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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
A Featureless and Stochastic Approach to On-board Stereo Vision System Pose |
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Journal Article |
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Year |
2009 |
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Image and Vision Computing |
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IMAVIS |
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Volume |
27 |
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9 |
Pages |
1382–1393 |
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On-board stereo vision system; Pose estimation; Featureless approach; Particle filtering; Image warping |
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This paper presents a direct and stochastic technique for real-time estimation of on-board stereo head’s position and orientation. Unlike existing works which rely on feature extraction either in the image domain or in 3D space, our proposed approach directly estimates the unknown parameters from the stream of stereo pairs’ brightness. The pose parameters are tracked using the particle filtering framework which implicitly enforces the smoothness constraints on the estimated parameters. The proposed technique can be used with a driver assistance applications as well as with augmented reality applications. Extended experiments on urban environments with different road geometries are presented. Comparisons with a 3D data-based approach are presented. Moreover, we provide a performance study aiming at evaluating the accuracy of the proposed approach. |
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ADAS @ adas @ DoS2009b |
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1152 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
Instantaneous 3D motion from image derivatives using the Least Trimmed Square Regression |
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Journal Article |
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Year |
2009 |
Publication |
Pattern Recognition Letters |
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PRL |
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30 |
Issue |
5 |
Pages |
535–543 |
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This paper presents a new technique to the instantaneous 3D motion estimation. The main contributions are as follows. First, we show that the 3D camera or scene velocity can be retrieved from image derivatives only assuming that the scene contains a dominant plane. Second, we propose a new robust algorithm that simultaneously provides the Least Trimmed Square solution and the percentage of inliers-the non-contaminated data. Experiments on both synthetic and real image sequences demonstrated the effectiveness of the developed method. Those experiments show that the new robust approach can outperform classical robust schemes. |
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Elsevier Science Inc. |
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0167-8655 |
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ADAS @ adas @ DoS2009a |
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1115 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
Real Time on Board Stereo Camera Pose through Image Registration |
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Conference Article |
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2008 |
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IEEE Intelligent Vehicles Symposium, |
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804–809 |
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Eindhoven (Netherlands) |
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ADAS @ adas @ DoS2008a |
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1015 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
Evaluation of an Appearance-based 3D Face Tracker using Dense 3D Data |
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2008 |
Publication |
Machine Vision and Applications |
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19 |
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5-6 |
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427–441 |
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ADAS @ adas @ DoS2008b |
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1018 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
Real Time Image Registration for Planar Structure and 3D Sensor Pose Estimation |
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Book Chapter |
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Year |
2008 |
Publication |
Stereo Vision |
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18 |
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299–316 |
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Asim Bhatti |
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ADAS |
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ADAS @ adas @ DoS2008c |
Serial |
1057 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
Improving Appearance-Based 3D Face Tracking Using Sparse Stereo Data |
Type |
Conference Article |
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Year |
2007 |
Publication |
Advances in Computer Graphics and Computer Vision, |
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354–366 |
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Springer Verlag |
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J. Braz, A. Ranchordas, H. Araujo and J. Jorge, |
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VISAPP |
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ADAS |
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Call Number |
ADAS @ adas @ DoS2007d |
Serial |
1046 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
SFM for Planar Scenes: a Direct and Robust Approach |
Type |
Book Chapter |
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2007 |
Publication |
book chapter: Informatics in Control, Automation and Robotics II, Ed. J. Filipe, J. Ferrier, J. Cetto and M. Carvalho, pp. 129–136. (best papers ICINCO 2005) |
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Springer Verlag (Canada) |
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ADAS |
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ADAS @ adas @ DoS2007b |
Serial |
815 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
Real-time Vehicle Ego-Motion using Stereo Pairs and Particle Filters |
Type |
Conference Article |
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2007 |
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Int. Conf. on Image Analysis and Recognition, |
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4633 |
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469–480 |
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Montreal (Canada) |
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LNCS |
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ADAS |
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ADAS @ adas @ DoS2007a |
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813 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
Rigid and Non-rigid Face Motion Tracking by Aligning Texture Maps and Stereo 3D Models |
Type |
Journal Article |
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2007 |
Publication |
Pattern Recognition Letters |
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PRL |
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28 |
Issue |
15 |
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2116-2126 |
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ADAS @ adas @ DoS2007c |
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877 |
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Fadi Dornaika; Angel Sappa |
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Title |
3D Face Tracking using Appearance Registration and Robust Iterative Closest Point Algorithm |
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Book Chapter |
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2006 |
Publication |
21st International Symposium on Computer and Information Sciences (ISCIS´06), LNCS 4263: 532–541 |
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Istanbul (Turkey) |
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ADAS @ adas @ DoS2006d |
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688 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
Rigid and Non-Rigid Face Motion Tracking by Aligning Texture Maps and Stereo-Based 3D Models |
Type |
Book Chapter |
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2006 |
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8th International Conference on Advanced Concepts for Intelligent Vision Systems (ACIVS´06), LNCS 4179: 675–684 |
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Antwerp (Belgium) |
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ADAS @ adas @ DoS2006c |
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689 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
Improving Appearance-Based 3D Face Tracking Using Sparse Stereo Data |
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Miscellaneous |
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2006 |
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International Conference on Computer Vision Theory and Applications, (2): 310–317 |
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ADAS @ adas @ DoS2006a |
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636 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
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Title |
3D Motion from Image Derivatives using the Least Trimmed Square Regression |
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Book Chapter |
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2006 |
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International Workshop on Intelligent Computing in Pattern Analysis/Synthesis (IWICPAS´06), LNCS 4153: 76–84 |
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Xi'an (China) |
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ADAS |
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ADAS @ adas @ DoS2006b |
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690 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
![goto web page url](img/www.gif)
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Title |
Appearance-based 3D Face Tracker: An Evaluation Study |
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Miscellaneous |
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2005 |
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2nd IEEE Int. Workshop on Visual Surveillance and Performance Evaluation of Tracking and Surveillance, 121–128 |
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Beijing (China) |
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ADAS |
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ADAS @ adas @ DoS2005b |
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580 |
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Author ![sorted by Author field, ascending order (up)](img/sort_asc.gif) |
Fadi Dornaika; Angel Sappa |
![goto web page url](img/www.gif)
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Title |
SFM for Planar Scenes: a Direct and Robust Approach |
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Miscellaneous |
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2005 |
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International Conference on Informatics in Control, Automation and Robotics (ICINCO 2005) |
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Barcelona (Spain) |
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ADAS @ adas @ DoS2005a |
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559 |
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