Search

Your search keyword '"Borghese, N. Alberto"' showing total 199 results
Start Over Author "Borghese, N. Alberto"
199 results on '"Borghese, N. Alberto"'

1. R2SNet: Scalable Domain Adaptation for Object Detection in Cloud-Based Robotic Ecosystems via Proposal Refinement

Author

Antonazzi, Michele, Luperto, Matteo, Borghese, N. Alberto, and Basilico, Nicola

Subjects
Computer Science - Robotics
Abstract

We introduce a novel approach for scalable domain adaptation in cloud robotics scenarios where robots rely on third-party AI inference services powered by large pre-trained deep neural networks. Our method is based on a downstream proposal-refinement stage running locally on the robots, exploiting a new lightweight DNN architecture, R2SNet. This architecture aims to mitigate performance degradation from domain shifts by adapting the object detection process to the target environment, focusing on relabeling, rescoring, and suppression of bounding-box proposals. Our method allows for local execution on robots, addressing the scalability challenges of domain adaptation without incurring significant computational costs. Real-world results on mobile service robots performing door detection show the effectiveness of the proposed method in achieving scalable domain adaptation.

Published
2024

2. Development and Adaptation of Robotic Vision in the Real-World: the Challenge of Door Detection

Author

Antonazzi, Michele, Luperto, Matteo, Borghese, N. Alberto, and Basilico, Nicola

Subjects
Computer Science - Robotics
Abstract

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to perceive high-level environmental features from visual observations. Despite the data-driven approaches based on deep learning push the boundaries of vision systems, applying these techniques to real-world robotic scenarios presents unique methodological challenges. Traditional models fail to represent the challenging perception constraints typical of service robots and must be adapted for the specific environment where robots finally operate. We propose a method leveraging photorealistic simulations that balances data quality and acquisition costs for synthesizing visual datasets from the robot perspective used to train deep architectures. Then, we show the benefits in qualifying a general detector for the target domain in which the robot is deployed, showing also the trade-off between the effort for obtaining new examples from such a setting and the performance gain. In our extensive experimental campaign, we focus on the door detection task (namely recognizing the presence and the traversability of doorways) that, in dynamic settings, is useful to infer the topology of the map. Our findings are validated in a real-world robot deployment, comparing prominent deep-learning models and demonstrating the effectiveness of our approach in practical settings.

Published
2024

5. Enhancing Door-Status Detection for Autonomous Mobile Robots during Environment-Specific Operational Use

Author

Antonazzi, Michele, Luperto, Matteo, Basilico, Nicola, and Borghese, N. Alberto

Subjects
Computer Science - Robotics
Abstract

Door-status detection, namely recognizing the presence of a door and its status (open or closed), can induce a remarkable impact on a mobile robot's navigation performance, especially for dynamic settings where doors can enable or disable passages, changing the topology of the map. In this work, we address the problem of building a door-status detector module for a mobile robot operating in the same environment for a long time, thus observing the same set of doors from different points of view. First, we show how to improve the mainstream approach based on object detection by considering the constrained perception setup typical of a mobile robot. Hence, we devise a method to build a dataset of images taken from a robot's perspective and we exploit it to obtain a door-status detector based on deep learning. We then leverage the typical working conditions of a robot to qualify the model for boosting its performance in the working environment via fine-tuning with additional data. Our experimental analysis shows the effectiveness of this method with results obtained both in simulation and in the real-world, that also highlight a trade-off between costs and benefits of the fine-tuning approach.

Published
2022
Full Text
View/download PDF

7. Integrating Social Assistive Robots, IoT, Virtual Communities and Smart Objects to Assist at-Home Independently Living Elders: the MoveCare Project

Author

Luperto, Matteo, Monroy, Javier, Renoux, Jennifer, Lunardini, Francesca, Basilico, Nicola, Bulgheroni, Maria, Cangelosi, Angelo, Cesari, Matteo, Cid, Manuel, Ianes, Aladar, Gonzalez-Jimenez, Javier, Kounoudes, Anastasis, Mari, David, Prisacariu, Victor, Savanovic, Arso, Ferrante, Simona, and Borghese, N. Alberto

Published
2023
Full Text
View/download PDF

10. A Community-Based Activity Center to Promote Social Engagement and Counteract Decline of Elders Living Independently

Author

Luperto, Matteo, Basilico, Nicola, Vuono, Alessandro, Cid, Manuel, Cesari, Matteo, Ferrante, Simona, Borghese, N. Alberto, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Baldoni, Matteo, editor, and Bandini, Stefania, editor

Published
2021
Full Text
View/download PDF

11. Multimodal Empathic Feedback Through a Virtual Character

Author

Chitti, Eleonora, Pezzera, Manuel, Borghese, N. Alberto, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Del Bimbo, Alberto, editor, Cucchiara, Rita, editor, Sclaroff, Stan, editor, Farinella, Giovanni Maria, editor, Mei, Tao, editor, Bertini, Marco, editor, Escalante, Hugo Jair, editor, and Vezzani, Roberto, editor

Published
2021
Full Text
View/download PDF

12. A Virtual Caregiver for Assisted Daily Living of Pre-frail Users

Author

Renoux, Jennifer, Luperto, Matteo, Basilico, Nicola, Romeo, Marta, Milis, Marios, Lunardini, Francesca, Ferrante, Simona, Loutfi, Amy, Borghese, N. Alberto, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Schmid, Ute, editor, Klügl, Franziska, editor, and Wolter, Diedrich, editor

Published
2020
Full Text
View/download PDF

15. Correction to: Integrating Social Assistive Robots, IoT, Virtual Communities and Smart Objects to Assist at-Home Independently Living Elders: the MoveCare Project

Author

Luperto, Matteo, Monroy, Javier, Renoux, Jennifer, Lunardini, Francesca, Basilico, Nicola, Bulgheroni, Maria, Cangelosi, Angelo, Cesari, Matteo, Cid, Manuel, Ianes, Aladar, Gonzalez-Jimenez, Javier, Kounoudes, Anastasis, Mari, David, Prisacariu, Victor, Savanovic, Arso, Ferrante, Simona, and Borghese, N. Alberto

Published
2022
Full Text
View/download PDF

22. Conclusion

Author

Bellocchio, Francesco, Borghese, N. Alberto, Ferrari, Stefano, Piuri, Vincenzo, Bellocchio, Francesco, Borghese, N. Alberto, Ferrari, Stefano, and Piuri, Vincenzo

Published
2013
Full Text
View/download PDF

26. Reconstruction

Author

Bellocchio, Francesco, Borghese, N. Alberto, Ferrari, Stefano, Piuri, Vincenzo, Bellocchio, Francesco, Borghese, N. Alberto, Ferrari, Stefano, and Piuri, Vincenzo

Published
2013
Full Text
View/download PDF

27. Scanner systems

Author

Bellocchio, Francesco, Borghese, N. Alberto, Ferrari, Stefano, Piuri, Vincenzo, Bellocchio, Francesco, Borghese, N. Alberto, Ferrari, Stefano, and Piuri, Vincenzo

Published
2013
Full Text
View/download PDF

28. Introduction

Author

Bellocchio, Francesco, Borghese, N. Alberto, Ferrari, Stefano, Piuri, Vincenzo, Bellocchio, Francesco, Borghese, N. Alberto, Ferrari, Stefano, and Piuri, Vincenzo

Published
2013
Full Text
View/download PDF

29. Genetic Art in Perspective

Author

Bellini, Rachele, Borghese, N. Alberto, Howlett, Robert J., Series editor, Jain, Lakhmi C., Series editor, Bassis, Simone, editor, Esposito, Anna, editor, and Morabito, Francesco Carlo, editor

Published
2014
Full Text
View/download PDF

32. Robust Silhouette Extraction from Kinect Data

Author

Pirovano, Michele, Ren, Carl Yuheng, Frosio, Iuri, Lanzi, Pier Luca, Prisacariu, Victor, Murray, David W., Borghese, N. Alberto, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, and Petrosino, Alfredo, editor

Published
2013
Full Text
View/download PDF

33. Optimal Choice of Regularization Parameter in Image Denoising

Author

Lucchese, Mirko, Frosio, Iuri, Borghese, N. Alberto, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Maino, Giuseppe, editor, and Foresti, Gian Luca, editor

Published
2011
Full Text
View/download PDF

36. Tracking 3D Orientation through Corresponding Conics

Author

Alzati, Alberto, Bertolini, Marina, Borghese, N. Alberto, Turrini, Cristina, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Blanc-Talon, Jacques, editor, Philips, Wilfried, editor, Popescu, Dan, editor, and Scheunders, Paul, editor

Published
2009
Full Text
View/download PDF

37. Denoising of Digital Radiographic Images with Automatic Regularization Based on Total Variation

Author

Lucchese, Mirko, Borghese, N. Alberto, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Foggia, Pasquale, editor, Sansone, Carlo, editor, and Vento, Mario, editor

Published
2009
Full Text
View/download PDF

39. Online Training of Hierarchical RBF

Author

Bellocchio, Francesco, Ferrari, Stefano, Piuri, Vincenzo, Borghese, N. Alberto, Carbonell, Jaime G., editor, Siekmann, J\'org, editor, Apolloni, Bruno, editor, Howlett, Robert J., editor, and Jain, Lakhmi, editor

Published
2007
Full Text
View/download PDF

42. User feedback and remote supervision for assisted living with mobile robots : A field study in long-term autonomy

Author

Luperto, Matteo, Romeo, Marta, Monroy, Javier, Renoux, Jennifer, Vuono, Alessandro, Moreno, Francisco-Angel, Gonzalez-Jimenez, Javier, Basilico, Nicola, Borghese, N. Alberto, Luperto, Matteo, Romeo, Marta, Monroy, Javier, Renoux, Jennifer, Vuono, Alessandro, Moreno, Francisco-Angel, Gonzalez-Jimenez, Javier, Basilico, Nicola, and Borghese, N. Alberto

Abstract

In an ageing society, the at-home use of Socially Assistive Robots (SARs) could provide remote monitoring of their users' well-being, together with physical and psychological support. However, private home environments are particularly challenging for SARs, due to their unstructured and dynamic nature which often contributes to robots' failures. For this reason, even though several prototypes of SARs for elderly care have been developed, their commercialisation and wide-spread at-home use are yet to be effective. In this paper, we analyse how including the end users' feedback impacts the SARs reliability and acceptance. To do so, we introduce a Monitoring and Logging System (MLS) for remote supervision, which increases the explainability of SAR-based systems deployed in older adults' apartments, while also allowing the exchange of feedback between caregivers, technicians, and older adults. We then present an extensive field study showing how long-term deployment of autonomous SARs can be accomplished by relying on such a feedback loop to address any potential issue. To this end, we provide the results obtained in a 130-week long study where autonomous SARs were deployed in the apartments of 10 older adults, with the aim of possibly serving and assisting future practitioners, with the knowledge collected from this extensive experimental campaign, to fill the gap that currently exists for the widespread adoption of SARs., Funding agencies:Italian PON project SI-RoboticsProject Essence SC1-PHE-CORONAVIRUS-2020-2B-GA 101016112

Published
2022
Full Text
View/download PDF

46. Integrating Social Assistive Robots, IoT, Virtual Communities and Smart Objects to Assist at-Home Independently Living Elders: the MoveCare Project

Author

Luperto, Matteo, primary, Monroy, Javier, additional, Renoux, Jennifer, additional, Lunardini, Francesca, additional, Basilico, Nicola, additional, Bulgheroni, Maria, additional, Cangelosi, Angelo, additional, Cesari, Matteo, additional, Cid, Manuel, additional, Ianes, Aladar, additional, Gonzalez-Jimenez, Javier, additional, Kounoudes, Anastasis, additional, Mari, David, additional, Prisacariu, Victor, additional, Savanovic, Arso, additional, Ferrante, Simona, additional, and Borghese, N. Alberto, additional

Published
2022
Full Text
View/download PDF

Catalog

Books, media, physical & digital resources
See catalog results