Helder Jesus Araújo

    Name: Helder Jesus Araújo, Ph.D.
    Position: Full Professor
    Website: http://www2.isr.uc.pt/~helder/
    Office: 1.2
    Internal Phone: 421111
    Email: helder@isr.uc.pt




    https://www.cienciavitae.pt/portal/0113-BEDC-6524

    Supervisor of:
    Eva Raquel Belém Curto, Ph.D. Student
    Teresa Salazar, Ph.D. Student
    Vamshi Kodipaka, Ph.D. Student
    Hosam Zolfonoon, Ph.D. Student
    Rui Guimarães, M.Sc. Student
    Sandra Rodrigues, M.Sc. Student
    Vahid Totonchi, Ph.D. Student




    Journals

    Gopi Krishna Erabati, H. Araújo, DeLiVoTr: Deep and light-weight voxel transformer for 3D object detection, Intelligent Systems with Applications, Volume 22, 2024
    https://doi.org/10.1016/j.iswa.2024.200361
    Gopi Krishna Erabati, H. Araújo, RetFormer: Embracing Point Cloud Transformer With Retentive Network, in IEEE Transactions on Intelligent Vehicles, 2024
    https://doi.org/10.1109/TIV.2024.3417260
    Gopi Krishna Erabati, H. Araújo, SRFDet3D: Sparse Region Fusion based 3D Object Detection, Neurocomputing, Volume 593, 2024
    https://doi.org/10.1016/j.neucom.2024.127814

    Conferences

    N Nazifi, H. Araújo, Gopi Krishna Erabati, O Tahri, Self-supervised monocular pose and depth estimation for wireless capsule endoscopy using transformers, Proceedings Volume 12928, Medical Imaging 2024: Image-Guided Procedures, Robotic Interventions, and Modeling, 2024
    https://doi.org/10.1117/12.3006235
    Gopi Krishna Erabati, H. Araújo, DAFDeTr: Deformable Attention Fusion Based 3D Detection Transformer, In: Filipe, J., Röning, J. (eds) Robotics, Computer Vision and Intelligent Systems. ROBOVIS 2024, 2024
    https://doi.org/10.1007/978-3-031-59057-3_19
    Ema Macedo, H. Araújo, Pedro Abreu, Study the Capacity of deep learning techniques information generalization using capsule endoscopic images, Workshop on Challenges in Wireless Capsule Endoscopy (CWE), Held in conjunction with the 27th International Conference on Pattern Recognition (ICPR), Kolkata (India), 2024

    Book Sections

    E. Raquel Belém Curto, H. Araújo, 3D Motion Estimation of Volumetric Deformable Objects from RGB-D Images Synthetically Generated by a Multi-camera System, Iberian Robotics conference, 387-399, 2023
    https //doi.org/10.1007/978-3-031-58676-7_31
    Salazar, T., H. Araújo, Fernandes, FAIR-FATE: Fair Federated Learning with Momentum, In: Mikyška, J., de Mulatier, C., Paszynski, M., Krzhizhanovskaya, V.V., Dongarra, J.J., Sloot, P.M. (eds) Computational Science – ICCS 2023. ICCS 2023. Lecture Notes in Computer Science,, vol 14073, Springer, Cham, 2023
    https://doi.org/10.1007/978-3-031-35995-8_37

    Conferences

    Vamshi Kodipaka, L. Marques, H. Araújo, R. Cortesão, APH-Yolov7t: Yolov7-tiny with Attention Prediction Head for Person Detection on Drone-Captured Search and Rescue Scenarios, Robot2023: Sixth Iberian Robotics Conference, 2023
    Oscar Ferraz, H. Araújo, Vitor Silva, G. Falcão, Benchmarking Convolutional Neural Network Inference on Low-Power Edge Devices, ICASSP 2023 - 2023 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2023
    https://ieeexplore.ieee.org/document/10095003
    G. Erabati, H. Araújo, Li3DeTr: A LiDAR based 3D Detection Transformer, IEEE Winter Conference on Applications of Computer Vision, IEEE, 2023
    M. Oliveira, H. Araújo, Local Forward-Motion Panoramic Views for Localization and Lesion Detection for Multi-Camera Wireless Capsule Endoscopy Videos, Proceedings of the 16th International Joint Conference on Biomedical Engineering Systems and Technologies, 2023
    http://dx.doi.org/10.5220/0011626600003414

    Journals

    E. Raquel Belém Curto, H. Araújo, An Experimental Assessment of Depth Estimation in Transparent and Translucent Scenes for Intel RealSense D415, SR305 and L515, Sensors, Vol. 22, No. 19, 2022
    https://doi.org/10.3390/s22197378
    E. Raquel Belém Curto, H. Araújo, Fitting a Normal Probability Distribution to Depth Estimations of Three REALSENSE™ Rgb-D Cameras Tested in Scenes with Transparency, The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XLVIII-2/W1-2022, pg.59-63, 2022
    https://doi.org/10.5194/isprs-archives-XLVIII-2-W1-2022-59-2022

    Conferences

    H. Araújo, G. Erabati, MSF3DETR: Multi-Sensor Fusion 3D Detection Transformer for Autonomous Driving, in 2022 ICPR Workshop on Deep Learning for Visual Detection and Recognition (DLVDR2022), Montreal, Canada, 2022
    I. Cuiral-Zueco, G. Lopez-Nicolas, H. Araújo, Gripper Positioning for Object Deformation Tasks, ICRA’ 2022 International Conference on Robotics and Automation (ICRA), pp. 963-969, Philadelphia, PA, USA, 2022
    https://doi.org/10.1109/ICRA46639.2022.9812304

    Journals

    K. Ozyoruka, G. Gokcelera, G. Coskuna, Kagan Incetana, Y. Almalioglub, E. Raquel Belém Curto, L. Perdigoto, H. Sahina, H. Araújo, H. Alexandrino, M. Turan, EndoSLAM Dataset and An Unsupervised Monocular Visual Odometry and Depth Estimation Approach for Endoscopic Videos, Medical Image Analysis, Vol. 71, 2021
    H. Araújo, I. Figueiredo, L. Pinto, C. Pierdevară, L. Perdigoto, Registration of Consecutive Frames From Wireless Capsule Endoscopy for 3D Motion Estimation, IEEE Access, vol. 9, pp. 119533-119545, 2021
    T. Salazar, M. Santos, H. Araújo, P. Henriques Abreu, FAWOS: Fairness-Aware Oversampling Algorithm Based on Distributions of Sensitive Attributes, IEEE Access, vol. 9, pp. 81370-81379, 2021

    Conferences

    E. Raquel Belém Curto, H. Araújo, 3D Reconstruction of Deformable Objects from RGB-D Cameras: An Omnidirectional Inward-facing Multi-camera System, VISIGRAPP’2021-16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2021
    F. Lourenç, H. Araújo, Intel RealSense SR305, D415 and L515: Experimental Evaluation and Comparison of Depth Estimation, VISIGRAPP’2021-16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 2021

    Book Sections

    Isabel Figueiredo, Luí, L. Perdigoto, M. Oliveira, H. Araújo, P. Figueiredo, Wireless Capsule Endoscope Location and a Robotic Validation Experiment., IFMBE Proceedings, 2020
    https://doi.org/10.1007/978-3-030-31635-8_166
    H. Araújo, Omnidirectional Vision, Encyclopedia of Robotics, 2020
    https://doi.org/10.1007/978-3-642-41610-1_101-1

    Conferences

    G. Erabati, N. Gonçalves, H. Araújo, OBJECT DETECTION IN TRAFFIC SCENARIOS-A COMPARISON OF TRADITIONAL AND DEEP LEARNING APPROACHES, 9th International Conference on Advanced Information Technologies and Applications (ICAITA 2020), 2020
    G. Erabati, H. Araújo, SL3D - Single Look 3D Object Detection based on RGB-D Images, 2020 Digital Image Computing: Techniques and Applications (DICTA), 2020
    https://doi.org/10.1109/DICTA51227.2020.9363404

    Journals

    R. Figueiredo, A. Dehban, P. Moreno, A. Bernardino, J. Santos-Victor, H. Araújo, A robust and efficient framework for fast cylinder detection, Robotics and Autonomous Systems, Vol. 117, pp 17-28, 2019
    M. Turan, Y. Almalioglu, H. Gilbert, F. Mahmood, N. Durr, H. Araújo, Learning to Navigate Endoscopic Capsule Robots, IEEE Robotics and Automation Letters, Vol. 4, No. 3, 2019

    Conferences

    G. Erabati, H. Araújo, Dynamic Obstacle Detection in Traffic Environments, ICDSC Proceedings of the 13th International Conference on Distributed Smart Cameras, 2019
    I. Figueiredo, L. Pinto, L. Perdigoto, M. Oliveira, H. Araújo, P. Figueiredo, Wireless Capsule Endoscope Location and a Robotic Validation Experiment, In: Henriques J., Neves N., de Carvalho P. (eds) XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019, vol 76, Springer, 2019

    Journals

    F. Da Cunha e Castro Faria, J. Batista, H. Araújo, Biologically Inspired Computational Modeling of Motion based on Middle Temporal Area, Paladyn-Journal of Behavioral Robotics, Vol.9, issue 1, pp.60-71, De Gruyter (online), 2018
    M. Santos, J. Soares, P. Abreu, H. Araújo, J. Santos, Cross-validation for imbalanced datasets: Avoiding overoptimistic and overfitting approaches, IEEE Computational Intelligence Magazine, 2018
    Y. Lao, O. Ait-Aider, H. Araújo, Robustified Structure from Motion with rolling-shutter camera using straightness constraint, Pattern Recognition Letters, 2018
    M. Turan, Y. Almalioglu, H. Araújo, E. Konukoglu, M. Sitti, Deep EndoVO: A recurrent convolutional neural network (RCNN) based visual odometry approach for endoscopic capsule robots, Neurocomputing, 2018
    R. Pimentel de Figueiredo, A. Bernardino, J. Santos-Victor, H. Araújo, On the advantages of foveal mechanisms for active stereo systems in visual search tasks, Autonomous Robots, 2018

    Book Sections

    J. Pompeu Soares, M. Seoane Santos, P. Abreu, H. Araújo, J. Santos, Exploring the effects of data distribution in missing data imputation , Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) , 2018

    Conferences

    R. Pimentel de Figueiredo, A. Dehban, A. Bernardino, J. Santos-Victor, H. Araújo, Shape-based attention for identification and localization of cylindrical objects,, 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, ICDL-EpiRob 2017, 2018

    Journals

    M. Turan, Y. Almalioglu, H. Araújo, E. Konukoglu, M. Sitti, Deep EndoVO: A recurrent convolutional neural network (RCNN) based visual odometry approach for endoscopic capsule robots (aceite), Neurocomputing, 2017
    M. Turan, Y. Almalioglu, H. Araújo, E. Konukoglu, M. Sitti, A non‑rigid map fusion‑based direct SLAM method for endoscopic capsule robots (aceite), International Journal of Intelligent Robotics and Applications, 2017
    M. Turan, J. Shabbir, H. Araújo, E. Konukoglu, M. Sitti, A deep learning based fusion of RGB camera information and magnetic localization information for endoscopic capsule robots (aceite), International Journal of Intelligent Robotics and Applications, 2017
    M. Turan, Y. Pilavci, I. Ganiyusufoglu, H. Araújo, E. Konukoglu, M. Sitti, Sparse-then-Dense Alignment based 3D Map Reconstruction Method for Endoscopic Capsule Robots (aceite), Machine Vision and Applications, 2017
    D. Dias-da-Costa, J. Valença, E. Julio, H. Araújo, Crack propagation monitoring using an image deformation approach, Structural Control Health Monitoring, 2017
    A. Jafar, J. Hosseini, H. Araújo, Patch-based reconstruction of surfaces undergoing different types of deformations, Signal, Image and Video Processing, Vol. 11, No. 7, 2017
    S. Jafar Hosseini Shamoushaki, H. Araújo, ’SDP-based approach to monocular reconstruction of inextensible surfaces, IET Computer Vision, Vol. 11, no. 1, p.43-49, 2017

    Conferences

    J. Ribeiro Cardoso, P. Miraldo, H. Araújo, Plücker correction problem: Analysis and improvements in efficiency, International Conference on Pattern Recognition , pp. 2795-2800, 2017
    http://dx.doi.org/10.1109/ICPR.2016.7900059
    A. Pereira, V. Grassi Junior, H. Araújo, Visual Odometry with an Omnidirectional Multi-Camera System, XIII Simpósio Brasileiro de Automação Inteligente, Porto Alegre, Brasil, 2017
    R. Pimentel de Figueiredo, A. Dehban, A. Bernardino, J. Santos-Victor, H. Araújo, Shape-Based Attention for Identification and Localization of Cylindrical Objects, IEEE Int. Conf. on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), Lisboa, Portugal, 2017
    M. Santos, J. Soares, P. Abreu, H. Araújo, J. Santos, Influence of Data Distribution in Missing Data Imputation, AIME’2107—Artificial Intelligence in Medicine, Viena, Austria, 2017
    R. Pimentel de Figueiredo, J. Avelino, A. Dehban, A. Bernardino, P. Lima, H. Araújo, Efficient Resource Allocation for Sparse Multiple Object Tracking, VISIGRAPP’2017—12th Int. Joint Conf on Computer Vision, Imaging, and Computer Graphics Theory and Applications, Porto, Portugal, 2017

    Journals

    L. Perdigoto, H. Araújo, Estimation of mirror shape and extrinsic parameters in axial non-central catadioptric systems, Image and Vision Computing, Volume 54, Pages 45-59, 2016
    J. Hosseini, H. Araújo, From D-RGB-based reconstruction toward a mesh deformation model for monocular reconstruction of isometric surfaces, EURASIP Journal on Image and Video Processing, no.1, 2016
    J. Hosseini, H. Araújo, SDP-based approach to monocular reconstruction of inextensible surfaces, IET Journal on Computer Vision, 2016

    Conferences

    J. Ribeiro Cardoso, P. Miraldo, H. Araújo, Plucker Correction Problem: Analysis and Improvements in Efficiency, 23rd Int. Conf. on Pattern Recognition-ICPR’2016, Cancun, Mexico, 2016
    J. Hosseini, H. Araújo, 3D Estimation of Extensible Surfaces Through a Local Monocular Reconstruction Technique, 2016 ACCV Workshop on 3D Modelling and Applications, ACCV’2016-Asian Conference on Computer Vision, Taipei, 2016
    T. Dias, H. Araújo, P. Miraldo, 3D Reconstruction with Low Resolution, Small Baseline and High Radial Distortion Stereo Images, Proceedings of the 10th ACM International Conference on Distributed and Smart Cameras, Paris, 2016
    L. Baudouin, Y. Mezouar, O. Ait-Aider, H. Araújo, Multi-modal Sensors Path Merging, Intelligent Autonomous Systems 13”, Proceedings of the 13th International Conference IAS-13, Springer, Padova, Italy, 2016

    Journals

    P. Miraldo, H. Araújo, Pose estimation for non-central cameras using planes., Journal of Intelligent & Robotic Systems, 2015
    R. Penne, C. Raposo, L. Mertens, B. Ribbens, H. Araújo, Investigating new calibration methods without feature detection for ToF cameras, Image and Vision Computing, 2015
    P. Miraldo, H. Araújo, Generalized essential matrix: Properties of the singular value decomposition, Image and Vision Computing, 2015
    P. Miraldo, H. Araújo, Direct Solution to the Minimal Generalized Pose, IEEE Trans. on Cybernetics , 2015
    P. Miraldo, H. Araújo, N. Gonçalves, Pose Estimation for General Cameras using Lines, IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics) , Issue 99, 2015
    http://dx.doi.org/10.1109/TCYB.2014.2366378

    Journals

    H. Aliakbarpour, O. Tahri, H. Araújo, Visual Servoing of Mobile Robots using Non-Central Catadioptric Cameras, Robotics and Autonomous Systems , 2014
    J. Valença, D. Dias-da-Costa, L. Gonçalves, E. Júlio, H. Araújo, Automatic Concrete Health Monitoring, Structure and Infrastructure Engineering, 2014
    O. Tahri, H. Araújo, Y. Mezouar, F. Chaumette, Efficient Iterative Pose Estimation using an Invariant to Rotations, IEEE Transactions on Systems, Man and Cybernetics - Part B, 44(2), pp 199-207, 2014

    Conferences

    P. Miraldo, H. Araújo, Planar Pose Estimation for General Cameras using Known 3D Lines, IROSâ, Chicago, USA, 2014
    P. Miraldo, H. Araújo, A Simple and Robust Solution to the Minimal General Pose Estimation, ICRAâ, Hong Kong, China, 2014
    P. Miraldo, H. Araújo, Pose Estimation for Non-Central Cameras Using Planes, ICARSCâ, Aveiro, Portugal, 2014
    J. Hosseini, H. Araújo, Structure from Motion - ToF-aided 3D Reconstruction of Isometric Surfaces, ICPRAMâ, Angers, France, 2014

    Journals

    F. Da Cunha e Castro Faria, J. Batista, H. Araújo, Stereoscopic Depth Perception Using a Model Based on the Primary Visual Cortex, PLOS ONE, Vol.8, Issue 12, 2013
    O. Tahri, H. Araújo, F. Chaumette, Y. Mezouar, Robust image-based visual servoing using invariant visual information, Robotics and Autonomous Systems, Vol. 61, No. 12, pp 1588-1600, 2013
    J. Valença, D. Dias-da-Costa, L. Gonçalves, E. Júlio, H. Araújo, Automatic Concrete Health Monitoring - Assessment and Monitoring of Concrete Surfaces, Structure and Infrastructure Engineering, 2013
    L. Perdigoto, H. Araújo, Calibration of mirror position and extrinsic parameters in axial non-central catadioptric systems, CVIU--Computer Vision and Image Understanding, Vol. 117, No. 8, pp. 909--921, 2013
    J. Valença, D. Dias-da-Costa, E. Júlio, H. Araújo, H. Costa, Automatic Crack Monitoring using Photogrammetry and Image Processing, Measurement, Volume: 46, Number: 1, Pages: 433-441, 2013
    http://www2.isr.uc.pt/~helder/2013/measurement2012.pdf
    P. Miraldo, H. Araújo, Calibration of Smooth Camera Models , IEEE Trans. on Pattern Analysis and Machine Intelligence, 2013
    http://www2.isr.uc.pt/~helder/2013/calib_smooth_camera.pdf

    Book Sections

    A. Luz, M. S. Couceiro, David Portugal, R. P. Rocha, H. Araújo, G. Dias, Comparison of Classification Methods for Golf Putting Performance Making, Computational Intelligence and Decision Making - Trends and Applications, From Intelligent Systems, Control and Automation: Science and Engineering Bookseries, Ana M. Madureira, Cecília Reis and Viriato M. Marques, 61, pp. 35-45, Springer Verlag, 2013
    http://dx.doi.org/10.1007/978-94-007-4722-7_4

    Conferences

    J. M. Luz, M. S. Couceiro, David Portugal, R. P. Rocha, H. Araújo, G. Dias, Comparison of Classification Methods for Golf Putting Performance Analysis, Computational Intelligence and Decision Making - Trends and Applications, From Intelligent Systems, Control and Automation: Science and Engineering Bookseries, 61, pp. 35-45, Springer Verlag, Coimbra, Portugal, 2013
    http://dx.doi.org/10.1007/978-94-007-4722-7_4
    O. Tahri, H. Araújo, Y. Mezouar, F. Chaumette, Efficient decoupled pose estimation from a set of points, IROS'2013-IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013
    H. Aliakbarpour, O. Tahri, H. Araújo, Image-Based Servoing of Non-Holonomic Vehicles, Using Non-Central Catadioptric Cameras, ROMOCO'2013-9th International Workshop on Robot Motion and Control, Wasowo, Poland, 2013

    Journals

    D. Palma, H. Araújo, M. Curado, Link quality estimation in wireless multi-hop networks using Kernel based methods, Computer Networks, vol.56, n.16, p.3629-3638, Elsevier, 2012
    http://dx.doi.org/10.1016/j.comnet.2012.07.012
    J. Valença, E. Júlio, H. Araújo, Applications of Photogrammetry to Structural Assessment, Experimental Techniques, Volume: 36, Number: 5, Pages: 71-78, 2012
    J. Valença, D. Dias-da-Costa, E. Júlio, H. Araújo, H. Costa, Automatic crack monitoring using photogrammetry and image processing, Measurement, Elsevier, 2012
    http://dx.doi.org/10.1016/j.measurement.2012.07.019

    Book Sections

    J. M. Luz, M. S. Couceiro, David Portugal, R. Rocha, H. Araújo, G. Dias, Comparison of Classification Methods for Golf Putting Performance Analysis, Ana M. Madureira, Cecília Reis and Viriato M. Marques (editors), Computational Intelligence and Decision Making, vol. 61, pp. 35-45, Springer Verlag, 2012
    https://doi.org/10.1007/978-94-007-4722-7_4

    Conferences

    L. Perdigoto, H. Araújo, Reconstruction of 3D Lines from a Single Axial Catadioptric Image UsingCross-Ratio, Proceedings of the ICPR'2012--International Conference on Pattern Recognition, 2012
    http://www2.isr.uc.pt/~helder/2012/icpr12_3Dlines.pdf
    O. Tahri, H. Araújo, Non-Central Catadioptric Cameras Visual Servoing for Mobile Robots using a Radial Camera Model, Proceedings of IROS'2012--IROS'2012--IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
    http://www2.isr.uc.pt/~helder/2012/iros12_visualservo

    Journals

    N. Ferreira, F. Caramelo, J. Lima, C. Guerreiro, M. Botelho, H. Araújo, P. Crespo, Imaging Methodologies, in Nuclear Medicine Physics, J. J. Pedroso de Lima, CRC Press, 2011

    Conferences

    P. Miraldo, H. Araújo, J. Queiro, Point-based Calibration Using a Parametric Representation of the General Imaging Model, Proc. of the ICCV’2011-13th Int. Conf. on Computer Vision, 2011
    http://www2.isr.uc.pt/~helder/2011/iccv2011_calib.pdf
    F. Faria, J. Batista, H. Araújo, Stereoscopic Disparity Model Inspired by Primary Visual Cortex, 6º Congresso Luso-Moçambicano de Engenharia, Maputo, Moçambique, 2011
    J. Valença, D. Dias-da-Costa, E. Júlio, H. Araújo, Automatic integrated system for crack monitoring, 35th International Symposium on Bridge and Structural Engineering, IABSE-IASS, London, United Kingdom, 2011

    Journals

    J. P. Barreto, L. Perdigoto, R. C., H. Araújo, Active Stereo Tracking of N <= 3 Targets Using Line Scan Cameras , Journal - IEEE Transaction on Robotics, Vol. 26, (3), pp 442-457, 2010

    Book Sections

    O. Tahri, Y. Mezouar, F. Chaumette, H. Araújo, Visual Servoing and Pose Estimation with Cameras obeying the Unified Model, In Visual Servoing via Advanced Numerical Methods, Springer, 2010

    Conferences

    P. Miraldo, H. Araújo, Improving the Resolution of the Generic Camera Model by Means of a Parametric Representation, Controlo'2010---9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010
    F. Da Cunha e Castro Faria, J. Batista, H. Araújo, Bio-inspired Binocular Disparity with Position-Shift Receptive Field, DoCEIS2010 – Doctoral Conference on Computing, Electrical and Industrial Systems, Costa da Caparica, Portugal, 2010

    Journals

    N. Gonçalves, H. Araújo, Estimating Parameters of Noncentral Catadioptric Systems Using Bundle Adjustment, Computer Vision and Image Understanding, vol.1, n.113, pp.11-28, Elsevier, 2009
    http://dx.doi.org/10.1016/j.cviu.2008.06.004

    Conferences

    L. Perdigoto, J. P. Barreto, R. C., H. Araújo, Active Stereo Tracking of Multiple Free-Moving Targets, CVPR - IEEE Conference on Computer Vision and Pattern Recognition, pp 1494-1501, 2009
    N. Wilming, F. Wolfsteller, P. König, R. C., J. Xavier, H. Araújo, Attention Models for Vergence Movements Based on the JAMF Framework and the Popeye Robot, VISAPP'2009---International Conference on Computer Vision Theory and Applications, Lisbon, Portugal, 2009
    T. Christensen, J. Barker, Y. Lu, J. Xavier, R. C., H. Araújo, POPeye: Real-Time, Binaural Sound Source Localisation on an Audio-Visual Robot-Head, NCAF 2009--Natural Computing Applications Forum Meeting, Sunderland, UK, 2009

    Conferences

    N. Martins, H. Araújo, Calibration and Pose Estimation of a Pox-Slits Camera from a Single Image, ", ISVC'08--4th International Symposium on Visual Computing, Las Vegas, Nevada, USA, 2008
    J. Xavier, H. Araújo, The Experimental Robotics Framework, SIMPAR'2008---International Conference on Simulation, Modeling and Programming for Autonomous Robots, 2008
    K. Aires, H. Araújo, Plane Detection Using Monocular Vision, VIIP'2008---8th IASTED International Conference on Visualization, Imaging, and Image Processing, 2008
    J. Valença, E. Júlio, H. Araújo, Application of Photogrammetry to Bridge Monitoring, Twelfth International Conference on Structural Faults & Repair, Edinburgh, Scotland, 2008

    Journals

    N. Gonçalves, H. Araújo, Low-Cost Method for the Estimation of the Shape of Quadric Mirrors and Calibration of Catadioptric Cameras, Optical Engineering, vol.7, n.46, pp.1-12, The International Society for Optical Engineering, 2007
    http://dx.doi.org/10.1117/1.2752493

    Conferences

    N. Gonçalves, H. Araújo, Linear Solution for the Pose Estimation of Noncentral Catadioptric Cameras, International Conference OMNIVIS’07 – The 7th Workshop on Omnidirectional Vision, Camera Networks and Non-Classical Cameras, pp.1-7, ICCV 2007 Workshops, 2007
    http://dx.doi.org/10.1109/ICCV.2007.4409197

    Conferences

    N. Gonçalves, H. Araújo, Partial Calibration and Mirror Shape Recovery for Non-central Catadioptric Systems, International Conference OMNIVIS’05 – The 6th Workshop on Omnidirectional Vision, Camera Networks and Non-Classical Cameras, ICCV 2005 Workshops, 2005
    http://dx.doi.org/10.1.1.124.8745
    N. Gonçalves, H. Araújo, Estimating Parameters of Non-Central Catadioptric Systems Using Bundle Adjustment, International Conference OMNIVIS’05 – The 6th Workshop on Omnidirectional Vision, Camera Networks and Non-Classical Cameras, 2005

    Conferences

    N. Gonçalves, H. Araújo, Projection Model, 3D Reconstruction and Rigid Motion Estimation from Non-central Catadioptric Images, Second International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT'04), pp.325-332, IEEE, 2004
    http://dx.doi.org/10.1109/TDPVT.2004.1335221
    N. Gonçalves, H. Araújo, 3D Reconstruction and Rigid Motion Estimation from Catadioptric Images, Proceedings of the 17th International Conference on Pattern Recognition (ICPR 2004), Vol.4, pp.268-271, IEEE, 2004
    http://dx.doi.org/10.1109/ICPR.2004.1333755

    Journals

    N. Gonçalves, H. Araújo, Analysis and comparison of two methods for the estimation of 3D motion parameters, Robotics and Autonomous Systems, vol.1, n.45, pp.23-49, Elsevier, 2003
    http://dx.doi.org/10.1016/S0921-8890(03)00065-4

    Conferences

    N. Gonçalves, H. Araújo, Mirror shape recovery from image curves and intrinsic parameters: Rotationally symmetric and conic mirrors, International Conference OMNIVIS’03 – The 6th Workshop on Omnidirectional Vision, Camera Networks and Non-Classical Cameras, pp.69-74, CVPR 2003 Workshops, 2003
    http://dx.doi.org/10.1109/CVPRW.2003.10078

    Conferences

    N. Gonçalves, H. Araújo, Estimation of 3D Motion from Stereo Images – Uncertainty Analysis and Experimental Results, International Conference on Intelligent Robots and Systems, Vol.1, pp.7-12, IEEE/RSJ, 2002
    http://dx.doi.org/10.1109/IRDS.2002.1041353
    N. Gonçalves, H. Araújo, Estimation of 3D Motion from Stereo Images – Differential and Discrete Formulations, 16th International Conference on Pattern Recognition (ICPR'02), Vol.1, pp.335-338, IEEE, 2002
    http://dx.doi.org/10.1109/ICPR.2002.1044710
    N. Gonçalves, H. Araújo, Uncertainty Propagation in Estimation of Partial 3D Velocity, Mediterranean Conference on Control and Automation, IEEE, 2002

    Conferences

    N. Gonçalves, H. Araújo, Analysis of Two Methods for Estimation of Partial 3D Velocity, SIRS 2001 : proceedings of the 9th international symposium on intelligent robotic systems, pp.261-270, LAAS-CNRS, 2001

    Journals

    J. Dias, C. Rodrigues Paredes, I. Fonseca, H. Araújo, J. Batista, A. de Almeida, Simulating Pursuit with Machine Experiments with Robots and Artificial Vision., IEEE Transactions on Robotics and Automation, vol. 3, no 1, pp. 1-18, 1998

    Book Sections

    H. Araújo, J. Dias, J. Batista, P. Peixoto, Active Vision for Autonomous Systems, Autonoumous Robotic Systems”, Anibal T. De Almeida and Oussama Khatib (Eds), Lectures Notes in Control and Information Sciences, 236, Springer-Verlag, 1998

    Journals

    J. Dias, H. Araújo, C. Rodrigues Paredes, J. Batista, Optical Normal Flow Estimation on Log-polar Images. A solution for Real-Time Binocular Vision, Real-Time Imaging Journal, 3, pp. 213-228, 1997
    https://doi.org/10.1006/rtim.1996.0053

    Conferences

    A. Silva, P. Menezes, J. Dias, H. Araújo, Grid Based Framework for Sensorial Data Integration in Mobile Robots, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, In “SPIE’s International Symposium and Education Program on Intelligent Systems and Advanced Manufacturing - Special Session on Sensor Fusion and Decentralized Control in Autonomous Robotic Systems”, Pittsburgh, Pennsylvania, USA, 1997

    Conferences

    H. Araújo, J. Dias, An Introduction to the Log-Polar Mapping, II Workshop em Visão Cibernética, Instituto de Física e Química de São Carlos, Universidade de São Paulo, São Paulo, 1996
    H. Araújo, J. Dias, J. Batista, P. Peixoto, A Control Architecture for Active Vision Systems Enabling Real Time Operation, II Workshop em Visão Cibernética, Instituto de Física e Química de São Carlos, Universidade de São Paulo, São Paulo, 1996
    H. Araújo, J. Batista, P. Peixoto, J. Dias, Pursuit Control in a Binocular Active Vision System Using Optical Flow, 13th International Conference on Pattern Recognition, Volume I, pp. 313-317, Viena, 1996
    http://dx.doi.org/10.1109/ICPR.1996.546040
    H. Araújo, J. Batista, P. Peixoto, J. Dias, Gaze Control in a Binocular Active Vision System Using Optical Flow, Proceedings of the 4th International Symposium on Intelligent Robotic Systems, pp. 181-188, Lisboa, 1996
    I. Sousa, J. Dias, H. Araújo, Normal Optical Flow Based on Log-Polar Images, 4th International Symposium on Intelligent Robotic Systems, pp. 277-284, Lisboa, 1996
    J. Dias, H. Araújo, J. Batista, P. Peixoto, Active Vision Architectures for Autonomous Systems, VICAM'96 - Euroconference Workshop on Vision for Control Aspects of Mechatronics, Guimarães, 1996

    Book Sections

    A. de Almeida, H. Araújo, J. Dias, U. J. Nunes, Multi-Sensor Integration for Mobile Robot Navigation, "Artificial Intelligence in Industrial Decision Making, Control and Automation." S. Tzafestas and H. Verbruggen, Kluwer Academic Publisher, 1995

    Conferences

    H. Araújo, J. Dias, J. Batista, P. Peixoto, Autonomous Robots and Active Vision Systems: Issues on Architectures and Integration, EPIA - 7th Portuguese Conference on Artificial Intelligence, Workshop on Applications of AI to Robotics and Vision Systems, Funchal, Madeira, 1995
    J. Batista, J. Dias, H. Araújo, A. de Almeida, The ISR Multi-Degrees-of-Freedom Active Vision Robot Head, M2Vip95- Second International Conference on Mechatronics and Machine Vision in Practice, Hong Kong, 1995
    P. Menezes, J. Dias, H. Araújo, A. de Almeida, Low Cost Sensor Based Obstacle Detection and Description - Experiments with Mobile Robots Using Grid Representation, In “Experimental Robotics IV - The 4th International Symposium”, Number 223 in Lecture Notes in Computer Science. , Stanford, California (USA), 1995
    P. Menezes, J. Dias, H. Araújo, A. de Almeida, Low Cost Sensor Based Obstacle Detection and Description: Experiments with Mobile Robots using Grid Representation, In “4th International Symposium on Experimental Robotics”, Stanford, California (USA), 1995
    P. Menezes, J. Dias, H. Araújo, A. de Almeida, Using Sonar Sensors to Perform Obstacle Detection, In “1er Colloque International Produtique Robotique du Sud Europe Atlantique”, 1995
    J. Dias, C. Rodrigues Paredes, I. Fonseca, H. Araújo, J. Batista, A. de Almeida, Simulating Pursuit with Machines - Experiments with Robots and Artificial Vision, 1995 IEEE International Conference on Robotics and Automation, Nagoya Congress Center, Nagoya, Japan, 1995
    J. Batista, J. Dias, H. Araújo, A. de Almeida, The ISR Multi-Degree of Freedom Active Vision Robot Head: Design and Calibration, SMART Program Workshop, Instituto Superior Técnico, Lisboa, Portugal, 1995
    J. Dias, C. Rodrigues Paredes, I. Fonseca, H. Araújo, J. Batista, A. de Almeida, Pursuit: Experiments with Robots and Active Vision, SMART Program Workshop, Instituto Superior Técnico, Lisboa, Portugal, 1995
    J. Batista, J. Dias, H. Araújo, A. de Almeida, A Multi Degree of Freedom Robot Head Calibration - Some mathematical background, RecPad95, Aveiro, Portugal, 1995

    Conferences

    P. Menezes, H. Araújo, M. Ribeiro, Obstacle Detection in Mobile Robots Using Sonar Data, In “Controlo 94”, 1994
    J. Dias, J. Batista, H. Araújo, A. de Almeida, Multiocular Stereovision, SMART Program Workshop, European Joint Research Centre, ISPRA, Italy, 1994
    J. Batista, J. Dias, H. Araújo, A. de Almeida, Monoplane Camera Calibration, SMART Program Workshop, European Joint Research Centre, ISPRA, Italy, 1994
    H. Araújo, J. Dias, A. de Almeida, Parallel Texture Analysis Using High-Order Statistics and Neural Networks, Int. Symposium on Speech, Image Processing and Neural Networks, Hong-Kong, 1994
    A. de Almeida, H. Araújo, J. Dias, U. J. Nunes, Sensorial Integration for Navigation and Control of an Autonomous Mobile Robot, 1st Mathmod Vienna, IMACS, Technical University of Vienna, Austria, 1994

    Book Sections

    J. Dias, H. Araújo, C. Simplício, J. Batista, A. de Almeida, Binocular Active Vision System, NATO ASI - Verification and Validation of Complex Systems: Additional Human Factors Issues. John A. Wise, V. Hopkin, P. Stager (Eds), ISBN 1-884099-00-9, Embry-Riddle Aeronautical University Press, Daytona Beach, Florida, USA, 1993

    Conferences

    J. Batista, J. Dias, H. Araújo, A. de Almeida, Monoplanar Camera Calibration- Iteractive Multi-Step Approach, British Machine Vision Conference, BMVA'93, Surrey, 1993
    J. Dias, J. Batista, C. Simplício, H. Araújo, A. de Almeida, Implementation of an Active Vision System., International Workshop on Mechatronical Computer Systems for Perception and Action, Halmstad University, Sweden, 1993
    J. Batista, J. Dias, H. Araújo, A. de Almeida, Monoplanar Camera Calibration for Off-Shelf TV Cameras and Lenses, 5th Portuguese on Pattern Recognition, RECPAD'93, Forum da Maia, Maia Porto, Portugal, 1993
    J. Dias, J. Soares, P. Simões, J. Batista, H. Araújo, A. de Almeida, Image Segmentation - Cooperation between focus and color, 5th Portuguese on Pattern Recognition, RECPAD'93, Forum da Maia, Maia, Porto, Portugal, 1993
    P. Corvo, R. Branco, J. Dias, J. Batista, H. Araújo, A. de Almeida, Multiocular Stereovision., 5th Portuguese on Pattern Recognition, RECPAD'93, Forum da Maia, Maia, Porto, Portugal, 1993
    J. Dias, J. Batista, C. Simplício, H. Araújo, A. de Almeida, Implementation of an Active Vision System, 5th Portuguese on Pattern Recognition, RECPAD'93, Forum da Maia, Maia, Porto, Portugal, 1993

    Conferences

    J. Dias, H. Araújo, J. Batista, A. de Almeida, Stereo and Focus to Improve Depth Perception, Second International Conference on Automation, Robotics and Computer Vision, Singapore, 1992
    P. Peixoto, P. Faia, J. Dias, H. Araújo, Simulation and comparision of algorithms for single target track initition in a multi-sensor cluttered environment, RECPAD 92, 4th Portuguese Conference on Pattern Recognition, Portugal, 1992
    J. Dias, A. de Almeida, H. Araújo, J. Batista, Depth recovery and Segmentation by Active Focus, RECPAD 92, 4th Portuguese Conference on Pattern Recognition, Portugal, 1992
    J. Dias, A. de Almeida, H. Araújo, J. Batista, Camera Recalibration by Using Multiple Frames, RECPAD 92, 4th Portuguese Conference on Pattern Recognition, Portugal, 1992

    Book Sections

    A. de Almeida, U. J. Nunes, J. Dias, H. Araújo, J. Batista, A distributed control network for sensory robotics, “Microprocessors in Robotics and Manufacturing Systems”, Spyros Tzafestas (ed), Kluwer Acad. Publish, 1991

    Conferences

    J. Dias, A. de Almeida, H. Araújo, Depth Recovery using Active Focus in Robotics, IROS 91, Osaka, Japan, 1991
    J. Dias, A. de Almeida, H. Araújo, J. Batista, Improving Camera Calibration by Using Multiple Frames in Hand-Eye Robotic Systems, IROS 91, Osaka, Japan, 1991
    J. Dias, A. de Almeida, H. Araújo, Depth Perception using Focus with Hand-Eye Robotic System, IECON 91, Kobe Japan, 1991
    J. Dias, A. de Almeida, H. Araújo, J. Batista, Camera Recalibration with Hand-Eye Robotic System, IECON 91, Kobe, Japan, 1991
    H. Araújo, J. Dias, J. Batista, A. de Almeida, U. J. Nunes, Multi-Criteria Decision in Artificial Vision Systems - The Particulary Case of Stereo Vision, TIMS XXX -Sograpo XXIII, Joint Int. Meeting, Rio de Janeiro, Brazil, 1991
    J. Dias, J. Batista, H. Araújo, A. de Almeida, U. J. Nunes, Calibration of a Tridimensional Vision System for Robotics, TIMS XXX -Sograpo XXIII, Joint Int. Meeting, Rio de Janeiro, Brazil, 1991
    J. Dias, A. de Almeida, H. Araújo, Utilização de Focagem e Visão Activa na Robótica, ENDIEL'91, Lisboa, 1991
    J. Batista, J. Dias, H. Araújo, A. de Almeida, Análise qualitativa dos métodos de calibração de câmaras de video, RECPAD'91, Aveiro, Portugal, 1991
    J. Batista, J. Dias, U. J. Nunes, A. Damasceno, H. Araújo, A. de Almeida, Sistema de Visão Bidimensional para uma Célula Flexível de montagem, RECPAD'91, Aveiro, Portugal, 1991
    J. Dias, H. Araújo, A. de Almeida, L. Henriques, J. Batista, Desenvolvimento de uma cabeça articulada para visão activa, RECPAD'91, Aveiro, Portugal, 1991
    J. Dias, A. de Almeida, H. Araújo, J. Batista, Utilização de visão activa e focagem para determinação de profundidade, RECPAD'91, Aveiro, Portugal, 1991
    J. Dias, H. Araújo, J. Batista, A. de Almeida, Calibração dinâmica de um sistema móvel de visão tri-dimensional , RECPAD'91, Aveiro, Portugal, 1991
    H. Araújo, J. Dias, Arquivo, Compressão e Tratamento de Imagem em Medicina, Congresso sobre Informática na Saúde, Lisboa, 1991

    Journals

    A. de Almeida, U. J. Nunes, J. Dias, H. Araújo, J. Batista, A Distributed System for Robotic Multi-Sensor Integration, Industrial Metrology, Int. Journal Autom. Measurement & Control, n.1, pp.217-229, 1990

    Conferences

    J. Batista, J. Dias, H. Araújo, A. de Almeida, C. Mota, E. Leite, F. Silva, J. Cunha Vaz, Biblioteca de Processamento de Imagem, 2nd Portuguese Congress on Biomedical Engineering, Aveiro, Portugal, 1990

    Conferences

    A. de Almeida, H. Araújo, U. J. Nunes, J. Dias, J. Batista, Applications of computer vision to robotics, University of Coimbra, 1st UNIDO, Workshop on Robotics and CIM, Costa da Caparica, Portugal, 1989

    Book Sections

    A. de Almeida, H. Araújo, C. Crisóstomo, J. Dias, L. De Sá, U. J. Nunes, Multi-Sensor Distributed System for a Flexible Assembly Cell, NATO ARW-Highly Redundant Sensing in Robotic Systems, Julius T. Tou (ed), Vol. F-58, Springer Verlag, Il Ciocco, NATO ASI Series Tuscany, Italy, 1988

    Conferences

    A. de Almeida, H. Araújo, C. Crisóstomo, J. Dias, L. De Sá, U. J. Nunes, Multi-Sensor Flexible Assembly Cell, IFAC Symposium on Robot Control (SYROCO 88), Karlshuruhe, Germany, 1988
    J. Batista, J. Dias, H. Araújo, Biblioteca de programas para Processamento de Imagem, III Simpósio da Electrónica das Telecomunicações, Porto, Portugal, 1988

    Journals

    A. de Almeida, H. Araújo, J. Dias, F. Perdigão, L. De Sá, V. Silva, J. Batista, Actividades do GAAS nas áreas da Visão., Robótica e Processamento de Sinais, Revista de Informática-API, vol. 6, nº5, 1987

    Ph.D. Thesis

    Y Lao, 3D Vision Geometry for Rolling Shutter Cameras (5/2019) Supervised by O. Ait-Aider and Helder Jesus Araújo

    Luís Miguel Perdigoto, Calibration and Reconstruction in Nom-Central Axial Catadioptric Systems (10/2015) Supervised by Helder Jesus Araújo

    Nuno Miguel Gonçalves, Noncentral Catadioptric Systems with Quadric Mirrors: Geometry and Calibration (10/2008) Supervised by Helder Jesus Araújo

    M.Sc. Thesis

    Francisco Lourenço, 6DoF Object Pose Estimation from RGB-D Images Using Machine Learning Approaches (2/2021) Supervised by Helder Jesus Araújo

    Eva Raquel Belém Curto, Localization of multi-camera capsules endoscopes (9/2018) Supervised by Helder Jesus Araújo

    Daniel Costa, Identificação automática de árvores e arbustos com recurso a imagens aéreas recolhidas por um drone (10/2017) Supervised by Lino Forte Marques and Helder Jesus Araújo

    Diogo Lopes Ferreira, Algoritmos de cobertura para frotas de robôs sujeitos a restrições (7/2012) Supervised by Helder Jesus Araújo