Ricardo Ferreira's Homepage

Ricardo Ferreira
Email:	ricardo (@) isr.ist.utl.pt
Tel:	+351 218418083
Contact:	Instituto de Sistemas e Robótica Torre Norte, Piso 7 Instituto Superior Técnico Av. Rovisco Pais 1049-001 Lisboa Portugal

Education:

2010

Electrical and Computer Engineering Ph.D. Degree at Instituto Superior Tecnico, Portugal.

2006

Electrical and Computer Engineering Master Degree at Instituto Superior Técnico, Portugal.
The final dissertation "Stereo Reconstruction of a Submerged Model Breakwater and Interface Estimation" can be found here (pdf) (ps.gz).

2004

Electrical and Computer Engineering Degree at Instituto Superior Técnico, Portugal.
For a description and results of the final project, please see here.

Publications:

2016

R Santos, R Ferreira, A. Cardoso, A Bernardino. "SNet: Co-Developing Artificial Retinas and Predictive Internal Models for Real Robots". IEEE Transactions on Cognitive and Developmental Systems 2016.

2015

A. Cardoso, R. Ferreira, R. Santos, A. Bernardino. "Low-rank forward models: a path to the self-organization of visuo-motor systems". IROS 2015.
P. Moreno, R. Nunes, R. Figueiredo, R. Ferreira, A. Bernardino, J. Santos-Victor, R. Beira, L. Vargas, D. Aragao, M. Aragao. "Vizzy: A humanoid on wheels for assistive robotics". ROBOT 2015.
M. Brandao, R. Ferreira, K. Hashimoto, A. Takanishi, J. Santos-Victor. "On stereo confidence measures for global methods: evaluation, new model and integration into occupancy grids". TPAMI 2015.
R. Galego, A. Ortega, R. Ferreira, A. Bernardino, J. Andrade-Cetto, J. Gaspar. "Uncertainty Analysis of the DLT-Lines Calibration Algorithm for Cameras with Radial Distortion". CVIU 2015
P. Vicente, R. Ferreira, L. Jamone, A. Bernardino. "GPU-Enabled particle based optimization for robotic-hand pose estimation and self-calibration". ICARSC 2015.

2014

A. Ortega, M. Silva, E. Teniente, R. Ferreira, A. Bernardino, J. Gaspar, J. Andrade-Cetto. "Calibration of an Outdoor Distributed Camera Network with a 3D Point Cloud". Sensors 2014, 14(8), 13708-13729.
N. Moutinho, R. Ferreira, J. Gaspar, A. Bernardino, J. Santos-Victor. "Markerless Online Stereo Calibartion for a Humanoid Robot". ICDL-EPIROB 2014.
P. Vicente, R. Ferreira, L. Jamone, A. Bernardino. "Eye-hand online adaptation during reaching tasks in humanoid robot". ICDL-EPIROB 2014.
R. Santos, R. Ferreira, A. Cardoso, A. Bernardino. "Sensori-motor Networks vs Neural Networks for Visual Stimulus Prediction". ICDL-EPIROB 2014.
M. Brandao, R. Ferreira, K. Hashimoto, J. Santos-Victor, A. Takanishi. "On the Formulation, Performance and Design Choices of Cost-Curve Occupancy Grids for Stereo-Vision Based 3D Reconstruction". IROS 2014
P. Silva, R. Ferreira, J. Gaspar. "Multi-Target Tracking Based in Meanshift and Particle Filters". RecPad 2014

2013

R. Ferreira, J. Xavier, J. Costeira, and V. Barroso. "Newton algorithms for riemannian distance related problems on connected locally symmetric manifolds". In IEEE Journal of Selected Topics in Signal Processing, 2013.
M. Brandao, R. Ferreira, K. Hashimoto, J. Santos-Victor, A. Takanishi. "Integrating the whole cost-curve of stereo vision into occupancy grids". IROS 2013.
A. Ortega, R. Galego, R. Ferreira, A. Bernardino, J. Gaspar, and J. Andrade-Cetto. "Uncertainty in network camera calibration based in lidar". ECMR 2013.
R. Galego, R. Ferreira, A. Bernardino, E. Grossmann, and J. Gaspar. "Topological Auto-Calibration of Central Imaging Sensors". IbPria 2013.
M. Brandao, R.Ferreira, K. Hashimoto, J. Santos-Victor and A. Takanishi. "Active Gaze Strategy for Reducing Map Uncertainty Along a Path". ISRM 2013.
J. Ruesch, R. Ferreira, A. Bernardino, "A computational approach on the co-development of artificial visual sensorimotor structures", Journal Adaptive Behavior.
R. Galego, R. Ferreira, A. Bernardino, E. Grossmann, J. Gaspar, "Discrete Camera Autocalibration Consistent with the Frame of the Robotic Pan-Tilt Basis" . Conf. Electronics, Telecommunications and Computers, CETC 2013.
D. Pereira, J. Tomaz, R. Ferreira, J. Gaspar. "Mosaicing the Interior of Tubular Structures", 19th Portuguese Conference on Pattern Recognition (RecPad 2013)1st November, Lisbon, Portugal.
N. Ribeiro, R. Ferreira, J. Gaspar. "Homing a Teleoperated Car using Monocular SLAM", 19th Portuguese Conference on Pattern Recognition (RecPad 2013)1st November, Lisbon, Portugal.
R. Galego, R. Fereira, A. Bernardino, E. Grossmann, J. Gaspar. "Lens Auto-Classification using a Featureless Methodology", 19th Portuguese Conference on Pattern Recognition (RecPad 2013)1st November, Lisbon, Portugal.
T. Castanheira, P. Silva, R. Ferreira, A. Bernardino, J. Gaspar. "Visual Tracking of Buses in a Parking Lot", 19th Portuguese Conference on Pattern Recognition (RecPad 2013)1st November, Lisbon, Portugal.

2012

Ruesch, J. and R. Ferreira, and A. Bernardino, "Self-organization of Visual Sensor Topologies Based on Spatio-temporal Cross-correlation", SAB 2012.
Moutinho, N., and M. Brandao, and R. Ferreira, and J. Gaspar, and A. Bernardino, and A. Takanishi, and J. Santos-Victor, "Online Calibration of a Humanoid Robot Head from Relative Encoders, IMU Readings and Visual Data". IROS 2012.
M. Silva, R. Ferreira, J. Gaspar. "Camera Calibration using a Color-Depth Camera: Points and Lines Based DLT including Radial Distortion". Workshop in Color-Depth Camera Fusion in Robotics, IROS 2012, October 7, 2012, Vilamoura, Portugal.
J. Ruesch, R. Ferreira and A. Bernardino. "Toward Self-Organization of Visual Sensorimotor Structures". Biologically Inspired Cognitive Architectures (BICA) 2012, Palermo, Italy.
M. Silva, R. Ferreira, J. Gaspar. "Effect of Image Resolution on DLT-Lines Camera Calibration Including Radial Distortion." 18th Portuguese Conference on Pattern Recognition (RecPad 2012), Coimbra, Portugal, October 2012.

2011

Ruesch J., R. Ferreira, A. Bernardino, "Predicting visual stimuli from self-induced actions: an adaptive model of a corollary discharge circuit", IEEE Transactions on Autonomous Mental Development, 4(4):290-304, Dec 2012.
Ruesch, Jonas, and R. Ferreira and A. Bernardino. "A Measure of Good Motor Actions for Active Visual Perception". Int. Conf. Development and Learning and on Epigenetic Robotics (ICDL-EPIROB), Frankfurt, Germany, 2011.
Nuno Moutinho, and N. Cauli, and E. Falotico, and R. Ferreira, and J. Gaspar, and A. Bernardino, and J. Santos-Victor, and P.Dario, and C. Laschi. "An Expected Perception Architecture using Visual 3D Reconstruction for a Humanoid Robot". International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, 2011.
Ricardo Galego, Ricardo Ferreira, Alexandre Bernardino, Jose Gaspar. "Enforcing Consistency of Image Gains in Panoramic Mosaics". 17th Portuguese Conference on Pattern Recognition (RecPad 2011), Porto, Portugal, October 2011.

2010

Melo, Francisco, and M. Lopes and R. Ferreira . "Analysis of Inverse Reinforcement Learning With Perturbed Demonstrations". European Conference on Artificial Intelligence (ECAI), Lisbon, Portugal, 2010.
N. Moutinho, R. Ferreira, A. Bernardino, J. Gaspar. "Random Features vs Harris Corners in Real-Time Visual Egomotion Estimation". Port. Conf. on Pattern Recognition 2010

2009

Ferreira, Ricardo, and J. Xavier, and J. Costeira. " Shape From Motion of Nonrigid Objects: The Case of Isometrically Deformable Flat Surfaces'', British Machine Vision Conference - BMVC'09, London, England, September 2009
Ferreira, Ricardo, and J. Xavier, and J. Costeira. " Reconstruction of isometrically deformable flat surfaces in 3D from multiple camera images'', IEEE International Conference on Acoustics, Speech and Signal Processing - ICASSP'09, Taipei, Taiwan, April 2009

2008

Ferreira, Ricardo, and J. Xavier, and J. Costeira, and V. Barroso. " Newton Algorithms for Riemannian Distance Related Problems on Connected Locally Symmetric Manifolds'', Technical Report, Signal and Image Processing Group (SPIG), Institute for Systems and Robotics (ISR), November 2008.

2006

Ferreira, Ricardo, and J. Xavier. "Hessian of the Riemannian Squared Distance Function on Connected Locally Symmetric Spaces with Applications", Controlo 2006.
Ferreira, Ricardo, and J. Xavier, and J. Costeira, and V. Barroso. "Newton Method For Riemannian Centroid Computation in Naturally Reductive Homogeneous Spaces", IEEE International Conference on Acoustics, Speech and Signal Processing - ICASSP'06, Toulouse, France, 2009.
Ferreira, Ricardo, and J. Costeira, and C. Silvestre, and I. Sousa, and J. Santos. "Using Stereo Image Reconstruction to Survey Scale Models of Rubble-Mound Structures", Coastlab 2006.
Oliveira, Ricardo, and R. Ferreira and J. Costeira. "Optimal Multiframe Correspondence With Assignement Tensors.", ECCV 2006.

2005

Cruz, Pedro, and R. Ferreira, and J. Sequeira. "Kinematic Modeling of Stewart-Gough Platforms", Icinco 2005.
Cruz, Pedro, and R. Ferreira, and J. Sequeira. "Modeling Two Classes Of Stewart-Gough Platforms", Robótica 2005.
Ferreira, Ricardo, and J. P. Costeira, and J. A. Santos. "Stereo Reconstruction of a Submerged Scene", IbPRIA 2005.

Projects:

Speech Coding in GSM

In '03 I had the chance to take Prof. Fernando Pereira's class on Telecomunication Systems and had to produce a research paper for the end of the semester. I did mine on "Speech coding in GSM" (in Portuguese).

eist88

I've completed an 80188 emulator. This version should be better than the first one and it has been tested in class in 2002. Here's a brief page on it.