| 2025 | ICRA | SCAM-P: Spatial Channel Attention Module for Panoptic Driving Perception. | Gopi Krishna Erabati, Helder Arajo |
| 2024 | ICPR | Study the Capacity of Deep Learning Techniques Information Generalization Using Capsule Endoscopic Images. | Ema Macedo, Helder Arajo, Pedro Henriques Abreu |
| 2023 | ICASSP | Benchmarking Convolutional Neural Network Inference on Low-Power Edge Devices. | Oscar Ferraz, Helder Arajo, Vtor Silva, Gabriel Falco Paiva Fernandes |
| 2023 | ICCS | FAIR-FATE: Fair Federated Learning with Momentum. | Teresa Salazar, Miguel Fernandes, Helder Arajo, Pedro Henriques Abreu |
| 2023 | WACV | Li3DeTr: A LiDAR based 3D Detection Transformer. | Gopi Krishna Erabati, Helder Arajo |
| 2022 | ICRA | Gripper positioning for object deformation tasks. | Ignacio Cuiral-Zueco, Gonzalo Lpez-Nicols, Helder Arajo |
| 2020 | DICTA | SL3D - Single Look 3D Object Detection based on RGB-D Images. | Gopi Krishna Erabati, Helder Arajo |
| 2018 | IROS | Magnetic- Visual Sensor Fusion-based Dense 3D Reconstruction and Localization for Endoscopic Capsule Robots. | Mehmet Turan, Yasin Almalioglu, Evin Pinar rnek, Helder Arajo, Mehmet Fatih Yanik, Metin Sitti |
| 2018 | ICRA | EndoSensorFusion: Particle Filtering-Based Multi-Sensory Data Fusion with Switching State-Space Model for Endoscopic Capsule Robots. | Mehmet Turan, Yasin Almalioglu, Hunter Gilbert, Helder Arajo, A. Taylan Cemgil, Metin Sitti |
| 2016 | ACCV | 3D Estimation of Extensible Surfaces Through a Local Monocular Reconstruction Technique. | S. Jafar Hosseini, Helder Arajo |
| 2016 | ICPR | Plcker correction problem: Analysis and improvements in efficiency. | Joo R. Cardoso, Pedro Miraldo, Helder Arajo |
| 2014 | IAS | Multi-modal Sensors Path Merging. | Leo Baudouin, Youcef Mezouar, Omar Ait-Aider, Helder Arajo |
| 2014 | ICPRAM | Structure from Motion - ToF-aided 3D Reconstruction of Isometric Surfaces. | S. Jafar Hosseini, Helder Arajo |
| 2014 | ICPRAM | A ToF-Aided Approach to 3D Mesh-Based Reconstruction of Isometric Surfaces. | S. Jafar Hosseini, Helder Arajo |
| 2014 | ICRA | A simple and robust solution to the minimal general pose estimation. | Pedro Miraldo, Helder Arajo |
| 2014 | IROS | Planar pose estimation for general cameras using known 3D lines. | Pedro Miraldo, Helder Arajo |
| 2014 | ISVC | 3D Estimation of Isometric Surfaces Using a ToF-Based Approach. | S. Jafar Hosseini, Helder Arajo |
| 2013 | IROS | Efficient decoupled pose estimation from a set of points. | Omar Tahri, Helder Arajo, Youcef Mezouar, Franois Chaumette |
| 2012 | ICPR | Reconstruction of 3D lines from a single axial catadioptric image using cross-ratio. | Luis Perdigoto, Helder Arajo |
| 2012 | IROS | Non-central catadioptric cameras visual servoing for mobile robots using a radial camera model. | Omar Tahri, Helder Arajo |
| 2011 | ICCV | Point-based calibration using a parametric representation of the general imaging model. | Pedro Miraldo, Helder Arajo, Joao Queiro |
| 2009 | CVPR | Active stereo tracking of multiple free-moving targets. | Luis Perdigoto, Joo Pedro Barreto, Rui Caseiro, Helder Arajo |
| 2008 | ISVC | Calibration and Pose Estimation of a Pox-slits Camera from a Single Image. | Nuno Martins, Helder Arajo |
| 2007 | ICCV | Linear solution for the pose estimation of noncentral catadioptric systems. | Nuno Gonalves, Helder Arajo |
| 2005 | IBPRIA | A Calibration Algorithm for POX-Slits Camera. | Nuno Martins, Helder Arajo |
| 2004 | ICPR | Rigid Motion Estimation from Non-Central Catadioptric Images. | Nuno Gonalves, Helder Arajo |
| 2003 | CVPR | Direct Least Square Fitting of Paracatadioptric Line Images. | Joo Pedro Barreto, Helder Arajo |
| 2003 | CVPR | Mirror shape recovery from image curves and intrinsic parameters: Rotationally symmetric and conic mirrors. | Nuno Gonalves, Helder Arajo |
| 2003 | ICCV | Paracatadioptric Camera Calibration Using Lines. | Joo Pedro Barreto, Helder Arajo |
| 2002 | ECCV | Geometric Properties of Central Catadioptric Line Images. | Joo Pedro Barreto, Helder Arajo |
| 2002 | ICPR | Differential Epipolar Constraint in Mobile Robot Egomotion Estimation. | Xavier Armangu, Helder Arajo, Joaquim Salvi |
| 2002 | ICPR | Estimation of 3D Motion from Stereo Images- Differential and Discrete Formulations. | Nuno Gonalves, Helder Arajo |
| 2002 | ICPR | Pose Estimation for Central Catadioptric Systems: An Analytical Approach. | Antnio Paulino, Helder Arajo |
| 2002 | IROS | Estimation of 3D motion from stereo images-uncertainty analysis and experimental results. | Nuno Gonalves, Helder Arajo |
| 2001 | CVPR | Issues on the Geometry of Central Catadioptric Image Formation. | Joo Pedro Barreto, Helder Arajo |
| 2000 | ICPR | Model Predictive Control to Improve Visual Control of Motion: Applications in Active Tracking of Moving Targets. | Joo Pedro Barreto, Jorge Batista, Helder Arajo |
| 2000 | ICPR | Binocular Tracking and Accommodation Controlled by Retinal Motion Flow. | Jorge Batista, Paulo Peixoto, Helder Arajo |
| 2000 | ICPR | A Surveillance System Integrating Visual Telepresence. | Paulo Peixoto, Joo Gonalves, Hugo Antunes, Jorge Batista, Helder Arajo |
| 2000 | ICRA | A Focusing-by-Vergence System Controlled by Retinal Motion Disparity. | Jorge Batista, Paulo Peixoto, Helder Arajo |
| 1999 | IROS | Tracking multiple objects in 3D. | Joo Pedro Barreto, Paulo Peixoto, Jorge Batista, Helder Arajo |
| 1999 | ICVS | Improving 3D Active Visual Tracking. | Joo Pedro Barreto, Paulo Peixoto, Jorge Batista, Helder Arajo |
| 1998 | ICCV | Iterative Multi-Step Explicit Camera Calibration. | Jorge Batista, Helder Arajo, Anbal T. de Almeida |
| 1998 | ICPR | A surveillance system combining peripheral and foveated motion tracking. | Paulo Peixoto, Jorge Batista, Helder Arajo |
| 1998 | IROS | Control performance issues in a binocular active vision system. | Joo Pedro Barreto, Paulo Peixoto, Jorge Batista, Helder Arajo |
| 1997 | ICRA | Real-time visual behaviors with a binocular active vision system. | Jorge Batista, Paulo Peixoto, Helder Arajo |
| 1997 | IROS | Real-time vergence and binocular gaze control. | Jorge Batista, Paulo Peixoto, Helder Arajo |
| 1996 | ICPR | Pursuit control in a binocular active vision system using optical flow. | Helder Arajo, Jorge Batista, Paulo Peixoto, Jorge Dias |
| 1996 | ICPR | Pose view stability analysis for camera look angles computation. | Jorge Batista, Helder Arajo, Anbal T. de Almeida |
| 1995 | ICRA | Simulating Pursuit with Machines Experiments with Robots and Artificial Vision. | Jorge Dias, Carlos Paredes, Incio Fonseca, Helder Arajo, Jorge P. Batista, Anbal T. de Almeida |
| 1993 | BMVC | Monoplanar Camera Calibration. | Jorge Batista, Jorge Dias, Helder Arajo, Anibal Traa-de-Almeida |
| 1991 | IROS | Depth recovery using active focus in robotics [vision]. | Jorge Dias, Anbal T. de Almeida, Helder Arajo |
| 1991 | IROS | Improving camera calibration by using multiple frames in hand-eye robotic systems. | Jorge Dias, Anbal T. de Almeida, Helder Arajo, Jorge Batista |