Alexandre Bernardino
Welcome to my wiki page. ... My old web page is becoming obsolete.
I'm an Assistant Professor at the Dept. of Electrical and Computer Engineering of the Faculty of Engineering at IST, the Faculty of Engineering in the Technical University of Lisbon. Also, I'm a researcher at ISR-Lisboa, the Institute for Systems and Robotics, and co-coordinator of VisLab, the Computer and Robot Vision Laboratory. My main research interests focus on the application of computer vision, cognitive science and control theory to advanced robotic and surveillance systems. Currently I'm involved in projects involving Humanoid Robots (Visual Attention, Foveal Vision, Model Based Tracking, Learning Affordances, Sensorimotor Coordination) and Surveillance Systems (Target Detection, Tracking and Identification, Human Activity Recognition). Contact me if you are interested in working in some of these topics.
Research
Publications
You can find online versions of most of the following publications at the VisLab publications page.
Journal, Books
Improving the SIFT descriptor with smooth derivative filters, Plinio Moreno, Alexandre Bernardino and José Santos-Victor, Pattern Recognition Letters, Vol 30 (1), 2009.
"Learning Object Affordances: From Sensory Motor Maps to Imitation", Luis Montesano, Manuel Lopes, Alexandre Bernardino, and Jose Santos-Victor. IEEE Transactions on Robotics, Special Issue on Bio-Robotics, Vol 24(1) Feb 2008.
Stereoscopic Image Visualization for Telerobotics: Experiments with Active Binocular Cameras. Alexandre Bernardino, Jose Santos-Victor, Manuel Ferre, Miguel A.Sanchez-Uran. Advances in Telerobotics, Springer Tracts in Advanced Robotics, M. Ferre, M. Buss, R. Aracil, C. Melchiorri, C. Balaguer, Eds. Vol 31, 2007.
Fast IIR Isotropic 2D Complex Gabor Filters with Boundary Initialization, Alexandre Bernardino and José Santos-Victor, IEEE Transactions on Image Processing, November 2006
Detection and Classification of Highway Lanes Using Vehicle Motion Trajectories, J.Melo, A.Naftel, A.Bernardino, J.Santos-Victor, IEEE Trans. on Intelligent Transportation Systems, Vol 7, Nr 2, June 2006.
Recognition and Reconstruction of Tri-Dimensional Objects within Urban Meshes, R. Garcia, M. Farracha, J. Dionísio, A. Bernardino, J. Costeira. Portuguese Journal of Computer Graphics – Special Edition: Advances in Computer Graphics in Portugal, 2004.
Mosaic Based Navigation for Autonomous Underwater Vehicles, Nuno Gracias, Sjoerd van der Zwaan, Alexandre Bernardino, José Santos-Victor, IEEE Journal of Oceanic Engineering, October 2003
Model Based Attention Fixation Using Log-Polar Images, Alexandre Bernardino, José Santos-Victor and Giulio Sandini, in V. Cantoni, A. Petrosino & M. Marinaro (eds.), "Visual Attention Mechanisms", Plenum Press, New York, 2002
Visual station keeping for floating robots in unstructured environments, Sjoerd van der Zwaan, Alexandre Bernardino, José Santos-Victor, Robotics and Autonomous Systems (Elsevier), 39(3-4), June 2002
Foveated Active Tracking with Redundant 2D Motion Parameters, Alexandre Bernardino, José Santos-Victor, Giulio Sandini, Robotics and Autonomous Systems (Elsevier), 39(3-4), June 2002
Binocular Visual Tracking: Integration of Perception and Control, Alexandre Bernardino, José Santos-Victor, IEEE Transactions on Robotics and Automation, (15)6, December 1999 Visual Behaviours for Binocular Tracking, Alexandre Bernardino, José Santos-Victor, Robotics and
Autonomous Systems, Elsevier, (25)3-4, 1998 Uncertainty Modeling and Perceptual Guiding for Safe Operation in Unknown Environments, M.J. Rendas, J. Santos-Victor, J.Y Tigli, I. Lourtie, L. Pronzato, M.C. Thomas, A. Bernardino, M. Ribo, International Journal of Intelligent Control Systems, World Scientific Publishing Company, Vol 2(2), July 1998
Conferences
ISRobotNet: A Testbed for Sensor and Robot Network Systems, M. Barbosa, A. Bernardino, D. Figueira, J. Gaspar, N. Gonçalves, P. Lima, P. Moreno, A. Pahliani, J. Santos-Victor, M. Spaan, J. Sequeira. IROS 2009.
Calibrating an Outdoor Distributed Camera Network using Laser Range Finder Data, A. Ortega, B. Dias, E. Teniente, A. Bernardino, J. Gaspar and J. Andrade-Cetto
Waving detection using the local temporal consistency of flow-based features for real-time applications. P. Moreno, A. Bernardino, J. Santos-Victor. ICIAR 2009.
Evolving Predictive Visual Motion Detectors. J. Ruesch, A. Bernardino. ICDL 09.
Biomimetic Eye-Neck Coordination. Alexandre Bernardino, Manuel Lopes, José Santos-Victor, Claes von Hofsten, Kerstin Rosander, ICDL 09.
Affordance Based Word-To-Meaning Association, V. Krunic, G. Salvi, A. Bernardino, L. Montesano, J. Santos-Victor. ICRA 09.
A Benchmark on Stereo Disparity Estimation for Humanoid Robots Jurgen Leitner, Alexandre Bernardino and José Santos-Victor. Proc. of Robotica 2008, 8th Confeence on Autonomous Robot Systems and Competitions, Aveiro, Portugal, 2008.
Visual Self-Calibration of Pan-Tilt Kinematic Structures Bartosz Tworek, Alexandre Bernardino and Jose Santos-Victor. Proc. of Robotica 2008, 8th Confeence on Autonomous Robot Systems and Competitions, Aveiro, Portugal, 2008.
Experiments on Vision Based Control of an Indoors RF Blimp. Marco Neves, João Marques, Alexandre Bernardino, José Santos-Victor. Proc. of Controlo 2008, 8th Portuguese Conference on Automatic Control, 21-23 July 2008.
Predictive Reaching Control with Multiple Motion Models. Paulo Carreiras, Alexandre Bernardino, José Santos-Victor. Proc. of Controlo 2008, 8th Portuguese Conference on Automatic Control, 21-23 July 2008.
Sample-Based 3D Tracking of Colored Objects: A Flexible Architecture, M. Taiana, J. Nascimento, J. Gaspar and A. Bernardino, Proc. of the British Machine Vision Conference, (BMVC2008), Leeds, UK, 1-4 Sept. 2008.
Multimodal Saliency Based Bottom-Up Attention, a Framework for the Humanoid Robot Icub, Jonas Ruesch, Manuel Lopes, Alexandre Bernardino, Jonas Hörnstein, José Santos-Victor, R. Pfeifer, Proc. of ICRA 2008 - IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 2008
Pose Estimation for Grasping Preparation from Stereo Ellipses Giovanni Saponaro, Alexandre Bernardino. Proc. of the Workshop on Humanoid Robotics at CLAWAR 2008, Coimbra, Portugal, 8-10 Sept. 2008.
Color 3D Model-Based Tracking with Arbitrary Projection Models. Matteo Taiana, J. Santos, José Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima. SIMPAR 2008 - Workshop on Omnidirectional Robot Vision.
Associating word descriptions to learned manipulation task models. V. Krunic, G. Salvi, A. Bernardino, L. Montesano, J. Santos-Victor, IROS-2008 WORKSHOP on Grasp and Task Learning by Imitation.
Sample-Based 3D Tracking of Colored Objects: A Flexible Architecture. M. Taiana, J. Nascimento, J. Gaspar and A. Bernardino, BMVC2008.
Affordances, Development and Imitation. Luis Montesano, Manuel Lopes, Alexandre Bernardino, José Santos-Victor. IEEE International Conference on Development and Learning, July 2007.
A comparative study of local descriptors for object category recognition: SIFT vs HMAX, Plinio Moreno, M. Marín-Jiménez, Alexandre Bernardino, José Santos-Victor, N. Pérez de la Blanca, IbPRIA2007 - Iberian Conference on Pattern Recognition and Image Analysis, Girona, Spain, June 2007
3D tracking by Catadioptric Vision Based on Particle Filters, Matteo Tajana, José Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima, Proc. of Robocup2007 - Robocup International Symposium, Atlanta, USA, July 2007
Modeling Object Affordances using Bayesian networks. Luis Montesano, Manuel Lopes, Alexandre Bernardino, José Santos-Victor. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.
On the use of perspective catadioptric sensors for 3D model-based tracking with particle filters. Matteo Taiana, Jose Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.
Early Speech Development of a Humanoid Robot using Babbling and Lip Tracking, Jonas Hörnstein, Cláudia Soares, José Santos-Victor, Alexandre Bernardino, Proc. of LangRo 2007 - Symposium on Language and Robots, Aveiro, Portugal, 2007
Mapping the vocal tract with a 2d vocalic articulatory space: applications to developmental robotics. Cláudia Soares, Alexandre Bernardino. Proc. of LangRo 2007 - Symposium on Language and Robots, Aveiro, Portugal, 2007
Model Based Selection and Classification of Local Features for Recognition Using Gabor Filters, Plinio Moreno, Alexandre Bernardino, José Santos-Victor, Proc. ICIAR2006 - International Conference on Image Analysis and Recognition, Póvoa de Varzim, Portugal, 2006
Design of the Robot-Cub (iCub) Head, Ricardo Beira, Manuel Lopes, Miguel Praça, José Santos-Victor, Alexandre Bernardino, G. Metta, F. Becchi, R. Saltarén, Proc. ICRA2006 - IEEE International Conference on Robotics and Automation, Orlando, USA, 2006
Acquisition of 3D Regular Prismatic Models in Urban Environments from DSM and Orthoimages, J. Ferreira, Alexandre Bernardino, Symposium on Computational Modelling of Objects Represented in Images: Fundamentals, Methods and Applications, Coimbra, Portugal, 2006
A Real-Time Gabor Primal Sketch for Visual Attention A. Bernardino, José Santos-Victor. IBPRIA - 2nd Iberian Conference on Pattern Recognition and Image Analysis, Estoril, Portugal, June 7-9, 2005.
A Developmental Roadmap for Task Learning by Imitation in Humanoid Robots: Baltazar’s Story. M. Lopes, A. Bernardino and J. Santos-Victor. AISB 2005 Symposium on Imitation in Animals and Artifacts, University of Hertfordshire, UK, 12-14 April 2005.)
Gabor Parameter Selection For Local Feature Detection, Plinio Moreno, Alexandre Bernardino, José Santos-Victor, IBPRIA - 2nd Iberian Conference on Pattern Recognition and Image Analysis, Estoril, Portugal, June 7-9, 2005.
Extracting Motion Features for Visual Human Activity Representation, Filiberto Pla, Pedro Ribeiro, José Santos-Victor, Alexandre Bernardino, IBPRIA - 2nd Iberian Conference on Pattern Recognition and Image Analysis, Estoril, Portugal, June 7-9, 2005.
Appearance-based object detection in space-variant images: a multi-model approach, V.J.Traver, A.Bernardino, P. Moreno, J. Santos-Victor, ICIAR - Int\'l Conference on Image Analysis and Recognition, Porto, Portugal, Sep.29 - Oct.1 2004.
Viewpoint Independent Detection of Vehicle Trajectories and Lane Geometry from Uncalibrated Traffic Surveillance Cameras, José Melo, Andrew Naftel, Alexandre Bernardino, José Santos-Victor. ICIAR - Int\'l Conference on Image Analysis and Recognition, Porto, Portugal, Sep.29 - Oct.1 2004.
Highway Lane Detection and Classification Using Vehicle Motion Trajectories, Andrew Naftel, José Melo, Alexandre Bernardino, José Santos-Victor. The 4th IASTED International Conference on Visualization, Imaging, and Image Processing (VIIP 2004) September 6-8, 2004, Marbella, Spain.
Retrieval of Vehicle Trajectories and estimation of Lane Geometry using non-Stationary Traffic Surveillance Cameras, José Melo, Andrew Naftel, Alexandre Bernardino, José Santos-Victor. Acivs 2004, Advanced Concepts for Intelligent Vision Systems, Brussels, Belgium, Aug. 31-Sept. 3, 2004.
Appearance Based Landmark Selection and Reliability Evaluation for Topological Navigation. Lorenz Gerstmayr, Alexandre Bernardino and José Santos-Victor. In Proceedings of the 5th symposium on Intelligent Autonomous Vehicles (IAV\'2004), Lisboa, July 2004.
Vision-based navigation, environmental representations and imaging geometries, José Santos-Victor and Alexandre Bernardino, 10th International Symposium of Robotics Research, R. Jarvis and A. Zelinsky (Eds), Springer 2003.
A Binocular Stereo Algorithm for Log-polar Foveated Systems, Alexandre Bernardino, José Santos-Victor, 2nd Workshop on biological motivated Computer Vision, BMCV 2002, Tuebingen, Germany, November 2002
Vision based station keeping and docking for floating vehicles, Sjoerd van der Zwaan, Alexandre Bernardino, Jose Santos-Victor, European Control conference, ECC2001, Porto, Portugal, September 2001.
Tracking planar structures with log-polar images, Alexandre Bernardino, José Santos-Victor, 8th International Symposium on Intelligent Robotic Systems - SIRS200 - Reading, UK, July 2000
Vision based station keeping and docking for an Aerial blimp, Sjoerd van der Zwaan, Alexandre Bernardino, José Santos-Victor, International Conference on Intelligent Robots and Systems IROS\'2000, Kagawa University, Takamatsu, Japan, Oct 30 - Nov 5, 2000
Control of an Aerial blimp based on visual input, Sjoerd van der Zwaan, Matteo Perrone, Alexandre Bernardino, Jose\' Santos-Victor, 8th International Symposium on Intelligent Robotic Systems - SIRS200 - Reading, UK, July 2000
Visual Behaviours for Binocular Tracking. A. Bernardino, J. Santos-Victor, Proceedings of the 2nd Euromicro Workshop on Advanced Mobile Robots, Brescia, Italia, Outubro de 1997
On the Design of Visual Behaviors for Autonomous Systems, J. Santos-Victor, A. Bernardino, C. Silva, Proceedings of the IEEE International Symposium on Industrial Electronics, Guimarães, Julho de 1997
Vergence Control for Robotic Heads using Log-polar Images, A. Bernardino, J. Santos-Victor, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS96, Osaka, Japão, Novembro 1996.
Correlation based Vergence Control using Log-Polar Images, A. Bernardino, J. Santos-Victor, Proceedings of the 4th International Symposium on Intelligent Robotic Systems - SIRS96, Lisboa, Portugal, Julho 1996.
Sensor geometry for dynamic vergence: characterization and performance analysis, A. Bernardino and J. Santos-Victor, Proceedings of the Performance Characteristics of Vision Algorithms Workshop, ECCV96, Cambridge, Inglaterra, Abril 1996
Behaviour Based Oculomotor Control Architecture for Stereo Heads. A. Bernardino, C. Silva, J. Santos-Victor, Proceedings of the 3rd International Symposium on Intelligent Robotic Systems, Pisa, Itália, Julho 1995.
A Real-Time Multi-Agent Planner for a Specific Application, C. Pinto-Ferreira, A. Bernardino, C. Silva, Proceedings of the AAAI 1994 Fall Symposium on "Planning and Learning: on to Real Applications".
Interleaving Real-Time Multi-Agent Planning and Execution, An Application, C. Silva, A. Bernardino, C. Pinto-Ferreira. Proc. of the 6th International Conference on Tools with Artificial Inteligence, New Orleans, Louisiana, U.S.A, Novembro 1994.
Uma Abordagem Biológica em Visão Activa, A. Bernardino, C. Silva, J. Santos-Victor, C. Pinto-Ferreira, Actas do 1º Encontro Português de Controlo Automático, Instituto Superior Técnico, Lisboa, 1994 (in Portuguese).
Projects
Current
HANDLE
BIO-LOOK Biomimetic Oculomotor Control for Humanoid Robots FCT Oct. 2007 - Sep. 2010
CONTACT Learning and Development of Contextual Action EU-FP6 Sep. 2005 - Feb. 2009
URUS Ubiquitous Networking Robotics in Urban Settings EU-FP6 Dec. 2006 - Nov. 2009
ROBOT-CUB Robotic Open-architecture Technology for Cognition, Understanding and Behaviour EU-FP6 2004-2009
Closed
VEMUCARV Spatial Validation of Complex Urban Grids in Virtual Imersive Environments FCT 2005-2008
INTELTRAF Monitorização Automática do Fluxo de Trânsito Automóvel e Detecção de Acidentes e Avarias em Auto-Estradas FCT 2003-2005
CAVIAR Context Aware Vision using Image-based Active Recognition EU-FP6 2002-2005
MIRROR Mirror Neurons for Recognition EU-FP5 2001-2004
RESCUE Cooperative Navigation for Rescue Robots FCT 2000-2004
NARVAL Navigation of Autonomous Robots Via Active Environmental Perception Eu-FP5 1998-2001
Teaching
Courses
Sinais e Sistemas 08/09 (2)
Aprendizagem Automática 08/09 (1)
Sistemas de Controlo distribuido em Tempo Real 08/09 (1)
Sistemas de Controlo distribuido em Tempo Real 07/08 (1)
Controlo em Espaço de Estados 06/07 (2)
Modelação, Identificação e Controlo Digital 06/07 (1)
Controlo em Espaço de Estados 05/06 (2)
Modelação, Identificação e Controlo Digital 05/06 (1)
Controlo em Espaço de Estados 04/05 (2)
Controlo Óptimo e Adaptativo 04/05 (2)
Modelação, Identificação e Controlo Digital 04/05 (1)
Controlo 03/04 (2)
Sinais e Sistemas 03/04 (2)
Modelação, Identificação e Controlo Digital 03/04 (1)
Controlo 02/03 (2)
Automação e Processos Industriais 02/03 (2)
Modelação, Identificação e Controlo Digital 02/03 (1)
Teoria de Circuitos 02/03 (1)
Proc.de Sinais 02/03 (1)
Visão 01/02 (2)
Sinais e Sistemas 01/02 (2)
Controlo 98/99 (1)
Visão 97/98 (2)
Redes Neuronais 97/98 (2)
Controlo 97/98 (1)
Teoria de Sinais 96/97 (2)
Redes Neuronais 96/97 (1)
Robótica 96/97 (1)
Controlo 95/96 (2)
Contacts
ISR/IST - Torre Norte, 7º - Av. Rovisco Pais, 1049-001 Lisboa. Portugal Tel. +351-218418293, Fax. +351-218418291