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David Geronimo; Angel Sappa; Daniel Ponsa; Antonio Lopez |
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Title |
2D-3D based on-board pedestrian detection system |
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2010 |
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Computer Vision and Image Understanding |
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CVIU |
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114 |
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5 |
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583–595 |
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Pedestrian detection; Advanced Driver Assistance Systems; Horizon line; Haar wavelets; Edge orientation histograms |
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During the next decade, on-board pedestrian detection systems will play a key role in the challenge of increasing traffic safety. The main target of these systems, to detect pedestrians in urban scenarios, implies overcoming difficulties like processing outdoor scenes from a mobile platform and searching for aspect-changing objects in cluttered environments. This makes such systems combine techniques in the state-of-the-art Computer Vision. In this paper we present a three module system based on both 2D and 3D cues. The first module uses 3D information to estimate the road plane parameters and thus select a coherent set of regions of interest (ROIs) to be further analyzed. The second module uses Real AdaBoost and a combined set of Haar wavelets and edge orientation histograms to classify the incoming ROIs as pedestrian or non-pedestrian. The final module loops again with the 3D cue in order to verify the classified ROIs and with the 2D in order to refine the final results. According to the results, the integration of the proposed techniques gives rise to a promising system. |
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Computer Vision and Image Understanding (Special Issue on Intelligent Vision Systems), Vol. 114(5):583-595 |
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1077-3142 |
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ADAS @ adas @ GSP2010 |
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1341 |
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Author |
Daniel Ponsa; Joan Serrat; Antonio Lopez |
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Title |
On-board image-based vehicle detection and tracking |
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2011 |
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Transactions of the Institute of Measurement and Control |
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TIM |
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33 |
Issue |
7 |
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783-805 |
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Keywords |
vehicle detection |
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In this paper we present a computer vision system for daytime vehicle detection and localization, an essential step in the development of several types of advanced driver assistance systems. It has a reduced processing time and high accuracy thanks to the combination of vehicle detection with lane-markings estimation and temporal tracking of both vehicles and lane markings. Concerning vehicle detection, our main contribution is a frame scanning process that inspects images according to the geometry of image formation, and with an Adaboost-based detector that is robust to the variability in the different vehicle types (car, van, truck) and lighting conditions. In addition, we propose a new method to estimate the most likely three-dimensional locations of vehicles on the road ahead. With regards to the lane-markings estimation component, we have two main contributions. First, we employ a different image feature to the other commonly used edges: we use ridges, which are better suited to this problem. Second, we adapt RANSAC, a generic robust estimation method, to fit a parametric model of a pair of lane markings to the image features. We qualitatively assess our vehicle detection system in sequences captured on several road types and under very different lighting conditions. The processed videos are available on a web page associated with this paper. A quantitative evaluation of the system has shown quite accurate results (a low number of false positives and negatives) at a reasonable computation time. |
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ADAS @ adas @ PSL2011 |
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1413 |
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Jose Manuel Alvarez; Antonio Lopez |
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Title |
Road Detection Based on Illuminant Invariance |
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Year |
2011 |
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IEEE Transactions on Intelligent Transportation Systems |
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TITS |
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12 |
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1 |
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184-193 |
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road detection |
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By using an onboard camera, it is possible to detect the free road surface ahead of the ego-vehicle. Road detection is of high relevance for autonomous driving, road departure warning, and supporting driver-assistance systems such as vehicle and pedestrian detection. The key for vision-based road detection is the ability to classify image pixels as belonging or not to the road surface. Identifying road pixels is a major challenge due to the intraclass variability caused by lighting conditions. A particularly difficult scenario appears when the road surface has both shadowed and nonshadowed areas. Accordingly, we propose a novel approach to vision-based road detection that is robust to shadows. The novelty of our approach relies on using a shadow-invariant feature space combined with a model-based classifier. The model is built online to improve the adaptability of the algorithm to the current lighting and the presence of other vehicles in the scene. The proposed algorithm works in still images and does not depend on either road shape or temporal restrictions. Quantitative and qualitative experiments on real-world road sequences with heavy traffic and shadows show that the method is robust to shadows and lighting variations. Moreover, the proposed method provides the highest performance when compared with hue-saturation-intensity (HSI)-based algorithms. |
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ADAS @ adas @ AlL2011 |
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1456 |
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Joan Serrat; Ferran Diego; Felipe Lumbreras |
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Los faros delanteros a traves del objetivo |
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2008 |
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UAB Divulga, Revista de divulgacion cientifica |
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ADAS @ adas @ SDL2008b |
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1471 |
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Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez |
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Title |
Rank Estimation in Missing Data Matrix Problems |
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2011 |
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Journal of Mathematical Imaging and Vision |
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JMIV |
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39 |
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2 |
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140-160 |
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A novel technique for missing data matrix rank estimation is presented. It is focused on matrices of trajectories, where every element of the matrix corresponds to an image coordinate from a feature point of a rigid moving object at a given frame; missing data are represented as empty entries. The objective of the proposed approach is to estimate the rank of a missing data matrix in order to fill in empty entries with some matrix completion method, without using or assuming neither the number of objects contained in the scene nor the kind of their motion. The key point of the proposed technique consists in studying the frequency behaviour of the individual trajectories, which are seen as 1D signals. The main assumption is that due to the rigidity of the moving objects, the frequency content of the trajectories will be similar after filling in their missing entries. The proposed rank estimation approach can be used in different computer vision problems, where the rank of a missing data matrix needs to be estimated. Experimental results with synthetic and real data are provided in order to empirically show the good performance of the proposed approach. |
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0924-9907 |
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Admin @ si @ JSL2011; |
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1710 |
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