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Eugenio Alcala; Laura Sellart; Vicenc Puig; Joseba Quevedo; Jordi Saludes; David Vazquez; Antonio Lopez |
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Comparison of two non-linear model-based control strategies for autonomous vehicles |
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Conference Article |
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2016 |
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24th Mediterranean Conference on Control and Automation |
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846-851 |
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Autonomous Driving; Control |
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This paper presents the comparison of two nonlinear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using this approach, the error dynamics model is developed. Both controllers receive as input the longitudinal, lateral and orientation errors generating as control outputs the steering angle and the velocity of the vehicle. The first control approach is based on a non-linear control law that is designed by means of the Lyapunov direct approach. The second approach is based on a sliding mode-control that defines a set of sliding surfaces over which the error trajectories will converge. The main advantage of the sliding-control technique is the robustness against non-linearities and parametric uncertainties in the model. However, the main drawback of first order sliding mode is the chattering, so it has been implemented a high order sliding mode control. To test and compare the proposed control strategies, different path following scenarios are used in simulation. |
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Athens; Greece; June 2016 |
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ADAS; 600.085; 600.082; 600.076 |
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ADAS @ adas @ ASP2016 |
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2750 |
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Author |
Y. Patel; Lluis Gomez; Marçal Rusiñol; Dimosthenis Karatzas |
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Title |
Dynamic Lexicon Generation for Natural Scene Images |
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Conference Article |
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Year |
2016 |
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14th European Conference on Computer Vision Workshops |
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395-410 |
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scene text; photo OCR; scene understanding; lexicon generation; topic modeling; CNN |
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Many scene text understanding methods approach the endtoend recognition problem from a word-spotting perspective and take huge bene t from using small per-image lexicons. Such customized lexicons are normally assumed as given and their source is rarely discussed.
In this paper we propose a method that generates contextualized lexicons
for scene images using only visual information. For this, we exploit
the correlation between visual and textual information in a dataset consisting
of images and textual content associated with them. Using the topic modeling framework to discover a set of latent topics in such a dataset allows us to re-rank a xed dictionary in a way that prioritizes the words that are more likely to appear in a given image. Moreover, we train a CNN that is able to reproduce those word rankings but using only the image raw pixels as input. We demonstrate that the quality of the automatically obtained custom lexicons is superior to a generic frequency-based baseline. |
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Amsterdam; The Netherlands; October 2016 |
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ECCVW |
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DAG; 600.084 |
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Admin @ si @ PGR2016 |
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2825 |
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Victor Ponce; Baiyu Chen; Marc Oliu; Ciprian Corneanu; Albert Clapes; Isabelle Guyon; Xavier Baro; Hugo Jair Escalante; Sergio Escalera |
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Title |
ChaLearn LAP 2016: First Round Challenge on First Impressions – Dataset and Results |
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2016 |
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14th European Conference on Computer Vision Workshops |
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Behavior Analysis; Personality Traits; First Impressions |
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This paper summarizes the ChaLearn Looking at People 2016 First Impressions challenge data and results obtained by the teams in the rst round of the competition. The goal of the competition was to automatically evaluate ve \apparent“ personality traits (the so-called \Big Five”) from videos of subjects speaking in front of a camera, by using human judgment. In this edition of the ChaLearn challenge, a novel data set consisting of 10,000 shorts clips from YouTube videos has been made publicly available. The ground truth for personality traits was obtained from workers of Amazon Mechanical Turk (AMT). To alleviate calibration problems between workers, we used pairwise comparisons between videos, and variable levels were reconstructed by tting a Bradley-Terry-Luce model with maximum likelihood. The CodaLab open source
platform was used for submission of predictions and scoring. The competition attracted, over a period of 2 months, 84 participants who are grouped in several teams. Nine teams entered the nal phase. Despite the diculty of the task, the teams made great advances in this round of the challenge. |
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Amsterdam; The Netherlands; October 2016 |
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ECCVW |
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HuPBA;MV; 600.063 |
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Admin @ si @ PCP2016 |
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2828 |
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Cesar de Souza; Adrien Gaidon; Eleonora Vig; Antonio Lopez |
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Title |
Sympathy for the Details: Dense Trajectories and Hybrid Classification Architectures for Action Recognition |
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Conference Article |
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Year |
2016 |
Publication |
14th European Conference on Computer Vision |
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697-716 |
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Action recognition in videos is a challenging task due to the complexity of the spatio-temporal patterns to model and the difficulty to acquire and learn on large quantities of video data. Deep learning, although a breakthrough for image classification and showing promise for videos, has still not clearly superseded action recognition methods using hand-crafted features, even when training on massive datasets. In this paper, we introduce hybrid video classification architectures based on carefully designed unsupervised representations of hand-crafted spatio-temporal features classified by supervised deep networks. As we show in our experiments on five popular benchmarks for action recognition, our hybrid model combines the best of both worlds: it is data efficient (trained on 150 to 10000 short clips) and yet improves significantly on the state of the art, including recent deep models trained on millions of manually labelled images and videos. |
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Amsterdam; The Netherlands; October 2016 |
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LNCS |
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ECCV |
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ADAS; 600.076; 600.085 |
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no |
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Admin @ si @ SGV2016 |
Serial |
2824 |
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Author |
Baiyu Chen; Sergio Escalera; Isabelle Guyon; Victor Ponce; N. Shah; Marc Oliu |
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Title |
Overcoming Calibration Problems in Pattern Labeling with Pairwise Ratings: Application to Personality Traits |
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Conference Article |
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Year |
2016 |
Publication |
14th European Conference on Computer Vision Workshops |
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Calibration of labels; Label bias; Ordinal labeling; Variance Models; Bradley-Terry-Luce model; Continuous labels; Regression; Personality traits; Crowd-sourced labels |
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We address the problem of calibration of workers whose task is to label patterns with continuous variables, which arises for instance in labeling images of videos of humans with continuous traits. Worker bias is particularly dicult to evaluate and correct when many workers contribute just a few labels, a situation arising typically when labeling is crowd-sourced. In the scenario of labeling short videos of people facing a camera with personality traits, we evaluate the feasibility of the pairwise ranking method to alleviate bias problems. Workers are exposed to pairs of videos at a time and must order by preference. The variable levels are reconstructed by fitting a Bradley-Terry-Luce model with maximum likelihood. This method may at first sight, seem prohibitively expensive because for N videos, p = N (N-1)/2 pairs must be potentially processed by workers rather that N videos. However, by performing extensive simulations, we determine an empirical law for the scaling of the number of pairs needed as a function of the number of videos in order to achieve a given accuracy of score reconstruction and show that the pairwise method is a ordable. We apply the method to the labeling of a large scale dataset of 10,000 videos used in the ChaLearn Apparent Personality Trait challenge. |
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Amsterdam; The Netherlands; October 2016 |
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ECCVW |
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HuPBA;MILAB; |
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Admin @ si @ CEG2016 |
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2829 |
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Author |
Iiris Lusi; Sergio Escalera; Gholamreza Anbarjafari |
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Title |
SASE: RGB-Depth Database for Human Head Pose Estimation |
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Conference Article |
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2016 |
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14th European Conference on Computer Vision Workshops |
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Slides |
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Amsterdam; The Netherlands; October 2016 |
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HuPBA;MILAB; |
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Admin @ si @ LEA2016a |
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2840 |
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Saad Minhas; Aura Hernandez-Sabate; Shoaib Ehsan; Katerine Diaz; Ales Leonardis; Antonio Lopez; Klaus McDonald Maier |
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Title |
LEE: A photorealistic Virtual Environment for Assessing Driver-Vehicle Interactions in Self-Driving Mode |
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Conference Article |
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2016 |
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14th European Conference on Computer Vision Workshops |
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9915 |
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894-900 |
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Simulation environment; Automated Driving; Driver-Vehicle interaction |
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Photorealistic virtual environments are crucial for developing and testing automated driving systems in a safe way during trials. As commercially available simulators are expensive and bulky, this paper presents a low-cost, extendable, and easy-to-use (LEE) virtual environment with the aim to highlight its utility for level 3 driving automation. In particular, an experiment is performed using the presented simulator to explore the influence of different variables regarding control transfer of the car after the system was driving autonomously in a highway scenario. The results show that the speed of the car at the time when the system needs to transfer the control to the human driver is critical. |
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Amsterdam; The Netherlands; October 2016 |
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ECCVW |
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ADAS;IAM; 600.085; 600.076 |
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MHE2016 |
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2865 |
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Maria Oliver; Gloria Haro; Mariella Dimiccoli; Baptiste Mazin; Coloma Ballester |
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A computational model of amodal completion |
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2016 |
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SIAM Conference on Imaging Science |
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This paper presents a computational model to recover the most likely interpretation of the 3D scene structure from a planar image, where some objects may occlude others. The estimated scene interpretation is obtained by integrating some global and local cues and provides both the complete disoccluded objects that form the scene and their ordering according to depth. Our method first computes several distal scenes which are compatible with the proximal planar image. To compute these different hypothesized scenes, we propose a perceptually inspired object disocclusion method, which works by minimizing the Euler's elastica as well as by incorporating the relatability of partially occluded contours and the convexity of the disoccluded objects. Then, to estimate the preferred scene we rely on a Bayesian model and define probabilities taking into account the global complexity of the objects in the hypothesized scenes as well as the effort of bringing these objects in their relative position in the planar image, which is also measured by an Euler's elastica-based quantity. The model is illustrated with numerical experiments on, both, synthetic and real images showing the ability of our model to reconstruct the occluded objects and the preferred perceptual order among them. We also present results on images of the Berkeley dataset with provided figure-ground ground-truth labeling. |
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Albuquerque; New Mexico; USA; May 2016 |
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IS |
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MILAB; 601.235 |
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Admin @ si @OHD2016a |
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2788 |
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C. Butakoff; Simone Balocco; F.M. Sukno; C. Hoogendoorn; C. Tobon-Gomez; G. Avegliano; A.F. Frangi |
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Left-ventricular Epi- and Endocardium Extraction from 3D Ultrasound Images Using an Automatically Constructed 3D ASM |
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2016 |
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Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization |
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CMBBE |
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4 |
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5 |
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265-280 |
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ASM; cardiac segmentation; statistical model; shape model; 3D ultrasound; cardiac segmentation |
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In this paper, we propose an automatic method for constructing an active shape model (ASM) to segment the complete cardiac left ventricle in 3D ultrasound (3DUS) images, which avoids costly manual landmarking. The automatic construction of the ASM has already been addressed in the literature; however, the direct application of these methods to 3DUS is hampered by a high level of noise and artefacts. Therefore, we propose to construct the ASM by fusing the multidetector computed tomography data, to learn the shape, with the artificially generated 3DUS, in order to learn the neighbourhood of the boundaries. Our artificial images were generated by two approaches: a faster one that does not take into account the geometry of the transducer, and a more comprehensive one, implemented in Field II toolbox. The segmentation accuracy of our ASM was evaluated on 20 patients with left-ventricular asynchrony, demonstrating plausibility of the approach. |
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2168-1163 |
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MILAB |
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Admin @ si @ BBS2016 |
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2449 |
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Svebor Karaman; Andrew Bagdanov; Lea Landucci; Gianpaolo D'Amico; Andrea Ferracani; Daniele Pezzatini; Alberto del Bimbo |
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Personalized multimedia content delivery on an interactive table by passive observation of museum visitors |
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2016 |
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Multimedia Tools and Applications |
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MTAP |
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75 |
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7 |
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3787-3811 |
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Computer vision; Video surveillance; Cultural heritage; Multimedia museum; Personalization; Natural interaction; Passive profiling |
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The amount of multimedia data collected in museum databases is growing fast, while the capacity of museums to display information to visitors is acutely limited by physical space. Museums must seek the perfect balance of information given on individual pieces in order to provide sufficient information to aid visitor understanding while maintaining sparse usage of the walls and guaranteeing high appreciation of the exhibit. Moreover, museums often target the interests of average visitors instead of the entire spectrum of different interests each individual visitor might have. Finally, visiting a museum should not be an experience contained in the physical space of the museum but a door opened onto a broader context of related artworks, authors, artistic trends, etc. In this paper we describe the MNEMOSYNE system that attempts to address these issues through a new multimedia museum experience. Based on passive observation, the system builds a profile of the artworks of interest for each visitor. These profiles of interest are then used to drive an interactive table that personalizes multimedia content delivery. The natural user interface on the interactive table uses the visitor’s profile, an ontology of museum content and a recommendation system to personalize exploration of multimedia content. At the end of their visit, the visitor can take home a personalized summary of their visit on a custom mobile application. In this article we describe in detail each component of our approach as well as the first field trials of our prototype system built and deployed at our permanent exhibition space at LeMurate (http://www.lemurate.comune.fi.it/lemurate/) in Florence together with the first results of the evaluation process during the official installation in the National Museum of Bargello (http://www.uffizi.firenze.it/musei/?m=bargello). |
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Springer US |
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1380-7501 |
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LAMP; 601.240; 600.079 |
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Admin @ si @ KBL2016 |
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2520 |
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Miguel Angel Bautista; Antonio Hernandez; Sergio Escalera; Laura Igual; Oriol Pujol; Josep Moya; Veronica Violant; Maria Teresa Anguera |
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A Gesture Recognition System for Detecting Behavioral Patterns of ADHD |
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2016 |
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IEEE Transactions on System, Man and Cybernetics, Part B |
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TSMCB |
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46 |
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1 |
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136-147 |
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Gesture Recognition; ADHD; Gaussian Mixture Models; Convex Hulls; Dynamic Time Warping; Multi-modal RGB-Depth data |
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We present an application of gesture recognition using an extension of Dynamic Time Warping (DTW) to recognize behavioural patterns of Attention Deficit Hyperactivity Disorder (ADHD). We propose an extension of DTW using one-class classifiers in order to be able to encode the variability of a gesture category, and thus, perform an alignment between a gesture sample and a gesture class. We model the set of gesture samples of a certain gesture category using either GMMs or an approximation of Convex Hulls. Thus, we add a theoretical contribution to classical warping path in DTW by including local modeling of intra-class gesture variability. This methodology is applied in a clinical context, detecting a group of ADHD behavioural patterns defined by experts in psychology/psychiatry, to provide support to clinicians in the diagnose procedure. The proposed methodology is tested on a novel multi-modal dataset (RGB plus Depth) of ADHD children recordings with behavioural patterns. We obtain satisfying results when compared to standard state-of-the-art approaches in the DTW context. |
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HuPBA; MILAB; |
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Admin @ si @ BHE2016 |
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2566 |
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Author |
Mariella Dimiccoli |
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Figure-ground segregation: A fully nonlocal approach |
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2016 |
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Vision Research |
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VR |
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126 |
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308-317 |
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Figure-ground segregation; Nonlocal approach; Directional linear voting; Nonlinear diffusion |
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We present a computational model that computes and integrates in a nonlocal fashion several configural cues for automatic figure-ground segregation. Our working hypothesis is that the figural status of each pixel is a nonlocal function of several geometric shape properties and it can be estimated without explicitly relying on object boundaries. The methodology is grounded on two elements: multi-directional linear voting and nonlinear diffusion. A first estimation of the figural status of each pixel is obtained as a result of a voting process, in which several differently oriented line-shaped neighborhoods vote to express their belief about the figural status of the pixel. A nonlinear diffusion process is then applied to enforce the coherence of figural status estimates among perceptually homogeneous regions. Computer simulations fit human perception and match the experimental evidence that several cues cooperate in defining figure-ground segregation. The results of this work suggest that figure-ground segregation involves feedback from cells with larger receptive fields in higher visual cortical areas. |
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Admin @ si @ Dim2016b |
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2623 |
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Jiaolong Xu; Sebastian Ramos; David Vazquez; Antonio Lopez |
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Hierarchical Adaptive Structural SVM for Domain Adaptation |
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2016 |
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International Journal of Computer Vision |
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IJCV |
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119 |
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2 |
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159-178 |
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Domain Adaptation; Pedestrian Detection |
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A key topic in classification is the accuracy loss produced when the data distribution in the training (source) domain differs from that in the testing (target) domain. This is being recognized as a very relevant problem for many
computer vision tasks such as image classification, object detection, and object category recognition. In this paper, we present a novel domain adaptation method that leverages multiple target domains (or sub-domains) in a hierarchical adaptation tree. The core idea is to exploit the commonalities and differences of the jointly considered target domains.
Given the relevance of structural SVM (SSVM) classifiers, we apply our idea to the adaptive SSVM (A-SSVM), which only requires the target domain samples together with the existing source-domain classifier for performing the desired adaptation. Altogether, we term our proposal as hierarchical A-SSVM (HA-SSVM).
As proof of concept we use HA-SSVM for pedestrian detection, object category recognition and face recognition. In the former we apply HA-SSVM to the deformable partbased model (DPM) while in the rest HA-SSVM is applied to multi-category classifiers. We will show how HA-SSVM is effective in increasing the detection/recognition accuracy with respect to adaptation strategies that ignore the structure of the target data. Since, the sub-domains of the target data are not always known a priori, we shown how HA-SSVM can incorporate sub-domain discovery for object category recognition. |
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0920-5691 |
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ADAS; 600.085; 600.082; 600.076 |
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Admin @ si @ XRV2016 |
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2669 |
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L. Calvet; A. Ferrer; M. Gomes; A. Juan; David Masip |
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Combining Statistical Learning with Metaheuristics for the Multi-Depot Vehicle Routing Problem with Market Segmentation |
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2016 |
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Computers & Industrial Engineering |
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CIE |
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94 |
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93-104 |
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Multi-Depot Vehicle Routing Problem; market segmentation applications; hybrid algorithms; statistical learning |
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In real-life logistics and distribution activities it is usual to face situations in which the distribution of goods has to be made from multiple warehouses or depots to the nal customers. This problem is known as the Multi-Depot Vehicle Routing Problem (MDVRP), and it typically includes two sequential and correlated stages: (a) the assignment map of customers to depots, and (b) the corresponding design of the distribution routes. Most of the existing work in the literature has focused on minimizing distance-based distribution costs while satisfying a number of capacity constraints. However, no attention has been given so far to potential variations in demands due to the tness of the customerdepot mapping in the case of heterogeneous depots. In this paper, we consider this realistic version of the problem in which the depots are heterogeneous in terms of their commercial o er and customers show di erent willingness to consume depending on how well the assigned depot ts their preferences. Thus, we assume that di erent customer-depot assignment maps will lead to di erent customer-expenditure levels. As a consequence, market-segmentation strategiesneed to be considered in order to increase sales and total income while accounting for the distribution costs. To solve this extension of the MDVRP, we propose a hybrid approach that combines statistical learning techniques with a metaheuristic framework. First, a set of predictive models is generated from historical data. These statistical models allow estimating the demand of any customer depending on the assigned depot. Then, the estimated expenditure of each customer is included as part of an enriched objective function as a way to better guide the stochastic local search inside the metaheuristic framework. A set of computational experiments contribute to illustrate our approach and how the extended MDVRP considered here di ers in terms of the proposed solutions from the traditional one. |
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PERGAMON-ELSEVIER SCIENCE LTD |
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0360-8352 |
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OR;MV; |
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Admin @ si @ CFG2016 |
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2749 |
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Tadashi Araki; Sumit K. Banchhor; Narendra D. Londhe; Nobutaka Ikeda; Petia Radeva; Devarshi Shukla; Luca Saba; Antonella Balestrieri; Andrew Nicolaides; Shoaib Shafique; John R. Laird; Jasjit S. Suri |
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Reliable and Accurate Calcium Volume Measurement in Coronary Artery Using Intravascular Ultrasound Videos |
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2016 |
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Journal of Medical Systems |
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JMS |
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40 |
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3 |
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51:1-51:20 |
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Interventional cardiology; Atherosclerosis; Coronary arteries; IVUS; calcium volume; Soft computing; Performance Reliability; Accuracy |
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Quantitative assessment of calcified atherosclerotic volume within the coronary artery wall is vital for cardiac interventional procedures. The goal of this study is to automatically measure the calcium volume, given the borders of coronary vessel wall for all the frames of the intravascular ultrasound (IVUS) video. Three soft computing fuzzy classification techniques were adapted namely Fuzzy c-Means (FCM), K-means, and Hidden Markov Random Field (HMRF) for automated segmentation of calcium regions and volume computation. These methods were benchmarked against previously developed threshold-based method. IVUS image data sets (around 30,600 IVUS frames) from 15 patients were collected using 40 MHz IVUS catheter (Atlantis® SR Pro, Boston Scientific®, pullback speed of 0.5 mm/s). Calcium mean volume for FCM, K-means, HMRF and threshold-based method were 37.84 ± 17.38 mm3, 27.79 ± 10.94 mm3, 46.44 ± 19.13 mm3 and 35.92 ± 16.44 mm3 respectively. Cross-correlation, Jaccard Index and Dice Similarity were highest between FCM and threshold-based method: 0.99, 0.92 ± 0.02 and 0.95 + 0.02 respectively. Student’s t-test, z-test and Wilcoxon-test are also performed to demonstrate consistency, reliability and accuracy of the results. Given the vessel wall region, the system reliably and automatically measures the calcium volume in IVUS videos. Further, we validated our system against a trained expert using scoring: K-means showed the best performance with an accuracy of 92.80 %. Out procedure and protocol is along the line with method previously published clinically. |
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