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Jose Manuel Alvarez; Theo Gevers; Ferran Diego; Antonio Lopez |
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Title |
Road Geometry Classification by Adaptative Shape Models |
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Journal Article |
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2013 |
Publication |
IEEE Transactions on Intelligent Transportation Systems |
Abbreviated Journal |
TITS |
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14 |
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1 |
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459-468 |
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Keywords |
road detection |
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Abstract |
Vision-based road detection is important for different applications in transportation, such as autonomous driving, vehicle collision warning, and pedestrian crossing detection. Common approaches to road detection are based on low-level road appearance (e.g., color or texture) and neglect of the scene geometry and context. Hence, using only low-level features makes these algorithms highly depend on structured roads, road homogeneity, and lighting conditions. Therefore, the aim of this paper is to classify road geometries for road detection through the analysis of scene composition and temporal coherence. Road geometry classification is proposed by building corresponding models from training images containing prototypical road geometries. We propose adaptive shape models where spatial pyramids are steered by the inherent spatial structure of road images. To reduce the influence of lighting variations, invariant features are used. Large-scale experiments show that the proposed road geometry classifier yields a high recognition rate of 73.57% ± 13.1, clearly outperforming other state-of-the-art methods. Including road shape information improves road detection results over existing appearance-based methods. Finally, it is shown that invariant features and temporal information provide robustness against disturbing imaging conditions. |
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1524-9050 |
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ADAS;ISE |
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no |
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Admin @ si @ AGD2013;; ADAS @ adas @ |
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2269 |
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Author |
Mikhail Mozerov |
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Title |
Constrained Optical Flow Estimation as a Matching Problem |
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Journal Article |
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Year |
2013 |
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IEEE Transactions on Image Processing |
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TIP |
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22 |
Issue |
5 |
Pages |
2044-2055 |
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In general, discretization in the motion vector domain yields an intractable number of labels. In this paper we propose an approach that can reduce general optical flow to the constrained matching problem by pre-estimating a 2D disparity labeling map of the desired discrete motion vector function. One of the goals of the proposed paper is estimating coarse distribution of motion vectors and then utilizing this distribution as global constraints for discrete optical flow estimation. This pre-estimation is done with a simple frame-to-frame correlation technique also known as the digital symmetric-phase-only-filter (SPOF). We discover a strong correlation between the output of the SPOF and the motion vector distribution of the related optical flow. The two step matching paradigm for optical flow estimation is applied: pixel accuracy (integer flow), and subpixel accuracy estimation. The matching problem is solved by global optimization. Experiments on the Middlebury optical flow datasets confirm our intuitive assumptions about strong correlation between motion vector distribution of optical flow and maximal peaks of SPOF outputs. The overall performance of the proposed method is promising and achieves state-of-the-art results on the Middlebury benchmark. |
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1057-7149 |
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Admin @ si @ Moz2013 |
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2191 |
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Zeynep Yucel; Albert Ali Salah; Çetin Meriçli; Tekin Meriçli; Roberto Valenti; Theo Gevers |
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Title |
Joint Attention by Gaze Interpolation and Saliency |
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2013 |
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IEEE Transactions on cybernetics |
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T-CIBER |
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43 |
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3 |
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829-842 |
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Joint attention, which is the ability of coordination of a common point of reference with the communicating party, emerges as a key factor in various interaction scenarios. This paper presents an image-based method for establishing joint attention between an experimenter and a robot. The precise analysis of the experimenter's eye region requires stability and high-resolution image acquisition, which is not always available. We investigate regression-based interpolation of the gaze direction from the head pose of the experimenter, which is easier to track. Gaussian process regression and neural networks are contrasted to interpolate the gaze direction. Then, we combine gaze interpolation with image-based saliency to improve the target point estimates and test three different saliency schemes. We demonstrate the proposed method on a human-robot interaction scenario. Cross-subject evaluations, as well as experiments under adverse conditions (such as dimmed or artificial illumination or motion blur), show that our method generalizes well and achieves rapid gaze estimation for establishing joint attention. |
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2168-2267 |
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ALTRES;ISE |
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Admin @ si @ YSM2013 |
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2363 |
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Author |
Arjan Gijsenij; R. Lu; Theo Gevers; De Xu |
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Title |
Color Constancy for Multiple Light Source |
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Journal Article |
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Year |
2012 |
Publication |
IEEE Transactions on Image Processing |
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TIP |
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21 |
Issue |
2 |
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697-707 |
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Impact factor 2010: 2.92
Impact factor 2011/2012?: 3.32
Color constancy algorithms are generally based on the simplifying assumption that the spectral distribution of a light source is uniform across scenes. However, in reality, this assumption is often violated due to the presence of multiple light sources. In this paper, we will address more realistic scenarios where the uniform light-source assumption is too restrictive. First, a methodology is proposed to extend existing algorithms by applying color constancy locally to image patches, rather than globally to the entire image. After local (patch-based) illuminant estimation, these estimates are combined into more robust estimations, and a local correction is applied based on a modified diagonal model. Quantitative and qualitative experiments on spectral and real images show that the proposed methodology reduces the influence of two light sources simultaneously present in one scene. If the chromatic difference between these two illuminants is more than 1° , the proposed framework outperforms algorithms based on the uniform light-source assumption (with error-reduction up to approximately 30%). Otherwise, when the chromatic difference is less than 1° and the scene can be considered to contain one (approximately) uniform light source, the performance of the proposed method framework is similar to global color constancy methods. |
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1057-7149 |
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ALTRES;ISE |
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Admin @ si @ GLG2012a |
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1852 |
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Author |
Arjan Gijsenij; Theo Gevers; Joost Van de Weijer |
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Title |
Improving Color Constancy by Photometric Edge Weighting |
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Journal Article |
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Year |
2012 |
Publication |
IEEE Transaction on Pattern Analysis and Machine Intelligence |
Abbreviated Journal |
TPAMI |
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Volume |
34 |
Issue |
5 |
Pages |
918-929 |
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: Edge-based color constancy methods make use of image derivatives to estimate the illuminant. However, different edge types exist in real-world images such as material, shadow and highlight edges. These different edge types may have a distinctive influence on the performance of the illuminant estimation. Therefore, in this paper, an extensive analysis is provided of different edge types on the performance of edge-based color constancy methods. First, an edge-based taxonomy is presented classifying edge types based on their photometric properties (e.g. material, shadow-geometry and highlights). Then, a performance evaluation of edge-based color constancy is provided using these different edge types. From this performance evaluation it is derived that specular and shadow edge types are more valuable than material edges for the estimation of the illuminant. To this end, the (iterative) weighted Grey-Edge algorithm is proposed in which these edge types are more emphasized for the estimation of the illuminant. Images that are recorded under controlled circumstances demonstrate that the proposed iterative weighted Grey-Edge algorithm based on highlights reduces the median angular error with approximately $25\%$. In an uncontrolled environment, improvements in angular error up to $11\%$ are obtained with respect to regular edge-based color constancy. |
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Los Alamitos; CA; USA; |
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0162-8828 |
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CIC;ISE |
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Admin @ si @ GGW2012 |
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1850 |
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