
• Multiple Hypothesis Tracking in Camera Networks, David M. Antunes, Dario Figueira, David M. Matos, Alexandre Bernardino, José Gaspar, Int. WS on Omnidirectional Vision, Camera Networks and Non-classical Cameras (OMNIVIS) 2011, in conjunction with ICCV 2011 (ICCV Workshops 2011: pp367-374), 6-13 November 2011, Barcelona, Spain. PDF file
• Enforcing Consistency of Image Gains in Panoramic Mosaics, Ricardo Galego, Ricardo Ferreira, Alexandre Bernardino, José Gaspar , In 17th Portuguese Conference on Pattern Recognition (RecPad 2011), Porto, Portugal, October 2011. PDF file
• Auto-Calibration of Pan-Tilt-Zoom Cameras: Estimating Intrinsic and Radial Distortion Parameters, Diogo Leite, Alexandre Bernardino, José Gaspar , In 17th Portuguese Conference on Pattern Recognition (RecPad 2011), Porto, Portugal, October 2011. PDF file
• Monocular vs Binocular 3D Real-Time Ball Tracking From 2d Ellipses, Nicola Greggio, José Gaspar, Alexandre Bernardino, José Santos-Victor, Int. Conf. on Informatics in Control, Automation and Robotics (ICINCO), vol2 pp67-73, Noordwijkerhout, Netherlands, July, 2011. PDF file
• Improving Domotic Services Combining a Dialog System and a Resident Tracking System, David Antunes, David Martins de Matos, José Gaspar, Int. Conf. on Computer as a Tool (Eurocon), pp1-4, April 27-29, 2011. PDF file
• An Expected Perception Architecture using Visual 3D Reconstruction for a Humanoid Robot, N. Moutinho, N. Cauli, E. Falotico, R. Ferreira, J. Gaspar, A. Bernardino, J. Santos-Victor, P. Dario, C. Laschi, pp4826-4831, September 2011, IROS 2011. PDF file
• Vignetting Correction for Pan-Tilt Surveillance Cameras, Ricardo Galego, Alexandre Bernardino, José Gaspar, Int. Conf. on Computer Vision Theory and Applications (Visapp), pp638-644, March 5-7, 2011. PDF file
• Multiple Hypothesis Group Tracking in Video Sequences, David Antunes, David Martins de Matos, José Gaspar, In 16th Portuguese Conference on Pattern Recognition (RecPad 2010), Vila Real, Portugal, October 2010. PDF file
• Surveillance with Pan-Tilt Cameras: Background Modeling, Ricardo Galego, Alexandre Bernardino, José Gaspar, In 16th Portuguese Conference on Pattern Recognition (RecPad 2010), Vila Real, Portugal, October 2010. PDF file
• Random features vs Harris Corners in Real-Time Visual Egomotion Estimation, Nuno Moutinho, Ricardo Ferreira, Alexandre Bernardino, José Gaspar, In 16th Portuguese Conference on Pattern Recognition (RecPad 2010), Vila Real, Portugal, October 2010. PDF file
• Power driver, DC motor and Propeller: Nonlinear System Identification, Pedro Cruz, José Gaspar, Ciência 2010, Encontro com a Ciência e Tecnologia em Portugal,  4-7 Julho, Lisboa, Portugal (poster).
• Tracking objects with generic calibrated sensors : an algorithm based on color and 3D shape features, M. Taiana, J. Santos, J. Gaspar, J. Nascimento, A. Bernardino and P. Lima, Robotics and Autonomous Systems (Elsevier-RAS, journal, Special issue on Omnidirectional Robot Vision), Volume 58, Issue 6, Pages 784-795, 30 June 2010. HTML. PDF file.
• Discrete camera calibration from pixel streams, Etienne Grossmann, José António Gaspar and Francesco Orabona, Computer Vision and Image Understanding (Elsevier-CVIU, journal, Special issue on Omnidirectional Vision, Camera Networks and Non-conventional Cameras), Volume 114, Issue 2, Pages 198-209, February 2010, PDF file (1.5Mb)
• Assessing Control Modalities Designed for Pan-Tilt Surveillance Cameras, Diogo Vicente, Jacinto C. Nascimento, José Gaspar, In 15th Portuguese Conference on Pattern Recognition (RecPad 2009). Aveiro, Portugal, October 2009. PDF file (260Kb)
• Optical flow based detection in mixed human robot environments, D. Figueira,P. Moreno, A. Bernardino, J. Gaspar, J. Santos-Victor, In Proc. of ISVC 2009 - 5th International Symposium on Visual Computing, 2009. PDF file (811Kb).
• Calibrating an Outdoor Distributed Camera Network using Laser Range Finder Data, Agustin Ortega, Bruno Dias, Ernesto Teniente, Alexandre Bernardino, José Gaspar and Juan Andrade-Cetto, pp303-308, IROS 2009. PDF file (2Mb).
• ISROBOTNET: A Testbed for Sensor and Robot Network Systems, Marco Barbosa, Alexandre Bernardino, Dario Figueira, José Gaspar, Nelson Gonçalves, Pedro U. Lima, Plinio Moreno, Abdolkarim Pahliani, José Santos-Victor, Matthijs T. J. Spaan, João Sequeira, IROS 2009. PDF file (2.5Mb).
• Calibrating a Network of Cameras Based on Visual Odometry, Nuno Leite, Alessio Del Bue, José Gaspar, in Proc. of IV Jornadas de Engenharia Electrónica e Telecomunicações e de Computadores, pp174-179, November 2008, Lisbon, Portugal. PDF file (700Kb)
• Control of Unicycle Type Robots: Tracking, Path Following and Point Stabilization, Ricardo Carona, A. Pedro Aguiar, José Gaspar, in Proc. of IV Jornadas de Engenharia Electrónica e Telecomunicações e de Computadores, pp180-185, November 2008, Lisbon, Portugal. PDF file (714Kb)
• Ekit - Tool for Learning Signals, Circuits And Electronic Systems, Nuno Lucas, José Gaspar, João Sequeira, in Proc. of IV Jornadas de Engenharia Electrónica e Telecomunicações e de Computadores, pp35-40, November 2008, Lisbon, Portugal. PDF file (3.9Mb)
• Automatic Transcription of Musical-Whistling: Comparing Pitch Detection Methods, Bruno Dias, Rodrigo Ventura, José Gaspar, in Proc. of IV Jornadas de Engenharia Electrónica e Telecomunicações e de Computadores, pp186-191, November 2008, Lisbon, Portugal. PDF file (307Kb)
• Calibration from statistical properties of the visual world, Etienne Grossmann, José Gaspar and Francesco Orabona, VisLab-TR 14/2008, European Conference on Computer Vision (ECCV), Marseille, France, October 2008. PDF file (600Kb)
• Sample-Based 3D Tracking of Colored Objects: A Flexible Architecture, Matteo Taiana, Jacinto Nascimento, José Gaspar and Alexandre Bernardino, VisLab-TR 7/2008, Proc. of the British Machine Vision Conference, BMVC2008, Leeds, UK, 1-4 Sept. 2008. PDF file (1.7Mb) (click here for citations)
• Color 3D Model-Based Tracking with Arbitrary Projection Models, Matteo Taiana, J. Santos, José Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima, Proc. of SIMPAR 2008 - International Conference on Simulation, Modeling and Programming for Autonomous Robots, Workshop on Omnidirectional Robot Vision, Venice, Italy, 2008 PDF file
• Discrete camera calibration from the information distance between pixel streams, E. Grossman, F. Orabona, J. Gaspar, in 7th Workshop on Omnidirectional Vision (OMNIVIS 2007) (in ICCV07), Rio de Janeiro, Brazil, 20 October, 2007 PDF file (730Kb)
• Mosaicing the Interior of Tubular Shapes: 3D-model Fitting, Luís Ruivo, José Gaspar, José Santos Victor, Proc. of RecPad 2007 - 13ª Conferência Portuguesa de Reconhecimento de Padrões, Lisbon, Portugal , 2007, PDF file (700Kb)
• Panoramic Mosaics Minimizing Overlappings in the Azimuthal Field-of-View, João Vitorino, José Gaspar, Proc. of RecPad 2007 - 13ª Conferência Portuguesa de Reconhecimento de Padrões, Lisbon, Portugal , 2007, PDF file (640Kb)
• On the use of perspective catadioptric sensors for 3D model-based tracking with particle filters, M. Tajana, J. Gaspar, J. Nascimento, A. Bernardino and P. Lima, IROS'2007, PDF file (510Kb).
• Toward Robot Perception through Omnidirectional Vision, José Gaspar, Niall Winters, Etienne Grossmann and José Santos-Victor, chapter in book "Innovations in Intelligent Machines - 1", Springer 2007, pp223-270 [intro] and [toc] ( preprint (3.4Mb) ).  (click here for citations)
• 3D tracking by Catadioptric Vision Based on Particle Filters, Matteo Tajana, José Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima, Accepted for publication, Proc. of Robocup2007 - Robocup International Symposium, Atlanta, USA, 2007 PDF
• Mosaicking Cluttered Ground Planes Based on Stereo Vision, José Gaspar, Miguel Realpe, Boris Vintimilla, José Santos-Victor, IbPRIA 2007, Girona, Spain, draft PDF file (1.2Mb)
• Localización y Mapeo Simultáneo con Imágenes 3D a Color (in Spanish), Miguel A. Realpe, Boris Vintimilla, José Gaspar, José Santos-Victor, Revista Tecnológica ESPOL, Vol. 19, N. 1, 99-106, (Octubre, 2006) url
• Cooperative localization by fusing vision-based bearing measurements and motion, Luis Montesano, José Gaspar, José Santos-Victor, Luis Montano, IROS 2005, Alberta, Canada, August 2-6, 2005, Page(s):2333 - 2338, PDF file (1.2 Mb)  (click here for citations)
• Fusing vision-based bearing measurements and motion to localize pairs of robots, Luis Montesano, José Gaspar, José Santos-Victor, Luis Montano, ICRA 2005 Workshop on Cooperative Robotics, Barcelona, Spain, April 22, 2005 PDF file (1.3 Mb)  (click here for citations)
• PhD Thesis: Omnidirectional Vision for Mobile Robot Navigation, José Gaspar, 2003, PDF file (7.5Mb).
• Constant Resolution Omnidirectional Cameras, José Gaspar, Cláudia Deccó, Jun Okamoto Jr, José Santos-Victor, Omnivis'02 Workshop on Omnidirectional Vision (in conjunction with ECCV 2002), Copenhagen, Denmark, June 2002, pp27-34, PDF file (170Kb)
• Vision algorithms for Omniviews Cameras, N. Winters, J. Gaspar, A. Bernardino and J. Santos-Victor, Technical Report of the Omniviews Project (deliverable DI-3), September 2001, PDF file (461Kb)
• OMNIVIEWS Mirror Design and Software Tools, C. Deccó, J. Gaspar, N. Winters and J. Santos-Victor, Technical Report of the Omniviews Project (deliverable DI-3), September 2001, PDF file (393Kb)
• Experiments in Visual-Based Navigation with an Omnidirectional Camera, Niall Winters, José Gaspar, Etienne Grossmann, José Santos-Victor, ICAR2001 Workshop on Omnidirectional Vision Applied to Robotic Orientation and Nondestructive Testing, Budapest, Hungary, August 2001, PDF file (1.1Mb)
• Interactive Reconstruction from an Omnidirectional Image, José Gaspar, Etienne Grossmann, José Santos-Victor, 9th International Symposium on Intelligent Robotic Systems - SIRS2001 - Toulouse, France, July 2001, PDF file (779Kb)
• Vision-based Navigation and Environmental Representations with an Omnidirectional Camera, José Gaspar, Niall Winters, José Santos-Victor, IEEE Transactions on Robotics and Automation (IEEE-TRA, journal), Vol 16, number 6, December 2000, PDF file (1.7Mb) (click here for citations)
• Omni-directional vision for Robot Navigation , Niall Winters, José Gaspar, Gerard Lacey, José Santos-Victor, IEEE Workshop on Omnidirectional Vision (in conjunction with CVPR 2000), Hilton Head Island, US, June 2000, pp21-28, compressed postscript file (3 Mb) PDF file (2Mb)
• Visual Path Following with a Catadioptric Panoramic Camera , José Gaspar and José Santos-Victor, International Symposium on Intelligent Robotic Systems - SIRS'99, Coimbra, Portugal, July 1999, pp139-147, PDF file (566 Kb)
• Ground Plane Obstacle Detection with a Stereo Vision System, José Gaspar, José Santos-Victor and João Sentieiro, VisLab-TR xxx/94 - International workshop on Intelligent Robotic Systems - IRS94, Grenoble, France, July 1994 compressed postscript file (128 Kb) PDF file (164 Kb) - This paper summarizes my MSc thesis.
• My MSc thesis: Visão para Robótica Móvel: Detecção de Obstáculos sobre pavimento Plano, José Gaspar, M.Sc Thesis - September 1994 (in portuguese), compressed postscript file (1.38 Mb), PDF file (626Kb)
• More publications: VisLab (Computer and Robot Vision Lab) publications

size=2 width="100%" align=center>

Currently Supervising PhDs:

• Valter Piedade (co-supervising)

Supervised PhDs:

• Nuno Miguel Barroso Monteiro, Vision with Plenoptic Cameras, 2021.
• Rafael Kuffner dos Anjos, Multiview Layered Depth Image: A Data Representation for 3D Flashback, 2018. (Co-superviser.)
• Nuno Miguel Banheiro Moutinho, Humanoid Robot Head Continuous Calibration for Active Stereo Vision, using Non-Linear Filtering Techniques, 2017. (Co-superviser.)

size=2 width="100%" align=center>

Teaching:

MSc dissertations currently being proposed: [2025/26s] Important: In case you consider any of the works or, even more important, if you select any of the works, please contact Prof. J. Gaspar. Fenix does not notify automatically your selections. MSc dissertations: [2024/25] [2024/25s] MSc dissertations: [2021/22s] [2021/22] [2020/21s] [2020/21] MSc dissertations: [2019/20s] [2019/20] [2018/19s] [2018/19] MSc dissertations: [2017/18s] [2017/18] [2016/17s] [2016/17] MSc dissertations: [2015/16] [2014/15] [2013/14] [2012/13] MSc dissertations: [2011/12] [2010/11] [2009/10] [2008/09] MSc dissertations: [2007/08] All past years, exhaustive list . Supervised MSc thesis TFCs: [2006/07] [2005/06] [2004/05] Teaching: course utils

Automação de Processos Industriais (API) 10, 11, 12, 13, 14, 15 , 16, 17, 18, 19, 20 Modelação e Automação de Processos Industriais (MAPI) 21d, 22d, 23d, 24d Análise de Circuitos 2005/06 1ºSem -  exemplos utilização PSPICE Análise de Circuitos 2002/03 2ºSem: lab. Teoria de Circuitos 2001/02 1ºSem: lab. Controlo 2005/06 1ºSem Controlo 04, 04b, 05, 05b, 13 Controlo-1 2001/02 1ºSem: lab. Controlo, Controlo-1 94b, Controlo-2 96, 97 Controlo em Espaço de Estados, 12b Introdução ao Controlo 09, 12 Modelação e Simulação 08b Robótica 94 Sistemas de Controlo Distribuído em Tempo Real Teoria dos Sinais e Sistemas 94, 95 Sistemas e Sinais 14b Processamento de Imagem e Visão 95, 96, 10 Visao 2001/02 1ºSem: lab. Visão 93b, 94b, 95b, 96b, 97b, 1997/98 1ºSem: Files...

Links:

VisLab - Computer and Robot Vision Lab (my workplace). VisLab Lisboa - Youtube. VisLab Vizzy - Facebook. VisLab - Discord. Vislab repository \\blackhole or \\10.0.3.118 Robotics in Portugal: Portuguese Robotics Society SPR Robotics: miniature kits, books & parts, books, kits & toys, related stuff. Microcontrollers / Arduino: homepage, portuguese sellers Gtronica.com, InMotion, LusoRobótica, PTRobotics, Sonigate Leiritrónica (retrieved from the Arduino site) Quick reference cards / guides / sheets in one page http://www.cheat-sheets.org/ Programming: C++ standard committee site Official site of Java Java + You Matlab file exchange Octave download Scilab download and Xcos dynamic systems GUI+sim Link to click and make a free donation of food to hungry people: thehungersite .

ISR 2005 small gallery of photos (in Portuguese) 2006 IST at Inforum 2004 Pêndulo Invertido (in Portuguese) ISR/IST organization of "Festival Internacional de Ciência e Tecnologia" 1997 click here Computer Vision Online. Computer Vision online (CVonline - by Robert Fisher) Computer vision homepage. Computer vision CONFERENCES. Robotics CONFERENCES. Home Page of Omnidirectional Vision hosted by the GRASP Laboratory. Workshop on Omnidirectional Vision. IEEE Xplore Google Scholar To find complete refs of papers: CiteSeer (formerly ResearchIndex); Mirrors in [MIT] [Zürich] [Singapore] . My publications at DBLP Broken links verification by w3c History: Slash vs backslash in MSDOS / Windows why?

Data/Files I/O:

Matlab utils Circuitos para simulação PSPICE e interfaces em Matlab/Octave: Rede resistiva, Respostas RC, Diagr. Bode Estudo de uma rede resistiva Chaining RC Responses: Learning with PSPICE and Matlab/Octave Obtenção de diagramas de Bode Images: "Imagens para teste de calibração e reconstrução 3D..." Vislab GitHub IMLE - Bruno Damas, GitHub

Old links: Reading & writing PGM files in matlab: pgm_io.zip (3kb) Single projection center comments (in Portuguese): "conveniencia de centro projecção único" Philosophy (in Portuguese): Representação de cenários Fun: "treta" music... Fun2: "passeio"... Fun3: Site "habilidoso" de Francisco Gaspar

---

Belief:

Life is not perfect. Therefore, can always be improved!

Complete address and e-mail:

Instituto de Sistemas e Robótica, Instituto Superior Técnico, Torre Norte Av. Rovisco Pais, 1 1049-001 Lisboa, PORTUGAL

Office: Torre Norte do IST, 7.19 phone : +351 21 8418 293 fax : +351 21 8418 291 e-mail: