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Author  |
Jose Manuel Alvarez; Antonio Lopez | ||||
| Title | Model-based road detection using shadowless features and on-line learning | Type | Miscellaneous | ||
| Year | 2009 | Publication | BMVA one–day technical meeting on vision for automotive applications | Abbreviated Journal | |
| Volume | Issue | Pages | |||
| Keywords | road detection | ||||
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| Address | London, UK | ||||
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| Notes | ADAS | Approved | no | ||
| Call Number | ADAS @ adas @ AlA2009 | Serial | 1272 | ||
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| Author |
Jose Manuel Alvarez; Antonio Lopez | ||||
| Title | Road Detection Based on Illuminant Invariance | Type | Journal Article | ||
| Year | 2011 | Publication | IEEE Transactions on Intelligent Transportation Systems | Abbreviated Journal | TITS |
| Volume | 12 | Issue | 1 | Pages | 184-193 |
| Keywords | road detection | ||||
| Abstract | By using an onboard camera, it is possible to detect the free road surface ahead of the ego-vehicle. Road detection is of high relevance for autonomous driving, road departure warning, and supporting driver-assistance systems such as vehicle and pedestrian detection. The key for vision-based road detection is the ability to classify image pixels as belonging or not to the road surface. Identifying road pixels is a major challenge due to the intraclass variability caused by lighting conditions. A particularly difficult scenario appears when the road surface has both shadowed and nonshadowed areas. Accordingly, we propose a novel approach to vision-based road detection that is robust to shadows. The novelty of our approach relies on using a shadow-invariant feature space combined with a model-based classifier. The model is built online to improve the adaptability of the algorithm to the current lighting and the presence of other vehicles in the scene. The proposed algorithm works in still images and does not depend on either road shape or temporal restrictions. Quantitative and qualitative experiments on real-world road sequences with heavy traffic and shadows show that the method is robust to shadows and lighting variations. Moreover, the proposed method provides the highest performance when compared with hue-saturation-intensity (HSI)-based algorithms. | ||||
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| Notes | ADAS | Approved | no | ||
| Call Number | ADAS @ adas @ AlL2011 | Serial | 1456 | ||
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| Author |
Jose Manuel Alvarez; Antonio Lopez | ||||
| Title | Photometric Invariance by Machine Learning | Type | Book Chapter | ||
| Year | 2012 | Publication | Color in Computer Vision: Fundamentals and Applications | Abbreviated Journal | |
| Volume | 7 | Issue | Pages | 113-134 | |
| Keywords | road detection | ||||
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| Publisher | iConcept Press Ltd | Place of Publication | Editor | Theo Gevers, Arjan Gijsenij, Joost van de Weijer, Jan-Mark Geusebroek | |
| Language | Summary Language | Original Title | |||
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| ISSN | ISBN | 978-0-470-89084-4 | Medium | ||
| Area | Expedition | Conference | |||
| Notes | ADAS | Approved | no | ||
| Call Number | Admin @ si @ AlL2012 | Serial | 2186 | ||
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| Author |
Jose Manuel Alvarez; Antonio Lopez; Ramon Baldrich | ||||
| Title | Shadow Resistant Road Segmentation from a Mobile Monocular System | Type | Conference Article | ||
| Year | 2007 | Publication | 3rd Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA 2007), J. Marti et al. (Eds.) LNCS 4477:9–16 | Abbreviated Journal | |
| Volume | Issue | Pages | |||
| Keywords | road detection | ||||
| Abstract | |||||
| Address | Gerona (Spain) | ||||
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| Notes | ADAS;CIC | Approved | no | ||
| Call Number | ADAS @ adas @ ALB2007 | Serial | 943 | ||
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| Author |
Jose Manuel Alvarez; Antonio Lopez; Ramon Baldrich | ||||
| Title | Illuminant Invariant Model-Based Road Segmentation | Type | Conference Article | ||
| Year | 2008 | Publication | IEEE Intelligent Vehicles Symposium, | Abbreviated Journal | |
| Volume | Issue | Pages | 1155–1180 | ||
| Keywords | road detection | ||||
| Abstract | |||||
| Address | Eindhoven (The Netherlands) | ||||
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| Notes | ADAS;CIC | Approved | no | ||
| Call Number | ADAS @ adas @ ALB2008 | Serial | 1045 | ||
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| Author |
Jose Manuel Alvarez; Antonio Lopez; Theo Gevers; Felipe Lumbreras | ||||
| Title | Combining Priors, Appearance and Context for Road Detection | Type | Journal Article | ||
| Year | 2014 | Publication | IEEE Transactions on Intelligent Transportation Systems | Abbreviated Journal | TITS |
| Volume | 15 | Issue | 3 | Pages | 1168-1178 |
| Keywords | Illuminant invariance; lane markings; road detection; road prior; road scene understanding; vanishing point; 3-D scene layout | ||||
| Abstract | Detecting the free road surface ahead of a moving vehicle is an important research topic in different areas of computer vision, such as autonomous driving or car collision warning.
Current vision-based road detection methods are usually based solely on low-level features. Furthermore, they generally assume structured roads, road homogeneity, and uniform lighting conditions, constraining their applicability in real-world scenarios. In this paper, road priors and contextual information are introduced for road detection. First, we propose an algorithm to estimate road priors online using geographical information, providing relevant initial information about the road location. Then, contextual cues, including horizon lines, vanishing points, lane markings, 3-D scene layout, and road geometry, are used in addition to low-level cues derived from the appearance of roads. Finally, a generative model is used to combine these cues and priors, leading to a road detection method that is, to a large degree, robust to varying imaging conditions, road types, and scenarios. |
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| Publisher | Place of Publication | Editor | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | ||
| Language | Summary Language | Original Title | |||
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| Series Volume | Series Issue | Edition | |||
| ISSN | 1524-9050 | ISBN | Medium | ||
| Area | Expedition | Conference | |||
| Notes | ADAS; 600.076;ISE | Approved | no | ||
| Call Number | Admin @ si @ ALG2014 | Serial | 2501 | ||
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| Author |
Jose Manuel Alvarez; Felipe Lumbreras; Antonio Lopez; Theo Gevers | ||||
| Title | Understanding Road Scenes using Visual Cues | Type | Miscellaneous | ||
| Year | 2012 | Publication | European Conference on Computer Vision | Abbreviated Journal | |
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| Abstract | DEMO | ||||
| Address | Florence; Italy | ||||
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| Series Editor | Series Title | Abbreviated Series Title | |||
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| Notes | ISE | Approved | no | ||
| Call Number | Admin @ si @ ALL2012 | Serial | 2795 | ||
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| Author |
Jose Manuel Alvarez; Felipe Lumbreras; Theo Gevers; Antonio Lopez | ||||
| Title | Geographic Information for vision-based Road Detection | Type | Conference Article | ||
| Year | 2010 | Publication | IEEE Intelligent Vehicles Symposium | Abbreviated Journal | |
| Volume | Issue | Pages | 621–626 | ||
| Keywords | road detection | ||||
| Abstract | Road detection is a vital task for the development of autonomous vehicles. The knowledge of the free road surface ahead of the target vehicle can be used for autonomous driving, road departure warning, as well as to support advanced driver assistance systems like vehicle or pedestrian detection. Using vision to detect the road has several advantages in front of other sensors: richness of features, easy integration, low cost or low power consumption. Common vision-based road detection approaches use low-level features (such as color or texture) as visual cues to group pixels exhibiting similar properties. However, it is difficult to foresee a perfect clustering algorithm since roads are in outdoor scenarios being imaged from a mobile platform. In this paper, we propose a novel high-level approach to vision-based road detection based on geographical information. The key idea of the algorithm is exploiting geographical information to provide a rough detection of the road. Then, this segmentation is refined at low-level using color information to provide the final result. The results presented show the validity of our approach. | ||||
| Address | San Diego; CA; USA | ||||
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| Language | Summary Language | Original Title | |||
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| Area | Expedition | Conference | IV | ||
| Notes | ADAS;ISE | Approved | no | ||
| Call Number | ADAS @ adas @ ALG2010 | Serial | 1428 | ||
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| Author |
Jose Manuel Alvarez; Ferran Diego; Joan Serrat; Antonio Lopez | ||||
| Title | Automatic Ground-truthing using video registration for on-board detection algorithms | Type | Conference Article | ||
| Year | 2009 | Publication | 16th IEEE International Conference on Image Processing | Abbreviated Journal | |
| Volume | Issue | Pages | 4389 - 4392 | ||
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| Abstract | Ground-truth data is essential for the objective evaluation of object detection methods in computer vision. Many works claim their method is robust but they support it with experiments which are not quantitatively assessed with regard some ground-truth. This is one of the main obstacles to properly evaluate and compare such methods. One of the main reasons is that creating an extensive and representative ground-truth is very time consuming, specially in the case of video sequences, where thousands of frames have to be labelled. Could such a ground-truth be generated, at least in part, automatically? Though it may seem a contradictory question, we show that this is possible for the case of video sequences recorded from a moving camera. The key idea is transferring existing frame segmentations from a reference sequence into another video sequence recorded at a different time on the same track, possibly under a different ambient lighting. We have carried out experiments on several video sequence pairs and quantitatively assessed the precision of the transformed ground-truth, which prove that our approach is not only feasible but also quite accurate. | ||||
| Address | Cairo, Egypt | ||||
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| Publisher | Place of Publication | Editor | |||
| Language | Summary Language | Original Title | |||
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| Series Volume | Series Issue | Edition | |||
| ISSN | 1522-4880 | ISBN | 978-1-4244-5653-6 | Medium | |
| Area | Expedition | Conference | ICIP | ||
| Notes | ADAS | Approved | no | ||
| Call Number | ADAS @ adas @ ADS2009 | Serial | 1201 | ||
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| Author |
Jose Manuel Alvarez; Theo Gevers; Antonio Lopez | ||||
| Title | Learning Photometric Invariance from Diversified Color Model Ensembles | Type | Conference Article | ||
| Year | 2009 | Publication | 22nd IEEE Conference on Computer Vision and Pattern Recognition | Abbreviated Journal | |
| Volume | Issue | Pages | 565–572 | ||
| Keywords | road detection | ||||
| Abstract | Color is a powerful visual cue for many computer vision applications such as image segmentation and object recognition. However, most of the existing color models depend on the imaging conditions affecting negatively the performance of the task at hand. Often, a reflection model (e.g., Lambertian or dichromatic reflectance) is used to derive color invariant models. However, those reflection models might be too restricted to model real-world scenes in which different reflectance mechanisms may hold simultaneously. Therefore, in this paper, we aim to derive color invariance by learning from color models to obtain diversified color invariant ensembles. First, a photometrical orthogonal and non-redundant color model set is taken on input composed of both color variants and invariants. Then, the proposed method combines and weights these color models to arrive at a diversified color ensemble yielding a proper balance between invariance (repeatability) and discriminative power (distinctiveness). To achieve this, the fusion method uses a multi-view approach to minimize the estimation error. In this way, the method is robust to data uncertainty and produces properly diversified color invariant ensembles. Experiments are conducted on three different image datasets to validate the method. From the theoretical and experimental results, it is concluded that the method is robust against severe variations in imaging conditions. The method is not restricted to a certain reflection model or parameter tuning. Further, the method outperforms state-of- the-art detection techniques in the field of object, skin and road recognition. | ||||
| Address | Miami (USA) | ||||
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| Publisher | Place of Publication | Editor | |||
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | 1063-6919 | ISBN | 978-1-4244-3992-8 | Medium | |
| Area | Expedition | Conference | CVPR | ||
| Notes | ADAS;ISE | Approved | no | ||
| Call Number | ADAS @ adas @ AGL2009 | Serial | 1169 | ||
| Permanent link to this record | |||||
| Author |
Jose Manuel Alvarez; Theo Gevers; Antonio Lopez | ||||
| Title | 3D Scene Priors for Road Detection | Type | Conference Article | ||
| Year | 2010 | Publication | 23rd IEEE Conference on Computer Vision and Pattern Recognition | Abbreviated Journal | |
| Volume | Issue | Pages | 57–64 | ||
| Keywords | road detection | ||||
| Abstract | Vision-based road detection is important in different areas of computer vision such as autonomous driving, car collision warning and pedestrian crossing detection. However, current vision-based road detection methods are usually based on low-level features and they assume structured roads, road homogeneity, and uniform lighting conditions. Therefore, in this paper, contextual 3D information is used in addition to low-level cues. Low-level photometric invariant cues are derived from the appearance of roads. Contextual cues used include horizon lines, vanishing points, 3D scene layout and 3D road stages. Moreover, temporal road cues are included. All these cues are sensitive to different imaging conditions and hence are considered as weak cues. Therefore, they are combined to improve the overall performance of the algorithm. To this end, the low-level, contextual and temporal cues are combined in a Bayesian framework to classify road sequences. Large scale experiments on road sequences show that the road detection method is robust to varying imaging conditions, road types, and scenarios (tunnels, urban and highway). Further, using the combined cues outperforms all other individual cues. Finally, the proposed method provides highest road detection accuracy when compared to state-of-the-art methods. | ||||
| Address | San Francisco; CA; USA; June 2010 | ||||
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| Publisher | Place of Publication | Editor | |||
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | 1063-6919 | ISBN | 978-1-4244-6984-0 | Medium | |
| Area | Expedition | Conference | CVPR | ||
| Notes | ADAS;ISE | Approved | no | ||
| Call Number | ADAS @ adas @ AGL2010a | Serial | 1302 | ||
| Permanent link to this record | |||||
| Author |
Jose Manuel Alvarez; Theo Gevers; Antonio Lopez | ||||
| Title | Learning photometric invariance for object detection | Type | Journal Article | ||
| Year | 2010 | Publication | International Journal of Computer Vision | Abbreviated Journal | IJCV |
| Volume | 90 | Issue | 1 | Pages | 45-61 |
| Keywords | road detection | ||||
| Abstract | Impact factor: 3.508 (the last available from JCR2009SCI). Position 4/103 in the category Computer Science, Artificial Intelligence. Quartile
Color is a powerful visual cue in many computer vision applications such as image segmentation and object recognition. However, most of the existing color models depend on the imaging conditions that negatively affect the performance of the task at hand. Often, a reflection model (e.g., Lambertian or dichromatic reflectance) is used to derive color invariant models. However, this approach may be too restricted to model real-world scenes in which different reflectance mechanisms can hold simultaneously. Therefore, in this paper, we aim to derive color invariance by learning from color models to obtain diversified color invariant ensembles. First, a photometrical orthogonal and non-redundant color model set is computed composed of both color variants and invariants. Then, the proposed method combines these color models to arrive at a diversified color ensemble yielding a proper balance between invariance (repeatability) and discriminative power (distinctiveness). To achieve this, our fusion method uses a multi-view approach to minimize the estimation error. In this way, the proposed method is robust to data uncertainty and produces properly diversified color invariant ensembles. Further, the proposed method is extended to deal with temporal data by predicting the evolution of observations over time. Experiments are conducted on three different image datasets to validate the proposed method. Both the theoretical and experimental results show that the method is robust against severe variations in imaging conditions. The method is not restricted to a certain reflection model or parameter tuning, and outperforms state-of-the-art detection techniques in the field of object, skin and road recognition. Considering sequential data, the proposed method (extended to deal with future observations) outperforms the other methods |
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| Publisher | Springer US | Place of Publication | Editor | ||
| Language | Summary Language | Original Title | |||
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| Series Volume | Series Issue | Edition | |||
| ISSN | 0920-5691 | ISBN | Medium | ||
| Area | Expedition | Conference | |||
| Notes | ADAS;ISE | Approved | no | ||
| Call Number | ADAS @ adas @ AGL2010c | Serial | 1451 | ||
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| Author |
Jose Manuel Alvarez; Theo Gevers; Antonio Lopez | ||||
| Title | Evaluating Color Representation for Online Road Detection | Type | Conference Article | ||
| Year | 2013 | Publication | ICCV Workshop on Computer Vision in Vehicle Technology: From Earth to Mars | Abbreviated Journal | |
| Volume | Issue | Pages | 594-595 | ||
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| Abstract | Detecting traversable road areas ahead a moving vehicle is a key process for modern autonomous driving systems. Most existing algorithms use color to classify pixels as road or background. These algorithms reduce the effect of lighting variations and weather conditions by exploiting the discriminant/invariant properties of different color representations. However, up to date, no comparison between these representations have been conducted. Therefore, in this paper, we perform an evaluation of existing color representations for road detection. More specifically, we focus on color planes derived from RGB data and their most com-
mon combinations. The evaluation is done on a set of 7000 road images acquired using an on-board camera in different real-driving situations. |
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| Area | Expedition | Conference | CVVT:E2M | ||
| Notes | ADAS;ISE | Approved | no | ||
| Call Number | Admin @ si @ AGL2013 | Serial | 2794 | ||
| Permanent link to this record | |||||
| Author |
Jose Manuel Alvarez; Theo Gevers; Ferran Diego; Antonio Lopez | ||||
| Title | Road Geometry Classification by Adaptative Shape Models | Type | Journal Article | ||
| Year | 2013 | Publication | IEEE Transactions on Intelligent Transportation Systems | Abbreviated Journal | TITS |
| Volume | 14 | Issue | 1 | Pages | 459-468 |
| Keywords | road detection | ||||
| Abstract | Vision-based road detection is important for different applications in transportation, such as autonomous driving, vehicle collision warning, and pedestrian crossing detection. Common approaches to road detection are based on low-level road appearance (e.g., color or texture) and neglect of the scene geometry and context. Hence, using only low-level features makes these algorithms highly depend on structured roads, road homogeneity, and lighting conditions. Therefore, the aim of this paper is to classify road geometries for road detection through the analysis of scene composition and temporal coherence. Road geometry classification is proposed by building corresponding models from training images containing prototypical road geometries. We propose adaptive shape models where spatial pyramids are steered by the inherent spatial structure of road images. To reduce the influence of lighting variations, invariant features are used. Large-scale experiments show that the proposed road geometry classifier yields a high recognition rate of 73.57% ± 13.1, clearly outperforming other state-of-the-art methods. Including road shape information improves road detection results over existing appearance-based methods. Finally, it is shown that invariant features and temporal information provide robustness against disturbing imaging conditions. | ||||
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| Series Volume | Series Issue | Edition | |||
| ISSN | 1524-9050 | ISBN | Medium | ||
| Area | Expedition | Conference | |||
| Notes | ADAS;ISE | Approved | no | ||
| Call Number | Admin @ si @ AGD2013;; ADAS @ adas @ | Serial | 2269 | ||
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| Author |
Jose Manuel Alvarez; Theo Gevers; Y. LeCun; Antonio Lopez | ||||
| Title | Road Scene Segmentation from a Single Image | Type | Conference Article | ||
| Year | 2012 | Publication | 12th European Conference on Computer Vision | Abbreviated Journal | |
| Volume | 7578 | Issue | VII | Pages | 376-389 |
| Keywords | road detection | ||||
| Abstract | Road scene segmentation is important in computer vision for different applications such as autonomous driving and pedestrian detection. Recovering the 3D structure of road scenes provides relevant contextual information to improve their understanding.
In this paper, we use a convolutional neural network based algorithm to learn features from noisy labels to recover the 3D scene layout of a road image. The novelty of the algorithm relies on generating training labels by applying an algorithm trained on a general image dataset to classify on–board images. Further, we propose a novel texture descriptor based on a learned color plane fusion to obtain maximal uniformity in road areas. Finally, acquired (off–line) and current (on–line) information are combined to detect road areas in single images. From quantitative and qualitative experiments, conducted on publicly available datasets, it is concluded that convolutional neural networks are suitable for learning 3D scene layout from noisy labels and provides a relative improvement of 7% compared to the baseline. Furthermore, combining color planes provides a statistical description of road areas that exhibits maximal uniformity and provides a relative improvement of 8% compared to the baseline. Finally, the improvement is even bigger when acquired and current information from a single image are combined |
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| Address | Florence, Italy | ||||
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| 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 | 978-3-642-33785-7 | Medium | |
| Area | Expedition | Conference | ECCV | ||
| Notes | ADAS;ISE | Approved | no | ||
| Call Number | Admin @ si @ AGL2012; ADAS @ adas @ agl2012a | Serial | 2022 | ||
| Permanent link to this record | |||||