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Jose Manuel Alvarez, Theo Gevers, Ferran Diego, & Antonio Lopez. (2013). Road Geometry Classification by Adaptative Shape Models. TITS - IEEE Transactions on Intelligent Transportation Systems, 14(1), 459–468.
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.
Keywords: road detection
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Angel Sappa, Fadi Dornaika, Daniel Ponsa, David Geronimo, & Antonio Lopez. (2008). An Efficient Approach to Onboard Stereo Vision System Pose Estimation. TITS - IEEE Transactions on Intelligent Transportation Systems, 9(3), 476–490.
Abstract: This paper presents an efficient technique for estimating the pose of an onboard stereo vision system relative to the environment’s dominant surface area, which is supposed to be the road surface. Unlike previous approaches, it can be used either for urban or highway scenarios since it is not based on a specific visual traffic feature extraction but on 3-D raw data points. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact 2-D representation of the original 3-D data points is computed. Then, a RANdom SAmple Consensus (RANSAC) based least-squares approach is used to fit a plane to the road. Fast RANSAC fitting is obtained by selecting points according to a probability function that takes into account the density of points at a given depth. Finally, stereo camera height and pitch angle are computed related to the fitted road plane. The proposed technique is intended to be used in driverassistance systems for applications such as vehicle or pedestrian detection. Experimental results on urban environments, which are the most challenging scenarios (i.e., flat/uphill/downhill driving, speed bumps, and car’s accelerations), are presented. These results are validated with manually annotated ground truth. Additionally, comparisons with previous works are presented to show the improvements in the central processing unit processing time, as well as in the accuracy of the obtained results.
Keywords: Camera extrinsic parameter estimation, ground plane estimation, onboard stereo vision system
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Miguel Oliveira, Angel Sappa, & Victor Santos. (2015). A probabilistic approach for color correction in image mosaicking applications. TIP - IEEE Transactions on Image Processing, 14(2), 508–523.
Abstract: Image mosaicking applications require both geometrical and photometrical registrations between the images that compose the mosaic. This paper proposes a probabilistic color correction algorithm for correcting the photometrical disparities. First, the image to be color corrected is segmented into several regions using mean shift. Then, connected regions are extracted using a region fusion algorithm. Local joint image histograms of each region are modeled as collections of truncated Gaussians using a maximum likelihood estimation procedure. Then, local color palette mapping functions are computed using these sets of Gaussians. The color correction is performed by applying those functions to all the regions of the image. An extensive comparison with ten other state of the art color correction algorithms is presented, using two different image pair data sets. Results show that the proposed approach obtains the best average scores in both data sets and evaluation metrics and is also the most robust to failures.
Keywords: Color correction; image mosaicking; color transfer; color palette mapping functions
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Katerine Diaz, Jesus Martinez del Rincon, Aura Hernandez-Sabate, Marçal Rusiñol, & Francesc J. Ferri. (2018). Fast Kernel Generalized Discriminative Common Vectors for Feature Extraction. JMIV - Journal of Mathematical Imaging and Vision, 60(4), 512–524.
Abstract: This paper presents a supervised subspace learning method called Kernel Generalized Discriminative Common Vectors (KGDCV), as a novel extension of the known Discriminative Common Vectors method with Kernels. Our method combines the advantages of kernel methods to model complex data and solve nonlinear
problems with moderate computational complexity, with the better generalization properties of generalized approaches for large dimensional data. These attractive combination makes KGDCV specially suited for feature extraction and classification in computer vision, image processing and pattern recognition applications. Two different approaches to this generalization are proposed, a first one based on the kernel trick (KT) and a second one based on the nonlinear projection trick (NPT) for even higher efficiency. Both methodologies
have been validated on four different image datasets containing faces, objects and handwritten digits, and compared against well known non-linear state-of-art methods. Results show better discriminant properties than other generalized approaches both linear or kernel. In addition, the KGDCV-NPT approach presents a considerable computational gain, without compromising the accuracy of the model.
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Fadi Dornaika, & Angel Sappa. (2009). Instantaneous 3D motion from image derivatives using the Least Trimmed Square Regression. PRL - Pattern Recognition Letters, 30(5), 535–543.
Abstract: This paper presents a new technique to the instantaneous 3D motion estimation. The main contributions are as follows. First, we show that the 3D camera or scene velocity can be retrieved from image derivatives only assuming that the scene contains a dominant plane. Second, we propose a new robust algorithm that simultaneously provides the Least Trimmed Square solution and the percentage of inliers-the non-contaminated data. Experiments on both synthetic and real image sequences demonstrated the effectiveness of the developed method. Those experiments show that the new robust approach can outperform classical robust schemes.
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