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Author (up) Felipe Codevilla; Eder Santana; Antonio Lopez; Adrien Gaidon
Title Exploring the Limitations of Behavior Cloning for Autonomous Driving Type Conference Article
Year 2019 Publication 18th IEEE International Conference on Computer Vision Abbreviated Journal
Volume Issue Pages 9328-9337
Keywords
Abstract Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of human-driven cars. Behavior cloning in particular has been successfully used to learn simple visuomotor policies end-to-end, but scaling to the full spectrum of driving behaviors remains an unsolved problem. In this paper, we propose a new benchmark to experimentally investigate the scalability and limitations of behavior cloning. We show that behavior cloning leads to state-of-the-art results, executing complex lateral and longitudinal maneuvers, even in unseen environments, without being explicitly programmed to do so. However, we confirm some limitations of the behavior cloning approach: some well-known limitations (eg, dataset bias and overfitting), new generalization issues (eg, dynamic objects and the lack of a causal modeling), and training instabilities, all requiring further research before behavior cloning can graduate to real-world driving. The code, dataset, benchmark, and agent studied in this paper can be found at github.
Address Seul; Korea; October 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 ICCV
Notes ADAS; 600.124; 600.118 Approved no
Call Number Admin @ si @ CSL2019 Serial 3322
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Author (up) Felipe Codevilla; Matthias Muller; Antonio Lopez; Vladlen Koltun; Alexey Dosovitskiy
Title End-to-end Driving via Conditional Imitation Learning Type Conference Article
Year 2018 Publication IEEE International Conference on Robotics and Automation Abbreviated Journal
Volume Issue Pages 4693 - 4700
Keywords
Abstract Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate an expert cannot be guided to take a specific turn at an upcoming intersection. This limits the utility of such systems. We propose to condition imitation learning on high-level command input. At test time, the learned driving policy functions as a chauffeur that handles sensorimotor coordination but continues to respond to navigational commands. We evaluate different architectures for conditional imitation learning in vision-based driving. We conduct experiments in realistic three-dimensional simulations of urban driving and on a 1/5 scale robotic truck that is trained to drive in a residential area. Both systems drive based on visual input yet remain responsive to high-level navigational commands. The supplementary video can be viewed at this https URL
Address Brisbane; Australia; May 2018
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 ICRA
Notes ADAS; 600.116; 600.124; 600.118 Approved no
Call Number Admin @ si @ CML2018 Serial 3108
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Author (up) Felipe Lumbreras
Title Segmentation, classification and modelization of textures by means of multiresolution decomposition techniques. Type Book Whole
Year 2001 Publication PhD Thesis, Universitat Autonoma de Barcelona-CVC Abbreviated Journal
Volume Issue Pages
Keywords
Abstract
Address
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Language Summary Language Original Title
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Area Expedition Conference
Notes ADAS Approved no
Call Number ADAS @ adas @ Lum2001 Serial 188
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Author (up) Felipe Lumbreras; Joan Serrat
Title Wavelet filtering for the segmentation of marble images. Type Miscellaneous
Year 1996 Publication Optical Engineering Abbreviated Journal
Volume Issue Pages
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Abstract
Address
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Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
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Notes ADAS Approved no
Call Number ADAS @ adas @ LuS1996a Serial 77
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Author (up) Felipe Lumbreras; Joan Serrat
Title Segmentation of petrographical images of marbles Type Journal Article
Year 1996 Publication Computers and Geosciences Abbreviated Journal
Volume 22 Issue 5 Pages 547–558
Keywords
Abstract
Address
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
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ISSN ISBN Medium
Area Expedition Conference
Notes ADAS Approved no
Call Number ADAS @ adas @ LuS1996b Serial 82
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Author (up) Felipe Lumbreras; Joan Serrat
Title Wavelet filtering for the segmentation of marble images Type Report
Year 1996 Publication CVC Technical Report #05 Abbreviated Journal
Volume Issue Pages
Keywords
Abstract
Address CVC (UAB)
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 @ LuS1996d Serial 92
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Author (up) Felipe Lumbreras; Joan Serrat
Title Segmentation of petrographical image of marbles Type Report
Year 1996 Publication CVC Technical Report #04 Abbreviated Journal
Volume Issue Pages
Keywords
Abstract
Address CVC (UAB)
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
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ISSN ISBN Medium
Area Expedition Conference
Notes ADAS Approved no
Call Number ADAS @ adas @ LuS1996c Serial 93
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Author (up) Felipe Lumbreras; Joan Serrat; Ramon Baldrich; Maria Vanrell; Juan J. Villanueva
Title Color Texture Recognition Through Multiresolution Features Type Miscellaneous
Year 2001 Publication QCAV 2001 International Conference on Quality Control by Artificial Vision, France, 1:114–121. Abbreviated Journal
Volume Issue Pages
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Abstract
Address
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Series Editor Series Title Abbreviated Series Title
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Area Expedition Conference
Notes ADAS;CIC Approved no
Call Number ADAS @ adas @ LSB2001 Serial 124
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Author (up) Felipe Lumbreras; Ramon Baldrich; Maria Vanrell; Joan Serrat; Juan J. Villanueva
Title Multiresolution colour texture representations for tile classification Type Miscellaneous
Year 1999 Publication Proceedings of the VIII Symposium Nacional de Reconocimiento de Formas y Analisis de Imagenes Abbreviated Journal
Volume Issue Pages
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Abstract
Address Bilbao
Corporate Author Thesis
Publisher Place of Publication Editor
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Series Editor Series Title Abbreviated Series Title
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ISSN ISBN Medium
Area Expedition Conference
Notes ADAS;CIC Approved no
Call Number ADAS @ adas @ LBV1999a Serial 3
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Author (up) Felipe Lumbreras; Ramon Baldrich; Maria Vanrell; Joan Serrat; Juan J. Villanueva
Title Multiresolution texture classification of ceramic tiles. Type Book Chapter
Year 1999 Publication Recent Research developments in optical engineering, Research Signpost, 2: 213–228 Abbreviated Journal
Volume Issue Pages
Keywords
Abstract
Address India
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
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ISSN ISBN Medium
Area Expedition Conference
Notes ADAS;CIC Approved no
Call Number ADAS @ adas @ LBV1999b Serial 45
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Author (up) Felipe Lumbreras; Xavier Roca; Daniel Ponsa; Robert Benavente; Judit Martinez; Silvia Sanchez; Coen Antens; Juan J. Villanueva
Title Visual Inspection of Safety Belts Type Conference Article
Year 2001 Publication International Conference on Quality Control by Artificial Vision Abbreviated Journal
Volume 2 Issue Pages 526–531
Keywords
Abstract
Address France
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 QCAV
Notes ADAS;ISE;CIC Approved no
Call Number ADAS @ adas @ LRP2001 Serial 122
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Author (up) Fernando Alonso; Xavier Baro; Sergio Escalera; Jordi Gonzalez; Martha Mackay; Anna Serrahima
Title CARE RESPITE: TAKING CARE OF THE CAREGIVERS, Theme 5 The Strategic use of Mobile and Digital Health and Care Solutions Type Conference Article
Year 2016 Publication 16th International Conference for Integrated Care Abbreviated Journal
Volume Issue Pages
Keywords
Abstract Poster
Address Barcelona; Spain; May 2016
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 ICIC
Notes HuPBA; ISE;MV Approved no
Call Number Admin @ si @ ABE2016 Serial 2855
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Author (up) Fernando Barrera
Title Multimodal Stereo from Thermal Infrared and Visible Spectrum Type Book Whole
Year 2012 Publication PhD Thesis, Universitat Autonoma de Barcelona-CVC Abbreviated Journal
Volume Issue Pages
Keywords
Abstract Recent advances in thermal infrared imaging (LWIR) has allowed its use in applications beyond of the military domain. Nowadays, this new family of sensors is included in different technical and scientific applications. They offer features that facilitate tasks, such as detection of pedestrians, hot spots, differences in temperature, among others, which can significantly improve the performance of a system where the persons are expected to play the principal role. For instance, video surveillance applications, monitoring, and pedestrian detection.
During this dissertation the next question is stated: Could a couple of sensors measuring different bands of the electromagnetic spectrum, as the visible and thermal infrared, be used to extract depth information? Although it is a complex question, we shows that a system of these characteristics is possible as well as their advantages, drawbacks, and potential opportunities.
The matching and fusion of data coming from different sensors, as the emissions registered at visible and infrared bands, represents a special challenge, because it has been showed that theses signals are weak correlated. Therefore, many traditional techniques of image processing and computer vision are not helpful, requiring adjustments for their correct performance in every modality.
In this research an experimental study that compares different cost functions and matching approaches is performed, in order to build a multimodal stereovision system. Furthermore, the common problems in infrared/visible stereo, specially in the outdoor scenes are identified. Our framework summarizes the architecture of a generic stereo algorithm, at different levels: computational, functional, and structural, which can be extended toward high-level fusion (semantic) and high-order (prior).The proposed framework is intended to explore novel multimodal stereo matching approaches, going from sparse to dense representations (both disparity and depth maps). Moreover, context information is added in form of priors and assumptions. Finally, this dissertation shows a promissory way toward the integration of multiple sensors for recovering three-dimensional information.
Address
Corporate Author Thesis Ph.D. thesis
Publisher Ediciones Graficas Rey Place of Publication Editor Felipe Lumbreras;Angel Sappa
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 Admin @ si @ Bar2012 Serial 2209
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Author (up) Fernando Barrera; Felipe Lumbreras; Angel Sappa
Title Multimodal Template Matching based on Gradient and Mutual Information using Scale-Space Type Conference Article
Year 2010 Publication 17th IEEE International Conference on Image Processing Abbreviated Journal
Volume Issue Pages 2749–2752
Keywords
Abstract This paper presents the combined use of gradient and mutual information for infrared and intensity templates matching. We propose to joint: (i) feature matching in a multiresolution context and (ii) information propagation through scale-space representations. Our method consists in combining mutual information with a shape descriptor based on gradient, and propagate them following a coarse-to-fine strategy. The main contributions of this work are: to offer a theoretical formulation towards a multimodal stereo matching; to show that gradient and mutual information can be reinforced while they are propagated between consecutive levels; and to show that they are valid cost functions in multimodal template matchings. Comparisons are presented showing the improvements and viability of the proposed approach.
Address Hong-Kong
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 1522-4880 ISBN 978-1-4244-7992-4 Medium
Area Expedition Conference ICIP
Notes ADAS Approved no
Call Number ADAS @ adas @ BLS2010 Serial 1358
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Author (up) Fernando Barrera; Felipe Lumbreras; Angel Sappa
Title Evaluation of Similarity Functions in Multimodal Stereo Type Conference Article
Year 2012 Publication 9th International Conference on Image Analysis and Recognition Abbreviated Journal
Volume 7324 Issue I Pages 320-329
Keywords Aveiro, Portugal
Abstract This paper presents an evaluation framework for multimodal stereo matching, which allows to compare the performance of four similarity functions. Additionally, it presents details of a multimodal stereo head that supply thermal infrared and color images, as well as, aspects of its calibration and rectification. The pipeline includes a novel method for the disparity selection, which is suitable for evaluating the similarity functions. Finally, a benchmark for comparing different initializations of the proposed framework is presented. Similarity functions are based on mutual information, gradient orientation and scale space representations. Their evaluation is performed using two metrics: i) disparity error, and ii) number of correct matches on planar regions. In addition to the proposed evaluation, the current paper also shows that 3D sparse representations can be recovered from such a multimodal stereo head.
Address
Corporate Author Thesis
Publisher Springer Berlin Heidelberg Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title LNCS
Series Volume Series Issue Edition
ISSN 0302-9743 ISBN 978-3-642-31294-6 Medium
Area Expedition Conference ICIAR
Notes ADAS Approved no
Call Number BLS2012a Serial 2014
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