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Cristiano Premebida is Lecturer in the Department of Electrical and Computer Engineering (DEEC) at the University of Coimbra (UC), Portugal. His main research interests are autonomous robots (including agricultural robotics), self-driving vehicles, robotic perception, sensing and artificial perception, probabilistic machine learning (ML), sensor fusion, and applied ML in real-world problems. He collaborates with the Institute of Systems and Robotics (ISR-UC), the LUCAS Lab (Loughborough University, UK), and the DREAM Lab (GeorgiaTech Lorraine, FR). He is IEEE senior member of the RAS and ITS societies, serving as AE for ITSC, IV, IROS, and other conferences. C. Premebida has been collaborating in many national (e.g., VESTA, AgriBotics, AGVPosys, InGestAlgae, iProMo, AI+Green, PDCS, EVSIM, PMIT, MTDTS) and international projects (e.g., GreenBotics as Coordinator, XPro, AutoCITS where he led the WP4, COST Safe2Wheelers as MC member) in the areas of robotics, AI/ML, autonomous systems. Recently, he is the coordinator of a Horizon MSCA-DN project (AIGreenBots 2.4M eur, 7 partners from 5 countries), is PI of the FCT project GreenBotics (ranked in 1st by the respective evaluation panel), PI of the XPro bilateral collaboration project (FCT-DAAD Germany). C. Premebida has published more than 80 peer-reviewed papers, attracting over 3.5K citations, and h-index = 27 and i10-index=48. List of publications is available here: https://scholar.google.com/citations?user=RuHUvNMAAAAJ&hl=en
Read full resume ↓
Identification

Personal identification

Full name
Cristiano Premebida

Citation names

  • Premebida, Cristiano
  • Premebida, C.
  • C. Premebida
  • Cristiano Premebida

Author identifiers

Ciência ID
2D17-5005-8C26
ORCID iD
0000-0002-2168-2077
Google Scholar ID
RuHUvNMAAAAJ&hl
Researcher Id
O-1673-2013
Scopus Author Id
23996193700

Email addresses

  • cpremebida@isr.uc.pt (Professional)
  • cpremebida@deec.uc.pt (Professional)

Telephones

Telephone
  • 239796319 (Professional)

Addresses

  • Dept of Electrical and Computer Engineering - DEEC , University of Coimbra, 3030-290, Coimbra, Coimbra, Portugal (Professional)

Websites

Knowledge fields

  • Engineering and Technology - Electrotechnical Engineering, Electronics and Informatics - Robotics and Automatic Control
Education
Degree Classification
2007/04/15 - 2012/09/04
Concluded
 Electrical Engineering (Doutoramento)
Major in Robotics and Automation
Universidade de Coimbra, Portugal
"Pedestrian Detection Using Laser and Vision" (THESIS/DISSERTATION)
 Approved unanimously, with Distinction and Honours
2004/10/01 - 2007/03/09
Concluded
 Electrical and Computer Engineering (Mestrado)
Major in Automation and Robotics
Universidade de Coimbra, Portugal
 Very Good
1995/06/01 - 2001/03/01
Concluded
 Electrical Engineering (Graduado)
Major in Automation and electronics
State University of Santa Catarina, Brazil
 7.6 / 10
Affiliation

Science

Category
Host institution 		Employer
2013/03/01 - 2018/07/01 Invited Auxiliary Researcher (Research) Universidade de Coimbra, Portugal
Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal

Teaching in Higher Education

Category
Host institution 		Employer
2019/12/16 - Current Assistant Professor (University Teacher) Universidade de Coimbra, Portugal
Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal
2018/09/01 - 2019/12/13 Assistant Professor (University Teacher) Loughborough University, United Kingdom
Loughborough University Department of Aeronautical and Automotive Engineering, United Kingdom
2017/09/01 - 2018/08/31 Invited Assistant Professor (University Teacher) Universidade de Coimbra, Portugal
2017 - 2018 Invited Assistant Professor (University Teacher) Universidade de Coimbra, Portugal
Projects

Contract

Designation Funders
2024 - Current Explainable probabilistic models for robot applications (XPro)
N/A
Principal investigator
2022/11/17 - Current PREMOVE - Movement prediction of traffic participants for the safe integration of self-driving cars in urban areas
PROYEXCEL_00684
Other
2024/10/01 - 2028/09/30 Artificial Intelligence and sensor-fusion systems in sustainable (Green) robotics for precision agriculture
AIGreenBots
Principal investigator
Ongoing
2021/01/01 - 2025/12/31 Advanced Production and Intelligent Systems
LA/P/0112/2020
10.54499/LA/P/0112/2020
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal

Instituto Politécnico de Leiria Centro para o Desenvolvimento Rápido e Sustentado de Produto, Portugal

Instituto Politécnico de Leiria, Portugal

Universidade do Minho, Portugal

Instituto para a Sustentabilidade e Inovação em Estruturas de Engenharia, Portugal

Universidade de Coimbra, Portugal

Centro de Investigação em Sistemas e Tecnologias, Portugal

Universidade do Porto Faculdade de Engenharia, Portugal

Universidade de Coimbra Centro de Engenharia Mecânica Materiais e Processos, Portugal
Fundação para a Ciência e a Tecnologia
Ongoing
2024/07/01 - 2025/12/30 VESTA - Vegetation Evaluation with Satellite Technology and Analytics
VESTA
Principal investigator
Ongoing
2022/01/03 - 2025/01/02 Sistema Robótico Inteligente para Agricultura Digital (GreenBotics)
PTDC/EEI-ROB/2459/2021
Principal investigator
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal

Instituto Politécnico de Coimbra, Portugal

Universidade de Coimbra Instituto de Engenharia de Sistemas e Computadores de Coimbra, Portugal
Fundação para a Ciência e a Tecnologia
Ongoing
2021/04/01 - 2023/06/30 UltraBot - Robot for disinfection using ultraviolet radiation
CENTRO-01-0247-FEDER-072644
Researcher
2021/02/01 - 2023/06/30 iProMo - Intelligent Systems for Grinding Process Control
CENTRO-01-0247-FEDER-069730
Researcher
2021/01/18 - 2023/06/30 InGestAlgae - Intelligent Platform for Microalgae Production Management
CENTRO-01-0247-FEDER-046983
Researcher
Concluded
2020/09/01 - 2021/09/01 Intelligent Automation in Precise Agriculture (AI+Green)
MIT-EXPL/TDI/0029/2019
Principal investigator
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal
 Fundação para a Ciência e a Tecnologia
Ongoing
2020/07/15 - 2021/01/15 Robotics and Applied Machine Learning
Verão com Ciência
Principal investigator
Universidade de Coimbra, Portugal
 Fundação para a Ciência e a Tecnologia
Concluded
2019/01/01 - 2019/12/31 INSTITUTO DE SISTEMAS E ROBÓTICA - ISR - COIMBRA
UID/EEA/00048/2019
Universidade do Porto Faculdade de Engenharia, Portugal

Universidade de Lisboa Faculdade de Letras, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2019/01/01 - 2019/12/01 ViVID - Virtual Vehicle Integration and Development
info:eu-repo/grantAgreement/RCUK/Innovate UK/113210/GB
Researcher
Loughborough University Department of Aeronautical and Automotive Engineering, United Kingdom
Ongoing
2016/11/01 - 2019/03/30 Regulation Study for Interoperability in the Adoption of Autonomous Driving in European Urban Nodes (AutoCITS)
INEA/CEF/TRAN/M2015/11437466
Principal investigator
Universidade de Coimbra, Portugal
Concluded
2011/03/01 - 2014/08/31 PDCS2010 - Detecção de Peões em Ambientes Urbanos
PTDC/EEA-AUT/113818/2009
Universidade de Coimbra, Portugal

Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2011/01/01 - 2012/12/31 Strategic Project - UI 48 - 2011-2012
PEst-C/EEI/UI0048/2011
Universidade do Porto Faculdade de Engenharia, Portugal

Universidade de Lisboa Faculdade de Letras, Portugal

Universidade de Coimbra, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2006/12/01 - 2010/11/30 SENSOR-FUSION TECHNIQUES, MULTI-TARGET TRACKING AND OBJECT-CLASSIFICATION APPROACHES FOR INTELLIGENT VEHICLES
SFRH/BD/30288/2006
 Fundação para a Ciência e a Tecnologia
Concluded
2007/10/01 - 2010/09/30 PmITS06 - Métodos de Percepção para um Sistema de Transporte Inteligente usando informação sensorial do Veículo e da Infraestrutura
PTDC/EEA-ACR/72226/2006
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal

Instituto Politécnico de Tomar, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2005/06/01 - 2008/05/31 MTDTS04 - Detecção e Seguimento de Múltiplos Alvos em Ambientes Exteriores Semi-estruturados usando Laser e Visão
POSC/EEA-SRI/58279/2004
Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal

Instituto Politécnico de Tomar, Portugal
Fundação para a Ciência e a Tecnologia
Concluded

Other

Designation Funders
2015/03/24 - 2019/03/23 Scientific and technical innovations for safer Powered Two Wheelers (PTW)
TU1407
Researcher
Universidade de Coimbra, Portugal
Concluded
Outputs

Publications

Book chapter
  1. Cunha, Nuno; Barros, Tiago; Reis, Mário; Marta, Tiago; Premebida, Cristiano; Nunes, Urbano J.. "Multispectral Image Segmentation in Agriculture: A Comprehensive Study on Fusion Approaches". In Robot 2023: Sixth Iberian Robotics Conference, 311-323. Springer Nature Switzerland, 2024.
    Published • 10.1007/978-3-031-59167-9_26
  2. Júnior, J. S. S.; Mendes, Jérôme; Souza, Francisco; Premebida, Cristiano. Corresponding author: Mendes, Jérôme. "Explainable Deep Fuzzy Systems Applied to Sulfur Recovery Unit". In Machine Learning and Granular Computing: A Synergistic Design Environment, 27-54. Springer Nature Switzerland, 2024.
    Published • 10.1007/978-3-031-66842-5_2
  3. Barros, Tiago; Garrote, Luís; Pereira, Ricardo; Premebida, Cristiano; Nunes, Urbano J.. "AttDLNet: Attention-Based Deep Network for 3D LiDAR Place Recognition". In ROBOT2022: Fifth Iberian Robotics Conference, 309-320. Springer International Publishing, 2022.
    Published • 10.1007/978-3-031-21065-5_26
  4. Premebida, Cristiano; Melotti, Gledson; Asvadi, Alireza. "RGB-D Object Classification for Autonomous Driving Perception". In Advances in Computer Vision and Pattern Recognition, 377-395. Springer International Publishing, 2019.
    10.1007/978-3-030-28603-3_17
  5. R. Faria, Diego; Premebida, Cristiano; J. Manso, Luis; P. Ribeiro, Eduardo; Núñez, Pedro. "Multimodal Bayesian Network for Artificial Perception". In Bayesian Networks - Advances and Novel Applications. IntechOpen, 2019.
    10.5772/intechopen.81111
  6. Premebida, Cristiano; Ambrus, Rares; Marton, Zoltan-Csaba. "Intelligent Robotic Perception Systems". In Applications of Mobile Robots. IntechOpen, 2019.
    10.5772/intechopen.79742
  7. Barros, Tiago; Garrote, Luís; Pereira, Ricardo; Premebida, Cristiano; Nunes, Urbano J.. "Improving Localization by Learning Pole-Like Landmarks Using a Semi-supervised Approach". In Robot 2019: Fourth Iberian Robotics Conference, 255-266. Springer International Publishing, 2019.
    10.1007/978-3-030-35990-4_21
  8. Premebida, Cristiano; Souza, Francisco A. A.; Faria, Diego R.. "Dynamic Bayesian Network for Time-Dependent Classification Problems in Robotics". In Bayesian Inference. InTech, 2017.
    10.5772/intechopen.70059
  9. Asvadi, Alireza; Garrote, Luis; Premebida, Cristiano; Peixoto, Paulo; Nunes, Urbano J.. "Real-Time Deep ConvNet-Based Vehicle Detection Using 3D-LIDAR Reflection Intensity Data". In ROBOT 2017: Third Iberian Robotics Conference, 475-486. Springer International Publishing, 2017.
    10.1007/978-3-319-70836-2_39
Conference abstract
  1. Nunes, W. M. C.; Tiago Barros; Gil Rito Gonçalves; Premebida, Cristiano. "A Probabilistic Framework Applied to Multispectral Image Segmentation". Paper presented in 2024 IEEE 3rd International Conference on Intelligent Reality (ICIR 2024), Coimbra, 2024.
    Published
  2. Gledson Melotti; Premebida, Cristiano; Jordan J. Bird; Diego R. Faria; Nuno Goncalves. "Probabilistic Object Classification using CNN ML-MAP layers". Paper presented in European Conference on Computer Vision (ECCV), Workshop on Perception for Autonomous Driving (PAD), 2020.
    Accepted
Conference paper
  1. Nunes, W. M. C.; Tiago Barros; Gil Rito Gonçalves; Premebida, Cristiano; Nunes, Urbano J.. "Optimizing DL-Based Segmentation with Conditional Random Field: Application in Vineyards using Multispectral Aerial Imagery". Paper presented in 2024 IEEE 20th International Conference on Automation Science and Engineering, Bari, 2024.
    Under revision
  2. Barros, T.; Premebida, C.; Aravecchia, S.; Pradalier, C.; Nunes, U. J.. "SPVSoAP3D: A Second-order Average Pooling Approach to enhance 3D Place Recognition in Horticultural Environments". 2024.
    10.1109/iros58592.2024.10802603
  3. Cardoso, Wilgo; Barros, Tiago; Gonçalves, Gil; Premebida, Cristiano; Nunes, Urbano J.. "Multispectral Image Segmentation in Agriculture: Evaluating Deep Learning Models with Train-Test Split and Cross-Validation Strategies". 2024.
    10.1109/robot61475.2024.10797395
  4. Mota, Kennedy O. S.; Garrote, Luís; Premebida, Cristiano. "Multimodal Human Detection using RGB, Thermal and LiDAR modalities for Robotic Perception". 2024.
    10.1109/case59546.2024.10711565
  5. Jorge, J.; Barros, T.; Premebida, C.; Aleksandrov, M.; Goehring, D.; Nunes, U.J.. "Impact of 3D LiDAR Resolution in Graph-Based SLAM Approaches: A Comparative Study". Paper presented in 7th Iberian Robotics Conference (ROBOT), 2024.
    Published • 10.1109/robot61475.2024.10796891
  6. Gil Gonçalves; Umberto Andriolo; Lúcio Paiva; Cristiano Premebida; António Ferraz. "Modelling the Dependence of Chlorophyll Leaf-Clip Measures on Vegetation Indices Derived from Multispectral UAS Images in Vineyards Parcels". 2023.
    10.1109/igarss52108.2023.10281790
  7. Conde, Pedro; Barros, Tiago; Premebida, Cristiano; Nunes, Urbano J.. "ECE-based Deep Ensemble for Neural Network Calibration in Satellite Image Classification". Paper presented in 2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Tomar, 2023.
    Published • 10.1109/icarsc58346.2023.10129562
  8. Jorge S. S. Júnior; Jérôme Mendes; Francisco Souza; Cristiano Premebida. "Hybrid LSTM-Fuzzy System to Model a Sulfur Recovery Unit". 2023.
    10.5220/0012165100003543
  9. Sousa, Elísio; Mota, Kennedy O. S.; Gomes, Iago P.; Garrote, Luís; Wolf, Denis F.; Premebida, Cristiano. "Late-Fusion Multimodal Human Detection Based on RGB and Thermal Images for Robotic Perception". 2023.
    10.1109/ecmr59166.2023.10256301
  10. Barros, Tiago; Garrote, Luís; Aleksandrov, Martin; Premebida, Cristiano; Nunes, Urbano J.. "TReR: A Lightweight Transformer Re-Ranking Approach for 3D LiDAR Place Recognition". Paper presented in 2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC), 2023.
    10.1109/itsc57777.2023.10421819
  11. Conde, Pedro; Premebida, Cristiano. Corresponding author: Conde, Pedro. "Adaptive-TTA: accuracy-consistent weighted test time augmentation method for the uncertainty calibration of deep learning classifiers". Paper presented in 33rd British Machine Vision Conference 2022 (BMVC), London, 2022.
    Accepted
  12. Junior, Jorge S. S.; Mendes, Jerome; Araujo, Rui; Paulo, Joao Ruivo; Premebida, Cristiano. "Novelty Detection for Iterative Learning of MIMO Fuzzy Systems". Paper presented in IEEE INDIN, 2021.
    10.1109/indin45523.2021.9557354
  13. Lu, Weihao; Zhao, Dezong; Premebida, Cristiano; Chen, Wen-Hua; Tian, Daxin. "Semantic Feature Mining for 3D Object Classification and Segmentation". Paper presented in IEEE ICRA, 2021.
    10.1109/icra48506.2021.9561986
  14. Bird, Jordan J.; Faria, Diego R.; Premebida, Cristiano; Ekart, Aniko; Ayrosa, Pedro P. S.. "Overcoming Data Scarcity in Speaker Identification: Dataset Augmentation with Synthetic MFCCs via Character-level RNN". 2020.
    10.1109/icarsc49921.2020.9096166
  15. Hayton, Jack N.C.; Barros, Tiago; Premebida, Cristiano; Coombes, Matthew J.; Nunes, Urbano J.. "CNN-based Human Detection Using a 3D LiDAR onboard a UAV". 2020.
    10.1109/icarsc49921.2020.9096075
  16. Melotti, Gledson; Premebida, Cristiano; Goncalves, Nuno. "Multimodal Deep-Learning for Object Recognition Combining Camera and LIDAR Data". 2020.
    10.1109/icarsc49921.2020.9096138
  17. Bird, Jordan J.; Faria, Diego R.; Premebida, Cristiano; Ekart, Aniko; Vogiatzis, George. "Look and Listen: A Multi-modality Late Fusion Approach to Scene Classification for Autonomous Machines". Paper presented in IROS, 2020.
    10.1109/iros45743.2020.9341557
  18. Garrote, Luis; Torres, Miguel; Barros, Tiago; Perdiz, Joao; Premebida, Cristiano; Nunes, Urbano J.. "Mobile Robot Localization with Reinforcement Learning Map Update Decision aided by an Absolute Indoor Positioning System". Paper presented in IROS, 2019.
    10.1109/iros40897.2019.8967957
  19. Pereira, Joel; Premebida, C.; Asvadi, A.; Cannata, F.; Garrote, L.; Nunes, U.J.. "Test and Evaluation of Connected and Autonomous Vehicles in Real-world Scenarios". 2019.
    10.1109/ivs.2019.8814032
  20. Melotti, Gledson; Premebida, Cristiano; Goncalves, Nuno M. M. da S.; Nunes, Urbano J. C.; Faria, Diego R.. "Multimodal CNN Pedestrian Classification: A Study on Combining LIDAR and Camera Data". 2018.
    10.1109/itsc.2018.8569666
  21. Garrote, Luis; Premebida, Cristiano; Silva, David; Nunes, Urbano J.. "HMAPs - Hybrid Height- Voxel Maps for Environment Representation". Paper presented in IROS, 2018.
    10.1109/iros.2018.8594113
  22. Melotti, Gledson; Asvadi, Alireza; Premebida, Cristiano. "CNN-LIDAR pedestrian classification: combining range and reflectance data". 2018.
    10.1109/icves.2018.8519497
  23. Paulo, J.; Garrote, L.; Premebida, C.; Asvadi, A.; Almeida, D.; Lopes, A.; Peixoto, P.. "An innovative robotic walker for mobility assistance and lower limbs rehabilitation". 2017.
    10.1109/ENBENG.2017.7889450
  24. Loureiro, R.; Lopes, A.; Carona, C.; Almeida, D.; Faria, F.; Garrote, L.; Premebida, C.; Nunes, U.J.. "ISR-RobotHead: Robotic head with LCD-based emotional expressiveness". 2017.
    10.1109/ENBENG.2017.7889437
  25. Asvadi, Alireza; Garrote, Luis; Premebida, Cristiano; Peixoto, Paulo; Nunes, Urbano J.. "DepthCN: Vehicle detection using 3D-LIDAR and ConvNet". 2017.
    10.1109/itsc.2017.8317880
  26. Paulo, J.; Garrote, L.; Asvadi, A.; Premebida, C.; Peixoto, P.. "Short-range gait pattern analysis for potential applications on assistive robotics". 2017.
    10.1109/ROMAN.2017.8172288
  27. Garrote, L.; Rosa, J.; Paulo, J.; Premebida, C.; Peixoto, P.; Nunes, U.J.. "3D point cloud downsampling for 2D indoor scene modelling in mobile robotics". 2017.
    10.1109/ICARSC.2017.7964080
  28. Premebida, C.; Garrote, L.; Asvadi, A.; Ribeiro, A.P.; Nunes, U.. "High-resolution LIDAR-based depth mapping using bilateral filter". 2016.
    10.1109/ITSC.2016.7795953
  29. Faria, D.R.; Vieira, M.; Premebida, C.; Nunes, U.. "Probabilistic human daily activity recognition towards robot-assisted living". 2015.
    10.1109/ROMAN.2015.7333644
  30. Fernandes, R.; Premebida, C.; Peixoto, P.; Wolf, D.; Nunes, U.. "Road detection using high resolution LIDAR". 2015.
    10.1109/VPPC.2014.7007125
  31. Premebida, C.; Faria, D.R.; Souza, F.A.; Nunes, U.. "Applying probabilistic Mixture Models to semantic place classification in mobile robotics". 2015.
    10.1109/IROS.2015.7353981
  32. Premebida, C.; Sousa, J.; Garrote, L.; Nunes, U.. "Polar-Grid Representation and Kriging-Based 2.5D Interpolation for Urban Environment Modelling". 2015.
    10.1109/ITSC.2015.203
  33. Faria, D.R.; Premebida, C.; Nunes, U.. "A probabilistic approach for human everyday activities recognition using body motion from RGB-D images". 2014.
    10.1109/ROMAN.2014.6926340
  34. Garrote, L.; Premebida, C.; Silva, M.; Nunes, U.. "An RRT-based navigation approach for mobile robots and automated vehicles". 2014.
    10.1109/INDIN.2014.6945533
  35. Premebida, C.; Carreira, J.; Batista, J.; Nunes, U.. "Pedestrian detection combining RGB and dense LIDAR data". 2014.
    10.1109/IROS.2014.6943141
  36. Antunes, M.; Barreto, J.P.; Premebida, C.; Nunes, U.. "Can stereo vision replace a Laser Rangefinder?". 2012.
    10.1109/IROS.2012.6385844
  37. Ludwig, O.; Premebida, C.; Nunes, U.; Araújo, R.. "Evaluation of Boosting-SVM and SRM-SVM cascade classifiers in laser and vision-based pedestrian detection". 2011.
    10.1109/ITSC.2011.6082909
  38. Premebida, C.; Ludwig, O.; Silva, M.; Nunes, U.. "A cascade classifier applied in pedestrian detection using laser and image-based features". 2010.
    10.1109/ITSC.2010.5625244
  39. Premebida, C.; Ludwig, O.; Nunes, U.. "Exploiting LIDAR-based features on pedestrian detection in urban scenarios". 2009.
    10.1109/ITSC.2009.5309697
  40. Premebida, C.; Monteiro, G.; Nunes, U.; Peixoto, P.. "A Lidar and vision-based approach for pedestrian and vehicle detection and tracking". 2007.
    10.1109/ITSC.2007.4357637
  41. Premebida, C.; Nunes, U.. "A Multi-Target Tracking and GMM-Classifier for Intelligent Vehicles". Paper presented in IEEE Intelligent Transportation Systems Conference, 2006.
    10.1109/itsc.2006.1706760
  42. Premebida, C.; Nunes, U.. "A multi-target tracking and GMM-classifier for intelligent vehicles". Paper presented in IEEE ITSC, 2006.
Conference poster
  1. Fakrane, Chaymaa; MOTA, KENNEDY; Premebida, Cristiano; Rocha, Rui P.. Corresponding author: Fakrane, Chaymaa. "Human detection combining RGB and thermal modalities". Paper presented in IEEE 3rd International Conference on Intelligent Reality (ICIR 2024), 2024.
Journal article
  1. Iago Pachêco Gomes; Cristiano Premebida; Denis Fernando Wolf. "Multi-agent interaction-aware behavior intention prediction using graph mixture of experts attention network on urban roads". Expert Systems with Applications (2025): https://doi.org/10.1016/j.eswa.2025.126485.
    10.1016/j.eswa.2025.126485
  2. Pedro Conde; Rui L. Lopes; Cristiano Premebida. "Improving Accuracy and Calibration of Deep Image Classifiers With Agreement-Driven Dynamic Ensemble". IEEE Open Journal of the Computer Society (2025): https://doi.org/10.1109/OJCS.2024.3519984.
    10.1109/OJCS.2024.3519984
  3. Telmo Adão; João Cerqueira; Miguel Adão; Nuno Silva; David Pascoal; Luís G. Magalhães; Tiago Barros; et al. "PROMORE: A Procedural Modeler of Virtual Rural Environments With Artificial Dataset Generation Capabilities for Remote Sensing Contexts". IEEE Access (2025): https://doi.org/10.1109/ACCESS.2025.3548513.
    10.1109/ACCESS.2025.3548513
  4. Jorge S. S. Júnior; Carlos Gaspar; Jérôme Mendes; Cristiano Premebida. "Assessing interpretability of data-driven fuzzy models: Application in industrial regression problems". Expert Systems (2024): https://doi.org/10.1111/exsy.13710.
    10.1111/exsy.13710
  5. T. Barros; L. Garrote; P. Conde; M. J. Coombes; C. Liu; C. Premebida; U. J. Nunes. "PointNetPGAP-SLC: A 3D LiDAR-Based Place Recognition Approach With Segment-Level Consistency Training for Mobile Robots in Horticulture". IEEE Robotics and Automation Letters (2024): https://doi.org/10.1109/LRA.2024.3475044.
    10.1109/LRA.2024.3475044
  6. Jorge S. S. Júnior; Jérôme Mendes; Francisco Souza; Cristiano Premebida. "Distilling Complex Knowledge Into Explainable T-S Fuzzy Systems". IEEE Transactions on Fuzzy Systems (2024): https://doi.org/10.1109/TFUZZ.2024.3506122.
    10.1109/TFUZZ.2024.3506122
  7. Conde, Pedro; Tiago Barros; Rui L. Lopes; Cristiano Premebida; Nunes, Urbano J.. Corresponding author: Conde, Pedro. "Approaching Test Time Augmentation in the Context of Uncertainty Calibration for Deep Neural Networks". IEEE Transactions on Pattern Analysis and Machine Intelligence (2023): https://doi.org/10.48550/arXiv.2304.05104.
    Under revision
  8. Jorge S. S. Júnior; Jérôme Mendes; Francisco Souza; Cristiano Premebida. "Survey on Deep Fuzzy Systems in Regression Applications: A View on Interpretability". International Journal of Fuzzy Systems (2023): https://doi.org/10.1007/s40815-023-01544-8.
    10.1007/s40815-023-01544-8
  9. Weihao Lu; Dezong Zhao; Cristiano Premebida; Li Zhang; Wenjing Zhao; Daxin Tian; Lu, Weihao; et al. "Improving 3D Vulnerable Road User Detection With Point Augmentation". IEEE Transactions on Intelligent Vehicles (2023): 1-15. https://doi.org/10.1109/TIV.2023.3246797.
    10.1109/TIV.2023.3246797
  10. Gledson Melotti; Weihao Lu; Pedro Conde; Dezong Zhao; Alireza Asvadi; Nuno Gonçalves; Cristiano Premebida. "Probabilistic Approach for Road-Users Detection". IEEE Transactions on Intelligent Transportation Systems (2023): https://doi.org/10.1109/TITS.2023.3268578.
    10.1109/TITS.2023.3268578
  11. Francisco Souza; Cristiano Premebida; Rui Araújo. "High-order conditional mutual information maximization for dealing with high-order dependencies in feature selection". Pattern Recognition (2022): https://doi.org/10.1016/j.patcog.2022.108895.
    10.1016/j.patcog.2022.108895
  12. Barros, T.; Conde, P.; Gonçalves, G.; Premebida, C.; Monteiro, M.; Ferreira, C.S.S.; Nunes, U.J.. "Multispectral vineyard segmentation: A deep learning comparison study". Computers and Electronics in Agriculture 195 (2022): 106782. http://dx.doi.org/10.1016/j.compag.2022.106782.
    10.1016/j.compag.2022.106782
  13. Gledson Melotti; Cristiano Premebida; Jordan J. Bird; Diego R. Faria; Nuno Goncalves. "Reducing Overconfidence Predictions in Autonomous Driving Perception". IEEE Access 10 (2022): 54805-54821. https://doi.org/10.1109/ACCESS.2022.3175195.
    10.1109/ACCESS.2022.3175195
  14. Barros, T.; Conde, P.; Gonçalves, G.; Premebida, Cristiano; Monteiro, M.; Ferreira, C. S. S.; Nunes, U. J.. "Multispectral vineyard segmentation: A deep learning comparison study". (2022): http://hdl.handle.net/10316/100144.
    https://doi.org/10.1016/j.compag.2022.106782
  15. Tiago Barros; Ricardo Pereira; Luis Garrote; Cristiano Premebida; Urbano J. Nunes. "Place recognition survey: An update on deep learning approaches". arXiv preprint arXiv:2106.10458 (2021):
  16. Tiago Barros; Luís Garrote; Ricardo Pereira; Cristiano Premebida; Urbano J. Nunes. "AttDLNet: Attention-based DL network for 3D LiDAR place recognition". arXiv preprint arXiv:2106.09637 (2021):
  17. Naranjo, Jose E.; Jimenez, Felipe; Castineira, Rodrigo; Gil, Mauro; Premebida, Cristiano; Serra, Pedro; Valejo, Alberto; Nashashibi, Fawzi; Magalhaes, Conceicao. "Cross-Border Interoperability for Cooperative, Connected, and Automated Driving". IEEE Intelligent Transportation Systems Magazine 14 4 (2021): 6-19. http://dx.doi.org/10.1109/mits.2021.3049352.
    10.1109/mits.2021.3049352
  18. Bird, Jordan J.; Barnes, Chloe M.; Premebida, Cristiano; Ekárt, Anikó; Faria, Diego R.. "Country-level pandemic risk and preparedness classification based on COVID-19 data: A machine learning approach". PLOS ONE 15 10 (2020): e0241332. http://dx.doi.org/10.1371/journal.pone.0241332.
    10.1371/journal.pone.0241332
  19. Asvadi, Alireza; Garrote, Luis; Premebida, Cristiano; Peixoto, Paulo; J. Nunes, Urbano. "Multimodal vehicle detection: fusing 3D-LIDAR and color camera data". Pattern Recognition Letters 115 (2018): 20-29. http://dx.doi.org/10.1016/j.patrec.2017.09.038.
    10.1016/j.patrec.2017.09.038
  20. Asvadi, A.; Premebida, C.; Peixoto, P.; Nunes, U.. "3D Lidar-based static and moving obstacle detection in driving environments: An approach based on voxels and multi-region ground planes". Robotics and Autonomous Systems (2016): http://www.scopus.com/inward/record.url?eid=2-s2.0-84979710953&partnerID=MN8TOARS.
    10.1016/j.robot.2016.06.007
  21. Premebida, Cristiano; Faria, Diego R.; Nunes, Urbano; Cristiano Premebida; Diego R. Faria; Urbano Nunes. "Dynamic Bayesian network for semantic place classification in mobile robotics". Autonomous Robots (2016): http://hdl.handle.net/10316/93185.
    10.1007/s10514-016-9600-2
  22. Pascoal, R.; Santos, V.; Premebida, C.; Nunes, U.. "Simultaneous segmentation and superquadrics fitting in laser-range data". IEEE Transactions on Vehicular Technology 64 2 (2015): 441-452. http://www.scopus.com/inward/record.url?eid=2-s2.0-84923111087&partnerID=MN8TOARS.
    10.1109/TVT.2014.2321899
  23. Olmeda, D.; Premebida, C.; Nunes, U.; Armingol, J.M.; De La Escalera, A.. "Pedestrian detection in far infrared images". Integrated Computer-Aided Engineering 20 4 (2013): 347-360. http://www.scopus.com/inward/record.url?eid=2-s2.0-84884551881&partnerID=MN8TOARS.
    10.3233/ICA-130441
  24. Premebida, C.; Nunes, U.. "Fusing LIDAR, camera and semantic information: A context-based approach for pedestrian detection". International Journal of Robotics Research 32 3 (2013): 371-384. http://www.scopus.com/inward/record.url?eid=2-s2.0-84876260658&partnerID=MN8TOARS.
    10.1177/0278364912470012
  25. Ludwig, Oswaldo; Nunes, Urbano; Ribeiro, Bernardete; Premebida, Cristiano. "Improving the Generalization Capacity of Cascade Classifiers". IEEE Transactions on Cybernetics 43 6 (2012): 2135-2146. http://dx.doi.org/10.1109/tcyb.2013.2240678.
    10.1109/tcyb.2013.2240678
  26. Premebida, C.; Ludwig, O.; Nunes, U.. "LIDAR and vision-based pedestrian detection system". Journal of Field Robotics 26 9 (2009): 696-711. http://www.scopus.com/inward/record.url?eid=2-s2.0-70449347276&partnerID=MN8TOARS.
    10.1002/rob.20312
Preprint
  1. Conde, Pedro; Rui L. Lopes; C. Premebida. "A Theoretical and Practical Framework for Evaluating Uncertainty Calibration in Object Detection". 2023. https://doi.org/10.48550/arXiv.2309.00464.
Thesis / Dissertation
  1. Premebida, Cristiano. "Pedestrian Detection Using Laser and Vision". PhD, 2012. http://hdl.handle.net/10316/21130.
  2. "Detecção e Classificação de Objectos em Ambiente Exterior para Veículos Autónomos". Master, Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, 2007. https://home.isr.uc.pt/~cpremebida/files_cp/MscThesis.pdf.
Website
  1. Premebida, Cristiano. Detailed list of publications. 2019. https://scholar.google.com/citations?user=RuHUvNMAAAAJ&hl=en.

Other

Other output
  1. Distilling complex knowledge into fuzzy systems. Poster presented at 3st Open Day and Workshop @ ISR-UC, Institute of Systems and Robotics, University of Coimbra. 2024. Júnior, J. S. S.; Mendes, Jérôme; Premebida, Cristiano. https://web.isr.uc.pt/.
  2. Deep Fuzzy Systems in regression applications: a view on interpretability. Poster presented at 1st Open Day and Workshop @ ISR-UC, Institute of Systems and Robotics, University of Coimbra. 2022. Júnior, J. S. S.; Mendes, Jérôme; Premebida, Cristiano. https://web.isr.uc.pt/open-day-poster/.
Activities

Supervision

Thesis Title
Role 		Degree Subject (Type)
Institution / Organization
2023/01/01 - Current Deep perception system for agricultural robotics
Supervisor
 Doctoral program in Electrical Engineering and Intelligent Systems (PhD)
Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal
2020/09/01 - Current IMPROVING THE RELIABILITY AND PROBABILISTIC INTERPRETATION OF DEEP NEURAL NETWORKS
Supervisor
 Doctoral program in Electrical and Computer Engineering (PhD)
Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal
2020/09/01 - Current Deep Fuzzy Regression for Autonomous Learning of Industrial Processes
Co-supervisor
 Doctoral program in electrical and computer engineering (PhD)
Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal
2019/09/01 - Current MULTI-MODAL PLACE RECOGNITION FOR LONG-TERM OUTDOOR LOCALIZATION
Co-supervisor
 Doctoral program in electrical and computer engineering (PhD)
Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal
2019/09/01 - Current Perception for autonomous vehicles based on 3D point cloud
Co-supervisor
University of Glasgow, United Kingdom
2022/07/01 - 2023/09/15 Visiting PhD student: ADAPTIVE INTERACTION-AWARE TRAJECTORY PREDICTION FOR AUTONOMOUS VEHICLES IN URBAN SCENARIOS
Co-supervisor
 Visiting PhD student (PhD)
Universidade de São Paulo Câmpus de São Carlos, Brazil
2017/09/14 - 2023/04/26 Reducing Overconfident Predictions in Multimodality Perception for Autonomous Driving
Supervisor
 Doctoral program in Electrotechnical Engineering (PhD)
Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal

Event organisation

Event name
Type of event (Role) 		Institution / Organization
2020/07/01 - 2025/10/01 Summer School on: Robotics and Applied Machine Learning (RML) https://sites.google.com/view/roboticsmachinelearning (2020/07/01 - 2020/10/01)
Seminar (Co-organisor)
 Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal

Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal
2016/01/01 - 2024/12/01 AE for IEEE IROS (25, 24, 23, 22), IEEE ITSC (25, 24, 23, 22, 21, 20, 19), IEEE IV (25, 24, 23, 22, 21, 20), IEEE ICARSC (2021), ICAR (19); Industry chair for ECMR (2023); Program chair for UK-RAS (2019); Registration chair for IEEE RO-MAN (2017); registration co-chair for ITSC (2016). Local Organizing Committee IbPRIA 2025, CONTROLO 2026. Exhibition chair for the ECMR2023. Local Organizing Committee ROBOT2023. (2016 - 2030)
Workshop (Co-organisor)
 Universidade de Coimbra Departamento de Engenharia Electrotécnica e de Computadores, Portugal

Event participation

Activity description
Type of event 		Event name
Institution / Organization
2010 - Current WS organization: 3rd Int. Workshop on Connected, Cooperative, and Automated Driving (CAD), IEEE IV; 2nd Int. Workshop on Connected, Automated and Autonomous Vehicles (CA2V), IEEE CVES; 1st Int. Workshop on Connected, Automated and Autonomous Vehicles (CA2V), IEEE VTC; ARtificial Perception, MAchine Learning and DAtasets for Human- Robot Interaction, IEEE RO-MAN. A list of services and other activities is available here: https://home.deec.uc.pt/~cpremebida/short_cv_cp.pdf

Consulting

Activity description Institution / Organization
2022/01/06 - 2022/04/05 (2022/2023): Consultoria no âmbito do projeto Critical Soft. - "NDA". (2022): Consultoria no âmbito do projeto TheIA - data clustering for a regression problem; validation on 2 datasets; performance evaluation. Universidade de Coimbra Instituto de Sistemas e Robótica, Portugal
Distinctions

Award

2023 Best paper Award - IEEE IV 2023
IEEE Intelligent Transportation Systems Society, United States
2021 Best Paper Award (IEEE INDIN 2021)
IEEE, United States

Other distinction

2025 Invited speaker (VEHITS 2025)
2023 Honorable Mention (Dare2Change - Poster)
2014 Paper Finalist for Kazuo Tanie Best Paper Award