JOURNAL PAPERS

2022

• R. Izquierdo, C. Salinas, J. Alonso, I. Parra, D. F. Llorca, M. A. Sotelo.Testing predictive automated driving systems: lessons learned and future recommendations. IEEE Intelligent Transportation Systems Magazine (2022)

• R. Izquierdo, A. Quintanar,  D. Fernández-Llorca, I. García-Daza, N. Hernández, I. Parra, and M. A. Sotelo. Vehicle trajectory prediction on highways using bird eye view representations and deep learning, Applied Intelligence (2022)

2021

• N. Hernández, I. Parra, H. Corrales, R. Izquierdo, A.L. Ballardini, C Salinas and I. García. WiFiNet: WiFi-based indoor localisation using CNNs, ESWA (2021)

• R. Izquierdo, A. Quintanar, J. Lorenzo, I. García-Daza, I. Parra, D. Fernández-Llorca and M. A. Sotelo. Vehicle Lane Change Prediction on Highways Using Efficient Environment Representation and Deep Learning, IEEEAccess (2021)

• H. Corrales, N. Hernández, I. Parra, E. Nebot and D. Fernández-Llorca. Are we ready for accurate and  unbiased fine-grained vehicle classification in realistic environments?, IEEEAccess (2021)

• J. Lorenzo, I. Parra, R. Izquierdo, A.L. Ballardini, A. Hernández-Saz, D. Fernández-Llorca and M.A. Sotelo. CAPformer: Pedestrian Crossing Action Prediction Using Transformer, SENSORS (2021)

• A.L. Ballardini, A. Hernández-Saz, S. Carrasco, J. Lorenzo, I. Parra, N. Hernández, I.G. Daza and M.A. Sotelo. Urban Intersection Classification: A Comparative Analysis, SENSORS (2021)

2020

• D.F. Llorca, I. García, N. Hernández and I. Parra,. Sensors and Sensing for Intelligent Vehicles, SENSORS SI on IV (2020)

• H. Corrales, A. Hernández, R. Izquierdo, N. Hernández, I. Parra and D.F. Llorca. Simple Baseline for Vehicle Pose Estimation: Experimental Validation, Electronics, IEEE Access (2020)

• I. García, M. Rentero, C. Salinas, R. Izquierdo, N. Hernández, A. Ballardini and D.F. Llorca. Fail-aware LIDAR-based odometry for autonomous vehicles, SENSORS (2020).

2019

• R. Wang, Y. Xu, M. A. Sotelo, Y. Ma, T. Sarkodie-Gyan, Z. Li, W. Li. A robust registration method for autonomous driving pose estimation in urban dynamic environment using LiDAR, Electronics (2019)

• L. Peng, M. A. Sotelo, Y. He, Y. Ai, Z. Li. Rough set based method for vehicle collision risk assessment through inferring driver’s braking actions in near-crash situations, IEEE Intelligent Transportation Systems Magazine (2019).

• Z. Chen, H. Cai, Y. Zhang, C. Wu, M. Mu, Z. Li, M. A. Sotelo. A novel sparse representation model for pedestrian abnormal trajectory understanding, Expert Systems with Applications (2019).

2018

• C Fernández, J Muñoz-Bulnes, D Fernández-Llorca, I Parra, I. García-Daza, R. Izquierdo, M. A. Sotelo. High-Level Interpretation of Urban Road Maps Fusing Deep Learning-Based Pixelwise Scene Segmentation and Digital Navigation Maps, Journal of Advanced Transportation (2018).

• FY Wang, Y Yuan, J Li, D Cao, L Li, PA Ioannou, MA Sotelo. From Intelligent Vehicles to Smart Societies: A Parallel Driving Approach, IEEE Transactions on Computational Social Systems (2018).

• Y Ma, Z Li, R Malekian, R Zhang, X Song, MA Sotelo. Hierarchical Fuzzy Logic-Based Variable Structure Control for Vehicles Platooning, IEEE Transactions on Intelligent Transportation Systems (2018).

• Y Li, Z Hu, Z Li, MA Sotelo, Y Ma. Multiscale site matching for vision-only self-localization of intelligent vehicles, IEEE Intelligent Transportation Systems Magazine (2018).

• R. Zhang, Y. Ma, Z. Li, R. Malekian, M. A. Sotelo. Energy Dissipation Based Longitudinal and Lateral Coupling Control for Intelligent Vehicles, IEEE Intelligent Transportation Systems Magazine (2018).

• R. Quintero, I. Parra-Alonso, D. F. Llorca, M. A. Sotelo. Pedestrian, Path, Pose, and Intention Prediction Through Gaussian Process Dynamical Models and Pedestrian Activity Recognition, IEEE Transactions on Intelligent Transportation Systems (2018).

• I. Parra, R. Izquierdo, J. Alonso, A. García-Morcillo, D. F. Llorca, M. A. Sotelo. The Experience of DRIVERTIVE –DRIVERless cooperaTIVE Vehicle- Team in the 2016 GCDC, IEEE Transactions on Intelligent Transportation Systems (2018).

2017

• Wei He, Cheng Zhong, Miguel Angel Sotelo, Xiumin Chu, Xinglong Liu, Zhixiong Li. Short-term Vessel Traffic Flow Forecasting Using an Improved Kalman Model, Cluster Computing (2017).

• C. Fernández, D. F. Llorca, M. A. Sotelo. A hybrid Vision-Map for Urban Road Detection, Journal of Advanced Transportation (2017).

• Yicheng Li, Zhaozheng Hu, Gang Huang, Zhixiong Li, M. A. Sotelo. Image Sequence Matching Using both Holistic and Local Features for Loop Closure Detection, IEEE Access (2017).

• D. F. Llorca, R. Quintero, I. Parra, C. Fernández, I. G. Daza, C. Alén, M. A. Sotelo. Assistive Intelligent Transportation Systems: the need for user localization and anonymous disability identification, IEEE Intelligent Transportation Systems Magazine (2017).

• D. F. Llorca, R. Quintero, I. Parra, M. A. Sotelo. Recognizing individuals in groups in outdoor environments combining stereovision, RFID, and BLE, Cluster Computing (2017).

2016

• F. Herranz, E. Molinos, A. Llamazares, M. Ocaña, M. A. Sotelo. WIFI SLAM Algorithms: An Experimental Comparison, Robotica (2016).

2014

• D. F. Llorca, I. G. Daza, S. Álvarez, A. Martínez-Hellín, M. A. Sotelo. Parking assistance system for leaving perpendicular parking lots: experiments in daytime/nighttime conditions, IEEE Intelligent Transportation Systems Magazine (2014).

• D. L. Vlacic, M. A. Sotelo, Z. Duric, E. Nebot. Special Issue on the 2013 IEEE Intelligent Vehicles Symposium & Workshop, IEEE Intelligent Transportation Systems Magazine (2014).

• M. R. Wilby, J. J., vinagre, A. B. Rodríguez, M. A. Sotelo. Lightweight Occupancy Estimation on Freeways Using Extended Floating Car Data, Journal of Intelligent Transportation Systems (2014).

2013

• S. Álvarez, D. F. Llorca, M. A. Sotelo. Hierarchical Camera Auto-calibration for Traffic Surveillance Systems, Expert Systems with Applications (2013).

• C. Fernández, R. Domínguez, D. F. Llorca, J. Alonso, M. A. Sotelo. Autonomous Navigation and Obstacle Avoidance of a micro-bus, International Journal of Advanced Robotic Research (2013).

• M. A. Sotelo, M. Lu, R. Toledo. Editorial Introduction to the Special Issue on 2012 IEEE Intelligent Vehicles Symposium, , IEEE Intelligent Transportation Systems Magazine (2013).

• C. Fernández, D. F. Llorca, M. A. Sotelo, I. G. Daza, A. M. Hellín, S. Alvarez, Real-time Vision-based blind spot warning system: experiments with motorcycles in daytime/nighttime conditions, International Journal of Automotive Technology, Vol. 14, Issue 1, 113 – 122 (2013).

2012

• I. P. Alonso, D. F. Llorca, M. Gavilán, S. Alvarez, M. A. García-Garrido, L. Vlacic, M. A. Sotelo, Accurate global localization using visual odometry and digital maps on urban environments, IEEE Transactions on Intelligent Transportation Systems, Vol. 13, Issue 4, 1535 – 1545 (2012).

• D. F. Llorca, M. A. Sotelo, A. M. Hellín, A. Orellana, M. Gavilán, I. G. Daza, A. G. Lorente, Stereo region-of-Interest selection for pedestrian protection: A survey, Transportation Research Part C, Vol. 25, 226-237(2012).

• M. A. Sotelo, M. Lu, R. Toledo, J. E. Naranjo, Conference Report – 2012 IEEE Intelligent Vehicles Symposium, , IEEE Intelligent Transportation Systems Magazine (2012).

• M. A. Sotelo, H. van Lint, U. Nunes, L. Vlacic. M. Chowdhury, Introduction to the Special Issue on Emergent Cooperative Technologies in Intelligent Transportation Systems, IEEE Transactions on Intelligent Transportation Systems, Vol. 13, Issue 1, 1-5 (2012).

• J. J. Vinagre, D. F. Llorca, A. B. Rodríguez, R. Quintero, A. Llamazares, M. A. Sotelo, Extended Floating Car Data System: experimental results and application for a hybrid route level of service, IEEE Transactions on Intelligent Transportation Systems, Vol. 13, Issue 1, 25-35 (2012).

• V. Milanés, D. F. Llorca, J. Villagrá, J. Pérez, I. Parra, C. González, M. A. Sotelo, Vision-based Active Safety System for Automatic Stopping, Expert Systems with Applications, Vol. 39, 11234-11242 (2012).

• V. Milanés, D. F. Llorca, J. Villagrá, J. Pérez, C. Fernández, I. Parra, C. González, M. A. Sotelo, Intelligent Automatic Overtaking System using Vision for Vehicle Detection, Expert Systems with Applications, Vol. 39, 3362-3373 (2012).

2011

• D. F. Llorca, V. Milanés, I. P. Alonso, M. Gavilán, I. García Daza, J. Pérez, M. A. Sotelo, Autonomous Pedestrian Collision Avoidance using a Fuzzy Steering Controller, IEEE Transactions on Intelligent Transportation Systems, Vol. 12, no. 2 (2011).

• A. González, M. A. García-Garrido, D. F. Llorca, M. Gavilán, J. P. Fernández, P. F. Alcantarilla, I. Parra, F. Herranz, L. M. Bergasa, M. A. Sotelo, P. Revenga, Automatic Traffic Signs and Panels Inspection System using Computer Vision, IEEE Transactions on Intelligent Transportation Systems, Vol. 12, no. 2 (2011).

• P. F. Alcantarilla, L. M. Bergasa, P. Jiménez, I. Parra, D. F. Llorca, M. A. Sotelo, S. S. Mayoral, Automatic Lightbeam Controller for Driver Assistance, Machine Vision and Applications, Vol. 22, no. 5, 819 – 835 (2011).

• D. F. Llorca, I. Parra, M. A. Sotelo, G. Lacey, A vision-based system for automatic hand-washing quality measurement, Machine Vision and Applications, Vol. 22, 219 – 234 (2011).

• M. Gavilán, D. Balcones, O. Marcos, D. F. Llorca, M. A. Sotelo, I. Parra, M. Ocaña, P. Aliseda, P. Yarza, A. Amirola, Adaptive Road Crack Detection System by Pavement Classification, Sensors, Vol. 11 (2011).

• J. Alonso, M. Ocaña, N. Hernández, F. Herranz, A. Llamazares, M. A. Sotelo, L. M. Bergasa, L. Magdalena, Enhanced wifi localization system based on soft computing techniques to deal with small scale variations in wireless sensors, Applied soft computing. Vol. 11, Issue 8 (2011).

2010

• D. F. Llorca, M. A. Sotelo, S. Sánchez, M. Ocaña, J. M. Rodríguez-Ascariz, M. A. García-Garrido, Traffic Data Collection for Floating Car Data Enhancement in V2I Networks, Eurasip Journal on Advances in Signal Processing, Vol. 2010, 1-13 (2010).

• D. F. Llorca, M. A. Sotelo, I. Parra, M. Ocaña, L. M. Bergasa, Error Analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications, Sensors, Vol. 10, 3741-3758 (2010).

• D. F. Llorca, S. Sánchez, M. Ocaña, M. A. Sotelo, Vision-based Traffic Data Collection Sensor for Automotive Applications, Sensors, Vol. 10, 860-875 (2010).

• M. Marrón, J. C. García, M. A. Sotelo, D. Pizarro, M. Mazo, J. M. Cañas, C. Losada, A. Marcos, Stereo-vision tracking of multiple objects in complex indoor environments, Sensors, Vol. 10, 8865 – 8887 (2010).

• I. Parra, M. A. Sotelo, D. F. Llorca, M. Ocaña, Robust visual odometry for vehicle localization in urban environments, Robotica, Vol. 28, 441-452 (2010).

• S. Álvarez, M. A. Sotelo, M. Ocaña, D. F. Llorca, I. Parra, L. M. Bergasa, Perception advances in outdoor vehicle detection for automatic cruise control, Robotica (2010).

2009

• J. E. Naranjo, L. Bouraui, R. García, M. Parent, M. A. Sotelo, Interoperable Control Architecture for Cybercars and dual-mode cars, IEEE Transactions on Intelligent Transportation Systems, Vol. 10, no. 1, 146-154 (2009).

• P. Jiménez, J. Nuevo, L. M. Bergasa, M. A. Sotelo, Face pose estimation and tracking using automatic 3D model construction, IET Computer Vision, Vol. 3, no. 2, 93-102 (2009).

• D. F. Llorca, M. A. Sotelo, I. Parra, J. E. Naranjo, M. Gavilán, S. Álvarez, An Experimental study on pitch compensation in pedestrian detection systems for collision avoidance and mitigation, Vol. 10, no. 3, 469-474 (2009).

• M. Ocaña, L. M. Bergasa, M. A. Sotelo, R. Flores, D. F. Llorca, D. Schleicher, Automatic training method applied to a Wifi+ultrasound POMDP navigation, Robotica, Vol. 17, 1049-1061 (2009).

• I. J. M. Alonso, M. Ocaña, M. A. Sotelo, L. M. Bergasa, L. Magdalena, Wifi localization system using fuzzy rule-based classification, Lecture Notes in Computer Science, Vol. 5.717, 383-390 (2009).

• D. Balcones, D. F. Llorca, M. A. Sotelo, M. Gavilán, S. Álvarez, I. Parra, M. Ocaña, Real-time vision-based vehicle detection for rear-end collision mitigation systems, Lecture Notes in Computer Science, Vol. 5.717, 320-325 (2009).

• M. A. Sotelo, L. M. Bergasa, E. Moreno, F. Sánchez, J. M. García, G. Benítez, D. Calavia, Equipo dinámico de auscultación de señales de tráfico mediante visión artificial, Carreteras, Vol. 165, 6-19 (2009).

2008

• M. A. Sotelo, J. Barriga, Blind-spot detection using vision for automotive applications, Journal of Zhejiang University Science Part A, Vol. 9, no. 10, 1369-1372 (2008).

• R. García-García, M. A. Sotelo, I. Parra, D. F. Llorca, J. E. Naranjo, M. Gavilán, 3D Visual odometry for road vehicles, Journal of Intelligent and Robotic Systems, Vol. 51, no. 1, 113-134 (2008).

2007

• M. A. Sotelo, E. Naranjo, R. García, T. de Pedro, C. González, Comparative Study of Chained Systems Theory and Fuzzy Logic as a Solution for the Non-linear Lateral Control of a Road Vehicle, Nonlinear Dynamics, Vol. 49, 463-474 (2007).

• M. A. Sotelo, M. Ocaña, L. M. Bergasa, R. Flores, M. Marrón, M. A. Garrido, Low level controller for a POMPDP based on WiFi observations, Robotic and Autonomous Systems, Vol. 55, 132-145 (2007).

• E. Naranjo, M. A. Sotelo, C. González, R. García, T. de Pedro, Using Fuzzy Logic in Automatic Vehicle Control, IEEE Intelligent Systems, Vol. 45, 36-45 (2007).

• E. Sebastián, M. A. Sotelo, Control en modo deslizante adaptativo borroso de las variables cinemáticas del vehículo subacuático snorkel, Revista Internacional de Automática e Informática Industrial, Vol. 4, no. 1, 58-69 (2007).

• J. M. Alonso, L. Magdalena, S. Guillaume, M. A. Sotelo, L. M. Bergasa, M. Ocaña, Knowledge-based intelligent motion analysis of ground robots, Journal of Intelligent and Robotic Systems, Vol. 48, 539-566 (2007).

• M. A. Sotelo, R. Flores, D. Fernández, I. Parra, Vision-based Ego-motion Computing for Intelligent Vehicles, Lecture Series on Computer and Computational Sciences, Vol. 8, 243-246 (2007).

• I. Parra, D. Fernández, M. A. Sotelo, P. Revenga, L. M. Bergasa, M. Ocaña, J. Nuevo, R. Flores, M. García. A combination of feature extraction methods for SVM pedestrian detection, IEEE Transactions on Intelligent Transportation Systems, Vol. 8, no. 2, 292-307 (2007).

• E. Sebastián, M. A. Sotelo, Adaptive fuzzy sliding mode controller for an underwater vehicle, Journal of Intelligent and Robotic Systems, Vol. 49, 189-215 (2007).

• M. A. Sotelo, J. Barriga, D. Fernández, I. Parra, J. E. Naranjo, Vision-based blind spot detection using optical flow, Lecture Notes in Computer Science, Vol. 4739, 1113-1118 (2007).

• M. A. Sotelo, R. Flores, M. Ocaña, M. A. García, I. Parra, D. Fernández, J. E. Naranjo, Ego-motion computing for vehicle velocity estimation, Lecture Notes in Computer Science, Vol. 4739, 1119-1125 (2007).

• M. Ocaña, L. M. Bergasa, M. A. Sotelo, R. Flores, Comparison of WiFi Map Construction Methods for WiFi POMDP Navigation Systems, Lecture Notes in Computer Science, Vol. 4739, 1216-1222 (2007).

• M. Marrón, M. A. Sotelo, J. C. García, J. Brodfelt, Comparative improved versions of K-means and subtractive clustering in a tracking application, Lecture Notes in Computer Science, Vol. 4739, 717-724 (2007).

• M. A. Sotelo, R. García, I. Parra, D. F. Llorca, J. E. Naranjo, M. Gavilán, S. Álvarez, Visual odometry for road vehicles – Feasibility analysis, Journal of Zhejiang University Science Part A, Vol. 8, no. 12, 2017-2020 (2007).

2006

• E. Naranjo, M. A. Sotelo, C. Fernández, R. García, T. de Pedro, Automatic Car Driving based on Fuzzy Logic and GNSS, International Journal of Vehicle Autonomous Systems, Vol. 4, 250-267 (2006).

• L. M. Bergasa, J. Nuevo, M. A. Sotelo, R. Barea, E. López, Real-time system for monitoring driver vigillance, IEEE Transactions on Intelligent Transportation Systems, Vol. 7, No. 1, 63-77 (2006).

• I. Parra, D. Fernández, M. A. Sotelo, P. Revenga, L. M. Bergasa, M. Ocaña, J. Nuevo, R. Flores. Stereo Vision-based Pedestrian Recognition for ITS Applications, WSEAS Transactions on Information Science and Applications, Vol. 3, 554-561 (2006).

• M. Marrón, M. A. Sotelo, J. C. García, A combined stochastic-deterministic solution for tracking multiple objects with a stereo-vision system, WSEAS Transactions on Signal Processing, Vol. 2, 253-260 (2006).

2005

• M. A. Sotelo, J. Nuevo, L. M. Bergasa, M. Ocaña, A monocular solution to vision-based ACC in road vehicles, Lecture Notes in Computer Science, 3643, 507-512 (2005).

• L. Boquete, R. Barea, R. García, M. Mazo, M. A. Sotelo, Control of a real system using recurrent networks, Autonomous Robots, 18, 5-20 (2005).

• M. A. García, M. A. Sotelo, E. Martín, Fast road sign detection using Hough transform for assisted driving of road vehicles, Lecture Notes in Computer Science, 3643, 543-548 (2005).

• M. Ocaña, L. M. Bergasa, M. A. Sotelo, R. Flores, WIFI global localization system and its application in a navigation system based on POMDP, CEUR Workshop Proceedings, 132 (2005).

2004

• M. A. Sotelo. Non-linear lateral control of Vision driven autonomous vehicles, Machine Intelligence and Robotic control, 5, 87-93 (2004).

• M. A. Sotelo, F. J. Rodríguez, L. Magdalena, L. M. Bergasa, L. Boquete, A color vision-based lane tracking system for autonomous driving on unmarked roads, Autonomous Robots, 16, 95-116 (2004).

• M. A. Sotelo, F. J. Rodríguez, L. Magdalena, VIRTUOUS: Vision-based Road Transportation for Unmanned Operation in Urban-like Scenarios, IEEE Transactions on Intelligent Transportation Systems, 5, 69-83 (2004).

2003

• M. A. Sotelo, L. B. Bergasa, R. Flores, M. Ocaña, L. Magdalena, M. H. Doussin, W. Hornfeld, D. Roland, M. Perrier, A. Furlani, A. Madsen, ADVOCATE II: ADVance on-board diagnosis and control of autonomous systems II, Lecture Notes in Computer Science, 2809, 302-313 (2003).

• M. A. Sotelo. Lateral Control Strategy for autonomous steering of Ackermann-like vehicles, Robotic and Autonomous Systems. 45, 223-233 (2003).

• M. A. Sotelo, Miguel A. García, R. Flores, Vision-based intelligent system for autonomous and assisted downtown driving, Lecture Notes in Computer Science, 2809, 326-336 (2003).

2001

• M. Mazo and the SIAMO Group. An integral system for assisted mobility, IEEE Robotics & Automation Magazine, 46-56 (2001).

• I. Bravo, M. Marrón, E. Bueno, M. A. Sotelo, R. Piñeiro, Modelo funcional para PSPICE del C.I TCA 785, Revista española de Electrónica (2001).

2000

• L. M. Bergasa, M. Mazo, L. Boquete, M. A. Sotelo, R. Barea, A. Gardel, M. A. Garrido, Control de envases de vidrio para farmacia, Automática e Instrumentación, 87-90 (2000).

• E. Bueno, M. A. Sotelo, I. Bravo, E. Sebastián, Circuito para la excitación de inversores trifásicos mediante modulación PWM sinusoidal, Revista española de Electrónica (2000).

• L. M. Bergasa, M. Mazo, A. Gardel, M. A. Sotelo, L. Boquete, Unsupervised and adaptive gaussian skin-color model, Image and Vision Computing, 18, 987-1003 (2000).

1998

• F. J. Rodríguez, M. Mazo, Miguel A. Sotelo, Automation of an industrial fork lift truck, guided by artificial vision in open environments, Autonomous Robots, 5, 215-231 (1998).

• L. Boquete, M. Mazo, J. A. Jiménez, R. Barea, L. M. Bergasa, M. A. Sotelo, Identificación automática de matrículas de automóviles mediante visión artificial y redes neuronales, Revista Información tecnológica, 9, 313-318 (1998).

1997

• L. M. Bergasa, M. Mazo, L. Boquete, R. Barea, M. A. Sotelo, R. Redondo, Detección y seguimiento de vehículos en carretera utilizando técnicas de tratamiento digital de imágenes, Revista Española de electrónica, 510, 82-86 (1997).

1996

• L. Boquete, J. A. Jiménez, R. Barea, L. M. Bergasa, M. A. Sotelo, Identificación de placas de matrículas de automóviles por visión artificial y redes neuronales, Revista Interface, 4, 16-20 (1996).

1994

• F. J. Rodríguez, M. Mazo, E. Santiso, M. A. Sotelo, Road following by artificial vision using neural network, Annual Review in Automatic Programming, 19, 209-214 (1994).

• F. J. Rodríguez, M. Mazo, J. Ureña, M. A. Sotelo, Guiado de robots móviles por carreteras utilizando visión artificial, Revista Eurofatch Electrónica, 60-74 (1994).