1. Towards natural handshakes for social robots: Human-Aware hand grasps using tactile sensors. J. Avelino, T. Paulino, C. Cardoso, R. Nunes, P. Moreno, A. Bernardino. Journal of Behavioral Robotics. Volume 9. 2018.

1. Evaluating aerial vessel detector in multiple maritime surveillance scenarios. G. Cruz and A. Bernardino. OCEANS 2017.

1. Towards natural handshakes for social robots: Human-Aware hand grasps using tactile sensors. J. Avelino, T. Paulino, C. Cardoso, R. Nunes, P. Moreno, A. Bernardino. Journal of Behavioral Robotics. Accepted 2018.
2. Beyond the Self: Using Grounded Affordances to Interpret and Describe Others' Actions. G. Saponaro, L. Jamone, A. Bernardino, G. Salvi. IEEE Transactions on Cognitive and Developmental Systems. Accepted. 2018.
3. Effects of Passive and Active Joint Compliance in Quadrupedal Locomotion. M. Mutlu, S. Hauser, A. Bernardino, A. Ijspeert. Advanced Robotics. Accepted. 2018.
4. A Dataset for Airborne Maritime Surveillance Environments. R. Ribeiro, G. Cruz, J. Matos, A. Bernardino. IEEE Transactions on Circuits and Systems for Video Technology. Accepted. 2017.
5. A miniaturized force sensor based on hair-like flexible magnetized cylinders deposited over a giant magnetoresistive sensor. P. Ribeiro, M. A. Khan, A. Alfadhel, J. Kosel, F. Franco, S. Cardoso, A. Bernardino, J. Santos-Victor, L. Jamone. IEEE Transactions on Magnetics, 53(11), November 2017.
6. On the advantages of foveal mechanisms for active stereo systems in visual search tasks. R. Figueiredo, A. Bernardino, J. Santos-Victor, H. Araújo. Autonomous Robots, 2017.
7. S-Net: Co-Developing Artificial Retinas and Predictive Internal Models for Real Robots, R. Santos, R. Ferreira, A. Cardoso, A. Bernardino. IEEE Trans. on Cognitive and Developmental Systems, 9(3), September 2017.
8. Bio-inspired ciliary force sensor for robotic platforms, P. Ribeiro, A. Ahmed, J. Kosel, F. Franco, S. Cardoso, A. Bernardino, A. Schmitz, L. Jamone, J. Santos-Victor, IEEE Robotics and Automation Letters (RA-L) 2(2):971-976, April 2017.
9. A voting method for stereo egomotion estimation. H. Silva, E. Silva, A. Bernardino. International Journal of Advanced Robotic Systems, 2017.
10. A benchmark study on accuracy-controlled distance calculation between superellipsoid and superovoid contact geometries, A. Gonçalves, A. Bernardino, D. Lopes, J. Jorge, Mechanism and Machine Theory, 115:77-96, 2017.
11. Middleware Interoperability for Robotics: A ROS-YARP Framework, P. Moreno, M. Aragão, A. Bernardino. Frontiers in Robotics and AI, section Humanoid Robotics, 2016.
12. A Window-Based Classifier for Automatic Video-Based Reidentification. D. Figueira, M. Taiana, J. Nascimento, A. Bernardino. IEEE Transactions on Systems, Man and Cybernetics, 2016.
13. Affordances in Psychology, Neuroscience and Robotics: A Survey. L. Jamone, E. Ugur, A. Cangelosi, L. Fadiga, A. Bernardino, J. Piater and J. Santos-Victor. IEEE Trans. on Cognitive and Developmental Systems, 2016.
14. Improving the performance of pedestrian detectors using convolutional learning, D. Ribeiro, J. Nascimento, A. Bernardino, G. Carneiro, Pattern Recognition vol. 61, pp. 641–649, 2016.
15. Robotic hand pose estimation based on stereo vision and GPU-enabled internal graphical simulation, P. Vicente, L. Jamone, A. Bernardino, Journal of Intelligent and Robotic Systems, 2016.
16. Benchmarking the grasping capabilities of the iCub hand with the YCB Object and Model Set, L. Jamone, A. Bernardino and J. Santos-Victor, IEEE Robotics and Automation Letters, 2016.
17. Online body schema adaptation based on internal mental simulation and multisensory feedback. P. Vicente, L. Jamone, A. Bernardino. Frontiers in Robotics and AI, 3(7), 2016.
18. Correcting for Changes: Expected Perception-Based Control for Reaching a Moving Target. N. Cauli, E. Falotico, A. Bernardino, J. Santos-Victor and C. Laschi, in IEEE Robotics & Automation Magazine, vol. 23, no. 1, pp. 63-70, March 2016.
19. Eye Gaze Correlates of Motor Impairment in VR Observation of Motor Actions. Alves, Júlio; Vourvopoulos, Athanasios; Bernardino, Alexandre; Bermúdez i Badia, Sergi. Methods of Information in Medicine, 55, January 2016.
20. People and Mobile Robot Classification Through Spatio-Temporal Analysis of Optical Flow. Plinio Moreno, Dario Figueira, Alexandre Bernardino, José Santos-Victor. International Journal of Pattern Recognition and Artificial Intelligence, Vol. 29, No. 6 2015.
21. Shape Context for soft biometrics in person re-identification and database retrieval. Athira Nambiar, Alexandre Bernardino, Jacinto Nascimento. Pattern Recognition Letters, Vol. 68, Part 2, pp 297–305, 2015.
22. On the purity of training and testing data for learning: The case of pedestrian detection. Matteo Taiana, Jacinto Nascimento, Alexandre Bernardino, Neurocomputing, Volume 150, Part A, pp 214-226, February 2015.
23. Efficient pose estimation of rotationally symmetric objects. R. Figueiredo, P. Moreno, A. Bernardino, Neurocomputing, Volume 150, Part A, pp 126-135, February 2015.
24. Matrix Completion for Weakly-supervised Multi-label Image Classification. R. Cabral, F. de La Torre, J. Costeira, A. Bernardino. PAMI, 37(1):121-135, 2015.
25. A Ground-Based Vision System for UAV Pose Estimation. N. P. Santos, F. Melício, V. Lobo and A. Bernardino, International Journal of Robotics and Mechatronics - UNSYS digital International Journals 1(4): 7, 2014.
26. Calibration of an Outdoor Distributed Camera Network with a 3D Point Cloud. A. Ortega, M. Silva, E. H. Teniente, R. Ferreira, A. Bernardino, J. Gaspar and J. Andrade-Cetto Sensors 2014, 14(8), 13708-13729.
27. Efficient Greedy Estimation of Mixture Models Through a Binary Tree Search. N. Greggio, A. Bernardino, J. Santos-Victor, P. Dario. Robotics and Autonomous Systems, Volume 62, Issue 10, October 2014, Pages 1440–1452
28. A Multi-camera video data set for research on High-Definition surveillance. A. Nambiar, M. Taiana, D. Figueira, J. Nascimento, A. Bernardino. International Journal of Machine Intelligence and Sensory Signal Processing, Special Issue on Signal Processing for Visual Surveillance, Vol. 1, N. 3, 2014.
29. Probabilistic Egomotion for Stereo Visual Odometry. H.Silva, A. Bernardino, E.Silva, Journal of Intelligent & Robotic Systems, April 2014.
30. A Computational Approach on the Co-Development of Visual Sensorimotor Structures. J. Ruesch, R. Ferreira, A. Bernardino. Adaptive Behavior, 21(6):452-464, December 2013.
31. Predicting visual stimuli from self-induced actions: an adaptive model of a corollary discharge circuit. J. Ruesch, R. Ferreira, A. Bernardino, IEEE Transactions on Autonomous Mental Development, 4(4):290-304, Dec 2012.
32. Language Bootstrapping: Learning Word Meanings From Perception–Action Association. Salvi, G.; Montesano, L.; Bernardino, A.; Santos-Victor, J.; IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 42(3), 660-671, 2011.
33. Fast Estimation of Gaussian Mixture Models for Image Segmentation, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, José Santos-Victor. Machine Vision and Applications, 2011.
34. Real-Time 3D Stereo Tracking and Localizing of Spherical Objects with the iCub Robotic Platform, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, José Santos-Victor, Paolo Dario. Journal of Intelligent Robot Systems, 2011.
35. The iCub Humanoid Robot: An Open-Systems Platform for Research, Special Issue of Neural Networks on Social Cognition: From Babies to Robots, G. Metta, L. Natale, F. Nori, G. Sandini, D. Vernon, L. Fadiga, C. von Hofsten, J. Santos-Victor, A. Bernardino, L. Montesano. Neural Networks, Vol. 23, Pages 1125–1134, 2010.
36. Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape features, Matteo Taiana, João Santos, José Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima, Robotics and Autonomous Systems, special issue on Omnidirectional Robot Vision, Vol. 58, Issue 6, 30 June, pp. 784-795, 2010.
37. A review of log-polar imaging for visual perception in robotics, Javier Traver, Alexandre Bernardino, Robotics and Autonomous Systems, Vol 58(4):378-398, April 2010.
38. Improving the SIFT descriptor with smooth derivative filters, Plinio Moreno, Alexandre Bernardino and José Santos-Victor, Pattern Recognition Letters, Vol 30 (1), 2009.
39. 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.
40. Fast IIR Isotropic 2D Complex Gabor Filters with Boundary Initialization, Alexandre Bernardino and José Santos-Victor, IEEE Transactions on Image Processing, November 2006
41. 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.
42. 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.
43. 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
44. 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
45. 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
46. Binocular Visual Tracking: Integration of Perception and Control, Alexandre Bernardino, José Santos-Victor, IEEE Transactions on Robotics and Automation, (15)6, December 1999
47. Visual Behaviours for Binocular Tracking, Alexandre Bernardino, José Santos-Victor, Robotics and Autonomous Systems, Elsevier, (25)3-4, 1998
48. 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

1. Online body schema adaptation based on internal mental simulation and multisensory feedback. P. Vicente, L. Jamone, A. Bernardino. Frontiers Research Topic Ebook, G. Schillaci, V. Hafner, B. Lara (Eds.), Frontiers Media SA, ISBN: 9782889451487, 2017.
2. Unifying Nuclear Norm and Bilinear Factorization for Low Rank Matrix Decomposition, R. Cabral, F. De la Torre, J. Costeira, A. Bernardino, Handbook of Robust Low-Rank and Sparse Matrix Decomposition: Applications in Image and Video Processing, Thierry Bouwmans, Necdet Serhat Aybat, El-hadi Zahzah (Eds), CRC Press, 2016.
3. A Computational Model of Object Affordances. L.Montesano, M. Lopes, F. Melo, A. Bernardino, J. Santos-Victor. Advances in Cognitive Systems, S.Nefti and J.O.Gray, (Eds.) IET, pp 87-126, 2010.
4. 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.
5. 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

1. The Power of a Hand-shake in Human-Robot Interactions. J. Avelino, F. Correia, J. Catarino, P. Ribeiro, P. Moreno, A. Bernardino, A. Paiva. IROS 2018.
2. Finding safe 3D robot grasps through efficient haptic exploration with unscented Bayesian optimization and collision penalty. J. Castanheira, P. Vicente, R. Martinez-Cantin, L. Jamone, A. Bernardino. IROS 2018.
3. Object detection and localization with Artificial Foveal Visual Attention. C. Melicio, A. Almeida, R. Figueiredo, A. Bernardino, J. Santos-Victor. ICDL-EPIROB 2018.
4. Incremental adaptation of a robot body schema based on touch events. R. Zenha, P. Vicente, L. Jamone, A. Bernardino. ICDL-EPIROB 2018.
5. Autonomous table cleaning from kinesthetic demonstrations using Deep Learning. N. Cauli, P. Vicente, J. Kim, B. Damas, A. Bernardino, F. Cavallo, J. Santos-Victor. ICDL-EPIROB 2018.
6. Playdough to Roombots: towards a novel tangible user interface for self-reconfigurable modular robots. M. Mutlu, S. Hauser, A. Bernardino, A Ijspeert. ICRA 2018.
7. Experiments with Vizzy as a Coach for Elderly Exercise. J. Avelino, H. Simão, R. Ribeiro, P. Moreno, R. Figueiredo, N. Duarte, R. Nunes, A. Bernardino, M. Čaić, D. Mahr and G. Odekerken-Schröder. PREC workshop at HRI 2018.
8. A Generic Visual Perception Domain Randomisation Framework For Gazebo. J. Borrego, R. Figueiredo, A. Dehban, P. Moreno, A. Bernardino and J. Santos-Victor. ICARSC 2018.
9. Cross-context analysis for long-term view-point invariant Person Re-identification via soft-biometrics using Depth sensor. A. Nambiar, A. Bernardino, J. Nascimento, VISAPP 2018.
10. User Centered Design of an Augmented Reality Gaming Platform for Active Aging in Elderly Institutions. H. Simão, A. Bernardino. icSPORTS 2017.
11. A Kinect-based Monitoring System for Stroke Rehabilitation. M. Hun Lee, D. Siewiorek, A. Smailagic, A. Bernadino, S. Bermúdez i Badia. icSPORTS 2017.
12. Human-aware natural handshaking using tactile sensors for Vizzy, a social robot. J. Avelino, T. Paulino, C. Cardoso, P. Moreno and A. Bernardino. Workshop on Behavior Adaptation, Interaction and Learning for Assistive Robotics at RO-MAN 2017.
13. Interactive Robot Learning of Gestures, Language and Affordances. G. Saponaro, L. Jamone, A. Bernardino and G. Salvi. Workshop on Grounding Language Understanding Workshop, Official INTERSPEECH Satellite Event 2017.
14. Self-reconfigurable modular robot interface using virtual reality: Arrangement of furniture made out of Roombots modules. V.Nigolian, M. Mutlu, S. Hauser, A. Bernardino, A. Ijspeert. IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2017.
15. Effects of joint compliance in quadrupedal locomotion. M. Mutlu, S. Hauser, A. Bernardino, A. Ijspeert. International Symposium on Adaptive Motion of Animals and Machines (AMAM), 2017.
16. Shape-based attention for identification and localization of cylindrical objects. R. Figueiredo, A. Dehban, A. Bernardino, J. Santos-Victor, H. Araujo. 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, 2017.
17. Learning at the Ends: From Hand to Tool Affordances in Humanoid Robots. G. Saponaro, P. Vicente, A. Dehban, L. Jamone, A. Bernardino, J. Santos-Victor. 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, 2017.
18. Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy, T. Paulino, P. Ribeiro, M. Neto, S. Cardoso, A. Schmitz, J. Santos-Victor, A. Bernardino, L. Jamone, ICRA 2017.
19. Towards markerless visual servoing of grasping tasks for humanoid robots, P. Vicente, L. Jamone, A. Bernardino, ICRA 2017.
20. Adaptive Non Maximal Suppression Filtering for Online Exploration Learning with Cost-Regularized Kernel Regression. C. Cardoso and A. Bernardino. ICARSC 2017.
21. Robust cylinder detection using 3D point cloud information. R. Figueiredo, P. Moreno and A. Bernardino. ICARSC 2017.
22. Wedding robotics: a case study. P. Vicente and A. Bernardino. ICARSC 2017.
23. Context-Aware Person Re-identification in the Wild via fusion of Gait and Anthropometric features, A. Nambiar, A. Bernardino, J. Nascimento and A. Fred, B-WILD Workshop at 12th IEEE International Conference on Automatic Face & Gesture Recognition, 2017.
24. Automatic object shape completion from 3D point clouds for object manipulation, P. Moreno, R. Figueiredo, A. Bernardino. VISAPP 2017.
25. Towards view-point invariant Person Re-identification via fusion of Anthropometric and Gait Features from Kinect measurements, A. Nambiar, A. Bernardino, J. Nascimento and A. Fred, VISAPP 2017.
26. Efficient Resource Allocation for Sparse Multiple Object Tracking, R. Figueiredo, J. Avelino, A. Dehban, A. Bernardino, H. Araújo, P. Lima. VISAPP 2017.
27. Multi-channel Convolutional Neural Network Ensemble for Pedestrian Detection, D. Ribeiro, J. Nascimento, G. Carneiro and A. Bernardino. IBPRIA 2017.
28. A Dataset for the Automatic Assessment of Functional Senior Fitness Tests using Kinect and Physiological Sensors. A. Bernardino, C. Vismara, F. Baptista, F. Carnide, S. Oom, S. Bermudez i Badia, E. Gouveia, H. Gamboa. Intl. Conf. on Technology and Innovation in Sports, Health and Wellbeing, 2016.
29. Aerial detection in maritime scenarios using convolutional neural networks. G. Cruz, A. Bernardino. ACIVS 2016.
30. Person Re-identification in frontal gait sequences via Histogram of Optic flow Energy Image. A. Nambiar, J. Nascimento, A. Bernardino, J. Santos-Victor. ACIVS 2016.
31. Unscented Bayesian Optimization for Safe Robot Grasping. J. Nogueira, R. Martinez-Cantin, A. Bernardino, L. Jamone. IROS 2016.
32. On the perceptual advantages of visual suppression mechanisms for dynamic robot systems. J. Avelino, R. Figueiredo, P. Moreno and A. Bernardino. International Conference on Biologically Inspired Cognitive Architectures (BICA 2016).
33. Robust Tracking of Vessels in Oceanographic Airborne Images. J. Matos, A. Bernardino, R. Ribeiro. OCEANS'16 MTS/IEEE Monterey.
34. Oil Spills Detection: Challenges addressed in the scope of the SEAGULL project. M. Marques, V. Lobo, M. Nunes, R. Baptista, J. Almeida, R. Ribeiro, A. Bernardino. OCEANS'16 MTS/IEEE Monterey.
35. Natural User Interface for Lighting Control: Case Study on Desktop Lighting Using Modular Robots, M. Mutlu, S. Bonardi, M. Vespignani, S. Hauser, A. Bernardino and A. Ijspeert, RO-MAN 2016.
36. From Human Instructions to Robot Actions: Formulation of Goals, Affordances and Probabilistic Planning, A. Antunes, L. Jamone, G. Saponaro, A. Bernardino, R. Ventura, ICRA 2016.
37. Person Re-identification based on Human query on Soft Biometrics using SVM Regression, A. Nambiar, A. Bernardino, J. Nascimento, VISAPP 2016.
38. Where to Place Cameras on a Snake Robot: Focus on Camera Trajectory and Motion Blur. Mehmet Mutlu, Kamilo Melo, Massimo Vespignani, Alexandre Bernardino and Auke Jan Ijspeert. SSRR 2015.
39. Low-rank forward models: a path to the self-organization of visuo-motor systems. Ângelo Cardoso, Ricardo Ferreira, Ricardo Santos, Alexandre Bernardino. IROS 2015.
40. Vizzy: A humanoid on wheels for assistive robotics. R. Nunes, R. Beira, P. Moreno, L. Vargas, J. Santos-Victor, A. Bernardino, M. Aragão, D. Aragão and R. Figueiredo. ROBOT 2015.
41. Image Saliency Applied to Infrared Images for Unmanned Maritime Monitoring, Gonçalo Cruz, Alexandre Bernardino. In Proceedings of the 10th International Conference on Computer Vision Systems, Copenhagen, 6-9 July, 2015 (ICVS 2015).
42. Unmanned Aircraft Systems in maritime operations: Challenges addressed in the scope of the seagull project. Marques, M. M., P. Dias, N. P. Santos, V. Lobo, R. Batista, D. Salgueiro, A. Aguiar, M. Costa, A. Ferreira, J. Silva, J. d. Sousa, M. Nunes, R. Ribeiro, J. Marques, J. Morgado, E. Pereira, M. Griné, M. Taiana, J. E. d. Silva and A. Bernardino (2015). OCEANS’15 MTS/IEEE GENOVA. Genova, Italy.
43. A Ground-Based Vision System for UAV Tracking. Santos, N. P., V. Lobo and A. Bernardino (2015). OCEANS’15 MTS/IEEE GENOVA. Genova, Italy.
44. GPU-Enabled particle based optimization for robotic-hand pose estimation and self-calibration, P. Vicente, R. Ferreira, L. Jamone, A. Bernardino, ICARSC 2015.
45. A novel approach to dynamic movement imitation based on quadratic programming. C. Cardoso, L. Jamone, A. Bernardino. In Proceedings of ICRA 2015, Seattle, Washington, 26-30 May, 2015
46. Adaptive Visual Pursuit Involving Eye-Head Coordination and Prediction of the Target Motion, L. Vannucci, N. Cauli, E. Falotico, A. Bernardino, C. Laschi. Humanoids, 2014.
47. The HDA+ data set for research on fully automated re-identification systems. D. Figueira, M. Taiana, A. Nambiar, J. Nascimento and A. Bernardino, VS-RE-ID Workshop at ECCV 2014.
48. An Algorithm for the Detection of Vessels in Aerial Images. J. Marques, A. Bernardino, G. Cruz, M. Bento. In Proceedings of the 11th IEEE International Conference on Advanced Video and Signal-Based Surveillance, Korea University, Seoul, August 26-29, 2014 (AVSS 2014).
49. A Ground-based vision System for UAV Pose Estimation. N. Pessanha-Santos, V. Lobo, A. Bernardino, ICIUS 2014.
50. Learning Intermediate Object Affordances: Towards the Development of a Tool Concept. A. Gonçalves, J. Abrantes, G. Saponaro, L. Jamone, A.Bernardino, ICDL-EPIROB 2014.
51. Markerless Online Stereo Calibration for a Humanoid Robot. N. Moutinho, R. Ferreira, J. Gaspar, A. Bernardino, J. Santos-Victor, ICDL-EPIROB 2014.
52. Eye-hand online adaptation during reaching tasks in a humanoid robot. P. Vicente, R. Ferreira, L. Jamone, A. Bernardino, ICDL-EPIROB 2014.
53. Sensori-motor Networks vs Neural Networks for Visual Stimulus Prediction. R. Santos, R. Ferreira, A. Cardoso, A. Bernardino, ICDL-EPIROB 2014.
54. Optimal No-intersection Multi-label Binary Localization for Time Series using Totally Unimodular Linear Programming, Ricardo Cabral, João Costeira, Alexandre Bernardino, Fernando De la Torre. ICIP 2014.
55. Eye gaze patterns after stroke: correlates of a VR action execution and observation task. Alves J, Vourvopoulos A, Bernardino A, Badia S. 2nd Patient Rehabilitation Research Techniques Workshops. REHAB 2014.
56. Learning Visual Affordances of Objects and Tools through Autonomous Robot Exploration. Afonso Gonçalves, Giovanni Saponaro, Lorenzo Jamone, Alexandre Bernardino. IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC 2014). Espinho, Portugal, 14-15 May 2014.
57. Probabilistic Stereo Egomotion Transform. H.Silva, A.Bernardino, E.Silva, ICRA 2014.
58. A Framework for 3D Object Identification and Tracking, Georgios Chliveros, Rui P. Figueiredo, Plinio Moreno, Maria Pateraki, Alexandre Bernardino, Jose Santos-Victor and Panos Trahanias, VISAPP 2014.
59. Towards Fully Automated Person Re-Identification, Matteo Taiana, Dario Figueira, Athira Nambiar, Jacinto Nascimento and Alexandre Bernardino, VISAPP 2014.
60. Unifying Nuclear Norm and Bilinear Factorization Approaches for Low-rank Matrix Decomposition. Ricardo Cabral, Fernando De la Torre, João Costeira, Alexandre Bernardino, ICCV 2013.
61. Discrete Camera Autocalibration Consistent with the Frame of the Robotic Pan-Tilt Basis. R. Galego, R. Ferreira, A. Bernardino, E. Grossmann, J. Gaspar. Conf. Electronics, Telecommunications and Computers, CETC 2013.
62. Precision Grasp Synergies for Dexterous Robotic Hands. Alexandre Bernardino, Marco Henriques, Norman Hendrich and Jianwei Zhang. ROBIO 2013, Shenzhen, 12-14 December 2013. (BEST PAPER AWARD)
63. Affordance-based grasp planning for anthropomorphic hands from human demonstration. Norman Hendrich, Alexandre Bernardino. ROBOT 2013, Madrid, 28-29 November 2013.
64. Semi-supervised Multi-feature Learning for Person Re-identification. Dario Figueira, Loris Bazzani, Hà Quang Minh, Marco Cristani, Alexandre Bernardino, Vittorio Murino. AVSS 2013.
65. An Improved Labelling for the INRIA Person Data Set for Pedestrian Detection. M. Taiana, J. Nascimento, A. Bernardino. IBPRIA 2013.
66. Fast 3D object recognition of rotationally symmetric objects. R. P. de Figueiredo, P. Moreno and A. Bernardino. IBPRIA 2013.
67. Topological Auto-Calibration of Central Imaging Sensors. R. Galego, R. Ferreira, A. Bernardino, E. Grossmann and J. Gaspar. IBPRIA 2013.
68. Robot Anticipation of Human Intentions through Continuous Gesture Recognition. G. Saponaro, G. Salvi, A. Bernardino. CR-HRI 2013.
69. Vision-based Hand Pose Estimation: A Mixed Bottom-up and Top-down Approach. D. Periquito, J. Nascimento, A. Bernardino and J. Sequeira. VISAPP 2013.
70. 6D Visual Odometry with Dense Probabilistic Egomotion Estimation. H. Silva, A. Bernardino, E. Silva. VISAPP 2013.
71. Combining sparse and dense methods in 6D visual odometry. H. Silva, A. Bernardino, E. Silva. ROBOTICA 2013.
72. Multi-Object Detection and Pose Estimation in 3D Point Clouds: A Fast Grid-Based Bayesian Filter. R. P. de Figueiredo, P. Moreno, A. Bernardino and J. Santos-Victor. ICRA 2013.
73. Active Tactile Exploration for Grasping. F. Veiga, A. Bernardino, ICRA Workshop on Autonomous Learning, 2013.
74. Dexterous Postural Synergies from Teleoperation of the Shadow Robot Hand. N. Hendrich, M. Henriques and A. Bernardino. ICRA Workshop on Hand Synergies, 2013.
75. On the Representation of Anthropomorphic Robot Hands:Shape versus Function. R. de Souza, A. Bernardino, J. Santos-Victor, A. Billard. HUMANOIDS 2012.
76. Reaching and Grasping Kitchenware Objects. R. Figueiredo, A. Shukla, D. Aragão, P. Moreno, A. Bernardino, J. Santos-Victor, A. Billard. SII 2012.
77. Towards Bayesian Grasp Optimization with Wrench Space Analysis. F. Veiga and A. Bernardino, Workshop "Beyond Robot Grasping" at IROS 2012.
78. Toward Self-Organization of Visual Sensorimotor Structures. J. Ruesch, R. Ferreira and A. Bernardino. Biologically Inspired Cognitive Architectures 2012, Palermo, Italy.
79. Modeling and Planning High-Level In-Hand Manipulation Actions from Human Knowledge and Active Learning from Demonstration. U. Prieur, V. Perdereau, A. Bernardino. IROS 2012, Vilamoura, Portugal.
80. Online Calibration of a Humanoid Robot Head from Relative Encoders, IMU Readings and Visual Data. N. Moutinho, M. Brandao, R. Ferreira, J. Gaspar, A. Bernardino, A. Takanishi, J. Santos-Victor. IROS 2012, Vilamoura, Portugal.
81. Self-organization of Visual Sensor Topologies Based on Spatio-temporal Cross-correlation, J. Ruesch, R. Ferreira and A. Bernardino. Simulation of Adaptive Behaviour 2012, Odense, Denmark.
82. Auto-calibration of Pan-Tilt Cameras including Radial Distortion and Zoom. R. Galego, A. Bernardino, J. Gaspar, International Symposium on Visual Computing (ISVC), July 16-18, Crete, Greece, 2012
83. Time and order estimation of paintings based on visual features and expert priors. R. S. Cabral, J. P. Costeira, F. De la Torre, A. Bernardino, and G. Carneiro. In SPIE Electronic Imaging, Computer Vision and Analysis of Art II, 2011.
84. Matrix Completion for Multi-label Image Classification, R. S. Cabral, F. De la Torre, J. Costeira, A. Bernardino, NIPS 2011, Granada, Spain.
85. Multiple Hypothesis Tracking in Camera Networks, D. M. Antunes, D. Figueira, D. M. Matos, A. Bernardino, J. Gaspar, OMNIVIS Workshop at ICCV 2011, 6-13 November 2011, Barcelona, Spain.
86. A Measure of Good Motor Actions for Active Visual Perception. J. Ruesch, R. Ferreira, A. Bernardino. ICDL 11.
87. N. Moutinho, N. Cauli, E. Falotico, R. Ferreira, J. Gaspar, A. Bernardino, J. Santos-Victor, P. Dario, C. Laschi. “An Expected Perception Architecture using Visual 3D Reconstruction for a Humanoid Robot”, IROS 2011.
88. Image Driven Generation of Pose Hypotheses for 3D Model-Based Tracking, Martim Brandão, Alexandre Bernardino, José Santos-Victor. 12th IAPR Conference on Machine Vision Applications, MVA 2011.
89. Fast Incremental Method for Matrix Completion: An Application to Trajectory Correction. Ricardo Cabral, João Costeira, Fernando De la Torre, Alexandre Bernardino, IEEE International Conference on Image Processing, ICIP 2011.
90. Real-Time Ellipse Fitting, 3D Spherical Object Localization and Tracking for the iCub Simulator, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, José Santos-Victor, Int. Conf. on Informatics in Control, Automation and Robotics (ICINCO), July, 2011.
91. Monocular vs Binocular 3D Real-Time Ball Tracking From 2d Ellipses, Nicola Greggio, José Gaspar, Alexandre Bernardino, José Santos-Victor, Int. Conf. on Informatics in Control, Automation and Robotics (ICINCO), July, 2011.
92. Re-Identification of Visual Targets in Camera Networks: A Comparison of Techniques, Dario Figueira and Alexandre Bernardino, International Conference on Image Analysis and Recognition (ICIAR) 2011.
93. Vignetting Correction for Pan-Tilt Surveillance Cameras, Ricardo Galego, Alexandre Bernardino, José Gaspar, Int. Conf. on Computer Vision Theory and Applications (VISAPP), March 5-7, 2011.
94. Generation of Meaningful Robot Expressions with Active Learning, Giovanni Saponaro, Alexandre Bernardino. 6th ACM/IEEE Int. Conf. on Human-Robot Interaction, Late Breaking Report session, HRI 2011.
95. Robotic Color Image Segmentation by Means of Finite Mixture Models, Nicola Greggio, Alexandre Bernardino, José Santos-Victor. 11th Int. Conf. on Mobile Robots and Competitions, ROBOTICA 2011.
96. Sensor-Based Self-Calibration of the iCub's Head, J. Santos, A. Bernardino, J. Santos-Victor, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010.
97. Gaussian Mixture Models for Affordance Learning using Bayesian Networks, P. Osório, A. Bernardino, R. Martinez-Cantin, J. Santos-Victor, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010.
98. A Practical Method for Self-Adapting Gaussian Expectation Maximization, N. Greggio, A. Bernardino, J. Santos-Victor, 7th Int. Conf. on Informatics in Control, Automation and Robotics, ICINCO 2010.
99. Image Segmentation for Robots: Fast Self-Adapting Expectation Maximization, Nicola Greggio, Alexandre Bernardino, Jose Santos-Victor, 7th International Conference on Image Analysis and Recognition, ICIAR 2010.
100. Sequentially Greedy Unsupervised Learning of Gaussian Mixture Models by Means of A Binary Tree Structure, Nicola Greggio, Alexandre Bernardino, Jose' Santos-Victor, The 11th International Conference on Intelligent Autonomous Systems, IAS 2010.
101. Unsupervised Greedy Learning of Finite Mixture Models, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, Jose' Santos-Victor, 22th International Conference on Tools with Artificial Intelligence, ICTAI 2010.
102. An Algorithm For The Least Square-Fitting of Ellipses, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, Jose' Santos-Victor, 22th International Conference on Tools with Artificial Intelligence, ICTAI 2010.
103. Self-Adaptive Gaussian Mixture Models for Real-Time Video Segmentation and Background Subtraction, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, Jose' Santos-Victor, 10th Intl. Conf. Intelligent Systems Design and Applications, ISDA 2010.
104. Optical flow based detection in mixed human robot environments, D. Figueira, P. Moreno, A. Bernardino, J. Gaspar and José Santos-Victor. International Symposium on Visual Computing, ISVC 2009.
105. Smooth Foveal Vision with Gaussian Receptive Fields. D. Pamplona, A. Bernardino. 9th IEEE-RAS International Conference on Humanoid Robots, 2009.
106. Predictive Tracking Across Occlusions on the iCub robot. E. Falotico, M. Taiana, D. Zambrano, A. Bernardino, J. Santos-Victor, C. Laschi, P. Dario. 9th IEEE-RAS International Conference on Humanoid Robots, 2009.
107. IS-Robot-Net: 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.
108. 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. IROS-2009.
109. Waving detection using the local temporal consistency of flow-based features for real-time applications. P. Moreno, A. Bernardino, J. Santos-Victor. ICIAR 2009.
110. Evolving Predictive Visual Motion Detectors. J. Ruesch, A. Bernardino. ICDL 09.
111. Biomimetic Eye-Neck Coordination. Manuel Lopes, Alexandre Bernardino, José Santos-Victor, Claes von Hofsten, Kerstin Rosander, ICDL 09.
112. Affordance Based Word-To-Meaning Association, V. Krunic, G. Salvi, A. Bernardino, L. Montesano, J. Santos-Victor. ICRA 09.
113. 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.
114. 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.
115. 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.
116. 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.
117. 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
118. 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.
119. 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.
120. 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.
121. Sample-Based 3D Tracking of Colored Objects: A Flexible Architecture. M. Taiana, J. Nascimento, J. Gaspar and A. Bernardino, BMVC 2008.
122. Affordances, Development and Imitation. Luis Montesano, Manuel Lopes, Alexandre Bernardino, José Santos-Victor. IEEE International Conference on Development and Learning, July 2007.
123. 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, IBPRIA 2007 - Iberian Conference on Pattern Recognition and Image Analysis, Girona, Spain, June 2007
124. 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
125. 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.
126. 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.
127. 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
128. 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
129. Model Based Selection and Classification of Local Features for Recognition Using Gabor Filters, Plinio Moreno, Alexandre Bernardino, José Santos-Victor, Proc. ICIAR 2006 - International Conference on Image Analysis and Recognition, Póvoa de Varzim, Portugal, 2006
130. 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. ICRA 2006 - IEEE International Conference on Robotics and Automation, Orlando, USA, 2006
131. 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
132. 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.
133. 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.
134. 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.
135. 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.
136. 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.
137. 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.
138. 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.
139. 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.
140. 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.
141. 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.
142. 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
143. Vision based station keeping and docking for floating vehicles, Sjoerd van der Zwaan, Alexandre Bernardino, Jose Santos-Victor, European Control conference, ECC 2001, Porto, Portugal, September 2001.
144. Tracking planar structures with log-polar images, Alexandre Bernardino, José Santos-Victor, 8th International Symposium on Intelligent Robotic Systems - SIRS 2000 - Reading, UK, July 2000
145. 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
146. 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 - SIRS 2000 - Reading, UK, July 2000
147. 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
148. 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
149. 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 - IROS 96, Osaka, Japão, Novembro 1996.
150. Correlation based Vergence Control using Log-Polar Images, A. Bernardino, J. Santos-Victor, Proceedings of the 4th International Symposium on Intelligent Robotic Systems - SIRS 96, Lisboa, Portugal, Julho 1996.
151. Sensor geometry for dynamic vergence: characterization and performance analysis, A. Bernardino and J. Santos-Victor, Proceedings of the Performance Characteristics of Vision Algorithms Workshop, ECCV 96, Cambridge, Inglaterra, Abril 1996
152. 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.
153. 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".
154. 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.
155. 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).

• Towards natural handshakes for social robots: Human-Aware hand grasps using tactile sensors. J. Avelino, T. Paulino, C. Cardoso, R. Nunes, P. Moreno, A. Bernardino. Journal of Behavioral Robotics. Accepted 2018.

• The Power of a Hand-shake in Human-Robot Interactions. J. Avelino, F. Correia, J. Catarino, P. Ribeiro, P. Moreno, A. Bernardino, A. Paiva. IROS 2018.
• Finding safe 3D robot grasps through efficient haptic exploration with unscented Bayesian optimization and collision penalty. J. Castanheira, P. Vicente, R. Martinez-Cantin, L. Jamone, A. Bernardino. IROS 2018.
• Object detection and localization with Artificial Foveal Visual Attention. C. Melicio, A. Almeida, R. Figueiredo, A. Bernardino, J. Santos-Victor. ICDL-EPIROB 2018.
• Incremental adaptation of a robot body schema based on touch events. R. Zenha, P. Vicente, L. Jamone, A. Bernardino. ICDL-EPIROB 2018.
• Autonomous table cleaning from kinesthetic demonstrations using Deep Learning. N. Cauli, P. Vicente, J. Kim, B. Damas, A. Bernardino, F. Cavallo, J. Santos-Victor. ICDL-EPIROB 2018.

• Beyond the Self: Using Grounded Affordances to Interpret and Describe Others' Actions. G. Saponaro, L. Jamone, A. Bernardino, G. Salvi. IEEE Transactions on Cognitive and Developmental Systems. Accepted. 2018.
• Effects of Passive and Active Joint Compliance in Quadrupedal Locomotion. M. Mutlu, S. Hauser, A. Bernardino, A. Ijspeert. Advanced Robotics. Accepted. 2018.

• User Centered Design of an Augmented Reality Gaming Platform for Active Aging in Elderly Institutions. H. Simão, A. Bernardino. icSPORTS 2017.

• A Kinect-based Monitoring System for Stroke Rehabilitation. M. Hun Lee, D. Siewiorek, A. Smailagic, A. Bernadino, S. Bermúdez i Badia. icSPORTS 2017.

• Experiments with Vizzy as a Coach for Elderly Exercise. J. Avelino, H. Simão, R. Ribeiro, P. Moreno, R. Figueiredo, N. Duarte, R. Nunes, A. Bernardino, M. Čaić, D. Mahr and G. Odekerken-Schröder. PREC workshop at HRI 2018.

• Playdough to Roombots: towards a novel tangible user interface for self-reconfigurable modular robots. M. Mutlu, S. Hauser, A. Bernardino, A Ijspeert. ICRA 2018.
• A Generic Visual Perception Domain Randomisation Framework For Gazebo. J. Borrego, R. Figueiredo, A. Dehban, P. Moreno, A. Bernardino and J. Santos-Victor. ICARSC 2018.

• Cross-context analysis for long-term view-point invariant Person Re-identification via soft-biometrics using Depth sensor. A. Nambiar, A. Bernardino, J. Nascimento, VISAPP 2018.

• A Dataset for Airborne Maritime Surveillance Environments. R. Ribeiro, G. Cruz, J. Matos, A. Bernardino. IEEE Transactions on Circuits and Systems for Video Technology. Accepted. 2017.
• A miniaturized force sensor based on hair-like flexible magnetized cylinders deposited over a giant magnetoresistive sensor. P. Ribeiro, M. A. Khan, A. Alfadhel, J. Kosel, F. Franco, S. Cardoso, A. Bernardino, J. Santos-Victor, L. Jamone. IEEE Transactions on Magnetics, 53(11), November 2017.

• S-Net: Co-Developing Artificial Retinas and Predictive Internal Models for Real Robots, R. Santos, R. Ferreira, A. Cardoso, A. Bernardino. IEEE Trans. on Cognitive and Developmental Systems, 9(3), September 2017.

• A voting method for stereo egomotion estimation. H. Silva, E. Silva, A. Bernardino. International Journal of Advanced Robotic Systems, 2017.
• A benchmark study on accuracy-controlled distance calculation between superellipsoid and superovoid contact geometries, A. Gonçalves, A. Bernardino, D. Lopes, J. Jorge, Mechanism and Machine Theory, 115:77-96, 2017.

• Human-aware natural handshaking using tactile sensors for Vizzy, a social robot. J. Avelino, T. Paulino, C. Cardoso, P. Moreno and A. Bernardino. Workshop on Behavior Adaptation, Interaction and Learning for Assistive Robotics at RO-MAN 2017.

• Human-aware natural handshaking using tactile sensors for Vizzy, a social robot. J. Avelino, T. Paulino, C. Cardoso, P. Moreno and A. Bernardino. Workshop on Behavior Adaptation, Interaction and Learning for Assistive Robotics

 at RO-MAN 2017.

• Interactive Robot Learning of Gestures, Language and Affordances. G. Saponaro, L. Jamone, A. Bernardino and G. Salvi. Workshop on Grounding Language Understanding Workshop, Official INTERSPEECH Satellite Event 2017.
• Self-reconfigurable modular robot interface using virtual reality: Arrangement of furniture made out of Roombots modules. V.Nigolian, M. Mutlu, S. Hauser, A. Bernardino, A. Ijspeert. IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2017.
• Effects of joint compliance in quadrupedal locomotion. M. Mutlu, S. Hauser, A. Bernardino, A. Ijspeert. International Symposium on Adaptive Motion of Animals and Machines (AMAM), 2017.
• Shape-based attention for identification and localization of cylindrical objects. R. Figueiredo, A. Dehban, A. Bernardino, J. Santos-Victor, H. Araujo. 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, 2017.
• Learning at the Ends: From Hand to Tool Affordances in Humanoid Robots. G. Saponaro, P. Vicente, A. Dehban, L. Jamone, A. Bernardino, J. Santos-Victor. 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, 2017.

• A benchmark study on accuracy-controlled distance calculation between superellipsoid and superovoid contact geometries, A. Gonçalves, A. Bernardino, D. Lopes, J. Jorge, Mechanism and Machine Theory, 2017.

• A miniaturized force sensor based on hair-like flexible magnetized cylinders deposited over a giant magnetoresistive sensor. P. Ribeiro, M. A. Khan, A. Alfadhel, J. Kosel, F. Franco, S. Cardoso, A. Bernardino, L. Jamone, J. Santos-Victor. IEEE Transactions on Magnetics, 53(11):1-5, November 2017. (Early Access)

• A miniaturized force sensor based on hair-like flexible magnetized cylinders deposited over a giant magnetoresistive sensor. P. Ribeiro, M. A. Khan, A. Alfadhel, J. Kosel, F. Franco, S. Cardoso, A. Bernardino, L. Jamone, J. Santos-Victor. IEEE Transactions on Magnetics 2017. Accepted.

• Shape-based attention for identification and localization of cylindrical objects. R. Figueiredo, A. Dehban, A. Bernardino, J. Santos-Victor, H. Araujo. 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, 2017 (Accepted).
• Learning at the Ends: From Hand to Tool Affordances in Humanoid Robots. G. Saponaro, P. Vicente, A. Dehban, L. Jamone, A. Bernardino, J. Santos-Victor. 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, 2017. (Accepted)

• Improving the performance of pedestrian detectors using convolutional learning, D. Ribeiro, J. Nascimento, A. Bernardino, G. Carneiro, Pattern Recognition vol. 61, pp. 641–649, 2016.

• A voting method for stereo egomotion estimation. H. Silva, E. Silva, A. Bernardino. International Journal of Advanced Robotic Systems, 2017. In press.

• Adaptive Non Maximal Suppression Filtering for Online Exploration Learning with Cost-Regularized Kernel Regression. C. Cardoso and A. Bernardino. ICARSC 2017.
• Robust cylinder detection using 3D point cloud information. R. Figueiredo, P. Moreno and A. Bernardino. ICARSC 2017.
• Wedding robotics: a case study. P. Vicente and A. Bernardino. ICARSC 2017.

• Online body schema adaptation based on internal mental simulation and multisensory feedback. P. Vicente, L. Jamone, A. Bernardino. Frontiers Research Topic Ebook, G. Schillaci, V. Hafner, B. Lara (Eds.), Frontiers Media SA, ISBN: 9782889451487, 2017.

Journals

• A benchmark study on accuracy-controlled distance calculation between superellipsoid and superovoid contact geometries, A. Gonçalves, A. Bernardino, D. Lopes, J. Jorge, Mechanism and Machine Theory, 2017. In press.

• Fast Estimation of Gaussian Mixture Models for Image Segmentation, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, José Santos-Victor. Machine Vision and Applications, 2011.
• Real-Time 3D Stereo Tracking and Localizing of Spherical Objects with the iCub Robotic Platform, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, José Santos-Victor, Paolo Dario. Journal of Intelligent Robot Systems, 2011.

Book Chapters

• Online body schema adaptation based on internal mental simulation and multisensory feedback. P. Vicente, L. Jamone, A. Bernardino. Frontiers Research Topic Ebook, G. Schillaci, V. Hafner, B. Lara (Eds.), Frontiers Media SA

ISBN: 9782889451487, 2017.

• Unifying Nuclear Norm and Bilinear Factorization for Low Rank Matrix Decomposition, R. Cabral, F. De la Torre, J. Costeira, A. Bernardino, Handbook of Robust Low-Rank and Sparse Matrix Decomposition: Applications in Image and Video Processing, Thierry Bouwmans, Necdet Serhat Aybat, El-hadi Zahzah (Eds), CRC Press, 2016.
• A Computational Model of Object Affordances. L.Montesano, M. Lopes, F. Melo, A. Bernardino, J. Santos-Victor. Advances in Cognitive Systems, S.Nefti and J.O.Gray, (Eds.) IET, pp 87-126, 2010.
• 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.
• 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

• Low-cost 3-axis soft tactile sensors for the human-friendly robot Vizzy, T. Paulino, P. Ribeiro, M. Neto, S. Cardoso, A. Schmitz, J. Santos-Victor, A. Bernardino, L. Jamone, ICRA 2017.
• Towards markerless visual servoing of grasping tasks for humanoid robots, P. Vicente, L. Jamone, A. Bernardino, ICRA 2017.

• Towards markerless visual servoing of grasping tasks for humanoid robots, P. Vicente, L. Jamone, A. Bernardino, IEEE-RAS International Conference on Robotics and Automation (ICRA), 2017.

• S-Net: Co-Developing Artificial Retinas and Predictive Internal Models for Real Robots, R. Santos, R. Ferreira, A. Cardoso, A. Bernardino. IEEE Trans. on Cognitive and Developmental Systems, 2017.

• Context-Aware Person Re-identification in the Wild via fusion of Gait and Anthropometric features, A. Nambiar, A. Bernardino, J. Nascimento and A. Fred, B-WILD Workshop at 12th IEEE International Conference on Automatic Face & Gesture Recognition, 2017.

• Bio-inspired ciliary force sensor for robotic platforms, P. Ribeiro, A. Ahmed, J. Kosel, F. Franco, S. Cardoso, A. Bernardino, A. Schmitz, L. Jamone, J. Santos-Victor, IEEE Robotics and Automation Letters (RA-L) 2(2):971-976, April 2017.

• Automatic object shape completion from 3D point clouds for object manipulation, P. Moreno, R. Figueiredo, A. Bernardino. VISAPP 2017.
• Towards view-point invariant Person Re-identification via fusion of Anthropometric and Gait Features from Kinect measurements, A. Nambiar, A. Bernardino, J. Nascimento and A. Fred, VISAPP 2017.
• Efficient Resource Allocation for Sparse Multiple Object Tracking, R. Figueiredo, J. Avelino, A. Dehban, A. Bernardino, H. Araújo, P. Lima. VISAPP 2017.

• Multi-channel Convolutional Neural Network Ensemble for Pedestrian Detection, D. Ribeiro, J. Nascimento, G. Carneiro and A. Bernardino. IBPRIA 2017.

• Multi-channel Convolutional Neural Network Ensemble for Pedestrian Detection, D. Ribeiro, J. Nascimento, G. Carneiro and A. Bernardino. Ib PRIA? 2017.

• On the advantages of foveal mechanisms for active stereo systems in visual search tasks. R. Figueiredo, A. Bernardino, J. Santos-Victor, H. Araújo. Autonomous Robots, 2017.

• S-Net: Co-Developing Artificial Retinas and Predictive Internal Models for Real Robots, R. Santos, R. Ferreira, A. Cardoso, A. Bernardino. IEEE Trans. on Cognitive and Developmental Systems, 2017.

• S Net?: Co-Developing Artificial Retinas and Predictive Internal Models for Real Robots, R. Santos, R. Ferreira, A. Cardoso, A. Bernardino. IEEE Trans. on Cognitive and Developmental Systems, 2017.
• Bio-inspired ciliary force sensor for robotic platforms, P. Ribeiro, A. Ahmed, J. Kosel, F. Franco, S. Cardoso, A. Bernardino, A. Schmitz, L. Jamone, J. Santos-Victor, IEEE Robotics and Automation Letters (RA-L), 2017.

• Unifying Nuclear Norm and Bilinear Factorization for Low Rank Matrix Decomposition, R. Cabral, F. De la Torre, J. Costeira, A. Bernardino, Handbook of Robust Low-Rank and Sparse Matrix Decomposition: Applications in Image and Video Processing, Thierry Bouwmans, Necdet Serhat Aybat, El-hadi Zahzah (Eds), CRC Press, 2016.

• Bio-inspired ciliary force sensor for robotic platforms, P. Ribeiro, A. Ahmed, J. Kosel, F. Franco, S. Cardoso, A. Bernardino, A. Schmitz, L. Jamone, J. Santos-Victor, IEEE Robotics and Automation Letters (RA-L), 2017.

• A Dataset for the Automatic Assessment of Functional Senior Fitness Tests using Kinect and Physiological Sensors. A. Bernardino, C. Vismara, F. Baptista, F. Carnide, S. Oom, S. Bermudez i Badia, E. Gouveia, H. Gamboa. Intl. Conf. on Technology and Innovation in Sports, Health and Wellbeing, 2016.

• Robust Tracking of Vessels in Oceanographic Airborne Images. J. Matos, A. Bernardino, R. Ribeiro. OCEANS'16 MTS/IEEE Monterey.
• Oil Spills Detection: Challenges addressed in the scope of the SEAGULL project. M. Marques, V. Lobo, M. Nunes, R. Baptista, J. Almeida, R. Ribeiro, A. Bernardino. OCEANS'16 MTS/IEEE Monterey.

• Middleware Interoperability for Robotics: A ROS-YARP Framework, P. Moreno, M. Aragão, A. Bernardino. Frontiers in Robotics and AI, section Humanoid Robotics, 2016.

• A Window-Based Classifier for Automatic Video-Based Reidentification. D. Figueira, M. Taiana, J. Nascimento, A. Bernardino. IEEE Transactions on Systems, Man and Cybernetics, 2016.
• Affordances in Psychology, Neuroscience and Robotics: A Survey. L. Jamone, E. Ugur, A. Cangelosi, L. Fadiga, A. Bernardino, J. Piater and J. Santos-Victor. IEEE Trans. on Cognitive and Developmental Systems, 2016.

• Aerial detection in maritime scenarios using convolutional neural networks. G. Cruz, A. Bernardino. ACIVS 2016.
• Person Re-identification in frontal gait sequences via Histogram of Optic flow Energy Image. A. Nambiar, J. Nascimento, A. Bernardino, J. Santos-Victor. ACIVS 2016.
• Unscented Bayesian Optimization for Safe Robot Grasping. J. Nogueira, R. Martinez-Cantin, A. Bernardino, L. Jamone. IROS 2016.
• On the perceptual advantages of visual suppression mechanisms for dynamic robot systems. J. Avelino, R. Figueiredo, P. Moreno and A. Bernardino. International Conference on Biologically Inspired Cognitive Architectures (BICA 2016).
• Robust Tracking of Vessels in Oceanographic Airborne Images. J. Matos, A. Bernardino, R. Ribeiro. OCEANS 16? MTS/IEEE Monterey.
• Oil Spills Detection: Challenges addressed in the scope of the SEAGULL project. M. Marques, V. Lobo, M. Nunes, R. Baptista, J. Almeida, R. Ribeiro, A. Bernardino. OCEANS 16? MTS/IEEE Monterey.

• Affordances in Psychology, Neuroscience and Robotics: A Survey. L. Jamone, E. Ugur, A. Cangelosi, L. Fadiga, A. Bernardino, J. Piater and J. Santos-Victor. Accepted for publication in IEEE Trans. on Cognitive and Developmental Systems, 2016.

• Unscented Bayesian Optimization for Safe Robot Grasping. J. Nogueira, R. Martinez-Cantin, A. Bernardino, L. Jamone. Accepted at IROS 2016.
• On the perceptual advantages of visual suppression mechanisms for dynamic robot systems. J. Avelino, R. Figueiredo, P. Moreno and A. Bernardino. Accepted at International Conference on Biologically Inspired Cognitive Architectures (BICA 2016).
• Robust Tracking of Vessels in Oceanographic Airborne Images. J. Matos, A. Bernardino, R. Ribeiro. Accepted at OCEANS 16? MTS/IEEE Monterey.
• Oil Spills Detection: Challenges addressed in the scope of the SEAGULL project. M. Marques, V. Lobo, M. Nunes, R. Baptista, J. Almeida, R. Ribeiro, A. Bernardino. Accepted at OCEANS 16? MTS/IEEE Monterey.

• Affordances in Psychology, Neuroscience and Robotics: A Survey. L. Jamone, E. Ugur, A. Cangelosi, L. Fadiga, A. Bernardino, J. Piater and J. Santos-Victor.

• Improving the performance of pedestrian detectors using convolutional learning, D. Ribeiro, J. Nascimento, A. Bernardino, G. Carneiro, Pattern Recognition, 2016.

• Robotic hand pose estimation based on stereo vision and GPU-enabled internal graphical simulation, P. Vicente, L. Jamone, A. Bernardino, Journal of Intelligent and Robotic Systems, 2016.

• Natural User Interface for Lighting Control: Case Study on Desktop Lighting Using Modular Robots, M. Mutlu, S. Bonardi, M. Vespignani, S. Hauser, A. Bernardino and A. Ijspeert, RO-MAN 2016.
• Self-reconfigurable Modular Robot Interface Using Virtual Reality: Arrangement of Furniture Made out of Roombots Modules, V. Nigolian, M. Mutlu, S. Hauser, S. Bonardi, A. Bernardino and A. Ijspeert, RO-MAN 2016.

• From Human Instructions to Robot Actions: Formulation of Goals, Affordances and Probabilistic Planning, A. Antunes, L. Jamone, G. Saponaro, A. Bernardino, R. Ventura, ICRA 2016.
• Person Re-identification based on Human query on Soft Biometrics using SVM Regression, A. Nambiar, A. Bernardino, J. Nascimento, VISAPP 2016.

• Benchmarking the grasping capabilities of the iCub hand with the YCB Object and Model Set, L. Jamone, A. Bernardino and J. Santos-Victor, IEEE Robotics and Automation Letters, 2016.

• Online body schema adaptation based on internal mental simulation and multisensory feedback. P. Vicente, L. Jamone, A. Bernardino. Frontiers in Robotics and AI, 3(7), 2016.

• Correcting for Changes: Expected Perception-Based Control for Reaching a Moving Target. N. Cauli, E. Falotico, A. Bernardino, J. Santos-Victor and C. Laschi, in IEEE Robotics & Automation Magazine, vol. 23, no. 1, pp. 63-70, March 2016.

• Eye Gaze Correlates of Motor Impairment in VR Observation of Motor Actions. Alves, Júlio; Vourvopoulos, Athanasios; Bernardino, Alexandre; Bermúdez i Badia, Sergi. Methods of Information in Medicine, 55, January 2016.

• People and Mobile Robot Classification Through Spatio-Temporal Analysis of Optical Flow. Plinio Moreno, Dario Figueira, Alexandre Bernardino, José Santos-Victor. International Journal of Pattern Recognition and Artificial Intelligence, Vol. 29, No. 6 2015.
• Shape Context for soft biometrics in person re-identification and database retrieval. Athira Nambiar, Alexandre Bernardino, Jacinto Nascimento. Pattern Recognition Letters, Vol. 68, Part 2, pp 297–305, 2015.

• A Ground-Based Vision System for UAV Pose Estimation. N. P. Santos, F. Melício, V. Lobo and A. Bernardino, International Journal of Robotics and Mechatronics - UNSYS digital International Journals 1(4): 7, 2014.

• Expected Perception based control for reaching a moving target, N. Cauli, E. Falotico, A. Bernardino, José Santos-Victor, Cecilia Laschi. IEEE Robotics and Automation Magazine 2015 (Accepted for publication).

• Where to Place Cameras on a Snake Robot: Focus on Camera Trajectory and Motion Blur. Mehmet Mutlu, Kamilo Melo, Massimo Vespignani, Alexandre Bernardino and Auke Jan Ijspeert. SSRR 2015.

• Eye Gaze Correlates of Motor Impairment in VR Observation of Motor Actions. Alves, Júlio; Vourvopoulos, Athanasios; Bernardino, Alexandre; Bermúdez i Badia, Sergi. Methods of Information in Medicine, 2015 (Accepted for publication).

• Low-rank forward models: a path to the self-organization of visuo-motor systems. Ângelo Cardoso, Ricardo Ferreira, Ricardo Santos, Alexandre Bernardino. IROS 2015.

• Vizzy: A humanoid on wheels for assistive robotics. R. Nunes, R. Beira, P. Moreno, L. Vargas, J. Santos-Victor, A. Bernardino, M. Aragão, D. Aragão and R. Figueiredo. ROBOT 2015.

• An Algorithm for the Detection of Vessels in Aerial Images. J. Marques, A. Bernardino, G. Cruz, M. Bento. In Proceedings of the 11th IEEE International Conference on Advanced Video and Signal-Based Surveillance, Korea University, Seoul, August 26-29, 2014 (AVSS 2014).

Advanced Video and Signal-Based Surveillance, Korea University, Seoul, August 26-29, 2014 (AVSS 2014).

• Image Saliency Applied to Infrared Images for Unmanned Maritime Monitoring, Gonçalo Cruz, Alexandre Bernardino. In Proceedings of the 10th International Conference on Computer Vision Systems, Copenhagen, 6-9 July, 2015 (ICVS 2015).

• A novel approach to dynamic movement imitation based on quadratic programming. C. Cardoso, L. Jamone, A. Bernardino. In Proceedings of ICRA 2015, Seattle, Washington, 26-30 May, 2015

• An Algorithm for the Detection of Vessels in Aerial Images. J. Marques, A. Bernardino, G. Cruz, M. Bento. In Proceedings of the 11th IEEE International Conference on

Advanced Video and Signal-Based Surveillance, Hana Square?, Korea University, Seoul, August 26-29, 2014 (AVSS 2014).

• People and Mobile Robot Classification Through Spatio-Temporal Analysis of Optical Flow. Plinio Moreno, Dario Figueira, Alexandre Bernardino, José Santos-Victor.International Journal of Pattern Recognition and Artificial Intelligence, 2015.
• Shape Context for soft biometrics in person re-identification and database retrieval. Athira Nambiar, Alexandre Bernardino, Jacinto Nascimento. Pattern Recognition Letters, 2015.
• On the purity of training and testing data for learning: The case of pedestrian detection. Matteo Taiana, Jacinto Nascimento, Alexandre Bernardino, Neurocomputing, Volume 150, Part A, pp 214-226, February 2015.
• Efficient pose estimation of rotationally symmetric objects. R. Figueiredo, P. Moreno, A. Bernardino, Neurocomputing, Volume 150, Part A, pp 126-135, February 2015.

• Shape Context for soft biometrics in person re-identification and database retrieval, Athira Nambiar, Alexandre Bernardino, Jacinto Nascimento. Pattern Recognition Letters, 2015.

• Efficient Greedy Estimation of Mixture Models Through a Binary Tree Search. N. Greggio, A. Bernardino, J. Santos-Victor, P. Dario. Robotics and Autonomous Systems, Volume 62, Issue 10, October 2014, Pages 1440–1452

• Image Saliency Applied to Infrared Images for Unmanned Maritime Monitoring, Gonçalo Cruz, Alexandre Bernardino, ICVS 2015, Accepted.

• Sequentially Greedy Unsupervised Learning of Gaussian Mixture Models by Means of A Binary Tree Structure, Nicola Greggio, Alexandre Bernardino, Jose' Santos-Victor, The 11th International Conference on Intelligent Autonomous Systems, IAS 2010.

• Calibration of an Outdoor Distributed Camera Network with a 3D Point Cloud. A. Ortega, M. Silva, E. H. Teniente, R. Ferreira, A. Bernardino, J. Gaspar and J. Andrade-Cetto Sensors 2014, 14(8), 13708-13729.

• Matrix Completion for Weakly-supervised Multi-label Image Classification. R. Cabral, F. de La Torre, J. Costeira, A. Bernardino. PAMI, 37(1):121-135, 2015.
• A Ground-Based Vision System for UAV Pose Estimation. N. P. Santos, F. Melício, V. Lobo and A. Bernardino, International Journal of Mechatronics and Robotics (IJMR) - UNSYS digital International Journals 1(4): 7, 2014.

• Unsupervised Greedy Learning of Finite Mixture Models, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, Jose' Santos-Victor, 22th International Conference on Tools with Artificial Intelligence, ICTAI 2010.

• Unmanned Aircraft Systems in maritime operations: Challenges addressed in the scope of the seagull project. Marques, M. M., P. Dias, N. P. Santos, V. Lobo, R. Batista, D. Salgueiro, A. Aguiar, M. Costa, A. Ferreira, J. Silva, J. d. Sousa, M. Nunes, R. Ribeiro, J. Marques, J. Morgado, E. Pereira, M. Griné, M. Taiana, J. E. d. Silva and A. Bernardino (2015). OCEANS’15 MTS/IEEE GENOVA. Genova, Italy.
• A Ground-Based Vision System for UAV Tracking. Santos, N. P., V. Lobo and A. Bernardino (2015). OCEANS’15 MTS/IEEE GENOVA. Genova, Italy.

• GPU-Enabled particle based optimization for robotic-hand pose estimation and self-calibration, P. Vicente, R. Ferreira, L. Jamone, A. Bernardino, ICARSC 2015.

• A novel approach to dynamic movement imitation based on quadratic programming. C. Cardoso, L. Jamone, A. Bernardino. Accepted at ICRA 2015.

• A Ground-Based Vision System for UAV Pose Estimation. N. P. Santos, F. Melício, V. Lobo and A. Bernardino, International Journal of Mechatronics and Robotics (IJMR) - UNSYS digital International Journals 1(4): 7, 2014.

• A Ground-Based Vision System for UAV Pose Estimation. N. P. Santos, F. Melício, V. Lobo and A. Bernardino, International Journal of Mechatronics and Robotics (IJMR) - UNSY Sdigital? International Journals 1(4): 7, 2014.

• A Ground-Based Vision System for UAV Tracking, N. P. Santos, F. Melício, V. Lobo and A. Bernardino. Accepted at OCEANS 2015.
• A novel approach to dynamic movement imitation based on quadratic programmin. C. Cardoso, L. Jamone, A. Bernardino. Accepted at ICRA 2015.

• On the purity of training and testing data for learning: The case of pedestrian detection, Matteo Taiana, Jacinto Nascimento, Alexandre Bernardino, Neurocomputing, Volume 150, Part A, pp 214-226, February 2015.
• Efficient pose estimation of rotationally symmetric objects, R. Figueiredo, P. Moreno, A. Bernardino, Neurocomputing, Volume 150, Part A, pp 126-135, February 2015.

• Adaptive Visual Pursuit Involving Eye-Head Coordination and Prediction of the Target Motion, L. Vannucci, N. Cauli, E. Falotico, A. Bernardino, C. Laschi. Humanoids, 2014.

• A Multi-camera video data set for research on High-Definition surveillance. A. Nambiar, M. Taiana, D. Figueira, J. Nascimento, A. Bernardino. International Journal of Machine Intelligence and Sensory Signal Processing, Special Issue on Signal Processing for Visual Surveillance, Vol. 1, N. 3, 2014.

• On the purity of training and testing data for learning: The case of pedestrian detection, Matteo Taiana, Jacinto Nascimento, Alexandre Bernardino, Neurocomputing, Accepted, 2014.
• Efficient pose estimation of rotationally symmetric objects, R. Figueiredo, P. Moreno, A. Bernardino, Neurocomputing, Accepted, 2014.

• The HDA+ data set for research on fully automated re-identification systems. D. Figueira, M. Taiana, A. Nambiar, J. Nascimento and A. Bernardino, VS-RE-ID Workshop at ECCV 2014.
• An Algorithm for the Detection of Vessels in Aerial Images. J. Marques, A. Bernardino, G. Cruz, M. Bento, AVSS 2014.
• A Ground-based vision System for UAV Pose Estimation. N. Pessanha-Santos, V. Lobo, A. Bernardino, ICIUS 2014.

• Precision Grasp Synergies for Dexterous Robotic Hands. Alexandre Bernardino, Marco Henriques, Norman Hendrich and Jianwei Zhang. ROBIO 2013, Shenzhen, 12-14 December 2013. (BEST PAPER AWARD)

• Learning Intermediate Object Affordances: Towards the Development of a Tool Concept. A. Gonçalves, J. Abrantes, G. Saponaro, L. Jamone, A.Bernardino, ICDL-EPIROB 2014.
• Markerless Online Stereo Calibration for a Humanoid Robot. N. Moutinho, R. Ferreira, J. Gaspar, A. Bernardino, J. Santos-Victor, ICDL-EPIROB 2014.
• Eye-hand online adaptation during reaching tasks in a humanoid robot. P. Vicente, R. Ferreira, L. Jamone, A. Bernardino, ICDL-EPIROB 2014.
• Sensori-motor Networks vs Neural Networks for Visual Stimulus Prediction. R. Santos, R. Ferreira, A. Cardoso, A. Bernardino, ICDL-EPIROB 2014.

• Matrix Completion for Weakly-supervised Multi-label Image Classification. R. Cabral, F. de La Torre, J. Costeira, A. Bernardino. PAMI, Accepted, 2014.
• Calibration of an Outdoor Distributed Camera Network with a 3D Point Cloud. A. Ortega, M. Silva, E. H. Teniente, R. Ferreira,

A. Bernardino, J. Gaspar and J. Andrade-Cetto Sensors 2014, 14(8), 13708-13729.

• Efficient Greedy Estimation of Mixture Models Through a Binary Tree Search. N. Greggio, A. Bernardino, J. Santos-Victor, P. Dario. Robotics and Autonomous Systems, In Press, 2014.

• Efficient Greedy Estimation of Mixture Models Through a Binary Tree Search. N. Greggio, A. Bernardino, J. Santos-Victor, P. Dario. Robotics and Autonomous Systems, Accepted, 2014.
• A Multi-camera video data set for research on High-Definition surveillance. A. Nambiar, M. Taiana, D. Figueira, J. Nascimento, A. Bernardino. International Journal of Machine Intelligence and Sensory Signal Processing, Special Issue on Signal Processing for Visual Surveillance, Inderscience Journal, In Press 2014.
• Probabilistic Egomotion for Stereo Visual Odometry. H.Silva, A. Bernardino, E.Silva, Journal of Intelligent & Robotic Systems, April 2014.

• Efficient Greedy Estimation of Mixture Models Through a Binary Tree Search. N. Greggio, A. Bernardino, J. Santos-Victor, P. Dario. Accepted, Robotics and Autonomous Systems, 2014.

Journals and Book Chapters

Conferences and Symposia

Conferences and Workshops

• Optimal No-intersection Multi-label Binary Localization for Time Series using Totally Unimodular Linear Programming, Ricardo Cabral, João Costeira, Alexandre Bernardino, Fernando De la Torre. ICIP 2014.

• Eye gaze patterns after stroke: correlates of a VR action execution and observation task. Alves J, Vourvopoulos A, Bernardino A, Badia S. 2nd Patient Rehabilitation Research Techniques Workshops. REHAB 2014.

• Eye gaze patterns after stroke: correlates of a VR action execution and observation task. Alves J, Vourvopoulos A, Bernardino A, Badia S. REHAB 2014.

• Eye gaze patterns after stroke: correlates ofa VR action execution and observation task. Alves J, Vourvopoulos A, Bernardino A, Badia S. REHAB 2014.

• Learning Visual Affordances of Objects and Tools through Autonomous Robot Exploration. Afonso Gonçalves, Giovanni Saponaro, Lorenzo Jamone, Alexandre Bernardino. IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC 2014). Espinho, Portugal, 14-15 May 2014.

• A Multi-camera video data set for research on High-Definition surveillance. A. Nambiar, M. Taiana, D. Figueira, J. Nascimento, A. Bernardino. International Journal of Machine Intelligence and Sensory Signal Processing, Special Issue on Signal Processing for Visual Surveillance, Inderscience Journal, accepted 2014.

• Probabilistic Stereo Egomotion Transform. H.Silva, A.Bernardino, E.Silva, ICRA 2014.

• Probabilistic Egomotion for Stereo Visual Odometry. H.Silva, A. Bernardino, E.Silva, Journal of Intelligent & Robotic Systems Special Issue: Autonomous Robot Systems, accepted 2014.

• A Framework for 3D Object Identification and Tracking, Georgios Chliveros, Rui P. Figueiredo, Plinio Moreno, Maria Pateraki, Alexandre Bernardino, Jose Santos-Victor and Panos Trahanias, VISAPP 2014.

• A Computational Approach on the Co-Development of Visual Sensorimotor Structures. J. Ruesch, R. Ferreira, A. Bernardino. Adaptive Behavior, 21(6):452-464, December 2013.

• Unifying Nuclear Norm and Bilinear Factorization Approaches for Low-rank Matrix Decomposition. Ricardo Cabral, Fernando De la Torre, João Costeira, Alexandre Bernardino, ICCV 2013.

• Towards Fully Automated Person Re-Identification, Matteo Taiana, Dario Figueira, Athira Nambiar, Jacinto Nascimento and Alexandre Bernardino, VISAPP 2014.
• Discrete Camera Autocalibration Consistent with the Frame of the Robotic Pan-Tilt Basis. R. Galego, R. Ferreira, A. Bernardino, E. Grossmann, J. Gaspar. Conf. Electronics, Telecommunications and Computers, CETC 2013.

• Precision Grasp Synergies for Dexterous Robotic Hands. Alexandre Bernardino, Marco Henriques, Norman Hendrich and Jianwei Zhang. ROBIO 2013, Shenzhen, 12-14 December 2013.
• Affordance-based grasp planning for anthropomorphic hands from human demonstration. Norman Hendrich, Alexandre Bernardino. ROBOT 2013, Madrid, 28-29 November 2013.

• Semi-supervised Multi-feature Learning for Person Re-identification. Dario Figueira, Loris Bazzani, Hà Quang Minh, Marco Cristani, Alexandre Bernardino, Vittorio Murino. AVSS 2013.

• Combining sparse and dense methods in 6D visual odometry. H. Silva, A. Bernardino, E. Silva. ROBOTICA 2013.

• An Improved Labelling for the INRIA Person Data Set for Pedestrian Detection. M. Taiana, J. Nascimento, A. Bernardino. IBPRIA 2013.
• Fast 3D object recognition of rotationally symmetric objects. R. P. de Figueiredo, P. Moreno and A. Bernardino. IBPRIA 2013.
• Topological Auto-Calibration of Central Imaging Sensors. R. Galego, R. Ferreira, A. Bernardino, E. Grossmann and J. Gaspar. IBPRIA 2013.

• Online Calibration of a Humanoid Robot Head from Relative Encoders, IMU Readings and Visual Data. N. Moutinho, M. Brandao, R. Ferreira, J. Gaspar, A. Bernardino, A. Takanishi, J. Santos-Victor. IROS 2012, Vilamoura, Portugal.

• A Computational Approach on the Co-Development of Visual Sensorimotor Structures. J. Ruesch, R. Ferreira, A. Bernardino. Adaptive Behavior, (In Press) 2013.

• The iCub Humanoid Robot: An Open-Systems Platform for Research, Special Issue of Neural Networks on Social Cognition: From Babies to Robots, G. Metta, L. Natale, F. Nori, G. Sandini, D. Vernon, L. Fadiga, C. von Hofsten, J. Santos-Victor, A. Bernardino, L. Montesano. Neural Networks, Vol. 23, Pages 1125–1134, 2010.

• Robot Anticipation of Human Intentions through Continuous Gesture Recognition. G. Saponaro, G. Salvi, A. Bernardino. CR-HRI 2013.
• Vision-based Hand Pose Estimation: A Mixed Bottom-up and Top-down Approach. D. Periquito, J. Nascimento, A. Bernardino and J. Sequeira. VISAPP 2013.
• 6D Visual Odometry with Dense Probabilistic Egomotion Estimation. H. Silva, A. Bernardino, E. Silva. VISAPP 2013.
• Multi-Object Detection and Pose Estimation in 3D Point Clouds: A Fast Grid-Based Bayesian Filter. R. P. de Figueiredo, P. Moreno, A. Bernardino and J. Santos-Victor. ICRA 2013.
• Active Tactile Exploration for Grasping. F. Veiga, A. Bernardino, ICRA Workshop on Autonomous Learning, 2013.
• Dexterous Postural Synergies from Teleoperation of the Shadow Robot Hand. N. Hendrich, M. Henriques and A. Bernardino. ICRA Workshop on Hand Synergies, 2013.

You can find online versions of most of the following publications at the VisLab publications page.

• Self-organization of Visual Sensor Topologies Based on Spatio-temporal Cross-correlation, J. Ruesch, R. Ferreira and A. Bernardino. Simulation of Adaptive Behaviour 2012, Odense, Denmark.

• Modeling and Planning High-Level In-Hand Manipulation Actions from Human Knowledge and Active Learning from Demonstration. U. Prieur, V. Perdereau, A. Bernardino. IROS 2012, Vilamoura, Portugal.

• Reaching and Grasping Kitchenware Objects. R. Figueiredo, A. Shukla, D. Aragão, P. Moreno, A. Bernardino, J. Santos-Victor, A. Billard. SII 2012.

• Predicting visual stimuli from self-induced actions: an adaptive model of a corollary discharge circuit. J. Ruesch, R. Ferreira, A. Bernardino, IEEE Transactions on Autonomous Mental Development, 4(4):290-304, Dec 2012.

• On the Representation of Anthropomorphic Robot Hands:Shape versus Function. R. de Souza, A. Bernardino, J. Santos-Victor, A. Billard. HUMANOIDS 2012.

• Reaching and Grasping Kitchenware Objects. R. Figueiredo, A. Shukla, D. Aragão, P. Moreno, A. Bernardino, J. Santos-Victor, A. Billard. Accepted at SII 2012.

• Toward Self-Organization of Visual Sensorimotor Structures. J. Ruesch, R. Ferreira and A. Bernardino. Biologically Inspired Cognitive Architectures 2012, Palermo, Italy.
• Modeling and Planning High-Level In-Hand Manipulation Actions from Human Knowledge and Active Learning from Demonstration. U. Prieur, V. Perdereau, A. Bernardino. ROS 2012, Vilamoura, Portugal.

• Towards Bayesian Grasp Optimization with Wrench Space Analysis. F. Veiga and A. Bernardino, Workshop "Beyond Robot Grasping" at IROS 2012.

• Time and order estimation of paintings based on visual features and expert priors. R. S. Cabral, J. P. Costeira, F. De la Torre, A. Bernardino, and G. Carneiro. In SPIE Electronic Imaging, Computer Vision and Analysis of Art II, 2011.

• Online Calibration of a Humanoid Robot Head from Relative Encoders, IMU Readings and Visual Data. N. Moutinho, M. Brandao, R. Ferreira, J. Gaspar, A. Bernardino, A. Takanishi, J. Santos-Victor. Accepted at IROS 2012, Vilamoura, Portugal.

• Auto-calibration of Pan-Tilt Cameras including Radial Distortion and Zoom. R. Galego, A. Bernardino, J. Gaspar, International Symposium on Visual Computing (ISVC), July 16-18, Crete, Greece, 2012

• Toward Self-Organization of Visual Sensorimotor Structures. J. Ruesch, R. Ferreira and A. Bernardino. Accepted at Biologically Inspired Cognitive Architectures 2012, Palermo, Italy.
• Modeling and Planning High-Level In-Hand Manipulation Actions from Human Knowledge and Active Learning from Demonstration. U. Prieur, V. Perdereau, A. Bernardino. Accepted at IROS 2012, Vilamoura, Portugal.

J. Gaspar, A. Bernardino, A. Takanishi, J. Santos-Victor. Accepted at IROS 2012, Vilamoura, Portugal.

• Self-organization of Visual Sensor Topologies Based on Spatio-temporal Cross-correlation, J. Ruesch, R. Ferreira and A. Bernardino. Accepted at Simulation of Adaptive Behaviour 2012, Odense, Denmark.

J. Gaspar, A. Bernardino, A. Takanishi, J. Santos-Victor. Accepted at IROS 2012.

• Modeling and Planning High-Level In-Hand Manipulation Actions from Human Knowledge and Active Learning from Demonstration. U. Prieur, V. Perdereau, A. Bernardino. Accepted at IROS 2012.
• Online Calibration of a Humanoid Robot Head from Relative Encoders, IMU Readings and Visual Data. N. Moutinho, M. Brandao, R. Ferreira,

J. Gaspar, A. Bernardino, A. Takanishi, J. Santos-Victor.

• Predicting visual stimuli from self-induced actions: an adaptive model of a corollary discharge circuit. J. Ruesch, R. Ferreira, A. Bernardino, IEEE Transactions on Autonomous Mental Development (Accepted) 2012.

• Language Bootstrapping: Learning Word Meanings From Perception–Action Association. Salvi, G.; Montesano, L.; Bernardino, A.; Santos-Victor, J.; IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 42(3), 660-671, 2011.

• Real-Time 3D Stereo Tracking and Localizing of Spherical Objects with the iCub Robotic Platform, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, José Santos-Victor, Paolo Dario. Journal of Intelligent Robot Systems, DOI 10.1007/s10846-010-9527-3, Feb 2011.

• Language Bootstrapping: Learning Word Meanings From Perception–Action Association. Salvi, G.; Montesano, L.; Bernardino, A.; Santos-Victor, J.; IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, (To Appear) 2011.

• 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).

• Time and order estimation of paintings based on visual features and expert priors. R. S. Cabral, J. P. Costeira, F. De la Torre, A. Bernardino, and G. Carneiro. In SPIE EI, Computer Vision and Analysis of Art, 2011.

• Matrix Completion for Multi-label Image Classification, R. S. Cabral, F. De la Torre, J. Costeira, A. Bernardino, NIPS 2011, Granada, Spain.

• Multiple Hypothesis Tracking in Camera Networks, D. M. Antunes, D. Figueira, D. M. Matos, A. Bernardino, J. Gaspar, OMNIVIS Workshop at ICCV 2011, 6-13 November 2011, Barcelona, Spain.

• A Measure of Good Motor Actions for Active Visual Perception. J. Ruesch, R. Ferreira, A. Bernardino. ICDL 11.

• N. Moutinho, N. Cauli, E. Falotico, R. Ferreira, J. Gaspar, A. Bernardino, J. Santos-Victor, P. Dario, C. Laschi. “An Expected Perception Architecture using Visual 3D Reconstruction for a Humanoid Robot”, IROS 2011.

• Surveillance with Pan-Tilt Cameras: Background Modeling, Ricardo Galego, Alexandre Bernardino, José Gaspar, In 16th Portuguese Conference on Pattern Recognition (Rec Pad?), 2010.
• Random features vs Harris Corners in Real-Time Visual Egomotion Estimation, Nuno Moutinho, Ricardo Ferreira, Alexandre Bernardino, José Gaspar, In 16th Portuguese Conference on Pattern Recognition (Rec Pad?) 2010.

• Generation of Meaningful Robot Expressions with Active Learning, Giovanni Saponaro, Alexandre Bernardino. 6th ACM/IEEE Int. Conf. on Human-Robot Interaction, Late Breaking Report session, HRI 2011.
• Robotic Color Image Segmentation by Means of Finite Mixture Models, Nicola Greggio, Alexandre Bernardino, José Santos-Victor. 11th Int. Conf. on Mobile Robots and Competitions, ROBOTICA 2011.

• Image Driven Generation of Pose Hypotheses for 3D Model-Based Tracking, Martim Brandão, Alexandre Bernardino, José Santos-Victor. 12th IAPR Conference on Machine Vision Applications, MVA 2011.

• Fast Incremental Method for Matrix Completion: An Application to Trajectory Correction. Ricardo Cabral, João Costeira, Fernando De la Torre, Alexandre Bernardino, IEEE International Conference on Image Processing, ICIP 2011.
• Real-Time Ellipse Fitting, 3D Spherical Object Localization and Tracking for the iCub Simulator, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, José Santos-Victor, Int. Conf. on Informatics in Control, Automation and Robotics (ICINCO), July, 2011.

• Re-Identification of Visual Targets in Camera Networks: A Comparison of Techniques, Dario Figueira and Alexandre Bernardino, International Conference on Image Analysis and Recognition (ICIAR) 2011.
• Vignetting Correction for Pan-Tilt Surveillance Cameras, Ricardo Galego, Alexandre Bernardino, José Gaspar, Int. Conf. on Computer Vision Theory and Applications (VISAPP), March 5-7, 2011.

• Monocular vs Binocular 3D Real-Time Ball Tracking From 2d Ellipses, Nicola Greggio, José Gaspar, Alexandre Bernardino, José Santos-Victor, Int. Conf. on Informatics in Control, Automation and Robotics (ICINCO), July, 2011.
• Vignetting Correction for Pan-Tilt Surveillance Cameras, Ricardo Galego, Alexandre Bernardino, José Gaspar, Int. Conf. on Computer Vision Theory and Applications (Visapp), March 5-7, 2011.

• Fast Estimation of Gaussian Mixture Models for Image Segmentation, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, José Santos-Victor. Machine Vision and Applications, DOI 10.1007/s00138-011-0320-5, Mar 2011.
• Real-Time 3D Stereo Tracking and Localizing of Spherical Objects with the iCub Robotic Platform, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, José Santos-Victor, Paolo Dario. Journal of Intelligent Robot Systems, DOI 10.1007/s108646-010-9527-3, Feb 2011.

• Real-Time 3D Stereo Tracking and Localizing of Spherical Objects with the iCub Robotic Platform, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, José Santos-Victor, Paolo Dario. Journal of Intelligent Robot Systems, DOI 10.1007/s108646-010-9527-3, Feb. 2011.

• A Computational Model of Object Affordances. L.Montesano, M. Lopes, F. Melo, A. Bernardino, J. Santos-Victor. Advances in Cognitive Systems, S.Nefti and J.O.Gray, (Eds.) IET, pp 87-126, 2010.

• The iCub Humanoid Robot: An Open-Systems Platform for Research, Special Issue of Neural Networks on Social Cognition: From Babies to Robots, G. Metta, L. Natale, F. Nori, G. Sandini, D. Vernon, L. Fadiga, C. von Hofsten, J. Santos-Victor, A. Bernardino, L. Montesano. Neural Networks, Vol. 23 (2010), Pages 1125–1134.

• Fast Estimation of Gaussian Mixture Models for Image Segmentation, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, Jose' Santos-Victor, Machine Vision and Applications, Accepted 2010.

• Self-Adaptive Gaussian Mixture Models for Real-Time Video Segmentation and Background Subtraction, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, Jose' Santos-Victor, 10th Intl. Conf. Intelligent Systems Design and Applications, ISDA 2010.

• Fast Estimation of Gaussian Mixture Models for Image Segmentation, Nicola Greggio, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, Jose' Santos-Victor, Machine Vision and Applications, Accepted 2010.
• The iCub Humanoid Robot: An Open-Systems Platform for Research, Special Issue of Neural Networks on Social Cognition: From Babies to Robots, G. Metta, L. Natale, F. Nori, G. Sandini, D. Vernon, L. Fadiga, C. von Hofsten, J. Santos-Victor, A. Bernardino, L. Montesano. Accepted 2010.

• Sensor-Based Self-Calibration of the iCub's Head, J. Santos, A. Bernardino, J. Santos-Victor, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010.
• Gaussian Mixture Models for Affordance Learning using Bayesian Networks, P. Osório, A. Bernardino, R. Martinez-Cantin, J. Santos-Victor, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010.
• A Practical Method for Self-Adapting Gaussian Expectation Maximization, N. Greggio, A. Bernardino, J. Santos-Victor, 7th Int. Conf. on Informatics in Control, Automation and Robotics, ICINCO 2010.
• Image Segmentation for Robots: Fast Self-Adapting Expectation Maximization, Nicola Greggio, Alexandre Bernardino, Jose Santos-Victor, 7th International Conference on Image Analysis and Recognition, ICIAR 2010.
• Sequentially Greedy Unsupervised Learning of Gaussian Mixture Models by Means of A Binary Tree Structure, Nicola Greggio, Alexandre Bernardino, Jose' Santos-Victor, The 11th International Conference on Intelligent

Autonomous Systems, IAS 2010.

• Unsupervised Greedy Learning of Gaussian Mixture Models, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, Jose' Santos-Victor, 22th International Conference on Tools with Artificial Intelligence, ICTAI 2010.
• An Algorithm For The Least Square-Fitting of Ellipses, Nicola Greggio, Alexandre Bernardino, Cecilia Laschi, Paolo Dario, Jose' Santos-Victor, 22th International Conference on Tools with Artificial Intelligence, ICTAI 2010.

• Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape features, Matteo Taiana, João Santos, José Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima, Robotics and Autonomous Systems, special issue on Omnidirectional Robot Vision, Vol. 58, Issue 6, 30 June, pp. 784-795, 2010.

• A review of log-polar imaging for visual perception in robotics, Javier Traver, Alexandre Bernardino, Robotics and Autonomous Systems, Vol 58(4):378-398, April 2010.

• Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape features, M. Taiana, J. Santos, J. Gaspar, J. Nascimento, A. Bernardino, P. Lima, Robotics and Autonomous Systems special issue on Omnidirectional Robot Vision, 2009. (Accepted)
• A review of log-polar imaging for visual perception in robotics, Javier Traver, Alexandre Bernardino, Robotics and Autonomous Systems, 2009. (Accepted)

• Optical flow based detection in mixed human robot environments, D. Figueira, P. Moreno, A. Bernardino, J. Gaspar and José Santos-Victor. International Symposium on Visual Computing, ISVC 2009.

• Biomimetic Eye-Neck Coordination. Manuel Lopes, Alexandre Bernardino, José Santos-Victor, Claes von Hofsten, Kerstin Rosander, ICDL 09.

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

• Smooth Foveal Vision with Gaussian Receptive Fields. D. Pamplona, A. Bernardino. 9th IEEE-RAS International Conference on Humanoid Robots, 2009.
• Predictive Tracking Across Occlusions on the iCub robot. E. Falotico, M. Taiana, D. Zambrano, A. Bernardino, J. Santos-Victor, C. Laschi, P. Dario. 9th IEEE-RAS International Conference on Humanoid Robots, 2009.
• IS-Robot-Net: 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. IROS-2009.
• 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.
• 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, BMVC 2008.
• 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, IBPRIA 2007 - 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. ICIAR 2006 - 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. ICRA 2006 - 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, ECC 2001, Porto, Portugal, September 2001.
• Tracking planar structures with log-polar images, Alexandre Bernardino, José Santos-Victor, 8th International Symposium on Intelligent Robotic Systems - SIRS 2000 - 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 - SIRS 2000 - 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 - IROS 96, 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 - SIRS 96, 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, ECCV 96, 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).