|
Records |
Links |
|
Author |
Miguel Oliveira; Victor Santos; Angel Sappa |
![goto web page (via DOI) doi](http://refbase.cvc.uab.es/img/doi.gif)
|
|
Title |
Multimodal Inverse Perspective Mapping |
Type |
Journal Article |
|
Year |
2015 |
Publication |
Information Fusion |
Abbreviated Journal |
IF |
|
|
Volume |
24 |
Issue |
|
Pages |
108–121 |
|
|
Keywords |
Inverse perspective mapping; Multimodal sensor fusion; Intelligent vehicles |
|
|
Abstract |
Over the past years, inverse perspective mapping has been successfully applied to several problems in the field of Intelligent Transportation Systems. In brief, the method consists of mapping images to a new coordinate system where perspective effects are removed. The removal of perspective associated effects facilitates road and obstacle detection and also assists in free space estimation. There is, however, a significant limitation in the inverse perspective mapping: the presence of obstacles on the road disrupts the effectiveness of the mapping. The current paper proposes a robust solution based on the use of multimodal sensor fusion. Data from a laser range finder is fused with images from the cameras, so that the mapping is not computed in the regions where obstacles are present. As shown in the results, this considerably improves the effectiveness of the algorithm and reduces computation time when compared with the classical inverse perspective mapping. Furthermore, the proposed approach is also able to cope with several cameras with different lenses or image resolutions, as well as dynamic viewpoints. |
|
|
Address |
|
|
|
Corporate Author |
|
Thesis |
|
|
|
Publisher |
|
Place of Publication |
|
Editor |
|
|
|
Language |
|
Summary Language |
|
Original Title |
|
|
|
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
|
Series Volume |
|
Series Issue |
|
Edition |
|
|
|
ISSN |
|
ISBN |
|
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
|
|
|
Notes ![sorted by Notes field, descending order (down)](http://refbase.cvc.uab.es/img/sort_desc.gif) |
ADAS; 600.055; 600.076 |
Approved |
no |
|
|
Call Number |
Admin @ si @ OSS2015c |
Serial |
2532 |
|
Permanent link to this record |
|
|
|
|
Author |
T. Mouats; N. Aouf; Angel Sappa; Cristhian A. Aguilera-Carrasco; Ricardo Toledo |
![goto web page (via DOI) doi](http://refbase.cvc.uab.es/img/doi.gif)
|
|
Title |
Multi-Spectral Stereo Odometry |
Type |
Journal Article |
|
Year |
2015 |
Publication |
IEEE Transactions on Intelligent Transportation Systems |
Abbreviated Journal |
TITS |
|
|
Volume |
16 |
Issue |
3 |
Pages |
1210-1224 |
|
|
Keywords |
Egomotion estimation; feature matching; multispectral odometry (MO); optical flow; stereo odometry; thermal imagery |
|
|
Abstract |
In this paper, we investigate the problem of visual odometry for ground vehicles based on the simultaneous utilization of multispectral cameras. It encompasses a stereo rig composed of an optical (visible) and thermal sensors. The novelty resides in the localization of the cameras as a stereo setup rather
than two monocular cameras of different spectrums. To the best of our knowledge, this is the first time such task is attempted. Log-Gabor wavelets at different orientations and scales are used to extract interest points from both images. These are then described using a combination of frequency and spatial information within the local neighborhood. Matches between the pairs of multimodal images are computed using the cosine similarity function based
on the descriptors. Pyramidal Lucas–Kanade tracker is also introduced to tackle temporal feature matching within challenging sequences of the data sets. The vehicle egomotion is computed from the triangulated 3-D points corresponding to the matched features. A windowed version of bundle adjustment incorporating
Gauss–Newton optimization is utilized for motion estimation. An outlier removal scheme is also included within the framework to deal with outliers. Multispectral data sets were generated and used as test bed. They correspond to real outdoor scenarios captured using our multimodal setup. Finally, detailed results validating the proposed strategy are illustrated. |
|
|
Address |
|
|
|
Corporate Author |
|
Thesis |
|
|
|
Publisher |
|
Place of Publication |
|
Editor |
|
|
|
Language |
|
Summary Language |
|
Original Title |
|
|
|
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
|
Series Volume |
|
Series Issue |
|
Edition |
|
|
|
ISSN |
1524-9050 |
ISBN |
|
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
|
|
|
Notes ![sorted by Notes field, descending order (down)](http://refbase.cvc.uab.es/img/sort_desc.gif) |
ADAS; 600.055; 600.076 |
Approved |
no |
|
|
Call Number |
Admin @ si @ MAS2015a |
Serial |
2533 |
|
Permanent link to this record |
|
|
|
|
Author |
Joan Marc Llargues Asensio; Juan Peralta; Raul Arrabales; Manuel Gonzalez Bedia; Paulo Cortez; Antonio Lopez |
![goto web page (via DOI) doi](http://refbase.cvc.uab.es/img/doi.gif)
|
|
Title |
Artificial Intelligence Approaches for the Generation and Assessment of Believable Human-Like Behaviour in Virtual Characters |
Type |
Journal Article |
|
Year |
2014 |
Publication |
Expert Systems With Applications |
Abbreviated Journal |
EXSY |
|
|
Volume |
41 |
Issue |
16 |
Pages |
7281–7290 |
|
|
Keywords |
Turing test; Human-like behaviour; Believability; Non-player characters; Cognitive architectures; Genetic algorithm; Artificial neural networks |
|
|
Abstract |
Having artificial agents to autonomously produce human-like behaviour is one of the most ambitious original goals of Artificial Intelligence (AI) and remains an open problem nowadays. The imitation game originally proposed by Turing constitute a very effective method to prove the indistinguishability of an artificial agent. The behaviour of an agent is said to be indistinguishable from that of a human when observers (the so-called judges in the Turing test) cannot tell apart humans and non-human agents. Different environments, testing protocols, scopes and problem domains can be established to develop limited versions or variants of the original Turing test. In this paper we use a specific version of the Turing test, based on the international BotPrize competition, built in a First-Person Shooter video game, where both human players and non-player characters interact in complex virtual environments. Based on our past experience both in the BotPrize competition and other robotics and computer game AI applications we have developed three new more advanced controllers for believable agents: two based on a combination of the CERA–CRANIUM and SOAR cognitive architectures and other based on ADANN, a system for the automatic evolution and adaptation of artificial neural networks. These two new agents have been put to the test jointly with CCBot3, the winner of BotPrize 2010 competition (Arrabales et al., 2012), and have showed a significant improvement in the humanness ratio. Additionally, we have confronted all these bots to both First-person believability assessment (BotPrize original judging protocol) and Third-person believability assessment, demonstrating that the active involvement of the judge has a great impact in the recognition of human-like behaviour. |
|
|
Address |
|
|
|
Corporate Author |
|
Thesis |
|
|
|
Publisher |
|
Place of Publication |
|
Editor |
|
|
|
Language |
|
Summary Language |
|
Original Title |
|
|
|
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
|
Series Volume |
|
Series Issue |
|
Edition |
|
|
|
ISSN |
|
ISBN |
|
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
|
|
|
Notes ![sorted by Notes field, descending order (down)](http://refbase.cvc.uab.es/img/sort_desc.gif) |
ADAS; 600.055; 600.057; 600.076 |
Approved |
no |
|
|
Call Number |
Admin @ si @ LPA2014 |
Serial |
2500 |
|
Permanent link to this record |
|
|
|
|
Author |
Fernando Barrera; Felipe Lumbreras; Angel Sappa |
![goto web page url](http://refbase.cvc.uab.es/img/www.gif)
![find record details (via OpenURL) openurl](http://refbase.cvc.uab.es/img/xref.gif)
|
|
Title |
Multispectral Piecewise Planar Stereo using Manhattan-World Assumption |
Type |
Journal Article |
|
Year |
2013 |
Publication |
Pattern Recognition Letters |
Abbreviated Journal |
PRL |
|
|
Volume |
34 |
Issue |
1 |
Pages |
52-61 |
|
|
Keywords |
Multispectral stereo rig; Dense disparity maps from multispectral stereo; Color and infrared images |
|
|
Abstract |
This paper proposes a new framework for extracting dense disparity maps from a multispectral stereo rig. The system is constructed with an infrared and a color camera. It is intended to explore novel multispectral stereo matching approaches that will allow further extraction of semantic information. The proposed framework consists of three stages. Firstly, an initial sparse disparity map is generated by using a cost function based on feature matching in a multiresolution scheme. Then, by looking at the color image, a set of planar hypotheses is defined to describe the surfaces on the scene. Finally, the previous stages are combined by reformulating the disparity computation as a global minimization problem. The paper has two main contributions. The first contribution combines mutual information with a shape descriptor based on gradient in a multiresolution scheme. The second contribution, which is based on the Manhattan-world assumption, extracts a dense disparity representation using the graph cut algorithm. Experimental results in outdoor scenarios are provided showing the validity of the proposed framework. |
|
|
Address |
|
|
|
Corporate Author |
|
Thesis |
|
|
|
Publisher |
|
Place of Publication |
|
Editor |
|
|
|
Language |
|
Summary Language |
|
Original Title |
|
|
|
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
|
Series Volume |
|
Series Issue |
|
Edition |
|
|
|
ISSN |
|
ISBN |
|
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
|
|
|
Notes ![sorted by Notes field, descending order (down)](http://refbase.cvc.uab.es/img/sort_desc.gif) |
ADAS; 600.054; 600.055; 605.203 |
Approved |
no |
|
|
Call Number |
Admin @ si @ BLS2013 |
Serial |
2245 |
|
Permanent link to this record |
|
|
|
|
Author |
Felipe Lumbreras; Joan Serrat |
![goto web page (via DOI) doi](http://refbase.cvc.uab.es/img/doi.gif)
|
|
Title |
Wavelet filtering for the segmentation of marble images. |
Type |
Journal Article |
|
Year |
1996 |
Publication |
Optical Engineering |
Abbreviated Journal |
|
|
|
Volume |
35 |
Issue |
10 |
Pages |
|
|
|
Keywords |
|
|
|
Abstract |
|
|
|
Address |
|
|
|
Corporate Author |
|
Thesis |
|
|
|
Publisher |
|
Place of Publication |
|
Editor |
|
|
|
Language |
|
Summary Language |
|
Original Title |
|
|
|
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
|
Series Volume |
|
Series Issue |
|
Edition |
|
|
|
ISSN |
|
ISBN |
|
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
|
|
|
Notes ![sorted by Notes field, descending order (down)](http://refbase.cvc.uab.es/img/sort_desc.gif) |
ADAS |
Approved |
no |
|
|
Call Number |
ADAS @ adas @ LuS1996a |
Serial |
77 |
|
Permanent link to this record |