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Author (up) Angel Sappa; Boris X. Vintimilla
Title Edge Point Linking by Means of Global and Local Schemes Type Conference Article
Year 2006 Publication IEEE Int. Conf. on Signal-Image Technology and Internet-Based Systems, Hammamet, Tunisia, December 2006, pp. 551-560. Abbreviated Journal
Volume Issue Pages
Keywords
Abstract
Address Hammamet (Tunisia)
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 @ SaV2006 Serial 722
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Author (up) Angel Sappa; Boris X. Vintimilla
Title Cost-Based Closed Contour Representations Type Journal
Year 2007 Publication Journal of Electronic Imaging, 16(2), 023009 (9 pages) Abbreviated Journal
Volume Issue Pages
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Abstract
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 Approved no
Call Number ADAS @ adas @ SaV2007 Serial 803
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Author (up) Angel Sappa; Boris X. Vintimilla
Title Edge Point Linking by Means of Global and Local Schemes Type Book Chapter
Year 2008 Publication in Signal Processing for Image Enhancement and Multimedia Processing Abbreviated Journal
Volume 11 Issue Pages 115–125
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Abstract
Address
Corporate Author Thesis
Publisher Springer Place of Publication Editor E. Damiani
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 @ SaV2008 Serial 938
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Author (up) Angel Sappa; Cristhian A. Aguilera-Carrasco; Juan A. Carvajal Ayala; Miguel Oliveira; Dennis Romero; Boris X. Vintimilla; Ricardo Toledo
Title Monocular visual odometry: A cross-spectral image fusion based approach Type Journal Article
Year 2016 Publication Robotics and Autonomous Systems Abbreviated Journal RAS
Volume 85 Issue Pages 26-36
Keywords Monocular visual odometry; LWIR-RGB cross-spectral imaging; Image fusion
Abstract This manuscript evaluates the usage of fused cross-spectral images in a monocular visual odometry approach. Fused images are obtained through a Discrete Wavelet Transform (DWT) scheme, where the best setup is empirically obtained by means of a mutual information based evaluation metric. The objective is to have a flexible scheme where fusion parameters are adapted according to the characteristics of the given images. Visual odometry is computed from the fused monocular images using an off the shelf approach. Experimental results using data sets obtained with two different platforms are presented. Additionally, comparison with a previous approach as well as with monocular-visible/infrared spectra are also provided showing the advantages of the proposed scheme.
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 @SAC2016 Serial 2811
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Author (up) Angel Sappa; David Geronimo; Fadi Dornaika; Antonio Lopez
Title On-board camera extrinsic parameter estimation Type Journal Article
Year 2006 Publication Electronics Letters Abbreviated Journal EL
Volume 42 Issue 13 Pages 745–746
Keywords
Abstract An efficient technique for real-time estimation of camera extrinsic parameters is presented. It is intended to be used on on-board vision systems for driving assistance applications. The proposed technique is based on the use of a commercial stereo vision system that does not need any visual feature extraction.
Address
Corporate Author Thesis
Publisher IEE 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 @ SGD2006a Serial 655
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Author (up) Angel Sappa; David Geronimo; Fadi Dornaika; Antonio Lopez
Title Real Time Vehicle Pose Using On-Board Stereo Vision System Type Conference Article
Year 2006 Publication International Conference on Image Analysis and Recognition Abbreviated Journal ICIAR
Volume Issue LNCS 4142 Pages 205–216
Keywords
Abstract This paper presents a robust technique for a real time estimation of both camera’s position and orientation—referred as pose. A commercial stereo vision system is used. Unlike previous approaches, it can be used either for urban or highway scenarios. The proposed technique consists of two stages. Initially, a compact 2D representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the road. At the same time,
relative camera’s position and orientation are computed. The proposed technique is intended to be used on a driving assistance scheme for applications such as obstacle or pedestrian detection. Experimental results on urban environments with different road geometries are presented.
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 Approved no
Call Number ADAS @ adas @ SGD2006b Serial 671
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Author (up) Angel Sappa; David Geronimo; Fadi Dornaika; Antonio Lopez
Title Stereo Vision Camera Pose Estimation for On-Board Applications Type Book Chapter
Year 2007 Publication Scene Reconstruction, Pose Estimation and Traking Abbreviated Journal
Volume Issue Pages 39-50
Keywords
Abstract
Address
Corporate Author Thesis
Publisher Rustam Stolking Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN 978-3-902613-06-6 Medium
Area Expedition Conference
Notes ADAS Approved no
Call Number ADAS @ adas @ SGD2007 Serial 797
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Author (up) Angel Sappa; David Geronimo; Fadi Dornaika; Mohammad Rouhani; Antonio Lopez
Title Moving object detection from mobile platforms using stereo data registration Type Book Chapter
Year 2012 Publication Computational Intelligence paradigms in advanced pattern classification Abbreviated Journal
Volume 386 Issue Pages 25-37
Keywords pedestrian detection
Abstract This chapter describes a robust approach for detecting moving objects from on-board stereo vision systems. It relies on a feature point quaternion-based registration, which avoids common problems that appear when computationally expensive iterative-based algorithms are used on dynamic environments. The proposed approach consists of three main stages. Initially, feature points are extracted and tracked through consecutive 2D frames. Then, a RANSAC based approach is used for registering two point sets, with known correspondences in the 3D space. The computed 3D rigid displacement is used to map two consecutive 3D point clouds into the same coordinate system by means of the quaternion method. Finally, moving objects correspond to those areas with large 3D registration errors. Experimental results show the viability of the proposed approach to detect moving objects like vehicles or pedestrians in different urban scenarios.
Address
Corporate Author Thesis
Publisher Springer Berlin Heidelberg Place of Publication Editor Marek R. Ogiela; Lakhmi C. Jain
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN 1860-949X ISBN 978-3-642-24048-5 Medium
Area Expedition Conference
Notes ADAS Approved no
Call Number Admin @ si @ SGD2012 Serial 2061
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Author (up) Angel Sappa; Fadi Dornaika
Title An Edge-Based Approach to Motion Detection Type Book Chapter
Year 2006 Publication 6th International Conference on Computational Science (ICCS´06), LNCS 3991:563–570 Abbreviated Journal
Volume Issue Pages
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Abstract
Address Reading (United Kingdom)
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 @ SaD2006 Serial 654
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Author (up) Angel Sappa; Fadi Dornaika; Daniel Ponsa; David Geronimo; Antonio Lopez
Title An Efficient Approach to Onboard Stereo Vision System Pose Estimation Type Journal Article
Year 2008 Publication IEEE Transactions on Intelligent Transportation Systems Abbreviated Journal TITS
Volume 9 Issue 3 Pages 476–490
Keywords Camera extrinsic parameter estimation, ground plane estimation, onboard stereo vision system
Abstract This paper presents an efficient technique for estimating the pose of an onboard stereo vision system relative to the environment’s dominant surface area, which is supposed to be the road surface. Unlike previous approaches, it can be used either for urban or highway scenarios since it is not based on a specific visual traffic feature extraction but on 3-D raw data points. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact 2-D representation of the original 3-D data points is computed. Then, a RANdom SAmple Consensus (RANSAC) based least-squares approach is used to fit a plane to the road. Fast RANSAC fitting is obtained by selecting points according to a probability function that takes into account the density of points at a given depth. Finally, stereo camera height and pitch angle are computed related to the fitted road plane. The proposed technique is intended to be used in driverassistance systems for applications such as vehicle or pedestrian detection. Experimental results on urban environments, which are the most challenging scenarios (i.e., flat/uphill/downhill driving, speed bumps, and car’s accelerations), are presented. These results are validated with manually annotated ground truth. Additionally, comparisons with previous works are presented to show the improvements in the central processing unit processing time, as well as in the accuracy of the obtained results.
Address
Corporate Author Thesis
Publisher IEEE 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 @ SDP2008 Serial 1000
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Author (up) Angel Sappa; Fadi Dornaika; David Geronimo; Antonio Lopez
Title Efficient On-Board Stereo Vision Pose Estimation Type Conference Article
Year 2007 Publication Computer Aided Systems Theory, Selected paper from Abbreviated Journal
Volume 4739 Issue Pages 1183–1190
Keywords
Abstract This paper presents an efficient technique for real time estimation of on-board stereo vision system pose. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the 3D road points. Fast RANSAC fitting is obtained by selecting points according to a probability distribution function that takes into account the density of points at a given depth. Finally, stereo camera position
and orientation—pose—is computed relative to the road plane. The proposed technique is intended to be used on driver assistance systems for applications such as obstacle or pedestrian detection. A real time performance is reached. Experimental results on several environments and comparisons with a previous work are presented.
Address Las Palmas de Gran Canaria (Spain)
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title LNCS
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference EUROCAST
Notes ADAS Approved no
Call Number ADAS @ adas @ SDG2007b Serial 916
Permanent link to this record
 
 
Author (up) Angel Sappa; Fadi Dornaika; David Geronimo; Antonio Lopez
Title Registration-based Moving Object Detection from a Moving Camera Type Conference Article
Year 2008 Publication IROS2008 2nd Workshop on Perception, Planning and Navigation for Intelligent Vehicles Abbreviated Journal
Volume Issue Pages 65–69
Keywords
Abstract This paper presents a robust approach for detecting moving objects from on-board stereo vision systems. It relies on a feature point quaternion-based registration, which avoids common problems that appear when computationally expensive iterative-based algorithms are used on dynamic environments. The proposed approach consists of three stages. Initially, feature points are extracted and tracked through consecutive frames. Then, a RANSAC based approach is used for registering
two 3D point sets with known correspondences by means of the quaternion method. Finally, the computed 3D rigid displacement is used to map two consecutive frames into the same coordinate system. Moving objects correspond to those areas with large registration errors. Experimental results, in different scenarios, show the viability of the proposed approach.
Address Nice (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
Notes ADAS Approved no
Call Number ADAS @ adas @ SDG2008 Serial 1017
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Author (up) Angel Sappa; George A. Triantafyllid
Title Computer Graphics and Imaging Type Book Whole
Year 2012 Publication Computer Graphics and Imaging Abbreviated Journal
Volume Issue Pages
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Address Crete, Greece
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 978-0-88986-921-9 Medium
Area Expedition Conference
Notes ADAS Approved no
Call Number Admin @ si @ Sap2012 Serial 2067
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Author (up) Angel Sappa; Jordi Vitria
Title Multimodal Interaction in Image and Video Applications Type Book Whole
Year 2013 Publication Multimodal Interaction in Image and Video Applications Abbreviated Journal
Volume 48 Issue Pages
Keywords
Abstract Book Series Intelligent Systems Reference Library
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 1868-4394 ISBN 978-3-642-35931-6 Medium
Area Expedition Conference
Notes ADAS; OR;MV Approved no
Call Number Admin @ si @ SaV2013 Serial 2199
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Author (up) Angel Sappa; M.A. Garcia
Title Hierarchical Clustering of 3D Objects and its Application to Minimum Distance Computation Type Conference Article
Year 2004 Publication IEEE International Conference on Robotics & Automation, 5287–5292, New Orleans, LA (USA), ISBN: 0–7803–8232–3 Abbreviated Journal
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Abstract
Address New Orleans, LA, USA
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 @ SaG2004b Serial 459
Permanent link to this record