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Author Aymen Azaza; Joost Van de Weijer; Ali Douik; Marc Masana
Title Context Proposals for Saliency Detection Type Journal Article
Year 2018 Publication Computer Vision and Image Understanding Abbreviated Journal CVIU
Volume 174 Issue Pages 1-11
Keywords
Abstract (down) One of the fundamental properties of a salient object region is its contrast
with the immediate context. The problem is that numerous object regions
exist which potentially can all be salient. One way to prevent an exhaustive
search over all object regions is by using object proposal algorithms. These
return a limited set of regions which are most likely to contain an object. Several saliency estimation methods have used object proposals. However, they focus on the saliency of the proposal only, and the importance of its immediate context has not been evaluated.
In this paper, we aim to improve salient object detection. Therefore, we extend object proposal methods with context proposals, which allow to incorporate the immediate context in the saliency computation. We propose several saliency features which are computed from the context proposals. In the experiments, we evaluate five object proposal methods for the task of saliency segmentation, and find that Multiscale Combinatorial Grouping outperforms the others. Furthermore, experiments show that the proposed context features improve performance, and that our method matches results on the FT datasets and obtains competitive results on three other datasets (PASCAL-S, MSRA-B and ECSSD).
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 LAMP; 600.109; 600.109; 600.120 Approved no
Call Number Admin @ si @ AWD2018 Serial 3241
Permanent link to this record
 
 
Author Lu Yu
Title Semantic Representation: From Color to Deep Embeddings Type Book Whole
Year 2019 Publication PhD Thesis, Universitat Autonoma de Barcelona-CVC Abbreviated Journal
Volume Issue Pages
Keywords
Abstract (down) One of the fundamental problems of computer vision is to represent images with compact semantically relevant embeddings. These embeddings could then be used in a wide variety of applications, such as image retrieval, object detection, and video search. The main objective of this thesis is to study image embeddings from two aspects: color embeddings and deep embeddings.
In the first part of the thesis we start from hand-crafted color embeddings. We propose a method to order the additional color names according to their complementary nature with the basic eleven color names. This allows us to compute color name representations with high discriminative power of arbitrary length. Psychophysical experiments confirm that our proposed method outperforms baseline approaches. Secondly, we learn deep color embeddings from weakly labeled data by adding an attention strategy. The attention branch is able to correctly identify the relevant regions for each class. The advantage of our approach is that it can learn color names for specific domains for which no pixel-wise labels exists.
In the second part of the thesis, we focus on deep embeddings. Firstly, we address the problem of compressing large embedding networks into small networks, while maintaining similar performance. We propose to distillate the metrics from a teacher network to a student network. Two new losses are introduced to model the communication of a deep teacher network to a small student network: one based on an absolute teacher, where the student aims to produce the same embeddings as the teacher, and one based on a relative teacher, where the distances between pairs of data points is communicated from the teacher to the student. In addition, various aspects of distillation have been investigated for embeddings, including hint and attention layers, semi-supervised learning and cross quality distillation. Finally, another aspect of deep metric learning, namely lifelong learning, is studied. We observed some drift occurs during training of new tasks for metric learning. A method to estimate the semantic drift based on the drift which is experienced by data of the current task during its training is introduced. Having this estimation, previous tasks can be compensated for this drift, thereby improving their performance. Furthermore, we show that embedding networks suffer significantly less from catastrophic forgetting compared to classification networks when learning new tasks.
Address November 2019
Corporate Author Thesis Ph.D. thesis
Publisher Ediciones Graficas Rey Place of Publication Editor Joost Van de Weijer;Yongmei Cheng
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN 978-84-121011-3-3 Medium
Area Expedition Conference
Notes LAMP; 600.120 Approved no
Call Number Admin @ si @ Yu2019 Serial 3394
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Author Jorge Bernal; F. Javier Sanchez; Fernando Vilariño
Title Reduction of Pattern Search Area in Colonoscopy Images by Merging Non-Informative Regions Type Conference Article
Year 2010 Publication 28th Congreso Anual de la Sociedad Española de Ingeniería Biomédica Abbreviated Journal
Volume Issue Pages
Keywords
Abstract (down) One of the first usual steps in pattern recognition schemas is image segmentation, in order to reduce the dimensionality of the problem and manage smaller quantity of data. In our case as we are pursuing real-time colon cancer polyp detection, this step is crucial. In this paper we present a non-informative region estimation algorithm that will let us discard some parts of the image where we will not expect to find colon cancer polyps. The performance of our approach will be measured in terms of both non-informative areas elimination and polyps’ areas preserving. The results obtained show the importance of having correct non- informative region estimation in order to fasten the whole recognition process.
Address Madrid (Spain)
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 800 Expedition Conference CASEIB
Notes MV;SIAI Approved no
Call Number Admin @ si @ BSV2010 Serial 1469
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Author Razieh Rastgoo; Kourosh Kiani; Sergio Escalera
Title Real-time Isolated Hand Sign Language RecognitioN Using Deep Networks and SVD Type Journal
Year 2022 Publication Journal of Ambient Intelligence and Humanized Computing Abbreviated Journal
Volume 13 Issue Pages 591–611
Keywords
Abstract (down) One of the challenges in computer vision models, especially sign language, is real-time recognition. In this work, we present a simple yet low-complex and efficient model, comprising single shot detector, 2D convolutional neural network, singular value decomposition (SVD), and long short term memory, to real-time isolated hand sign language recognition (IHSLR) from RGB video. We employ the SVD method as an efficient, compact, and discriminative feature extractor from the estimated 3D hand keypoints coordinators. Despite the previous works that employ the estimated 3D hand keypoints coordinates as raw features, we propose a novel and revolutionary way to apply the SVD to the estimated 3D hand keypoints coordinates to get more discriminative features. SVD method is also applied to the geometric relations between the consecutive segments of each finger in each hand and also the angles between these sections. We perform a detailed analysis of recognition time and accuracy. One of our contributions is that this is the first time that the SVD method is applied to the hand pose parameters. Results on four datasets, RKS-PERSIANSIGN (99.5±0.04), First-Person (91±0.06), ASVID (93±0.05), and isoGD (86.1±0.04), confirm the efficiency of our method in both accuracy (mean+std) and time recognition. Furthermore, our model outperforms or gets competitive results with the state-of-the-art alternatives in IHSLR and hand action recognition.
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 HUPBA; no proj Approved no
Call Number Admin @ si @ RKE2022a Serial 3660
Permanent link to this record
 
 
Author Jorge Bernal
Title Use of Projection and Back-projection Methods in Bidimensional Computed Tomography Image Reconstruction Type Report
Year 2009 Publication CVC Tecnical Report Abbreviated Journal
Volume 141 Issue Pages
Keywords Projection, Back-projection, CT scan, Euclidean geometry, Radon transform
Abstract (down) One of the biggest drawbacks related to the use of CT scanners is the cost (in memory and in time) associated. In this project many methods to simulate their functioning, but in a more feasible way (taking an industrial point of view), will be studied.
The main group of techniques that are being used are the one entitled as ’back-projection’. The concept behind is to simulate the X ray emission in CT scans by lines that cross with the image we want to reconstruct.
In the first part of this document euclidean geometry is used to face the tasks of projec- tion and back-projection. After analysing the results achieved it has been proved that this approach does not lead to a fully perfect reconstruction (and also has some other problems related to running time and memory cost). Because of this in the second part of the document ’Filtered Back-projection’ method is introduced in order to improve the results.
Filtered Back-projection methods rely on mathematical transforms (Fourier, Radon) in order to provide more accurate results that can be obtained in much less time. The main cause of this better results is the use of a filtering process before the back-projection in order to avoid high frequency-caused errors.
As a result of this project two different implementations (one for each approach) had been implemented in order to compare their performance.
Address
Corporate Author Computer Vision Center Thesis Master's thesis
Publisher Place of Publication Barcelona, Spain Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area 800 Expedition Conference
Notes MV; Approved no
Call Number IAM @ iam @ Ber2009 Serial 1693
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Author Yaxing Wang; Abel Gonzalez-Garcia; David Berga; Luis Herranz; Fahad Shahbaz Khan; Joost Van de Weijer
Title MineGAN: effective knowledge transfer from GANs to target domains with few images Type Conference Article
Year 2020 Publication 33rd IEEE Conference on Computer Vision and Pattern Recognition Abbreviated Journal
Volume Issue Pages
Keywords
Abstract (down) One of the attractive characteristics of deep neural networks is their ability to transfer knowledge obtained in one domain to other related domains. As a result, high-quality networks can be trained in domains with relatively little training data. This property has been extensively studied for discriminative networks but has received significantly less attention for generative models. Given the often enormous effort required to train GANs, both computationally as well as in the dataset collection, the re-use of pretrained GANs is a desirable objective. We propose a novel knowledge transfer method for generative models based on mining the knowledge that is most beneficial to a specific target domain, either from a single or multiple pretrained GANs. This is done using a miner network that identifies which part of the generative distribution of each pretrained GAN outputs samples closest to the target domain. Mining effectively steers GAN sampling towards suitable regions of the latent space, which facilitates the posterior finetuning and avoids pathologies of other methods such as mode collapse and lack of flexibility. We perform experiments on several complex datasets using various GAN architectures (BigGAN, Progressive GAN) and show that the proposed method, called MineGAN, effectively transfers knowledge to domains with few target images, outperforming existing methods. In addition, MineGAN can successfully transfer knowledge from multiple pretrained GANs.
Address Virtual CVPR
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 CVPR
Notes LAMP; 600.109; 600.141; 600.120 Approved no
Call Number Admin @ si @ WGB2020 Serial 3421
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Author Angel Morera; Angel Sanchez; Angel Sappa; Jose F. Velez
Title Robust Detection of Outdoor Urban Advertising Panels in Static Images Type Conference Article
Year 2019 Publication 18th International Conference on Practical Applications of Agents and Multi-Agent Systems Abbreviated Journal
Volume Issue Pages 246-256
Keywords Object detection; Urban ads panels; Deep learning; Single Shot Detector (SSD) architecture; Intersection over Union (IoU) metric; Augmented Reality
Abstract (down) One interesting publicity application for Smart City environments is recognizing brand information contained in urban advertising panels. For such a purpose, a previous stage is to accurately detect and locate the position of these panels in images. This work presents an effective solution to this problem using a Single Shot Detector (SSD) based on a deep neural network architecture that minimizes the number of false detections under multiple variable conditions regarding the panels and the scene. Achieved experimental results using the Intersection over Union (IoU) accuracy metric make this proposal applicable in real complex urban images.
Address Aquila; Italia; June 2019
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 PAAMS
Notes MSIAU; 600.130; 600.122 Approved no
Call Number Admin @ si @ MSS2019 Serial 3270
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Author Joost Van de Weijer; Fahad Shahbaz Khan; Marc Masana
Title Interactive Visual and Semantic Image Retrieval Type Book Chapter
Year 2013 Publication Multimodal Interaction in Image and Video Applications Abbreviated Journal
Volume 48 Issue Pages 31-35
Keywords
Abstract (down) One direct consequence of recent advances in digital visual data generation and the direct availability of this information through the World-Wide Web, is a urgent demand for efficient image retrieval systems. The objective of image retrieval is to allow users to efficiently browse through this abundance of images. Due to the non-expert nature of the majority of the internet users, such systems should be user friendly, and therefore avoid complex user interfaces. In this chapter we investigate how high-level information provided by recently developed object recognition techniques can improve interactive image retrieval. Wel apply a bagof- word based image representation method to automatically classify images in a number of categories. These additional labels are then applied to improve the image retrieval system. Next to these high-level semantic labels, we also apply a low-level image description to describe the composition and color scheme of the scene. Both descriptions are incorporated in a user feedback image retrieval setting. The main objective is to show that automatic labeling of images with semantic labels can improve image retrieval results.
Address
Corporate Author Thesis
Publisher Springer Berlin Heidelberg Place of Publication Editor Angel Sappa; Jordi Vitria
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN 1868-4394 ISBN 978-3-642-35931-6 Medium
Area Expedition Conference
Notes CIC; 605.203; 600.048 Approved no
Call Number Admin @ si @ WKC2013 Serial 2284
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Author Sounak Dey; Anjan Dutta; Josep Llados; Alicia Fornes; Umapada Pal
Title Shallow Neural Network Model for Hand-drawn Symbol Recognition in Multi-Writer Scenario Type Conference Article
Year 2017 Publication 12th IAPR International Workshop on Graphics Recognition Abbreviated Journal
Volume Issue Pages 31-32
Keywords
Abstract (down) One of the main challenges in hand drawn symbol recognition is the variability among symbols because of the different writer styles. In this paper, we present and discuss some results recognizing hand-drawn symbols with a shallow neural network. A neural network model inspired from the LeNet architecture has been used to achieve state-of-the-art results with
very less training data, which is very unlikely to the data hungry deep neural network. From the results, it has become evident that the neural network architectures can efficiently describe and recognize hand drawn symbols from different writers and can model the inter author aberration
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 GREC
Notes DAG; 600.097; 600.121 Approved no
Call Number Admin @ si @ DDL2017 Serial 3057
Permanent link to this record
 
 
Author David Geronimo; Angel Sappa; Antonio Lopez; Daniel Ponsa
Title Adaptive Image Sampling and Windows Classification for On-board Pedestrian Detection Type Conference Article
Year 2007 Publication Proceedings of the 5th International Conference on Computer Vision Systems Abbreviated Journal ICVS
Volume Issue Pages
Keywords Pedestrian Detection
Abstract (down) On–board pedestrian detection is in the frontier of the state–of–the–art since it implies processing outdoor scenarios from a mobile platform and searching for aspect–changing objects in cluttered urban environments. Most promising approaches include the development of classifiers based on feature selection and machine learning. However, they use a large number of features which compromises real–time. Thus, methods for running the classifiers in only a few image windows must be provided. In this paper we contribute in both aspects, proposing a camera
pose estimation method for adaptive sparse image sampling, as well as a classifier for pedestrian detection based on Haar wavelets and edge orientation histograms as features and AdaBoost as learning machine. Both proposals are compared with relevant approaches in the literature, showing comparable results but reducing processing time by four for the sampling tasks and by ten for the classification one.
Address Bielefeld (Germany)
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 ADAS Approved no
Call Number ADAS @ adas @ gsl2007a Serial 786
Permanent link to this record
 
 
Author Gabriel Villalonga; Joost Van de Weijer; Antonio Lopez
Title Recognizing new classes with synthetic data in the loop: application to traffic sign recognition Type Journal Article
Year 2020 Publication Sensors Abbreviated Journal SENS
Volume 20 Issue 3 Pages 583
Keywords
Abstract (down) On-board vision systems may need to increase the number of classes that can be recognized in a relatively short period. For instance, a traffic sign recognition system may suddenly be required to recognize new signs. Since collecting and annotating samples of such new classes may need more time than we wish, especially for uncommon signs, we propose a method to generate these samples by combining synthetic images and Generative Adversarial Network (GAN) technology. In particular, the GAN is trained on synthetic and real-world samples from known classes to perform synthetic-to-real domain adaptation, but applied to synthetic samples of the new classes. Using the Tsinghua dataset with a synthetic counterpart, SYNTHIA-TS, we have run an extensive set of experiments. The results show that the proposed method is indeed effective, provided that we use a proper Convolutional Neural Network (CNN) to perform the traffic sign recognition (classification) task as well as a proper GAN to transform the synthetic images. Here, a ResNet101-based classifier and domain adaptation based on CycleGAN performed extremely well for a ratio∼ 1/4 for new/known classes; even for more challenging ratios such as∼ 4/1, the results are also very positive.
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 LAMP; ADAS; 600.118; 600.120 Approved no
Call Number Admin @ si @ VWL2020 Serial 3405
Permanent link to this record
 
 
Author Jiaolong Xu
Title Domain Adaptation of Deformable Part-based Models Type Book Whole
Year 2015 Publication PhD Thesis, Universitat Autonoma de Barcelona-CVC Abbreviated Journal
Volume Issue Pages
Keywords
Abstract (down) On-board pedestrian detection is crucial for Advanced Driver Assistance Systems
(ADAS). An accurate classi cation is fundamental for vision-based pedestrian detection.
The underlying assumption for learning classi ers is that the training set and the deployment environment (testing) follow the same probability distribution regarding the features used by the classi ers. However, in practice, there are di erent reasons that can break this constancy assumption. Accordingly, reusing existing classi ers by adapting them from the previous training environment (source domain) to the new testing one (target domain) is an approach with increasing acceptance in the computer vision community. In this thesis we focus on the domain adaptation of deformable part-based models (DPMs) for pedestrian detection. As a prof of concept, we use a computer graphic based synthetic dataset, i.e. a virtual world, as the source domain, and adapt the virtual-world trained DPM detector to various real-world dataset.
We start by exploiting the maximum detection accuracy of the virtual-world
trained DPM. Even though, when operating in various real-world datasets, the virtualworld trained detector still su er from accuracy degradation due to the domain gap of virtual and real worlds. We then focus on domain adaptation of DPM. At the rst step, we consider single source and single target domain adaptation and propose two batch learning methods, namely A-SSVM and SA-SSVM. Later, we further consider leveraging multiple target (sub-)domains for progressive domain adaptation and propose a hierarchical adaptive structured SVM (HA-SSVM) for optimization. Finally, we extend HA-SSVM for the challenging online domain adaptation problem, aiming at making the detector to automatically adapt to the target domain online, without any human intervention. All of the proposed methods in this thesis do not require
revisiting source domain data. The evaluations are done on the Caltech pedestrian detection benchmark. Results show that SA-SSVM slightly outperforms A-SSVM and avoids accuracy drops as high as 15 points when comparing with a non-adapted detector. The hierarchical model learned by HA-SSVM further boosts the domain adaptation performance. Finally, the online domain adaptation method has demonstrated that it can achieve comparable accuracy to the batch learned models while not requiring manually label target domain examples. Domain adaptation for pedestrian detection is of paramount importance and a relatively unexplored area. We humbly hope the work in this thesis could provide foundations for future work in this area.
Address April 2015
Corporate Author Thesis Ph.D. thesis
Publisher Place of Publication Editor Antonio Lopez
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN 978-84-943427-1-4 Medium
Area Expedition Conference
Notes ADAS; 600.076 Approved no
Call Number Admin @ si @ Xu2015 Serial 2631
Permanent link to this record
 
 
Author David Castells; Vinh Ngo; Juan Borrego-Carazo; Marc Codina; Carles Sanchez; Debora Gil; Jordi Carrabina
Title A Survey of FPGA-Based Vision Systems for Autonomous Cars Type Journal Article
Year 2022 Publication IEEE Access Abbreviated Journal ACESS
Volume 10 Issue Pages 132525-132563
Keywords Autonomous automobile; Computer vision; field programmable gate arrays; reconfigurable architectures
Abstract (down) On the road to making self-driving cars a reality, academic and industrial researchers are working hard to continue to increase safety while meeting technical and regulatory constraints Understanding the surrounding environment is a fundamental task in self-driving cars. It requires combining complex computer vision algorithms. Although state-of-the-art algorithms achieve good accuracy, their implementations often require powerful computing platforms with high power consumption. In some cases, the processing speed does not meet real-time constraints. FPGA platforms are often used to implement a category of latency-critical algorithms that demand maximum performance and energy efficiency. Since self-driving car computer vision functions fall into this category, one could expect to see a wide adoption of FPGAs in autonomous cars. In this paper, we survey the computer vision FPGA-based works from the literature targeting automotive applications over the last decade. Based on the survey, we identify the strengths and weaknesses of FPGAs in this domain and future research opportunities and challenges.
Address 16 December 2022
Corporate Author Thesis
Publisher IEEE 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 IAM; 600.166 Approved no
Call Number Admin @ si @ CNB2022 Serial 3760
Permanent link to this record
 
 
Author T. Widemann; Xavier Otazu
Title Titanias radius and an upper limit on its atmosphere from the September 8, 2001 stellar occultation Type Journal Article
Year 2009 Publication International Journal of Solar System Studies Abbreviated Journal
Volume 199 Issue 2 Pages 458–476
Keywords Occultations; Uranus, satellites; Satellites, shapes; Satellites, dynamics; Ices; Satellites, atmospheres
Abstract (down) On September 8, 2001 around 2 h UT, the largest uranian moon, Titania, occulted Hipparcos star 106829 (alias SAO 164538, a V=7.2, K0 III star). This was the first-ever observed occultation by this satellite, a rare event as Titania subtends only 0.11 arcsec on the sky. The star's unusual brightness allowed many observers, both amateurs or professionals, to monitor this unique event, providing fifty-seven occultations chords over three continents, all reported here. Selecting the best 27 occultation chords, and assuming a circular limb, we derive Titania's radius: View the MathML source (1-σ error bar). This implies a density of View the MathML source using the value View the MathML source derived by Taylor [Taylor, D.B., 1998. Astron. Astrophys. 330, 362–374]. We do not detect any significant difference between equatorial and polar radii, in the limit View the MathML source, in agreement with Voyager limb image retrieval during the 1986 flyby. Titania's offset with respect to the DE405 + URA027 (based on GUST86 theory) ephemeris is derived: ΔαTcos(δT)=−108±13 mas and ΔδT=−62±7 mas (ICRF J2000.0 system). Most of this offset is attributable to a Uranus' barycentric offset with respect to DE405, that we estimate to be: View the MathML source and ΔδU=−85±25 mas at the moment of occultation. This offset is confirmed by another Titania stellar occultation observed on August 1st, 2003, which provides an offset of ΔαTcos(δT)=−127±20 mas and ΔδT=−97±13 mas for the satellite. The combined ingress and egress data do not show any significant hint for atmospheric refraction, allowing us to set surface pressure limits at the level of 10–20 nbar. More specifically, we find an upper limit of 13 nbar (1-σ level) at 70 K and 17 nbar at 80 K, for a putative isothermal CO2 atmosphere. We also provide an upper limit of 8 nbar for a possible CH4 atmosphere, and 22 nbar for pure N2, again at the 1-σ level. We finally constrain the stellar size using the time-resolved star disappearance and reappearance at ingress and egress. We find an angular diameter of 0.54±0.03 mas (corresponding to View the MathML source projected at Titania). With a distance of 170±25 parsecs, this corresponds to a radius of 9.8±0.2 solar radii for HIP 106829, typical of a K0 III giant.
Address
Corporate Author Thesis
Publisher ELSEVIER Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN 0019-1035 ISBN Medium
Area Expedition Conference
Notes CIC Approved no
Call Number CAT @ cat @ Wid2009 Serial 1052
Permanent link to this record
 
 
Author Yi Xiao; Felipe Codevilla; Diego Porres; Antonio Lopez
Title Scaling Vision-Based End-to-End Autonomous Driving with Multi-View Attention Learning Type Conference Article
Year 2023 Publication International Conference on Intelligent Robots and Systems Abbreviated Journal
Volume Issue Pages
Keywords
Abstract (down) On end-to-end driving, human driving demonstrations are used to train perception-based driving models by imitation learning. This process is supervised on vehicle signals (e.g., steering angle, acceleration) but does not require extra costly supervision (human labeling of sensor data). As a representative of such vision-based end-to-end driving models, CILRS is commonly used as a baseline to compare with new driving models. So far, some latest models achieve better performance than CILRS by using expensive sensor suites and/or by using large amounts of human-labeled data for training. Given the difference in performance, one may think that it is not worth pursuing vision-based pure end-to-end driving. However, we argue that this approach still has great value and potential considering cost and maintenance. In this paper, we present CIL++, which improves on CILRS by both processing higher-resolution images using a human-inspired HFOV as an inductive bias and incorporating a proper attention mechanism. CIL++ achieves competitive performance compared to models which are more costly to develop. We propose to replace CILRS with CIL++ as a strong vision-based pure end-to-end driving baseline supervised by only vehicle signals and trained by conditional imitation learning.
Address Detroit; USA; October 2023
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 IROS
Notes ADAS Approved no
Call Number Admin @ si @ XCP2023 Serial 3930
Permanent link to this record