Thomas Teixeira

Thomas Teixeira, Eric Granger, Alessandro Lameiras Koerich

Facial expressions are one of the most powerful ways for depicting specific patterns in human behavior and describing human emotional state. Despite the impressive advances of affective computing over the last decade, automatic video-based systems for facial expression recognition still cannot handle properly variations in facial expression among individuals as well as cross-cultural and demographic aspects. Nevertheless, recognizing facial expressions is a difficult task even for humans. In this paper, we investigate the suitability of state-of-the-art deep learning architectures based on convolutional neural networks (CNNs) for continuous emotion recognition using long video sequences captured in-the-wild. This study focuses on deep learning models that allow encoding spatiotemporal relations in videos considering a complex and multi-dimensional emotion space, where values of valence and arousal must be predicted. We have developed and evaluated convolutional recurrent neural networks combining 2D-CNNs and long short term-memory units, and inflated 3D-CNN models, which are built by inflating the weights of a pre-trained 2D-CNN model during fine-tuning, using application-specific videos. Experimental results on the challenging SEWA-DB dataset have shown that these architectures can effectively be fine-tuned to encode the spatiotemporal information from successive raw pixel images and achieve state-of-the-art results on such a dataset.

Thomas Teixeira, Filipe Mutz, Karin Satie Komati et al.

In this work, we present a novel strategy for correcting imperfections in occupancy grid maps called map decay. The objective of map decay is to correct invalid occupancy probabilities of map cells that are unobservable by sensors. The strategy was inspired by an analogy between the memory architecture believed to exist in the human brain and the maps maintained by an autonomous vehicle. It consists in merging sensory information obtained during runtime (online) with a priori data from a high-precision map constructed offline. In map decay, cells observed by sensors are updated using traditional occupancy grid mapping techniques and unobserved cells are adjusted so that their occupancy probabilities tend to the values found in the offline map. This strategy is grounded in the idea that the most precise information available about an unobservable cell is the value found in the high-precision offline map. Map decay was successfully tested and is still in use in the IARA autonomous vehicle from Universidade Federal do Espírito Santo.

Vinicius Cardoso, Josias Oliveira, Thomas Teixeira et al.

We present the Model-Predictive Motion Planner (MPMP) of the Intelligent Autonomous Robotic Automobile (IARA). IARA is a fully autonomous car that uses a path planner to compute a path from its current position to the desired destination. Using this path, the current position, a goal in the path and a map, IARA's MPMP is able to compute smooth trajectories from its current position to the goal in less than 50 ms. MPMP computes the poses of these trajectories so that they follow the path closely and, at the same time, are at a safe distance of eventual obstacles. Our experiments have shown that MPMP is able to compute trajectories that precisely follow a path produced by a Human driver (distance of 0.15 m in average) while smoothly driving IARA at speeds of up to 32.4 km/h (9 m/s).