Carlos Guindel's Homepage

Bio

My research focus is on computer vision and artificial intelligence, particularly deep learning techniques, and their application to intelligent and autonomous vehicles. Ph.D received in 2019.

Publications (journals)

BirdNet+: Two-Stage 3D Object Detection in LiDAR Through a Sparsity-Invariant Bird’s Eye View
Alejandro Barrera, Jorge Beltrán, Carlos Guindel, José Antonio Iglesias, Fernando García
IEEE Access, 9, pp. 160299 - 160316, 2021
Paper (Open Access) · Results (KITTI) · Results (nuScenes) · Bibtex

@ARTICLE{Barrera2021BirdNet,
  author={Barrera, Alejandro and Beltrán, Jorge and Guindel, Carlos and Iglesias, José Antonio and García, Fernando},
  journal={IEEE Access},
  title={BirdNet+: Two-Stage 3D Object Detection in LiDAR Through a Sparsity-Invariant Bird’s Eye View},
  year={2021},
  volume={9},
  number={},
  pages={160299-160316},
  doi={10.1109/ACCESS.2021.3131389}}

The Tornado Project: An Automated Driving Demonstration in Peri-Urban and Rural Areas
Vicente Milanés, David González, Francisco Navas, Imane Mahtout, Alexandre Armand, Clement Zinoune, Arunkumar Ramaswamy, Farid Bekka, Nievsabel Molina, Emmanuel Battesti, Yvon Kerdoncuff, Carlos Guindel, Jorge Beltran, Irene Cortés, Alejandro Barrera, Fernando García
IEEE Intelligent Transportation Systems Magazine, Early Access, 2021
Paper (IEEEXplore) · Tornado Project press release (Renault) · Video (Youtube) · Bibtex

@ARTICLE{Milanes2021ITSM,
  author={Milanes, Vicente and Gonzalez, David and Navas, Francisco and Mahtout, Imane and Armand, Alexandre and Zinoune, Clement and Ramaswamy, Arunkumar and Bekka, Farid and Molina, Nievsabel and Battesti, Emmanuel and Kerdoncuff, Yvon and Guindel, Carlos and Beltran de la Cita, Jorge and Cortes, Irene and Barrera, Alejandro and Garcia Fernandez, Fernando},
  journal={IEEE Intelligent Transportation Systems Magazine},
  title={The Tornado Project: An Automated Driving Demonstration in Peri-Urban and Rural Areas},
  year={2021},
  volume={},
  number={},
  pages={2-18},
  doi={10.1109/MITS.2021.3068067}}

Dataset Construction from Naturalistic Driving in Roundabouts
Laura García Cuenca, Carlos Guindel, Nourdine Aliane, José María Armingol, Javier Fernández Andrés
Sensors, 20(24), 7151, 2020
Paper (Open Access) · Dataset · Bibtex

@Article{s20247151,
  AUTHOR = {García Cuenca, Laura and Guindel, Carlos and Aliane, Nourdine and Armingol, José María and Fernández Andrés, Javier},
  TITLE = {Dataset Construction from Naturalistic Driving in Roundabouts},
  JOURNAL = {Sensors},
  VOLUME = {20},
  YEAR = {2020},
  NUMBER = {24},
  ARTICLE-NUMBER = {7151},
  ISSN = {1424-8220},
  DOI = {10.3390/s20247151}
}

Study of the Effect of Exploiting 3D Semantic Segmentation in LiDAR Odometry
Francisco Miguel Moreno, Carlos Guindel, José María Armingol, Fernando García
Applied Sciences 10(16), 5657, 2020
Paper (Open Access) · Bibtex

@Article{app10165657,
  AUTHOR = {Moreno, Francisco Miguel and Guindel, Carlos and Armingol, José María and García, Fernando},
  TITLE = {Study of the Effect of Exploiting 3D Semantic Segmentation in LiDAR Odometry},
  JOURNAL = {Applied Sciences},
  VOLUME = {10},
  YEAR = {2020},
  NUMBER = {16},
  ARTICLE-NUMBER = {5657},
  ISSN = {2076-3417},
  DOI = {10.3390/app10165657}
}

Traffic Scene Awareness for Intelligent Vehicles using ConvNets and Stereo Vision
Carlos Guindel, David Martín, José María Armingol
Robotics and Autonomous Systems 112, pp. 109–122, 2019
Paper (ScienceDirect) · Paper (postprint) · Bibtex

@article{Guindel2019RAS,
  title = "Traffic scene awareness for intelligent vehicles using ConvNets and stereo vision",
  journal = "Robotics and Autonomous Systems",
  volume = "112",
  pages = "109 - 122",
  year = "2019",
  issn = "0921-8890",
  doi = "https://doi.org/10.1016/j.robot.2018.11.010",
  url = "http://www.sciencedirect.com/science/article/pii/S0921889018301751",
  author = "Carlos Guindel and David Martín and José María Armingol",
}

Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding
Carlos Guindel, David Martín, José María Armingol
IEEE Intelligent Transportation Systems Magazine 10(4), pp. 74–86, 2018
Paper (IEEEXplore) · Code (GitHub) · Bibtex

@ARTICLE{Guindel2018Magazine,
  author={C. Guindel and D. Martin and J. M. Armingol},
  journal={IEEE Intelligent Transportation Systems Magazine},
  title={Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding},
  year={2018},
  volume={10},
  number={4},
  pages={74-86},
  doi={10.1109/MITS.2018.2867526},
  ISSN={1939-1390},
}

Conference papers

Cycle and Semantic Consistent Adversarial Domain Adaptation for Reducing Simulation-to-Real Domain Shift in LiDAR Bird's Eye View
Alejandro Barrera, Jorge Beltrán, Carlos Guindel, Jose Antonio Iglesias, Fernando García IEEE International Intelligent Transportation Systems Conference (ITSC), 2021
Paper (IEEEXplore) · Paper (arXiv) · Bibtex

@INPROCEEDINGS{9564553,
  author={Barrera, Alejandro and Beltrán, Jorge and Guindel, Carlos and Iglesias, Jose Antonio and García, Fernando},
  booktitle={2021 IEEE International Intelligent Transportation Systems Conference (ITSC)},
  title={Cycle and Semantic Consistent Adversarial Domain Adaptation for Reducing Simulation-to-Real Domain Shift in LiDAR Bird's Eye View},
  year={2021},
  volume={},
  number={},
  pages={3081-3086},
  doi={10.1109/ITSC48978.2021.9564553}}

Visibility-Aware Adaptative Speed Planner for Human-like Navigation in Roundabouts
Armando Astudillo, Nievsabel Molina, Irene Cortés, Imane Mahtout, David González, Jorge Beltrán, Carlos Guindel, Alejandro Barrera, Mario Álvarez, Clement Zinoune, Vicente Milanés, Fernando García
IEEE International Intelligent Transportation Systems Conference (ITSC), 2021
Paper (IEEEXplore) · Bibtex

@INPROCEEDINGS{9564451,
  author={Astudillo, Armando and Molina, Nievsabel and Cortés, Irene and Mahtout, Imane and González, David and Beltrán, Jorge and Guindel, Carlos and Barrera, Alejandro and Álvarez, Mario and Zinoune, Clement and Milanés, Vicente and García, Fernando},
  booktitle={2021 IEEE International Intelligent Transportation Systems Conference (ITSC)},
  title={Visibility-Aware Adaptative Speed Planner for Human-like Navigation in Roundabouts},
  year={2021},
  volume={},
  number={},
  pages={885-890},
  doi={10.1109/ITSC48978.2021.9564451}}

Towards Autonomous Driving: a Multi-Modal 360° Perception Proposal
Jorge Beltrán, Carlos Guindel, Irene Cortés, Alejandro Barrera, Armando Astudillo, Jesús Urdiales, Mario Álvarez, Farid Bekka, Vicente Milanés, Fernando García
IEEE Intelligent Transportation Systems Conference (ITSC), 2020
Paper (IEEEXplore) · Paper (arXiv) · Bibtex

@INPROCEEDINGS{9294494,
  author={J. {Beltrán} and C. {Guindel} and I. {Cortés} and A. {Barrera} and A. {Astudillo} and J. {Urdiales} and M. {Álvarez} and F. {Bekka} and V. {Milanés} and F. {García}},
  booktitle={2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)},
  title={Towards Autonomous Driving: a Multi-Modal 360° Perception Proposal},
  year={2020},
  pages={3295-3300},
  doi={10.1109/ITSC45102.2020.9294494}
}

BirdNet+: End-to-End 3D Object Detection in LiDAR Bird’s Eye View
Alejandro Barrera, Carlos Guindel, Jorge Beltrán, Fernando García
IEEE Intelligent Transportation Systems Conference (ITSC), 2020
Paper (IEEEXplore) · Paper (arXiv) · Bibtex
Check also the extended version published in the IEEE Access

@INPROCEEDINGS{9294293,
  author={A. {Barrera} and C. {Guindel} and J. {Beltrán} and F. {García}},
  booktitle={2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)},
  title={BirdNet+: End-to-End 3D Object Detection in LiDAR Bird’s Eye View},
  year={2020},
  pages={2985-2990},
  doi={10.1109/ITSC45102.2020.9294293}
}

A Method for Synthetic LiDAR Generation to Create Annotated Datasets for Autonomous Vehicles Perception
Jorge Beltrán, Irene Cortés, Alejandro Barrera, Jesús Urdiales, Carlos Guindel, Fernando García, Arturo de la Escalera
IEEE Intelligent Transportation Systems Conference (ITSC), 2019
Paper (IEEEXplore) · Bibtex

@INPROCEEDINGS{8917176,
  author={J. {Beltrán} and I. {Cortés} and A. {Barrera} and J. {Urdiales} and C. {Guindel} and F. {García} and A. {de la Escalera}},
  booktitle={2019 IEEE Intelligent Transportation Systems Conference (ITSC)},
  title={A Method for Synthetic LiDAR Generation to Create Annotated Datasets for Autonomous Vehicles Perception},
  year={2019},
  pages={1091-1096},
  doi={10.1109/ITSC.2019.8917176}
}

Analysis of the Influence of Training Data on Road User Detection
Carlos Guindel, David Martín, José María Armingol, Christoph Stiller
IEEE International Conference on Vehicular Electronics and Safety (ICVES), 2018
Paper (IEEEXplore) · Slides · Video (Youtube) · Bibtex

@INPROCEEDINGS{Guindel2018ICVES,
  author={C. Guindel and D. Martín and J. M. Armingol and C. Stiller},
  booktitle={2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES)},
  title={Analysis of the Influence of Training Data on Road User Detection},
  year={2018},
  pages={21-26},
  doi={10.1109/ICVES.2018.8519510},
  month={Sep.},
}

BirdNet: A 3D Object Detection Framework from LiDAR Information
Jorge Beltrán, Carlos Guindel, Francisco M. Moreno, Daniel Cruzado, Fernando García, Arturo de la Escalera
International Conference on Intelligent Transportation Systems (ITSC), 2018
Paper (IEEEXplore) · Video (Youtube) · Bibtex

@INPROCEEDINGS{Beltran2018,
  author={J. Beltrán and C. Guindel and F. M. Moreno and D. Cruzado and F. García and A. De La Escalera},
  booktitle={2018 21st International Conference on Intelligent Transportation Systems (ITSC)},
  title={BirdNet: A 3D Object Detection Framework from LiDAR Information},
  year={2018},
  pages={3517-3523},
  doi={10.1109/ITSC.2018.8569311},
  ISSN={2153-0017},
  month={Nov},
}

A Deep Analysis of the Existing Datasets for Traffic Light State Recognition
Carlos Fernández, Carlos Guindel, Niels-Ole Salscheider, Christoph Stiller
International Conference on Intelligent Transportation Systems (ITSC), 2018
Paper (IEEEXplore) · Bibtex

@INPROCEEDINGS{Fernandez2018,
  author={C. Fernández and C. Guindel and N. Salscheider and C. Stiller},
  booktitle={2018 21st International Conference on Intelligent Transportation Systems (ITSC)},
  title={A Deep Analysis of the Existing Datasets for Traffic Light State Recognition},
  year={2018},
  pages={248-254},
  doi={10.1109/ITSC.2018.8569914},
  ISSN={2153-0017},
  month={Nov},
}

Modeling Traffic Scenes for Intelligent Vehicles Using CNN-Based Detection and Orientation Estimation
Carlos Guindel, David Martín, José María Armingol
ROBOT 2017: Third Iberian Robotics Conference, 2017
Paper (AISC) · Paper (postprint) · Slides · Bibtex
Check also the extended version published in the RAS journal

@InProceedings{Guindel2017ROBOT,
  author="Guindel, Carlos
  and Mart{\'i}n, David
  and Armingol, Jos{\'e} Mar{\'i}a",
  editor="Ollero, Anibal
  and Sanfeliu, Alberto
  and Montano, Luis
  and Lau, Nuno
  and Cardeira, Carlos",
  title="Modeling Traffic Scenes for Intelligent Vehicles Using CNN-Based Detection and Orientation Estimation",
  booktitle="ROBOT 2017: Third Iberian Robotics Conference",
  year="2018",
  publisher="Springer International Publishing",
  address="Cham",
  pages="487--498",
  isbn="978-3-319-70836-2"
}

Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups
Carlos Guindel, Jorge Beltrán, David Martín, Fernando García
IEEE International Conference on Intelligent Transportation Systems (ITSC), 2017
Paper (IEEEXplore) · Paper (arXiv) · Slides · ROS Package · Code (GitHub) · Video (Youtube) · Bibtex

@INPROCEEDINGS{Guindel2017ITSC,
  author={C. Guindel and J. Beltrán and D. Martín and F. García},
  booktitle={2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)},
  title={Automatic extrinsic calibration for lidar-stereo vehicle sensor setups},
  year={2017},
  pages={674-679},
  doi={10.1109/ITSC.2017.8317829},
  ISSN={2153-0017},
}

Joint Object Detection and Viewpoint Estimation using CNN Features
Carlos Guindel, David Martín, José María Armingol
IEEE International Conference on Vehicular Electronics and Safety (ICVES), 2017
Paper (IEEEXplore) · Paper (postprint) · Slides · KITTI train/val split · Code (GitHub) · Results (KITTI) · Bibtex

@INPROCEEDINGS{Guindel2017ICVES,
  author={C. Guindel and D. Martín and J. M. Armingol},
  booktitle={2017 IEEE International Conference on Vehicular Electronics and Safety (ICVES)},
  title={Joint object detection and viewpoint estimation using CNN features},
  year={2017},
  pages={145-150},
  doi={10.1109/ICVES.2017.7991916},
}

Check also the extended version published in the ITS Magazine

Stereo Vision-Based Convolutional Networks for Object Detection in Driving Environments
Carlos Guindel, David Martín, José María Armingol
International Conference on Computer Aided Systems Theory (EUROCAST), 2017
Ext. Abstract (p. 288-289) · Paper (LNCS) · Paper (postprint) · Slides · Code (GitHub) · Video (Youtube) · Bibtex

@InProceedings{Guindel2017EUROCAST,
  author="Guindel, Carlos
  and Mart{\'i}n, David
  and Armingol, Jos{\'e} Mar{\'i}a",
  editor="Moreno-D{\'i}az, Roberto
  and Pichler, Franz
  and Quesada-Arencibia, Alexis",
  title="Stereo Vision-Based Convolutional Networks for Object Detection in Driving Environments",
  booktitle="Computer Aided Systems Theory -- EUROCAST 2017",
  year="2018",
  publisher="Springer International Publishing",
  address="Cham",
  pages="427--434",
}

Other projects

Entry for the IEEE ITS DM Hackathon (2017)
First Intelligent Transportation Systems Data Mining Hackathon
Finished in 6th place out of 23 participants.
+info · Competition paper (ITSM - IEEEXplore) · Code

Entry for the Udacity-Didi Self-Driving Car Challenge (2017)
Part of the Intelligent Systems Lab (LSI) - UC3M team
Finished in 15th place out of 29 teams at the final round.
+info · Code · Video (Youtube)
Our solution subsequently led to BirdNet

More resources

Webinar for the Spanish Committee of Automation (CEA) about autonomous vehicles and perception, in Spanish (2019): slides / video
My presentations for the LSI annual PhD workshops:
- Advanced Driver Assustance Systems for Road Environments (2015): slides / video
- Deep Learning Applied to Driving Environments (2016): slides
- Joint Object Detection and Viewpoint Estimation using CNN Features (2017): slides
A preliminar study about the state of my research topics that I made at the beginning of my Ph.D (2015): slides
Embedded Linux course (in Spanish) taught by me in 2014 using an ODROID X2: slides / exercises

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