Manuel Mucientes

Saqib Nazir, Lorenzo Vaquero, Manuel Mucientes et al.

Monocular depth estimation and image deblurring are two fundamental tasks in computer vision, given their crucial role in understanding 3D scenes. Performing any of them by relying on a single image is an ill-posed problem. The recent advances in the field of Deep Convolutional Neural Networks (DNNs) have revolutionized many tasks in computer vision, including depth estimation and image deblurring. When it comes to using defocused images, the depth estimation and the recovery of the All-in-Focus (Aif) image become related problems due to defocus physics. Despite this, most of the existing models treat them separately. There are, however, recent models that solve these problems simultaneously by concatenating two networks in a sequence to first estimate the depth or defocus map and then reconstruct the focused image based on it. We propose a DNN that solves the depth estimation and image deblurring in parallel. Our Two-headed Depth Estimation and Deblurring Network (2HDED:NET) extends a conventional Depth from Defocus (DFD) networks with a deblurring branch that shares the same encoder as the depth branch. The proposed method has been successfully tested on two benchmarks, one for indoor and the other for outdoor scenes: NYU-v2 and Make3D. Extensive experiments with 2HDED:NET on these benchmarks have demonstrated superior or close performances to those of the state-of-the-art models for depth estimation and image deblurring.

Lorenzo Vaquero, Yihong Xu, Xavier Alameda-Pineda et al.

Multi-object tracking (MOT) endeavors to precisely estimate the positions and identities of multiple objects over time. The prevailing approach, tracking-by-detection (TbD), first detects objects and then links detections, resulting in a simple yet effective method. However, contemporary detectors may occasionally miss some objects in certain frames, causing trackers to cease tracking prematurely. To tackle this issue, we propose BUSCA, meaning `to search', a versatile framework compatible with any online TbD system, enhancing its ability to persistently track those objects missed by the detector, primarily due to occlusions. Remarkably, this is accomplished without modifying past tracking results or accessing future frames, i.e., in a fully online manner. BUSCA generates proposals based on neighboring tracks, motion, and learned tokens. Utilizing a decision Transformer that integrates multimodal visual and spatiotemporal information, it addresses the object-proposal association as a multi-choice question-answering task. BUSCA is trained independently of the underlying tracker, solely on synthetic data, without requiring fine-tuning. Through BUSCA, we showcase consistent performance enhancements across five different trackers and establish a new state-of-the-art baseline across three different benchmarks. Code available at: https://github.com/lorenzovaquero/BUSCA.

Lorenzo Vaquero, Víctor M. Brea, Manuel Mucientes

Maintaining the identity of multiple objects in real-time video is a challenging task, as it is not always feasible to run a detector on every frame. Thus, motion estimation systems are often employed, which either do not scale well with the number of targets or produce features with limited semantic information. To solve the aforementioned problems and allow the tracking of dozens of arbitrary objects in real-time, we propose SiamMOTION. SiamMOTION includes a novel proposal engine that produces quality features through an attention mechanism and a region-of-interest extractor fed by an inertia module and powered by a feature pyramid network. Finally, the extracted tensors enter a comparison head that efficiently matches pairs of exemplars and search areas, generating quality predictions via a pairwise depthwise region proposal network and a multi-object penalization module. SiamMOTION has been validated on five public benchmarks, achieving leading performance against current state-of-the-art trackers. Code available at: https://github.com/lorenzovaquero/SiamMOTION

Jacobo Casas-Ramos, Manuel Lama, Manuel Mucientes

In many engineering applications, processes must be followed precisely, making conformance checking between event logs and declarative process models crucial for ensuring adherence to desired behaviors. This is a critical area where Artificial Intelligence (AI) plays a pivotal role in driving effective process improvement. However, computing optimal alignments poses significant computational challenges due to the vast search space inherent in these models. Consequently, existing approaches often struggle with scalability and efficiency, limiting their applicability in real-world settings. This paper introduces DeclareAligner, a novel algorithm that uses the A* search algorithm, an established AI pathfinding technique, to tackle the problem from a fresh perspective leveraging the flexibility of declarative models. Key features of DeclareAligner include only performing actions that actively contribute to fixing constraint violations, utilizing a tailored heuristic to navigate towards optimal solutions, and employing early pruning to eliminate unproductive branches, while also streamlining the process through preprocessing and consolidating multiple fixes into unified actions. The proposed method is evaluated using 8,054 synthetic and real-life alignment problems, demonstrating its ability to efficiently compute optimal alignments by significantly outperforming the current state of the art. By enabling process analysts to more effectively identify and understand conformance issues, DeclareAligner has the potential to drive meaningful process improvement and management.

Jacobo Casas-Ramos, Sarah Winkler, Alessandro Gianola et al.

Despite growing interest in process analysis and mining for data-aware specifications, alignment-based conformance checking for declarative process models has focused on pure control-flow specifications, or mild data-aware extensions limited to numerical data and variable-to-constant comparisons. This is not surprising: finding alignments is computationally hard, even more so in the presence of data dependencies. In this paper, we challenge this problem in the case where the reference model is captured using data-aware Declare with general data types and data conditions. We show that, unexpectedly, it is possible to compute data-aware optimal alignments in this rich setting, enjoying at once efficiency and expressiveness. This is achieved by carefully combining the two best-known approaches to deal with control flow and data dependencies when computing alignments, namely A* search and SMT solving. Specifically, we introduce a novel algorithmic technique that efficiently explores the search space, generating descendant states through the application of repair actions aiming at incrementally resolving constraint violations. We prove the correctness of our algorithm and experimentally show its efficiency. The evaluation witnesses that our approach matches or surpasses the performance of the state of the art while also supporting significantly more expressive data dependencies, showcasing its potential to support real-world applications.

Daniel Cores, Víctor M. Brea, Manuel Mucientes

This paper addresses the problem of how to exploit spatio-temporal information available in videos to improve the object detection precision. We propose a two stage object detector called FANet based on short-term spatio-temporal feature aggregation to give a first detection set, and long-term object linking to refine these detections. Firstly, we generate a set of short tubelet proposals containing the object in $N$ consecutive frames. Then, we aggregate RoI pooled deep features through the tubelet using a temporal pooling operator that summarizes the information with a fixed size output independent of the number of input frames. On top of that, we define a double head implementation that we feed with spatio-temporal aggregated information for spatio-temporal object classification, and with spatial information extracted from the current frame for object localization and spatial classification. Furthermore, we also specialize each head branch architecture to better perform in each task taking into account the input data. Finally, a long-term linking method builds long tubes using the previously calculated short tubelets to overcome detection errors. We have evaluated our model in the widely used ImageNet VID dataset achieving a 80.9% mAP, which is the new state-of-the-art result for single models. Also, in the challenging small object detection dataset USC-GRAD-STDdb, our proposal outperforms the single frame baseline by 5.4% mAP.

Adrián González-Sieira, Manuel Mucientes, Alberto Bugarín

We present a novel approach for motion planning in mobile robotics under sensing and motion uncertainty based on state lattices with graduated fidelity. The probability of collision is reliably estimated considering the robot shape, and the fidelity adapts to the complexity of the environment, improving the planning efficiency while maintaining the performance. Safe and optimal paths are found with an informed search algorithm, for which a novel multi-resolution heuristic is presented. Results for different scenarios and robot shapes are given, showing the validity of the proposed methods.

David Chapela-Campa, Manuel Mucientes, Manuel Lama

Process mining has emerged as a way to analyze the behavior of an organization by extracting knowledge from event logs and by offering techniques to discover, monitor and enhance real processes. In the discovery of process models, retrieving a complex one, i.e., a hardly readable process model, can hinder the extraction of information. Even in well-structured process models, there is information that cannot be obtained with the current techniques. In this paper, we present WoMine, an algorithm to retrieve frequent behavioural patterns from the model. Our approach searches in process models extracting structures with sequences, selections, parallels and loops, which are frequently executed in the logs. This proposal has been validated with a set of process models, including some from BPI Challenges, and compared with the state of the art techniques. Experiments have validated that WoMine can find all types of patterns, extracting information that cannot be mined with the state of the art techniques.

Pablo Rodriguez-Mier, Manuel Mucientes, Manuel Lama

In this paper we present a hybrid approach for automatic composition of Web services that generates semantic input-output based compositions with optimal end-to-end QoS, minimizing the number of services of the resulting composition. The proposed approach has four main steps: 1) generation of the composition graph for a request; 2) computation of the optimal composition that minimizes a single objective QoS function; 3) multi-step optimizations to reduce the search space by identifying equivalent and dominated services; and 4) hybrid local-global search to extract the optimal QoS with the minimum number of services. An extensive validation with the datasets of the Web Service Challenge 2009-2010 and randomly generated datasets shows that: 1) the combination of local and global optimization is a general and powerful technique to extract optimal compositions in diverse scenarios; and 2) the hybrid strategy performs better than the state-of-the-art, obtaining solutions with less services and optimal QoS.

I. Rodríguez-Fdez, M. Mucientes, A. Bugarín

In regression problems, the use of TSK fuzzy systems is widely extended due to the precision of the obtained models. Moreover, the use of simple linear TSK models is a good choice in many real problems due to the easy understanding of the relationship between the output and input variables. In this paper we present FRULER, a new genetic fuzzy system for automatically learning accurate and simple linguistic TSK fuzzy rule bases for regression problems. In order to reduce the complexity of the learned models while keeping a high accuracy, the algorithm consists of three stages: instance selection, multi-granularity fuzzy discretization of the input variables, and the evolutionary learning of the rule base that uses the Elastic Net regularization to obtain the consequents of the rules. Each stage was validated using 28 real-world datasets and FRULER was compared with three state of the art enetic fuzzy systems. Experimental results show that FRULER achieves the most accurate and simple models compared even with approximative approaches.

I. Rodríguez-Fdez, M. Mucientes, A. Bugarín

The automatic design of controllers for mobile robots usually requires two stages. In the first stage,sensorial data are preprocessed or transformed into high level and meaningful values of variables whichare usually defined from expert knowledge. In the second stage, a machine learning technique is applied toobtain a controller that maps these high level variables to the control commands that are actually sent tothe robot. This paper describes an algorithm that is able to embed the preprocessing stage into the learningstage in order to get controllers directly starting from sensorial raw data with no expert knowledgeinvolved. Due to the high dimensionality of the sensorial data, this approach uses Quantified Fuzzy Rules(QFRs), that are able to transform low-level input variables into high-level input variables, reducingthe dimensionality through summarization. The proposed learning algorithm, called Iterative QuantifiedFuzzy Rule Learning (IQFRL), is based on genetic programming. IQFRL is able to learn rules with differentstructures, and can manage linguistic variables with multiple granularities. The algorithm has been testedwith the implementation of the wall-following behavior both in several realistic simulated environmentswith different complexity and on a Pioneer 3-AT robot in two real environments. Results have beencompared with several well-known learning algorithms combined with different data preprocessingtechniques, showing that IQFRL exhibits a better and statistically significant performance. Moreover,three real world applications for which IQFRL plays a central role are also presented: path and objecttracking with static and moving obstacles avoidance.