J. Balado

Bio: J. Balado is an academic researcher from University of Vigo. The author has contributed to research in topics: Point cloud & Computer science. The author has an hindex of 10, co-authored 29 publications receiving 281 citations. Previous affiliations of J. Balado include Delft University of Technology.

Road Environment Semantic Segmentation with Deep Learning from MLS Point Cloud Data

Abstract: In the near future, the communication between autonomous cars will produce a network of sensors that will allow us to know the state of the roads in real time. Lidar technology, upon which most autonomous cars are based, allows the acquisition of 3D geometric information of the environment. The objective of this work is to use point clouds acquired by Mobile Laser Scanning (MLS) to segment the main elements of road environment (road surface, ditches, guardrails, fences, embankments, and borders) through the use of PointNet. Previously, the point cloud was automatically divided into sections in order for semantic segmentation to be scalable to different case studies, regardless of their shape or length. An overall accuracy of 92.5% has been obtained, but with large variations between classes. Elements with a greater number of points have been segmented more effectively than the other elements. In comparison with other point-by-point extraction and ANN-based classification techniques, the same success rates have been obtained for road surfaces and fences, and better results have been obtained for guardrails. Semantic segmentation with PointNet is suitable when segmenting the scene as a whole, however, if certain classes have more interest, there are other alternatives that do not need a high training cost.

Point clouds for direct pedestrian pathfinding in urban environments

Abstract: Pathfinding applications for the citizen in urban environments are usually designed from the perspective of a driver, not being effective for pedestrians. In addition, urban scenes have multiple elements that interfere with pedestrian routes and navigable space. In this paper, a methodology for the direct use of point clouds for pathfinding in urban environments is presented, solving the main limitations for this purpose: (a) the excessive number of points is reduced for transformation into nodes on the final graph, (b) urban static elements acting as permanent obstacles, such as furniture and trees, are delimited and differentiated from dynamic elements such as pedestrians, (c) occlusions on ground elements are corrected to enable a complete graph modelling, and (d) navigable space is delimited from free unobstructed space according to two motor skills (pedestrians without reduced mobility and wheelchairs). The methodology is tested into three different streets sampled as point clouds by mobile laser scanning (MLS) systems: an intersection of several streets with ground composed of sidewalks at different heights; an avenue with wide sidewalks, trees and cars parked on one side; and a street with a single-lane road and narrow sidewalks. By applying Dijkstra pathfinding algorithm to the resulting graphs, the correct viability of the generated routes has been verified based on a visual analysis of the generated routes on the point cloud and on the knowledge of the urban study area. The methodology enables the automatic generation of graphs representing the navigable urban space, on which safe and real routes for different motor skills can be calculated.

Pattern Recognition and Machine Learning

Abstract: Probability Distributions.- Linear Models for Regression.- Linear Models for Classification.- Neural Networks.- Kernel Methods.- Sparse Kernel Machines.- Graphical Models.- Mixture Models and EM.- Approximate Inference.- Sampling Methods.- Continuous Latent Variables.- Sequential Data.- Combining Models.

わかりやすい障害者の権利条約 : 知的障害のある人の権利のために = Convention on the rights of persons with disabilities

Abstract: The present report is submitted in response to General Assembly resolution 61/106, by which the Assembly adopted the Convention on the Rights of Persons with Disabilities and the Optional Protocol thereto. As requested by the Assembly, a brief overview of the status of the Convention as at 3 August 2007 is presented. The report also contains a brief description of technical arrangements on staff and facilities made necessary for the effective performance of the functions of the Conference of States Parties and the Committee under the Convention and the Optional Protocol, and a description on the progressive implementation of standards and guidelines for the accessibility of facilities and services of the United Nations system. Recent efforts of the United Nations and agencies to disseminate information on the Convention and the Optional Protocol are also described.

Deep learning for object detection and scene perception in self-driving cars: Survey, challenges, and open issues

Abstract: This article presents a comprehensive survey of deep learning applications for object detection and scene perception in autonomous vehicles. Unlike existing review papers, we examine the theory underlying self-driving vehicles from deep learning perspective and current implementations, followed by their critical evaluations. Deep learning is one potential solution for object detection and scene perception problems, which can enable algorithm-driven and data-driven cars. In this article, we aim to bridge the gap between deep learning and self-driving cars through a comprehensive survey. We begin with an introduction to self-driving cars, deep learning, and computer vision followed by an overview of artificial general intelligence. Then, we classify existing powerful deep learning libraries and their role and significance in the growth of deep learning. Finally, we discuss several techniques that address the image perception issues in real-time driving, and critically evaluate recent implementations and tests conducted on self-driving cars. The findings and practices at various stages are summarized to correlate prevalent and futuristic techniques, and the applicability, scalability and feasibility of deep learning to self-driving cars for achieving safe driving without human intervention. Based on the current survey, several recommendations for further research are discussed at the end of this article.