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Author (up) Miguel Oliveira; Victor Santos; Angel Sappa
Title Multimodal Inverse Perspective Mapping Type Journal Article
Year 2015 Publication Information Fusion Abbreviated Journal IF
Volume 24 Issue Pages 108–121
Keywords Inverse perspective mapping; Multimodal sensor fusion; Intelligent vehicles
Abstract Over the past years, inverse perspective mapping has been successfully applied to several problems in the field of Intelligent Transportation Systems. In brief, the method consists of mapping images to a new coordinate system where perspective effects are removed. The removal of perspective associated effects facilitates road and obstacle detection and also assists in free space estimation. There is, however, a significant limitation in the inverse perspective mapping: the presence of obstacles on the road disrupts the effectiveness of the mapping. The current paper proposes a robust solution based on the use of multimodal sensor fusion. Data from a laser range finder is fused with images from the cameras, so that the mapping is not computed in the regions where obstacles are present. As shown in the results, this considerably improves the effectiveness of the algorithm and reduces computation time when compared with the classical inverse perspective mapping. Furthermore, the proposed approach is also able to cope with several cameras with different lenses or image resolutions, as well as dynamic viewpoints.
Address
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; 600.055; 600.076 Approved no
Call Number Admin @ si @ OSS2015c Serial 2532
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Author (up) Miguel Oliveira; Victor Santos; Angel Sappa; P. Dias
Title Scene Representations for Autonomous Driving: an approach based on polygonal primitives Type Conference Article
Year 2015 Publication 2nd Iberian Robotics Conference ROBOT2015 Abbreviated Journal
Volume 417 Issue Pages 503-515
Keywords Scene reconstruction; Point cloud; Autonomous vehicles
Abstract In this paper, we present a novel methodology to compute a 3D scene
representation. The algorithm uses macro scale polygonal primitives to model the scene. This means that the representation of the scene is given as a list of large scale polygons that describe the geometric structure of the environment. Results show that the approach is capable of producing accurate descriptions of the scene. In addition, the algorithm is very efficient when compared to other techniques.
Address Lisboa; Portugal; November 2015
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 ROBOT
Notes ADAS; 600.076; 600.086 Approved no
Call Number Admin @ si @ OSS2015a Serial 2662
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Author (up) Miguel Oliveira; Victor Santos; Angel Sappa; P. Dias; A. Moreira
Title Incremental Scenario Representations for Autonomous Driving using Geometric Polygonal Primitives Type Journal Article
Year 2016 Publication Robotics and Autonomous Systems Abbreviated Journal RAS
Volume 83 Issue Pages 312-325
Keywords Incremental scene reconstruction; Point clouds; Autonomous vehicles; Polygonal primitives
Abstract When an autonomous vehicle is traveling through some scenario it receives a continuous stream of sensor data. This sensor data arrives in an asynchronous fashion and often contains overlapping or redundant information. Thus, it is not trivial how a representation of the environment observed by the vehicle can be created and updated over time. This paper presents a novel methodology to compute an incremental 3D representation of a scenario from 3D range measurements. We propose to use macro scale polygonal primitives to model the scenario. This means that the representation of the scene is given as a list of large scale polygons that describe the geometric structure of the environment. Furthermore, we propose mechanisms designed to update the geometric polygonal primitives over time whenever fresh sensor data is collected. Results show that the approach is capable of producing accurate descriptions of the scene, and that it is computationally very efficient when compared to other reconstruction techniques.
Address
Corporate Author Thesis
Publisher Elsevier B.V. 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; 600.086, 600.076 Approved no
Call Number Admin @ si @OSS2016a Serial 2806
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Author (up) Miguel Oliveira; Victor Santos; Angel Sappa; P. Dias; A. Moreira
Title Incremental texture mapping for autonomous driving Type Journal Article
Year 2016 Publication Robotics and Autonomous Systems Abbreviated Journal RAS
Volume 84 Issue Pages 113-128
Keywords Scene reconstruction; Autonomous driving; Texture mapping
Abstract Autonomous vehicles have a large number of on-board sensors, not only for providing coverage all around the vehicle, but also to ensure multi-modality in the observation of the scene. Because of this, it is not trivial to come up with a single, unique representation that feeds from the data given by all these sensors. We propose an algorithm which is capable of mapping texture collected from vision based sensors onto a geometric description of the scenario constructed from data provided by 3D sensors. The algorithm uses a constrained Delaunay triangulation to produce a mesh which is updated using a specially devised sequence of operations. These enforce a partial configuration of the mesh that avoids bad quality textures and ensures that there are no gaps in the texture. Results show that this algorithm is capable of producing fine quality textures.
Address
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; 600.086 Approved no
Call Number Admin @ si @ OSS2016b Serial 2912
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Author (up) Miguel Reyes; Albert Clapes; Jose Ramirez; Juan R Revilla; Sergio Escalera
Title Automatic Digital Biometry Analysis based on Depth Maps Type Journal Article
Year 2013 Publication Computers in Industry Abbreviated Journal COMPUTIND
Volume 64 Issue 9 Pages 1316-1325
Keywords Multi-modal data fusion; Depth maps; Posture analysis; Anthropometric data; Musculo-skeletal disorders; Gesture analysis
Abstract World Health Organization estimates that 80% of the world population is affected by back-related disorders during his life. Current practices to analyze musculo-skeletal disorders (MSDs) are expensive, subjective, and invasive. In this work, we propose a tool for static body posture analysis and dynamic range of movement estimation of the skeleton joints based on 3D anthropometric information from multi-modal data. Given a set of keypoints, RGB and depth data are aligned, depth surface is reconstructed, keypoints are matched, and accurate measurements about posture and spinal curvature are computed. Given a set of joints, range of movement measurements is also obtained. Moreover, gesture recognition based on joint movements is performed to look for the correctness in the development of physical exercises. The system shows high precision and reliable measurements, being useful for posture reeducation purposes to prevent MSDs, as well as tracking the posture evolution of patients in rehabilitation treatments.
Address
Corporate Author Thesis
Publisher Elsevier 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 HuPBA;MILAB Approved no
Call Number Admin @ si @ RCR2013 Serial 2252
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Author (up) Miguel Reyes; Albert Clapes; Luis Felipe Mejia; Jose Ramirez; Juan R Revilla; Sergio Escalera
Title Posture Analysis and Range of Movement Estimation using Depth Maps Type Conference Article
Year 2012 Publication 21st International Conference on Pattern Recognition International Workshop on Depth Image Analysis Abbreviated Journal
Volume 7854 Issue Pages 97-105
Keywords
Abstract World Health Organization estimates that 80% of the world population is affected of back pain during his life. Current practices to analyze back problems are expensive, subjective, and invasive. In this work, we propose a novel tool for posture and range of movement estimation based on the analysis of 3D information from depth maps. Given a set of keypoints defined by the user, RGB and depth data are aligned, depth surface is reconstructed, keypoints are matching using a novel point-to-point fitting procedure, and accurate measurements about posture, spinal curvature, and range of movement are computed. The system shows high precision and reliable measurements, being useful for posture reeducation purposes to prevent musculoskeletal disorders, such as back pain, as well as tracking the posture evolution of patients in rehabilitation treatments.
Address
Corporate Author Thesis
Publisher Springer Berlin Heidelberg Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN 0302-9743 ISBN 978-3-642-40302-6 Medium
Area Expedition Conference WDIA
Notes HuPBA;MILAB Approved no
Call Number Admin @ si @ RCM2012 Serial 2121
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Author (up) Miguel Reyes; Gabriel Dominguez; Sergio Escalera
Title Feature Weighting in Dynamic Time Warping for Gesture Recognition in Depth Data Type Conference Article
Year 2011 Publication 1st IEEE Workshop on Consumer Depth Cameras for Computer Vision Abbreviated Journal
Volume Issue Pages 1182-1188
Keywords
Abstract We present a gesture recognition approach for depth video data based on a novel Feature Weighting approach within the Dynamic Time Warping framework. Depth features from human joints are compared through video sequences using Dynamic Time Warping, and weights are assigned to features based on inter-intra class gesture variability. Feature Weighting in Dynamic Time Warping is then applied for recognizing begin-end of gestures in data sequences. The obtained results recognizing several gestures in depth data show high performance compared with classical Dynamic Time Warping approach.
Address
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 978-1-4673-0062-9 Medium
Area Expedition Conference CDC4CV
Notes HuPBA;MILAB Approved no
Call Number Admin @ si @ RDE2011 Serial 1893
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Author (up) Miguel Reyes; Jordi Vitria; Petia Radeva; Sergio Escalera
Title Real-time Activity Monitoring of Inpatients Type Conference Article
Year 2010 Publication Medical Image Computing in Catalunya: Graduate Student Workshop Abbreviated Journal
Volume Issue Pages 35–36
Keywords
Abstract In this paper, we present the development of an application capable of monitoring a set of patient vital signs in real time. The application has been designed to support the medical staff of a hospital. Preliminary results show the suitability
of the system to prevent the injury produced by the agitation of the patients.
Address Girona
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 MICCAT
Notes OR;MILAB;HUPBA;MV Approved no
Call Number BCNPCL @ bcnpcl @ RVR2010 Serial 1477
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Author (up) Miguel Reyes; Jose Ramirez Moreno; Juan R Revilla; Petia Radeva; Sergio Escalera
Title ADiBAS: Sistema Multisensor de Adquisicion Automatica de Datos Corporales Objetivos, Robustos y Fiables para el Analisis de la Postura y el Movimiento Type Conference Article
Year 2011 Publication 6th Congreso Iberoamericano de Tecnologia de Apoyo a la Discapacidad Abbreviated Journal
Volume Issue Pages 939-944
Keywords
Abstract El análisis de la postura y del rango de movimiento son fundamentales para conocer la optimización del gesto y mejorar, de este modo, el rendimiento y la detección de posibles lesiones. Esta cuantificación es especialmente interesante en deportistas o en pacientes que presentan alguna lesión neurológica o del sistema musculo-esquelético, ya que permite conocer el proceso evolutivo de estos pacientes, evaluar la eficacia de la terapia aplicada y proponer, en caso necesario, una modificación del protocolo de tratamiento.
En este trabajo presentamos un sistema automático que permite, mediante una tecnología no invasiva, la captación automática de marcadores LED situados sobre el paciente y su posterior análisis con el fin de mostrar al especialista datos objetivos que permitan un mejor soporte diagnóstico. También se describe un
sistema analítico de la postura corporal sin marcadores, donde su ejecución durante secuencias dinámicas aporta un alto grado de naturalidad al paciente a la hora de realizar los ejercicios funcionales.
Address Palma de Mallorca
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 IBERDISCAP
Notes MILAB;HuPBA Approved no
Call Number Admin @ si @ RRR2011 Serial 1768
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Author (up) Mikel Menta; Adriana Romero; Joost Van de Weijer
Title Learning to adapt class-specific features across domains for semantic segmentation Type Miscellaneous
Year 2020 Publication Arxiv Abbreviated Journal
Volume Issue Pages
Keywords
Abstract arXiv:2001.08311
Recent advances in unsupervised domain adaptation have shown the effectiveness of adversarial training to adapt features across domains, endowing neural networks with the capability of being tested on a target domain without requiring any training annotations in this domain. The great majority of existing domain adaptation models rely on image translation networks, which often contain a huge amount of domain-specific parameters. Additionally, the feature adaptation step often happens globally, at a coarse level, hindering its applicability to tasks such as semantic segmentation, where details are of crucial importance to provide sharp results. In this thesis, we present a novel architecture, which learns to adapt features across domains by taking into account per class information. To that aim, we design a conditional pixel-wise discriminator network, whose output is conditioned on the segmentation masks. Moreover, following recent advances in image translation, we adopt the recently introduced StarGAN architecture as image translation backbone, since it is able to perform translations across multiple domains by means of a single generator network. Preliminary results on a segmentation task designed to assess the effectiveness of the proposed approach highlight the potential of the model, improving upon strong baselines and alternative designs.
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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Area Expedition Conference
Notes LAMP; 600.120 Approved no
Call Number Admin @ si @ MRW2020 Serial 3545
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Author (up) Mikhail Mozerov
Title An Effective Stereo Matching Algorithm with Optimal Path Cost Aggregation Type Book Chapter
Year 2006 Publication 28th Annual Symposium of the German Association for Pattern Recognition, LNCS 4174: 617–626 Abbreviated Journal
Volume Issue Pages
Keywords
Abstract
Address Berlin (Germany)
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 ISE Approved no
Call Number ISE @ ise @ Moz2006 Serial 677
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Author (up) Mikhail Mozerov
Title Constrained Optical Flow Estimation as a Matching Problem Type Journal Article
Year 2013 Publication IEEE Transactions on Image Processing Abbreviated Journal TIP
Volume 22 Issue 5 Pages 2044-2055
Keywords
Abstract In general, discretization in the motion vector domain yields an intractable number of labels. In this paper we propose an approach that can reduce general optical flow to the constrained matching problem by pre-estimating a 2D disparity labeling map of the desired discrete motion vector function. One of the goals of the proposed paper is estimating coarse distribution of motion vectors and then utilizing this distribution as global constraints for discrete optical flow estimation. This pre-estimation is done with a simple frame-to-frame correlation technique also known as the digital symmetric-phase-only-filter (SPOF). We discover a strong correlation between the output of the SPOF and the motion vector distribution of the related optical flow. The two step matching paradigm for optical flow estimation is applied: pixel accuracy (integer flow), and subpixel accuracy estimation. The matching problem is solved by global optimization. Experiments on the Middlebury optical flow datasets confirm our intuitive assumptions about strong correlation between motion vector distribution of optical flow and maximal peaks of SPOF outputs. The overall performance of the proposed method is promising and achieves state-of-the-art results on the Middlebury benchmark.
Address
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 1057-7149 ISBN Medium
Area Expedition Conference
Notes ISE Approved no
Call Number Admin @ si @ Moz2013 Serial 2191
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Author (up) Mikhail Mozerov; Ariel Amato; Xavier Roca
Title Occlusion Handling in Trinocular Stereo using Composite Disparity Space Image Type Conference Article
Year 2009 Publication 19th International Conference on Computer Graphics and Vision Abbreviated Journal
Volume Issue Pages 69–73
Keywords
Abstract In this paper we propose a method that smartly improves occlusion handling in stereo matching using trinocular stereo. The main idea is based on the assumption that any occluded region in a matched stereo pair (middle-left images) in general is not occluded in the opposite matched pair (middle-right images). Then two disparity space images (DSI) can be merged in one composite DSI. The proposed integration differs from the known approach that uses a cumulative cost. A dense disparity map is obtained with a global optimization algorithm using the proposed composite DSI. The experimental results are evaluated on the Middlebury data set, showing high performance of the proposed algorithm especially in the occluded regions. One of the top positions in the rank of the Middlebury website confirms the performance of our method to be competitive with the best stereo matching.
Address Moscow (Russia)
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 978-5-317-02975-3 Medium
Area Expedition Conference GRAPHICON
Notes ISE Approved no
Call Number ISE @ ise @ MAR2009b Serial 1207
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Author (up) Mikhail Mozerov; Ariel Amato; Xavier Roca; Jordi Gonzalez
Title Trajectory Occlusion Handling with Multiple View Distance Minimisation Clustering Type Journal
Year 2008 Publication Optical Engineering, vol. 47(04)04702, DOI:10.11781.2909665 Abbreviated Journal
Volume Issue Pages
Keywords
Abstract
Address
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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 ISBN Medium
Area Expedition Conference
Notes ISE Approved no
Call Number ISE @ ise @ MAR2008c Serial 970
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Author (up) Mikhail Mozerov; Ariel Amato; Xavier Roca; Jordi Gonzalez
Title Solving the Multi Object Occlusion Problem in a Multiple Camera Tracking System Type Journal
Year 2009 Publication Pattern Recognition and Image Analysis Abbreviated Journal
Volume 19 Issue 1 Pages 165-171
Keywords
Abstract An efficient method to overcome adverse effects of occlusion upon object tracking is presented. The method is based on matching paths of objects in time and solves a complex occlusion-caused problem of merging separate segments of the same path.
Address
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 1054-6618 ISBN Medium
Area Expedition Conference
Notes ISE Approved no
Call Number ISE @ ise @ MAR2009a Serial 1160
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