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Arnau Ramisa, Adriana Tapus, David Aldavert, Ricardo Toledo, & Ramon Lopez de Mantaras. (2009). Robust Vision-Based Localization using Combinations of Local Feature Regions Detectors. AR - Autonomous Robots, 27(4), 373–385.
Abstract: This paper presents a vision-based approach for mobile robot localization. The model of the environment is topological. The new approach characterizes a place using a signature. This signature consists of a constellation of descriptors computed over different types of local affine covariant regions extracted from an omnidirectional image acquired rotating a standard camera with a pan-tilt unit. This type of representation permits a reliable and distinctive environment modelling. Our objectives were to validate the proposed method in indoor environments and, also, to find out if the combination of complementary local feature region detectors improves the localization versus using a single region detector. Our experimental results show that if false matches are effectively rejected, the combination of different covariant affine region detectors increases notably the performance of the approach by combining the different strengths of the individual detectors. In order to reduce the localization time, two strategies are evaluated: re-ranking the map nodes using a global similarity measure and using standard perspective view field of 45°.
In order to systematically test topological localization methods, another contribution proposed in this work is a novel method to see the degradation in localization performance as the robot moves away from the point where the original signature was acquired. This allows to know the robustness of the proposed signature. In order for this to be effective, it must be done in several, variated, environments that test all the possible situations in which the robot may have to perform localization.
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Carlo Gatta, Oriol Pujol, Oriol Rodriguez-Leor, J. M. Ferre, & Petia Radeva. (2009). Fast Rigid Registration of Vascular Structures in IVUS Sequences. IEEE Transactions on Information Technology in Biomedicine, 13(6), 106–1011.
Abstract: Intravascular ultrasound (IVUS) technology permits visualization of high-resolution images of internal vascular structures. IVUS is a unique image-guiding tool to display longitudinal view of the vessels, and estimate the length and size of vascular structures with the goal of accurate diagnosis. Unfortunately, due to pulsatile contraction and expansion of the heart, the captured images are affected by different motion artifacts that make visual inspection difficult. In this paper, we propose an efficient algorithm that aligns vascular structures and strongly reduces the saw-shaped oscillation, simplifying the inspection of longitudinal cuts; it reduces the motion artifacts caused by the displacement of the catheter in the short-axis plane and the catheter rotation due to vessel tortuosity. The algorithm prototype aligns 3.16 frames/s and clearly outperforms state-of-the-art methods with similar computational cost. The speed of the algorithm is crucial since it allows to inspect the corrected sequence during patient intervention. Moreover, we improved an indirect methodology for IVUS rigid registration algorithm evaluation.
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Fosca De Iorio, Carolina Malagelada, Fernando Azpiroz, M. Maluenda, C. Violanti, Laura Igual, et al. (2009). Intestinal motor activity, endoluminal motion and transit. NEUMOT - Neurogastroenterology & Motility, 21(12), 1264–e119.
Abstract: A programme for evaluation of intestinal motility has been recently developed based on endoluminal image analysis using computer vision methodology and machine learning techniques. Our aim was to determine the effect of intestinal muscle inhibition on wall motion, dynamics of luminal content and transit in the small bowel. Fourteen healthy subjects ingested the endoscopic capsule (Pillcam, Given Imaging) in fasting conditions. Seven of them received glucagon (4.8 microg kg(-1) bolus followed by a 9.6 microg kg(-1) h(-1) infusion during 1 h) and in the other seven, fasting activity was recorded, as controls. This dose of glucagon has previously shown to inhibit both tonic and phasic intestinal motor activity. Endoluminal image and displacement was analyzed by means of a computer vision programme specifically developed for the evaluation of muscular activity (contractile and non-contractile patterns), intestinal contents, endoluminal motion and transit. Thirty-minute periods before, during and after glucagon infusion were analyzed and compared with equivalent periods in controls. No differences were found in the parameters measured during the baseline (pretest) periods when comparing glucagon and control experiments. During glucagon infusion, there was a significant reduction in contractile activity (0.2 +/- 0.1 vs 4.2 +/- 0.9 luminal closures per min, P < 0.05; 0.4 +/- 0.1 vs 3.4 +/- 1.2% of images with radial wrinkles, P < 0.05) and a significant reduction of endoluminal motion (82 +/- 9 vs 21 +/- 10% of static images, P < 0.05). Endoluminal image analysis, by means of computer vision and machine learning techniques, can reliably detect reduced intestinal muscle activity and motion.
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Oriol Pujol, & David Masip. (2009). Geometry-Based Ensembles: Toward a Structural Characterization of the Classification Boundary. TPAMI - IEEE Transactions on Pattern Analysis and Machine Intelligence, 31(6), 1140–1146.
Abstract: This article introduces a novel binary discriminative learning technique based on the approximation of the non-linear decision boundary by a piece-wise linear smooth additive model. The decision border is geometrically defined by means of the characterizing boundary points – points that belong to the optimal boundary under a certain notion of robustness. Based on these points, a set of locally robust linear classifiers is defined and assembled by means of a Tikhonov regularized optimization procedure in an additive model to create a final lambda-smooth decision rule. As a result, a very simple and robust classifier with a strong geometrical meaning and non-linear behavior is obtained. The simplicity of the method allows its extension to cope with some of nowadays machine learning challenges, such as online learning, large scale learning or parallelization, with linear computational complexity. We validate our approach on the UCI database. Finally, we apply our technique in online and large scale scenarios, and in six real life computer vision and pattern recognition problems: gender recognition, intravascular ultrasound tissue classification, speed traffic sign detection, Chagas' disease severity detection, clef classification and action recognition using a 3D accelerometer data. The results are promising and this paper opens a line of research that deserves further attention
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Eduard Vazquez. (2007). Distribution Characterization using Topological Features. Application to Colour Image Processing. Master's thesis, , .
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Sergio Escalera, Oriol Pujol, J. Mauri, & Petia Radeva. (2009). Intravascular Ultrasound Tissue Characterization with Sub-class Error-Correcting Output Codes. Journal of Signal Processing Systems, 55(1-3), 35–47.
Abstract: Intravascular ultrasound (IVUS) represents a powerful imaging technique to explore coronary vessels and to study their morphology and histologic properties. In this paper, we characterize different tissues based on radial frequency, texture-based, and combined features. To deal with the classification of multiple tissues, we require the use of robust multi-class learning techniques. In this sense, error-correcting output codes (ECOC) show to robustly combine binary classifiers to solve multi-class problems. In this context, we propose a strategy to model multi-class classification tasks using sub-classes information in the ECOC framework. The new strategy splits the classes into different sub-sets according to the applied base classifier. Complex IVUS data sets containing overlapping data are learnt by splitting the original set of classes into sub-classes, and embedding the binary problems in a problem-dependent ECOC design. The method automatically characterizes different tissues, showing performance improvements over the state-of-the-art ECOC techniques for different base classifiers. Furthermore, the combination of RF and texture-based features also shows improvements over the state-of-the-art approaches.
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Daniel Ponsa, & Antonio Lopez. (2009). Seguimiento Visual de Contornos Computerizado.
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Arjan Gijsenij, Theo Gevers, & Joost Van de Weijer. (2010). Generalized Gamut Mapping using Image Derivative Structures for Color Constancy. IJCV - International Journal of Computer Vision, 86(2-3), 127–139.
Abstract: The gamut mapping algorithm is one of the most promising methods to achieve computational color constancy. However, so far, gamut mapping algorithms are restricted to the use of pixel values to estimate the illuminant. Therefore, in this paper, gamut mapping is extended to incorporate the statistical nature of images. It is analytically shown that the proposed gamut mapping framework is able to include any linear filter output. The main focus is on the local n-jet describing the derivative structure of an image. It is shown that derivatives have the advantage over pixel values to be invariant to disturbing effects (i.e. deviations of the diagonal model) such as saturated colors and diffuse light. Further, as the n-jet based gamut mapping has the ability to use more information than pixel values alone, the combination of these algorithms are more stable than the regular gamut mapping algorithm. Different methods of combining are proposed. Based on theoretical and experimental results conducted on large scale data sets of hyperspectral, laboratory and realworld scenes, it can be derived that (1) in case of deviations of the diagonal model, the derivative-based approach outperforms the pixel-based gamut mapping, (2) state-of-the-art algorithms are outperformed by the n-jet based gamut mapping, (3) the combination of the different n-jet based gamut
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Eduard Vazquez, Theo Gevers, M. Lucassen, Joost Van de Weijer, & Ramon Baldrich. (2010). Saliency of Color Image Derivatives: A Comparison between Computational Models and Human Perception. JOSA A - Journal of the Optical Society of America A, 27(3), 613–621.
Abstract: In this paper, computational methods are proposed to compute color edge saliency based on the information content of color edges. The computational methods are evaluated on bottom-up saliency in a psychophysical experiment, and on a more complex task of salient object detection in real-world images. The psychophysical experiment demonstrates the relevance of using information theory as a saliency processing model and that the proposed methods are significantly better in predicting color saliency (with a human-method correspondence up to 74.75% and an observer agreement of 86.8%) than state-of-the-art models. Furthermore, results from salient object detection confirm that an early fusion of color and contrast provide accurate performance to compute visual saliency with a hit rate up to 95.2%.
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Sergio Escalera, Oriol Pujol, & Petia Radeva. (2010). Traffic sign recognition system with β -correction. MVA - Machine Vision and Applications, 21(2), 99–111.
Abstract: Traffic sign classification represents a classical application of multi-object recognition processing in uncontrolled adverse environments. Lack of visibility, illumination changes, and partial occlusions are just a few problems. In this paper, we introduce a novel system for multi-class classification of traffic signs based on error correcting output codes (ECOC). ECOC is based on an ensemble of binary classifiers that are trained on bi-partition of classes. We classify a wide set of traffic signs types using robust error correcting codings. Moreover, we introduce the novel β-correction decoding strategy that outperforms the state-of-the-art decoding techniques, classifying a high number of classes with great success.
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Sergio Escalera, Oriol Pujol, & Petia Radeva. (2010). On the Decoding Process in Ternary Error-Correcting Output Codes. TPAMI - IEEE on Pattern Analysis and Machine Intelligence, 32(1), 120–134.
Abstract: A common way to model multiclass classification problems is to design a set of binary classifiers and to combine them. Error-correcting output codes (ECOC) represent a successful framework to deal with these type of problems. Recent works in the ECOC framework showed significant performance improvements by means of new problem-dependent designs based on the ternary ECOC framework. The ternary framework contains a larger set of binary problems because of the use of a ldquodo not carerdquo symbol that allows us to ignore some classes by a given classifier. However, there are no proper studies that analyze the effect of the new symbol at the decoding step. In this paper, we present a taxonomy that embeds all binary and ternary ECOC decoding strategies into four groups. We show that the zero symbol introduces two kinds of biases that require redefinition of the decoding design. A new type of decoding measure is proposed, and two novel decoding strategies are defined. We evaluate the state-of-the-art coding and decoding strategies over a set of UCI machine learning repository data sets and into a real traffic sign categorization problem. The experimental results show that, following the new decoding strategies, the performance of the ECOC design is significantly improved.
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Carme Julia, Angel Sappa, Felipe Lumbreras, Joan Serrat, & Antonio Lopez. (2010). An Iterative Multiresolution Scheme for SFM with Missing Data: single and multiple object scenes. IMAVIS - Image and Vision Computing, 28(1), 164–176.
Abstract: Most of the techniques proposed for tackling the Structure from Motion problem (SFM) cannot deal with high percentages of missing data in the matrix of trajectories. Furthermore, an additional problem should be faced up when working with multiple object scenes: the rank of the matrix of trajectories should be estimated. This paper presents an iterative multiresolution scheme for SFM with missing data to be used in both the single and multiple object cases. The proposed scheme aims at recovering missing entries in the original input matrix. The objective is to improve the results by applying a factorization technique to the partially or totally filled in matrix instead of to the original input one. Experimental results obtained with synthetic and real data sequences, containing single and multiple objects, are presented to show the viability of the proposed approach.
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Bogdan Raducanu, Jordi Vitria, & Ales Leonardis. (2010). Online pattern recognition and machine learning techniques for computer-vision: Theory and applications. IMAVIS - Image and Vision Computing, 28(7), 1063–1064.
Abstract: (Editorial for the Special Issue on Online pattern recognition and machine learning techniques)
In real life, visual learning is supposed to be a continuous process. This paradigm has found its way also in artificial vision systems. There is an increasing trend in pattern recognition represented by online learning approaches, which aims at continuously updating the data representation when new information arrives. Starting with a minimal dataset, the initial knowledge is expanded by incorporating incoming instances, which may have not been previously available or foreseen at the system’s design stage. An interesting characteristic of this strategy is that the train and test phases take place simultaneously. Given the increasing interest in this subject, the aim of this special issue is to be a landmark event in the development of online learning techniques and their applications with the hope that it will capture the interest of a wider audience and will attract even more researchers. We received 19 contributions, of which 9 have been accepted for publication, after having been subjected to usual peer review process.
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Fernando Vilariño, Panagiota Spyridonos, Fosca De Iorio, Jordi Vitria, Fernando Azpiroz, & Petia Radeva. (2010). Intestinal Motility Assessment With Video Capsule Endoscopy: Automatic Annotation of Phasic Intestinal Contractions. TMI - IEEE Transactions on Medical Imaging, 29(2), 246–259.
Abstract: Intestinal motility assessment with video capsule endoscopy arises as a novel and challenging clinical fieldwork. This technique is based on the analysis of the patterns of intestinal contractions shown in a video provided by an ingestible capsule with a wireless micro-camera. The manual labeling of all the motility events requires large amount of time for offline screening in search of findings with low prevalence, which turns this procedure currently unpractical. In this paper, we propose a machine learning system to automatically detect the phasic intestinal contractions in video capsule endoscopy, driving a useful but not feasible clinical routine into a feasible clinical procedure. Our proposal is based on a sequential design which involves the analysis of textural, color, and blob features together with SVM classifiers. Our approach tackles the reduction of the imbalance rate of data and allows the inclusion of domain knowledge as new stages in the cascade. We present a detailed analysis, both in a quantitative and a qualitative way, by providing several measures of performance and the assessment study of interobserver variability. Our system performs at 70% of sensitivity for individual detection, whilst obtaining equivalent patterns to those of the experts for density of contractions.
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Sergio Escalera, Oriol Pujol, Petia Radeva, Jordi Vitria, & Maria Teresa Anguera. (2010). Automatic Detection of Dominance and Expected Interest. EURASIPJ - EURASIP Journal on Advances in Signal Processing, , 12.
Abstract: Article ID 491819
Social Signal Processing is an emergent area of research that focuses on the analysis of social constructs. Dominance and interest are two of these social constructs. Dominance refers to the level of influence a person has in a conversation. Interest, when referred in terms of group interactions, can be defined as the degree of engagement that the members of a group collectively display during their interaction. In this paper, we argue that only using behavioral motion information, we are able to predict the interest of observers when looking at face-to-face interactions as well as the dominant people. First, we propose a simple set of movement-based features from body, face, and mouth activity in order to define a higher set of interaction indicators. The considered indicators are manually annotated by observers. Based on the opinions obtained, we define an automatic binary dominance detection problem and a multiclass interest quantification problem. Error-Correcting Output Codes framework is used to learn to rank the perceived observer's interest in face-to-face interactions meanwhile Adaboost is used to solve the dominant detection problem. The automatic system shows good correlation between the automatic categorization results and the manual ranking made by the observers in both dominance and interest detection problems.
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