Dr. Joaquim Salvi

Professor of Computer Vision - University of Girona

 
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Research:

 

Joaquim Salvi is the leader of the 3D Perception Lab. The 3D Perception Lab is part of the Computer Vision and Robotics Group, which exists since the creation of the University of Girona in 1991. The group is located in the Institute of Informatics and Applications at the Campus of Montilivi (Building P4) uptown the city of Girona. How to arrive information available at Google Map and transportation information.

The main research interests of the 3D Perception lab are detailed in the following paragrahs:

The lab has a wide experience in camera modelling and camera calibration which also includes the computation of the intrinsic and extrinsic camera parameters. The study of the epipolar geometry through the estimation of the fundamental matrix is also a key point in the research interests of the lab. Contributions have been done in movement estimation by means of the differential epipolar geometry. The main application is in the field of mobile robot navigation by means of stereo vision especially solving the so-called Simultaneous Localization and Mapping (SLAM) using video cameras.

Structured light projection as a technique to solve the correspondence problem but also to get 3D information from an unkown surface has been also widely studied. The lab has experience in designing coded light patterns which ease image processing preserving a high accuracy and robustness against noise. The projecting devices used are based on digital video projectors with contributions in active visual servoing; and laser emitters with contributions in laser scanning and omnidrectional vision. Some of the applications are in the fields of camera localization and positioning, 3D object acquisition, rapid prototyping, mould fabrication and supply-chain visual inspection.

Current projects:

Published articles in journals and conferences

Software: The code may be downloaded, used, modified and distributed for research purposes with acknowledgement of the author. Please cite the corresponding paper if you use the code/data here available.

- Camera Calibration toolbox. The toolbox contains the camera calibration methods explained in the paper.

The paper: J. Salvi, X. Armangué, J. Batlle. A Comparative Review of Camera Calibrating Methods with Accuracy Evaluation. Pattern Recognition 35(7), pp 1617-1635, July 2002. SummaryPlus | Full Text + Links | PDF (230 K) Descripción: Descripción: Descripción: C:\Users\Quim\Documents\qsalvi\Curriculums\PDFs articles\ico_version_pdf.gif

- Fundamental Matrix Estimation toolbox: The toolbox contains the fundamental matrix computation methods explained in the paper.

The paper: X. Armangué, J. Salvi. Overall View Regarding Fundamental Matrix Estimation. Image and Vision Computing 21(2), pp 205-220, February 2003. SummaryPlus | Full Text + Links | PDF (1032 K) Descripción: Descripción: Descripción: C:\Users\Quim\Documents\qsalvi\Curriculums\PDFs articles\ico_version_pdf.gif

- 3D Coded Structured Light Acquisition toolbox: The toolbox contains the iimplementation of the Monks method explained in the following paper.

The paper: J. Salvi, J. Pagés, J. Batlle. Pattern Codification Strategies in Structured Light Systems. Pattern Recognition 37(4), pp 827-849, April 2004.

- Pair-wise Multi-view Point-Cloud Registration toolbox: The toolbox contains some of the registration methods explained in the following papers.

The papers:

J. Salvi, B. Batlle, C. Matabosch, X. Lladó. Overview of Surface Registration Techniques Including Loop Minimization for 3D Modelling and Visual Inspection. Journal of Electronic Imaging 17(3), 031103, 2008. PDF

J. Salvi, C. Matabosch, D. Fofi and J. Forest. A review of Recent Range Image Registration Methods with Accuracy Evaluation. Image and Vision Computing 25, pp 578-596, 2007.

- Simultaneous Localization and Mapping toolbox. This toolbox includes the cases of one robot moving in one dimension (1D), two dimensions (2D) and three dimensions (3D) with different potential situations in which either the position and/or the velocity of the robot are measured together with detected landmarks. The toolbox might be used as an introduction to Kalman Filtering in SLAM.

The paper: J. Salvi, Y. Petillot, B. Batlle. Visual SLAM for 3D Large-Scale Seabed Acquisition Employing Underwater Vehicles. IEEE International Conference on Intelligent Robots and Systems, IROS'08, pp 1011-1016, Nice (France) September 22-26, 2008.Descripción: Descripción: Descripción: C:\Users\Quim\Documents\qsalvi\Curriculums\PDFs articles\ico_version_pdf.gif

PhD theses in progress (3):

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  • Chee Sing Lee. SLAM with Probability Hypothesis Density Filters for Autonomous Underwater Vehicles. Codirected by Daniel Clark- Heriot-Watt University (UK).
  • Ferran Roure. Surface Registration applied to underwater mapping. Codirected by Yago Diez - University of Girona.
  • Muhammad Habib Mahmood. Structure and motion estimation in underwater images. Codirected by Xavier Lladó - University of Girona.

Supervised PhD theses (15):

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  • Natalia Hurtós. Forward-Looking Sonar Mosaicing for Underwater Images. International PhD directed by Dr. Joaquim Salvi, VICOROB - University of Girona, Dr. Xavier Cufí, VICOROB - University of Girona and Dr. Yvan Petillot - Heriot-Watt University (UK). Presented at the University of Girona, October, 2014. President/Reviewer 1: Andreas Birk – Jacobs University Bremen (Germany); Examiner 1/Reviewer 2: Hanumant Singh – Woods Hole Oceanographic Institution (USA); Secretary: Nuno Gracias – Universitat de Girona (Spain)
  • Sergio Fernandez. One-shot pattern projection for dense and accurate 3D acquisition in structured light. European PhD directed by Dr. Joaquim Salvi, VICOROB - University of Girona. Presented at the University of Girona, June 2012. President: Joan Marti – Universitat de Girona (Spain); Examiner 1: Andrea Fusiello – University of Udine (Italy); Examiner 2/Reveiwer 1: Christophe Doignon - University of Strasburgh (France); Examiner 3: David Fofi – University of Burgundy (France); Secretary: Josep Forest – Universitat de Girona (Spain); Reviewer 2: Francis Lilley - John Moores University (UK).
  • Bladimir Bacca. Appearance-based Mapping and Localization using Feature Stability Histograms for Mobile Robot Navigation. European PhD directed by Dr. Xavier Cufi, VICOROB - University of Girona, and Dr. Joaquim Salvi, VICOROB - University of Girona. Presented at the University of Girona, June 2012. President: El Mustapha Mouaddib – Université de Picardie Jules Verne (France); Examiner 1: Pascal Vasseur – Université de Rouen (France); Examiner 2 : Josechu Guerrero- Universidad de Zaragoza (Spain); Examiner 3/Reviewer1: Radu Orghidan – University of Cluj-Napoca (Romania); Secretary: Pere Ridao– Universitat de Girona (Spain); Reviewer 2: Cedric Demonceaux- Universite de Bourgogne (France).
  • Josep Aulinas. Selective Submap Joining SLAM for Autonomous Vehicles. European PhD directed by Dr. Joaquim Salvi, VICOROB - University of Girona, and Dr. Yvan Petillot, Ocean Systems Lab - Heriot-Watt University (UK). Presented at the University of Girona, September 2011. President: Joan BatlleUniversitat de Girona (Spain); Examiner 1/Reviewer 1: Keith Brown – Heriot-Watt University (UK); Examiner 2 : Gabriel Oliver - Universitat de les Illes Balears (Spain); Examiner 3: Ioannis Akkizidis – University of Zurich (Switzerland); Secretary: David Fofi – Université de Bourgogne (France); Reviewer 2: Alberto Vale - Institute for Systems and Robotics (Portugal).
  • Luca Zappella. Manifold Clustering for Motion Segmentation. European PhD directed by Dr. Xavier Lladó and Prof. Joaquim Salvi, VICOROB - University of Girona. Presented at the University of Girona, june 2011. President/Reviewer1: Emmanuel Trucco – University of Dundee (UK); Examiner 1: Fabrice Meriaudeau - Université de Bourgogne (France); Examiner 2 :Jordi Vitrià - Universitat de Barcelona (Spain); Examiner 3: Angel SappaUniversitat Autònoma de Barcelona (Spain); Secretary: Jordi Freixenet - Universitat de Girona (Spain); Reviewer 2: Alessio del Bue - Italian Institute of Technology (Italy).
  • Thierry Molinier. Approche Coopérative pour l'acquistion et l'observation de formes tridimensionnelles. National PhD directed by Dr. David Fofi and Prof. Patrick Gorria - Le2i, Université de Bourgogne, and Dr. Joaquim Salvi, VICOROB - University of Girona. Presented at the Université de Bourgogne, july 2009. President: Fabrice MeriaudeauUniversité de Bourgogne (France); Reviewer 1:Christophe DoignonUniversité d'Strasbourg (France); Reviewer 2: Malik MallemUniversité d'Evry Val d'Essonne (France); Examiner 1/Director: Joaquim Salvi – Universitat de Girona (Spain); Examiner 2: Andrea Fusiello – Universita degli studi di Verona (Italy); Encadrant: David Fofi – Université de Bourgogne (France); Director: Patrick GorriaUniversité de Bourgogne (France).
  • Elisabet Batlle. Large-Scale Surface Registration. European PhD directed by Dr. Joaquim Salvi, University of Girona. Presented at the University of Girona, december 2008. President: Josep AmatUniversitat Politècnica de Catalunya (Spain); Examiner 1 / Reviewer 1: Emmanuel Trucco – University of Dundee (UK); Examiner 2: El Mustapha MouaddibUniversité de Picardie Jules Verne (France); Examiner 3: Xavier BinefaUniversitat Pompeu Fabra (Spain); Secretary: Joan Martí – Universitat de Girona (Spain); Reviewer 2: David Fofi – Université de Bourgogne (France). (photo)
  • Bianca Innocenti. A Multi-agent Architecture with Distributed Coordination for an Autonomous Robot. National PhD directed by Dr. Beatriz Lòpez, EXiT - University of Girona, and Dr. Joaquim Salvi, VICOROB - University of Girona. Presented at the University of Girona, november 2008. President: Ramon López de Mántaras – CSIC (Spain); Examiner 1 / Reviewer 1: Vicent Botti – Universitat Politència de València (Spain); Examiner 2 / Reviewer 2: Edin Omerdic – University of Limerick (UK); Examiner 3 : Rita M. Planas – Universitat Politècnica de Catalunya (Spain); Secretary: Marc Carreras – Universitat de Girona (Spain).
  • Carles Matabosch. Hand-Held 3D Scanner for Large Surface Registration. European PhD directed by Dr. Joaquim Salvi, University of Girona, and Dr. David Fofi, Le2i, Université de Bourgogne - Le Creusot (France). Presented at the University of Girona, july 2007. President: Joan Batlle – Universitat de Girona; Examiner 1/Reviewer1: Peter Sturm– INRIA Rhone-Alpes (France); Examiner 2: El Mustapha Mouaddib – Université de Picardie Jules Verne (France); Examiner 3 / Reviewer 2: Yvan Petillot – Heriot-Watt University (United Kingdom); Secretary: José Maria Martinez Montiel - Univesidad de Zaragoza (Spain).
  • Radu Orghidan. Catadioptric Stereo based on Structured Light Projection. European PhD directed by Dr. Joaquim Salvi, University of Girona, and Prof. El Mustapha Mouaddib, CREA - University of Picardie - Jules Verne. Presented at the University of Girona, july 2006. President: Joan Batlle – Universitat de Girona; Examiner 1/Reviewer1: Philippe Martinet – Université de Blaise Pascal (France); Examiner 2: Fabrice Meriaudeau – Université de Bourgogne (France); Examiner 3 / Reviewer 2: Jose Gaspar – Instituto Superior Tecnico (Portugal); Secretary: Daniel Garcia - Univesidad de Oviedo (Spain). (photo)
  • Jordi Pagés. Assisted visual servoing by means of structured light. European PhD and Joint Thesis between the Universitat de Girona and the Université de Rennes I, Directed by Dr. Joaquim Salvi, University of Girona, Prof. François Chaumette, IRISA - Université de Rennes (France) and Dr. Christophe Collewet, CEMAGREF (France). Presented at the University of Girona, december 2005. President: Joan Batlle – Universitat de Girona; Examiner 1: David Lane – Heriot-Watt University (Scotland); Examiner 2 / Reviewer 1: Patrick Rives – INRIA Sophia Antipolis (France); Examiner 3 / Reviewer 2: Nicolás Perez de la Blanca – Universidad de Granada; Secretary: François Chaumette - IRISA/INRIA Université de Rennes (France), Reviewer 3: Helder Araùjo: Universidade de Coimbra (Portugal). (photo).
  • Josep Forest. New Methods for Triangulation-Based Shape Acquisition using Laser Scanners. National PhD directed by Dr. Joaquim Salvi, University of Girona, and Dr. Enric Cabruja, CNM - CSIC in Barcelona. Presented at the University of Girona, december 2004. President: Joan Batlle – Universitat de Girona; Examiner 1: Gabriel Oliver – Universitat de les Illes Balears; Examiner 2: Emanuele Trucco – Heriot-Watt University (UK); Examiner 3: Xavier Binefa – Universitat Autònoma de Barcelona; Secretary: Xavier Cufí – Universitat de Girona.
  • José Albadalejo. Codiseño de un procesador de imágenes en tiempo real. National PhD directed by Dr. Lenin Lemus, DISCA - Polytechnical University of Valencia, and Dr. Joaquim Salvi, University of Girona. Presented at the Polytechnical University of Valencia, december 2003. (in Spanish) President: Pedro Gil - Universidad Politécnica de Valencia; Examiner 1: Juan José Serrano - Universidad Politécnica de Valencia; Examiner 2: Joan Batlle – Universitat de Girona; Examiner 3: Ángel Sebastiá - Universidad Politécnica de Valencia; Secretary: Miguel Ángel Aguirre - Universidad de Sevilla.
  • Xavier Armangué. Modelling Stereoscopic Systems for Robotic Applications. European PhD directed by Dr. Joaquim Salvi, University of Girona, and Prof. Helder Araujo, Institute of Systems and Robotics - Universty of Coimbra (Portugal). Presented at the University of Girona, september 2003. President: Joan Batlle – Universitat de Girona; Examiner 1: François Chaumette – IRISA/INRIA (France); Examiner 2: Henrik I. Christensen – KTH ( Sweden ); Examiner 3: Vicent Caselles – Universitat Pompeu Fabra; Secretary: Alícia Casals – Universitat Politecnica de Catalunya.
  • David Fofi. Navigation d'un Véhicule Intelligent à l'aide d'un Capteur de Vision en Lumière Structurée et Codée. National PhD directed by Prof. El Mustapha Mouaddib, CREA - University of Picardie - Jules Verne, and Dr. Joaquim Salvi, University of Girona. Presented at the Université de Picardie, september 2001. (in French) President: Florent Chavand - Université d'Evry Val d'Essone; Reviewer 1: Edwige Pissaloux - Université de Rouen; Reviewer 2 : Jean Devars - Université Pierre et Marie Curie – Paris VI ; Examiner 1: Claude Pegard - Université de Picardie Jules Verne.
  • Joaquim Salvi. An Approach to Coded Structured Light to Obtain Three Dimensional Information. European PhD directed by Prof. Joan Batlle, VICOROB University of Girona, and Prof. El Mustapha Mouaddib, CREA - University of Picardie - Jules Verne. Presented at the University of Girona, december 1997. President: Josep Amat - Universitat Politècnica de Catalunya; Examiner 1: Jose Villanueva - Universitat Autònoma de Barcelona; Examiner 2: Antonio Perez - Universidad Politécnica de Madrid; Examiner 3: Emilio Zapata - Universidad de Màlaga; Examiner 4: Geoff Roberts - University of Wales College Newport (UK); Reviewer 1: Bernard Dubuisson - Université de Compiègne (France); Reviewer 2: Geoff Roberts - University of Wales College Newport (UK).