Abstract
Humans are increasingly cooperating with machinery/robots in a high number of domains and under uncontrolled conditions. When persons are interacting with machinery, they are exposed to distraction/fatigue, which can lead to dangerous situations. The evaluation of individual's attention and fatigue levels is highly needed in such situations. This is an important measurement to avoid the interaction of humans with the machine when these levels of concentration are critical. This paper proposes a real-time vision-based approach for eye localization and head motion estimation (EyeLHM). The proposed method is evaluated under three different databases: GI4E face database, extended Yale-B database and GI4E head pose database. High detection rates are achieved on GI4E head-pose database and face database, 97.35% and 87.19% respectively. EyeLHM approach is optimized to be deployed in low-cost computers, such as RaspberryPi or UDOO Boards.

Abstract
Improving the safety of public roads and industrial factories requires more reliable and robust computer vision-based approaches for monitoring the eye state (open or closed) of human operators. Getting this information in real time when humans are driving cars or using hazardous machinery will help to prevent accidents and deaths. This paper proposes a new framework called EyeLSD to localize the eyes and detect their states without face detection step. For EyeLSD aims, two novel descriptors are proposed: enhanced Pyramidal Local Binary Pattern Histogram (ePLBPH) and Multi-Three-Patch LBP histogram (Multi-TPLBP). The performance of EyeLSD with ePLBPH and Multi-TPLBP is evaluated and compared against other approaches. For this evaluation three independent and public datasets were used: BioID, CAS-PEAL-R1 and ZJU datasets. The set EyeLSD, ePLBPH and Multi-TPLBP have a greater performance when compared against the state-of-the-art algorithms. The proposed approach is very stable under large range of eye appearances caused by expression, rotation, lighting, head pose, and occlusion.

Abstract
Eye detection is a complex issue and widely explored through several applications, such as human gaze detection, human-robot interaction and driver's drowsiness monitoring. However, most of these applications require an efficient approach for detect the ocular region, which should be able to work in real time. In this paper, it is proposed and compare two approaches for online eye detection. The proposed schemes, work under real variant illumination conditions, using the conventional appearance method that is known for its discriminative power especially in texture analysis. In the first stage, the salient eye features are automatically extracted by employing Uniform Local Binary pattern (LBP) operator. Thereafter, supervised machine learning methods are used to classify the presence of an eye in image path, which is described by an LBP histogram. For this stage, two approaches were tested; Support Vector Machine and Long Short-Term Memory Recurrent Neural Network, both are trained for discriminative binary classification, between two classes namely eye / non eye. The human eyes were successfully localized in real time videos, which were obtained from a laptop with uncalibrated web camera. In these tests, different people were considered and light illumination. The experimental results are reported.

Abstract
Localization and Mapping of autonomous robots in an harsh and unstable environment such as a steep slope vineyard is a challenging research topic. Dead Reckoning systems can fail due to the harsh conditions of the terrain, and the Global Position System can be affected by noise or even be unavailable. Agriculture is moving towards precision agriculture, with advanced monitoring systems and wireless sensor networks. These systems and wireless sensors are installed in the crop field and can be considered relevant landmarks for robot localization. In this paper the distance accuracy provided by bluetooth based sensors is deeply studied and characterized. It is considered a multi antenna receiver bluetooth system and obtained the transfer functions (from Received Signal Strength Indication (RSSI) to distance estimation) for each set of antenna and sensors. The performance of this technology is compared against Time-of-flight based technologies (Pozyx). The obtained results show that the agricultural wireless sensors can be used as redundant artificial landmarks for localization purposes. Besides, the RSSI characterization allowed to improve the previous results of our Beacon Mapping Procedure (BMP) required for accurate and reliable localization systems. © 2018 IEEE.

Abstract
The intensive use of agricultural machinery is promoting the soil compaction. The use of agricultural robots or autonomous machinery can intensify this problem, due its capacity to replicate the same trajectories. One of the possible strategies to minimize the effects of soil compaction is to control agricultural traffic instead of common random traffic. Since geo-referencing systems are present in almost all field operations it is possible to optimize trajectories to avoid to damage the crop and intensify the soil compaction. The controlled agricultural traffic on farms will not only increase production capacity, the incomes as well as the quality of the soil. In this work a novel approach based on A-star algorithm is proposed to reduce soil compaction in steep slope vineyards. © 2018 IEEE.

Abstract
Real time classification of objects using computer vision techniques are becoming relevant with emergence of advanced perceptions systems required by, surveillance systems, industry 4.0 robotics and agricultural robots. Conventional video surveillance basically detects and tracks moving object whereas there is no indication of whether the object is approaching or receding the camera (looming). Looming detection and classification of object movements aids in knowing the position of the object and plays a crucial role in military, vehicle traffic management, robotics, etc. To accomplish real-time object trajectory classification, a contour tracking algorithm is necessary. In this paper, an application is made to perform looming detection and to detect imminent collision on a system-on-chip field-programmable gate array (SoC-FPGA) hardware. The work presented in this paper was designed for running in Robotic platforms, Unmanned Aerial Vehicles, Advanced Driver Assistance System, etc. Due to several advantages of SoC-FPGA the proposed work is performed on the hardware. The proposed work focusses on capturing images, processing, classifying the movements of the object and issues an imminent collision warning on-the-fly. This paper details the proposed software algorithm used for the classification of the movement of the object, simulation of the results and future work.