João Pedro Barreto

    Name: João Pedro Barreto, Ph.D.
    Position: Associate Professor
    Office: S 1.1

    Joao P. Barreto holds a Ph.D. degree from the University of Coimbra (UC). He was visiting scholar in INRIA Rhone-Alpes, Grenoble, France, and a postdoctoral researcher in the University of Pennsylvania, Philadelphia, before joining the UC as a Professor. Joao is an acknowledged expert in camera modeling and multi-view 3D reconstruction, being the author of more than 80 peer-reviewed articles in the most prestigious journals and conferences. He is the recipient of several academic distinctions and awards including the “Google Faculty Research Award”, was Area Chair in ECCV’2018 and currently serves as Associate Editor in the journals “Computer Vision and Image Understanding”, “Image and Vision Computing” and “Journal of Mathematical Image and Vision. Joao is also an entrepreneur having co-founded Perceive3D SA (P3D) in 2013. P3D builds in advanced knowledge in computer vision to provide advanced systems for improving visualization and guiding the surgeon during minimally invasive orthopedic procedures. Joao has been the CEO of P3D since foundation being responsible for R&D, Business Development and Investor Relations. The company has raised so far 1M€ in private capital and more than 2M€ in R&D grants having been recently awarded with the prestigious SMEi Phase 2 from the EU commission.

    Supervisor of:
    Michel Antunes, Senior Researcher
    Carolina dos Santos Raposo, Senior Researcher
    Pedro Rodrigues, Ph.D. Student
    Diogo Vaz, Research Engineer
    N. B. Monteiro, Ph.D. Student
    Ricardo Simões, Research Technician
    Dylan Lopes, M.Sc. Student

Past Projects

Supervised Thesis

    Ph.D. Thesis

    Rui Jorge Melo Teixeira Camera Calibration and Real-time Image Processing in Heterogeneous Architectures: Application in Medical Endoscopy (1/2017) Supervised by João Pedro Barreto

    Carolina Dos Santos Raposo Calibration, Structure-from-Motion and Registration Beyond Point Features (9/2016) Supervised by João Pedro Barreto

    Francisco Vasconcelos Minimal Solutions to Geometric Problems with Multiple Cameras or Multiple Sensor Modalities (1/2016) Supervised by João Pedro Barreto

    António Miguel Marques Rodrigues Teixeira Lourenço Keypoint Detection, Matching and Tracking in Images with non-linear Distortion: Application in Medical Endoscopy and Panoramic Vision (4/2015) Supervised by João Pedro Barreto

    Michel Antunes Stereo Reconstruction using Induced symmetries and 3D scene priors (6/2014) Supervised by João Pedro Barreto




    N. Monteiro, S. Marto, J. P. Barreto, J. Gaspar, Depth Range Accuracy for Plenoptic Cameras, Computer Vision and Image Understanding, 2018


    C. Dos Santos Raposo, C. Sousa, L. Ribeiro, R. Melo, F. Fonseca, J. Oliveira, P. Marques, J. P. Barreto, Video-based computer aided arthroscopy for patient specific reconstruction of the Anterior Cruciate Ligament, Medical Image Computing and Computer-Assisted Intervention (MICCAI 2018), Granada, Spain, 2018

    C. Dos Santos Raposo, J. P. Barreto, 3D Registration of Curves and Surfaces using Local Differential Information, 2018 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Salt Lake City, USA, 2018



    Automatic camera calibration using multiple sets of pairwise correspondences, IEEE Transactions on Pattern Analysis and Machine Intelligence, 2017

    Piecewise-Planar StereoScan: Sequential Structure and Motion using Plane Primitives, IEEE Transactions on Pattern Analysis and Machine Intelligence, pp. 1–1, 2017

    Extrinsic calibration of multi-modal sensor arrangements with non-overlapping field-of-view, Machine Vision and Applications, Vol. 28, 1-2, Springer, 2017


    Unsupervised Vanishing Point Detection and Camera Calibration from a Single Manhattan Image with Radial Distortion, CVPR - IEEE International Conference on Computer Vision and Pattern Recognition, 2017

    Using 2 Point+Normal Sets for Fast Registration of Point Clouds with Small Overlap, IEEE International Conference on Robotics and Automation, pp. 5652–5658, 2017



    Parallel Refinement of Slanted 3D Reconstruction using Dense Stereo Induced from Symmetry, Journal of Real-Time Image Processing, pp. 1–19, Springer, 2016

    Piecewise-planar reconstruction using two views, Image and Vision Computing, Volume 46, Pages 47–63, 2016


    πMatch: Monocular vSLAM and Piecewise Planar Reconstruction using Fast Plane Correspondences, 14th European Conference on Computer Vision (ECCV 2016), pp. 1–16, 2016

    Theory and Practice of Structure-from-Motion using Affine Correspondences, IEEE Conf on Computer Vision and Pattern Recognition (CVPR), pp. 1–9, 2016

    Single-Image Estimation of the Camera Response Function in Near-Lighting, IEEE Int. Conf. Computer Vision and Pattern Recognition (CVPR), Boston, 2016

    Dense Lightfield Disparity Estimation Using Total Variation Regularization, ICIAR, vol. 9730, no. 52, pp. 462–469, 2016



    Perspective shape from shading for wide-FOV near-lighting endoscopes,, Neurocomputing, pp. 1–25, 2015


    Influence of Positive Instances on Multiple Instance Support Vector Machines, ROBOT2015 Second Iberian Robotics Conf., Lisbon, 2015

    Distributed dense stereo matching for 3d reconstruction using parallel-based processing advantages, IEEE Int. Conference on Acoustics, Speech, and Signal Processing (ICASSP15), Bisbane, Australia, 2015

    Distributed Dense Stereo Matching for 3D Recosntruction using Parallel-based Processing Advantages, IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Brisbane, 2015

    Keypoint Detection, Tracking and Matching for Medical Endoscopy, Computer Assisted Radiology and Surgery (CARS), Barcelona, 2015



    SymStereo: Stereo Matching using Induced Symmetry, International Journal of Computer Vision, pp. 1–21, 2014


    Visual Odometry in Stereo Endoscopy by using PEaRL to handle Partial Scene Deformation, AE-CAI 2014: Int. Workshop in Augmented Environments for Computer Assisted Intervention, pp. 1–8, 2014

    Automatic Clustering using a Genetic Algorithm with New Solution Encoding and Operators, International Conference in Computational Science and its Applications, pp. 1–12, Braga, Portugal, 2014

    Corneal Nerve Morphometry for Diabetic Peripheral Neuropathy Assessment. The International Conference on Health Informatics, IFMBE Proceedings , Volume 42, pp 296-299, 2014

    Using the GPU for fast symmetry-based dense stereo matching in high resolution images, IEEE International Conference on Acoustics, Speech, and Signal Processing, pp. 1–5, Florence, Italy, 2014



    Perspective Shape from Shading for Wide-FOV Near-Lighting Endoscopes, PATTERN RECOGNITION AND IMAGE ANALYSIS, PROCEEDINGS, Lecture Notes in Computer Science, Madeira, Portugal, 2013

    Efficient Stereo Matching Using Histogram Aggregation with Multiple Slant Hypotheses, PATTERN RECOGNITION AND IMAGE ANALYSIS, PROCEEDINGS, Lecture Notes in Computer Science, 2013

    Hand-Eye and Radial Distortion Calibration for Rigid Endoscopes, The International Journal of Medical Robotics and Computer Assisted Surgery, 2013


    Unsupervised intrinsic calibration from a single frame using a plumb-line approach, ICCV'13 (International Conference on Computer Vision), Sydney, Australia, 2013

    Towards a minimal solution for the relative pose between axial cameras, BRITISH MACHINE VISION CONFERENCE, 2013

    Plane-based Odometry using an RGB-D Camera, BRITISH MACHINE VISION CONFERENCE, 2013

    Plane surface detection and reconstruction using induced stereo symmetry, BRITISH MACHINE VISION CONFERENCE, 2013

    Automatic camera calibration applied to medical endoscopy, BRITISH MACHINE VISION CONFERENCE, 2013

    Fast and Accurate Calibration of a Kinect Sensor, 3DV2013- 3rd Joint 3DIM/3DPVT Conference, Seattle, 2013

    A Global Approach for the Detection of Vanishing Points and Mutually Orthogonal Vanishing Directions, IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION., 2013

    Near-LSPA Performance at MSA Complexity, IEEE Int Conf on Communications, Budapest, Hungary, 2013



    Real-time HD image distortion correction in heterogeneous parallel computing systems using efficient memory access patterns, Journal of Real-Time Image Processing, 2012

    A New Solution for Camera Calibration and Real-Time Image Distortion Correction in Medical Endoscopy–Initial Technical Evaluation, Biomedical Engineering, IEEE Transactions on, vol.59, n.3, p.634-644, IEEE, 2012

    A Minimal Solution for the Extrinsic Calibration of a Camera and a Laser-Rangefinder, IEEE Transactions on Pattern Analysis and Machine Intelligence, IEEE, 2012


    Semi-dense piecewise planar stereo reconstruction using SymStereo and PEARL, 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT), 2012 International Conference on, 2012

    Tracking feature points in uncalibrated images with radial distortion, European Conf. In Computer Vision (ECCV), Florence, 2012

    A minimal solution for camera calibration using independent pairwise correspondences, European Conf. In Computer Vision (ECCV), Florence, 2012

    Description and Classification of Confocal Endomicroscopic Images for the Automatic Diagnosis of Inflammatory Bowel Disease, MICCAI Workshop in Machine Learning for Medical Imaging (MLMI), Nice, 2012

    Can stereo vision replace a Laser Rangefinder?, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Portugal, 2012

    Hand gesture recognition using colour and depth images enhanced with hand angular pose data, In 2012 IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2012), Hamburg, 2012

    Localization in indoor environments by querying omnidirectional visual maps using perspective images, Robotics and Automation (ICRA), 2012 IEEE International Conference on, p.2189-2195, Saint Paul, MN, 2012



    Camera Models and Fundamental Concepts Used in Geometric Computer Vision, NOW Publishers, 2011

    Calibration of Central Catadioptric Cameras Using a DLT-Like Approach, INTERNATIONAL JOURNAL OF COMPUTER VISION, Vol. 93, (1), pp 101-114, 2011


    Stereo estimation of depth along virtual cut planes, IEEE INTERNATIONAL CONFERENCE ON COMPUTER VISION WORKSHOPS (ICCV WORKSHOPS) , 2011

    On-line incremental 3D human body reconstruction for HMI or AR applications, In CLAWAR2011 - The 14th International Conference on Climbing and Walking Robots And the Support Technologies for Mobile Machines, Paris, France, 2011

    Adaptive and hybrid genetic approaches for estimating the camera motion from image point correspondences, GECCO '11 Proceedings of the 13th annual conference on Genetic and evolutionary computation, 2011



    Active Stereo Tracking of N <= 3 Targets Using Line Scan Cameras , Journal - IEEE Transaction on Robotics, Vol. 26, (3), pp 442-457, 2010

    Special issue on omnidirectional vision, camera networks and non-conventional cameras, COMPUTER VISION AND IMAGE UNDERSTANDING, Vol 114(2) , pp: 167-167, 2010


    Camera Pose Estimation Using Images of Planar Mirror Reflections, 11th European Conference on Computer Vision, Vol. 6314, p.p 382-395, Heraklion, Greece, 2010

    Robust Hand-Eye Calibration for Computer Aided Medical Endoscopy., EEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pp 5543-5549, 2010

    Feature Detection and Matching in Images with Radial Distortion, IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pp 1028-1034, 2010

    Hand-Eye Calibration for Computer Aided Medical Endoscopy, IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pp 5543-5549, 2010



    Active Stereo Tracking of Multiple Free-Moving Targets, CVPR - IEEE Conference on Computer Vision and Pattern Recognition, pp 1494-1501, 2009

    Plane-Based Calibration of Central Catadioptric Cameras, IEEE 12TH INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV), pp 1195-1202, 2009



    Ray-Based Calibration of Medical Endoscopes, In Int. Work. on Omnidirectional Vision, Camera Networks and Non-Classical Cameras, Marseille, France, 2008

    General Imaging Geometry for Central Catadioptric Cameras, 10th European Conference on Computer Vision (ECCV 2008), pp. 609-622, 2008

    Ray-based calibration of rigid medical endoscopes, OMNIVIS 2008, 2008



    Non parametric distortion correction in endoscopic medical images, 3DTV CONFERENCE. 2007, pp 354-357, 2007



    FBD - The Free Body Diagram Method, In “Controlo 98 - The 3rd Portuguese Conference on Automatic Control”, Coimbra, Portugal, 1998

    The Free Body Diagram Method - Kinematic and Dynamic Modelling of a Six Leg Robot, In “AMC’98 - 5th International Workshop on Advanced Motion Control", Coimbra, 1998