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Dr Nicolas Pugeault

Research Staff

Qualifications: Dipl. Ing., MSc., PhD.

Email:
Phone: Work: 01483 68 6032
Room no: 30 AB 05

Further information

Biography

My core research interests are Cognitive and vision and machine learning. More specifically, I am interested in how internal representation of visual information can emerge from interaction with an agent's environment. This involves aspects such as feature extraction & selection, perceptual grouping of features, accumulation and disambiguation of visual information over time, discovering objects' shape from experience, and more. Moreover, I have a keen interest in biologically plausible functional models of human vision.

Further details can be found on my personal web page.

A full list of publications, conference presentations, and patents can be found here.

Research Interests

My core research interests are cognitive vision and machine learning. More specifically, I am interested in how internal representations of visual information can emerge from interaction with an agent's environment. This involves aspects such as feature extraction and selection, perceptual grouping of features, accumulation and disambiguation of visual information over time, discovering objects' shape from experience, and more. Moreover, I have a keen interest in biologically plausible functional models of human vision.

Publications

Highlights

  • Pugeault N, Worgotter F, Kruger N. (2010) 'VISUAL PRIMITIVES: LOCAL, CONDENSED, SEMANTICALLY RICH VISUAL DESCRIPTORS AND THEIR APPLICATIONS IN ROBOTICS'. WORLD SCIENTIFIC PUBL CO PTE LTD INT J HUM ROBOT, 7 (3), pp. 379-405.
    doi: 10.1142/S0219843610002209
  • Pugeault N, Bowden R. (2010) 'Learning pre-attentive driving behaviour from holistic visual features'. ECCV 2010, Part VI, LNCS 6316, , pp. 154-167.
  • Detry R, Pugeault N, Piater JH. (2009) 'A Probabilistic Framework for 3D Visual Object Representation'. IEEE COMPUTER SOC IEEE T PATTERN ANAL, 31 (10), pp. 1790-1803.
    doi: 10.1109/TPAMI.2009.64
  • Kraft D, Pugeault N, cseski EB, Popović M, Kragic D, Kalkan S, Wörgötter F, Krüger N. (2009) 'Birth of the Object: Detection of Objectness and Extraction of Object Shape through Object Action Complexes'. World Scientific Publishing International Journal of Humanoid Robotics, 5 (2), pp. 247-265.
    doi: 10.1142/S021984360800139X

Journal articles

  • Klette R, Kruger N, Vaudrey T, Pauwels K, van Hulle M, Morales S, Kandil FI, Haeusler R, Pugeault N, Rabe C, Lappe M. (2011) 'Performance of Correspondence Algorithms in Vision-Based Driver Assistance Using an Online Image Sequence Database'. IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC IEEE T VEH TECHNOL, 60 (5), pp. 2012-2026.
    doi: 10.1109/TVT.2011.2148134
  • Pugeault N, Krüger N. (2011) 'Temporal accumulation of oriented visual features'. Elsevier Journal of Visual Communication and Image Representation, 22 (2), pp. 153-163.
    doi: 10.1016/j.jvcir.2010.12.001
    Full text is available at: http://epubs.surrey.ac.uk/39623/
  • Jessen JB, Pilz F, Kraft D, Pugeault N, Krüger N. (2011) 'Accumulation of different visual feature descriptors in a coherent framework'. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 6688 LNCS, pp. 79-90.
    doi: 10.1007/978-3-642-21227-7_8
  • Pugeault N, Wörgötter F, Krüger N. (2010) 'Disambiguating multi-modal scene representations using perceptual grouping constraints.'. Public Library of Science PloS one, 5 (6) Article number e10663
    doi: 10.1371/journal.pone.0010663
    Full text is available at: http://epubs.surrey.ac.uk/39620/
  • Sabatini SP, Gastaldi G, Solari F, Pauwels K, Van Hulle MM, Diaz J, Ros E, Pugeault N, Kruger N. (2010) 'A compact harmonic code for early vision based on anisotropic frequency channels'. ACADEMIC PRESS INC ELSEVIER SCIENCE COMPUT VIS IMAGE UND, 114 (6), pp. 681-699.
    doi: 10.1016/j.cviu.2010.03.008
  • Popovic M, Kraft D, Bodenhagen L, Baseski E, Pugeault N, Kragic D, Asfour T, Kruger N. (2010) 'A strategy for grasping unknown objects based on co-planarity and colour information'. ELSEVIER SCIENCE BV ROBOT AUTON SYST, 58 (5), pp. 551-565.
    doi: 10.1016/j.robot.2010.01.003
    Full text is available at: http://epubs.surrey.ac.uk/39617/
  • Kraft D, Detry R, Pugeault N, Başeski E, Guerin F, Piater JH, Krüger N. (2010) 'Development of object and grasping knowledge by robot exploration'. IEEE Transactions on Autonomous Mental Development, 2 (4), pp. 368-383.
    doi: 10.1109/TAMD.2010.2069098
  • Baseski E, Pugeault N, Kalkan S, Bodenhagen L, Piater JH, Krüger N. (2010) 'Using multi-modal 3D contours and their relations for vision and robotics'. Journal of Visual Communication and Image Representation, 21 (8), pp. 850-864.
    doi: 10.1016/j.jvcir.2010.06.006
  • Pugeault N, Worgotter F, Kruger N. (2010) 'VISUAL PRIMITIVES: LOCAL, CONDENSED, SEMANTICALLY RICH VISUAL DESCRIPTORS AND THEIR APPLICATIONS IN ROBOTICS'. WORLD SCIENTIFIC PUBL CO PTE LTD INT J HUM ROBOT, 7 (3), pp. 379-405.
    doi: 10.1142/S0219843610002209
  • Detry R, Pugeault N, Piater JH. (2009) 'A Probabilistic Framework for 3D Visual Object Representation'. IEEE COMPUTER SOC IEEE T PATTERN ANAL, 31 (10), pp. 1790-1803.
    doi: 10.1109/TPAMI.2009.64
  • Kraft D, Pugeault N, cseski EB, Popović M, Kragic D, Kalkan S, Wörgötter F, Krüger N. (2009) 'Birth of the Object: Detection of Objectness and Extraction of Object Shape through Object Action Complexes'. World Scientific Publishing International Journal of Humanoid Robotics, 5 (2), pp. 247-265.
    doi: 10.1142/S021984360800139X
  • Pugeault N, Worgotter F, Krueger N. (2005) 'Extraction of rich and reliable scene representations making use of perceptual grouping and motion'. PION LTD PERCEPTION, 34, pp. 115-115.
  • Wörgötter F, Krüger N, Pugeault N, Calow D, Lappe M, Pauwels K, Hulle MV, Tan S, Johnston A. (2004) 'Early Cognitive Vision: Using Gestalt–Laws for Task–Dependent, Active Image–Processing'. Natural Computing, 3 Article number 3 , pp. 293-321-293-321.

Conference papers

  • Cooper HM, Pugeault N, Bowden R. (2011) 'Reading the Signs : A Video Based Sign Dictionary'. Barcelona: 2nd IEEE Workshop on Analysis and Retrieval of Tracked Events and Motion in Imagery Streams (ARTEMIS 2011), International Conference on Computer Vision
  • Pugeault N, Bowden R. (2011) 'Driving me Around the Bend: Learning to Drive from Visual Gist'. 1st IEEE Workshop on Challenges and Opportunities in Robotic Perception, in conjunction with ICCV’2011,
  • Pugeault N, Bowden R. (2011) 'Spelling It Out: Real–Time ASL Fingerspelling Recognition'. 1st IEEE Workshop on Consumers Depth Cameras for Computer Vision, in conjunction with ICCV’2011,
  • Pugeault N, Pilz F, Pauwels K, van Hulle M, Krüger N. (2010) 'A three–level architecture for model-free detection and tracking of independently moving objects'. INSTICC Press Proceedings of the Fifth International Conference on Computer Vision Theory and Applications, Angers, France: VISAPP'10 1, pp. 237-244.
    Full text is available at: http://epubs.surrey.ac.uk/39615/
  • Pugeault N, Bowden R. (2010) 'Learning pre-attentive driving behaviour from holistic visual features'. ECCV 2010, Part VI, LNCS 6316, , pp. 154-167.
  • Pilz F, Pugeault N, Kruger N. (2009) 'Comparison of Point and Line Features and Their Combination for Rigid Body Motion Estimation'. SPRINGER-VERLAG BERLIN STATISTICAL AND GEOMETRICAL APPROACHES TO VISUAL MOTION ANALYSIS, Dagstuhl, GERMANY: International Dagstuhl Seminar 2008 5604, pp. 280-304.
  • Baseski E, Bodenhagen L, Pugeault N, Kalkan S, Piater J, Kruger N. (2009) 'Using 3D Contours and Their Relations for Cognitive Vision and Robotics'. IEEE 2009 24TH INTERNATIONAL SYMPOSIUM ON COMPUTER AND INFORMATION SCIENCES, Guzelyurt, CYPRUS: 24th International Symposium on Computer and Information Sciences, pp. 408-413.
  • Boesman B, Jensen LBW, Baseski E, Pugeault N, Kruger N. (2009) 'Bayesian Reasoning Using 3D Relations for Lane Marker Detection'. Proceedings of VMV 2009,
  • Kraft D, Detry R, Pugeault N, Baseski E, Piater J, Kruger N. (2009) 'Learning Objects and Grasp Affordances through Autonomous Exploration'. SPRINGER-VERLAG BERLIN COMPUTER VISION SYSTEMS, PROCEEDINGS, Liege, BELGIUM: 7th International Conference on Computer Vision Systems 5815, pp. 235-244.
  • Baseski E, Jensen LBW, Pugeault N, Pilz F, Pauwels K, Van Hulle MM, Worgotter F, Kruger N. (2009) 'ROAD INTERPRETATION FOR DRIVER ASSISTANCE BASED ON AN EARLY COGNITIVE VISION SYSTEM'. INSTICC-INST SYST TECHNOLOGIES INFORMATION CONTROL & COMMUNICATION VISAPP 2009: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON COMPUTER VISION THEORY AND APPLICATIONS, VOL 1, Lisbon, PORTUGAL: 4th International Conference on Computer Vision Theory and Applications, pp. 496-505.
  • Detry R, Pugeault N, Piater J. (2008) 'Probabilistic Pose Recovery Using Learned Hierarchical Object Models'. SPRINGER-VERLAG BERLIN COGNITIVE VISION, Santorini, GREECE: 4th International Cognitive Vision Workshop (ICVW 2008) 5329, pp. 107-120.
  • Kraft D, Baseski E, Popović M, Batog AM, Kjær-Nielsen A, Krüger N, Petrick R, Geib C, Pugeault N, Steedman M, Asfour T, Dillmann R, Kalkan S, Wörgötter F, Hommel B, Detry R, Piater J. (2008) 'Exploration and Planning in a three Level Cognitive Architecture'. International Conference on Cognitive Systems (CogSys),
  • Pugeault N, Kalkan S, Worgotter F, Baseski E, Kruger N. (2008) 'Relations between reconstructed 3D entities'. INSTICC-INST SYST TECHNOLOGIES INFORMATION CONTROL & COMMUNICATION VISAPP 2008: PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON COMPUTER VISION THEORY AND APPLICATIONS, VOL 2, Funchal, PORTUGAL: 3rd International Conference on Computer Vision Theory and Applications, pp. 186-193.
  • Pugeault N, Wörgötter F, Krüger N. (2008) 'Accumulated Visual Representation for Cognitive Vision'. Proceedings of the British Machine Vision Conference (BMVC’08),
  • Jensen LBW, Baseski E, Kalkan S, Pugeault N, Worgotter F, Kruger N. (2008) 'Semantic Reasoning for Scene Interpretation'. SPRINGER-VERLAG BERLIN COGNITIVE VISION, Santorini, GREECE: 4th International Cognitive Vision Workshop (ICVW 2008) 5329, pp. 121-134.
  • Aarno D, Sommerfeld J, Kragic D, Pugeault N, Kalkan S, Worgotter F, Kruger N. (2008) 'Early reactive grasping with second order 3D feature relations'. SPRINGER-VERLAG BERLIN RECENT PROGRESS IN ROBOTICS: VIABLE ROBOTIC SERVICE TO HUMAN, Jeju Isl, SOUTH KOREA: 13th International Conference on Advanced Robotics 370, pp. 91-105.
  • Pugeault N, Kalkan S, Baseski E, Wörgötter F, Krüger N. (2008) 'Reconstruction uncertainty and 3D relations'. Proceedings of Int. Conf. on Computer Vision Theory and Applications (VISAPP’08),
  • Petrick R, Kraft D, ao KM, Geib C, Pugeault N, Krüger N, Steedman M. (2008) 'Representation and Integration: Combining Robot Control, High-Level Planning, and Action Learning'. Proceedings of the 6th International Cognitive Robotics Workshop (CogRob 2008), Patras, Greece, July 21-22,
  • Aarno D, Sommerfeld J, Kragic D, Pugeault N, Kalkan S, Wörgötter F, Kraft D, Krüger N. (2007) 'Model-independent grasping initializing object-model learning in a cognitive architecture'. IEEE International Conference on Robotics and Automation (ICRA07) Workshop: “From features to actions — Unifying perspectives in computational and robot vision”,
  • Pilz F, Shi Y, Grest D, Pugeault N, Kalkan S, Kruger N. (2007) 'Utilizing semantic interpretation of junctions for 3D-2D pose estimation'. SPRINGER-VERLAG BERLIN ADVANCES IN VISUAL COMPUTING, PT I, Lake Tahoe, NV: 3rd International Symposium on Visual Computing 4841, pp. 692-701.
  • Sabatini SP, Gastaldi G, Solari F, Diaz J, Ros E, Pauwels K, Hulle KMMV, Pugeault N, Krüger N. (2007) 'Compact and accurate early vision processing in the harmonic space.'. Proceedings of Int. Conf. on Computer Vision Theory and Applications (VISAPP’07),
  • Pilz F, Shi Y, Grest D, Pugeault N, Kalkan S, Krüger N. (2007) 'Utilizing Semantic Interpretation of Junctions for 3D-2D Pose Estimation'. Proceedings of the ISVC 2007, , pp. 271-280.
  • Baseski E, Pugeault N, Kalkan S, Kraft D, Worgotter F, Kruger N. (2007) 'A scene representation based on multi-modal 2D and 3D features'. IEEE 2007 IEEE 11TH INTERNATIONAL CONFERENCE ON COMPUTER VISION, VOLS 1-6, Rio de Janeiro, BRAZIL: 11th IEEE International Conference on Computer Vision, pp. 63-69.
  • Pugeault N, Baseski E, Kraft D, Worgotter F, Kruger N. (2007) 'Extraction of multi-modal object representations in a robot vision system'. INSTICC-INST SYST TECHNOLOGIES INFORMATION CONTROL & COMMUNICATION Robot Vision, Barcelona, SPAIN: 1st International Workshop on Robot Vision in Conjunction with VISAPP 2007, pp. 126-135.
  • Geib C, Mourao K, Petrick R, Pugeault N, Steedman M, Krüger N, Wörgötter F. (2006) 'Object Action Complexes as an Interface for Planning and Robot Control'. Workshop ’Toward Cognitive Humanoid Robots’ at IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006),
  • Pugeault N, Wörgötter F, Krüger N. (2006) 'Rigid Body Motion in an Early Cognitive Vision Framework'. Proceedings of the IEEE Systems, Man and Cybernetics Society Conference on Advances in Cybernetic Systems,
  • Pugeault N, Wörgötter F, Krüger N. (2004) 'A non-local Stereo Similarity based on Collinear Groups'. Proceedings of the Fourth International ICSC Symposium on ENGINEERING OF INTELLIGENT SYSTEMS,
  • Pugeault N, Wörgötter F, Krüger N. (2004) 'Grouping over stereo for visual cues disambiguation'. Proceedings of the Conference Brain Inspired Cognitive Systems,
  • Pugeault N, Krüger N. (2003) 'Multi–modal Matching applied to Stereo'. Proceedings of the BMVC 2003, , pp. 271-280.

Books

  • Pugeault N. (2008) Early Cognitive Vision: Feedback Mechanisms for the Disambiguation of Early Visual Representation. Verlag Dr. Muller

Book chapters

  • Pugeault N, Wörgötter F, Krüger N. (2004) 'Stereo matching with a contextual confidence based on collinear groups'. in Ilg UJ, Bülthoff HH, Mallot HA (eds.) Dynamic Perception Infix Verlag, St. Augustin , pp. 195-200.

Theses and dissertations

  • Pugeault N. (2008) Early Cognitive Vision: Feedback Mechanisms for the Disambiguation of Early Visual Representation.