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| Author | Dani Rowe | ||||
| Title | Probabilistic Image-based Tracking in Complex Human Environments | Type | Report | ||
| Year | 2005 | Publication | CVC Technical Report #92 | Abbreviated Journal | |
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| Address | CVC (UAB) | ||||
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| Notes | Approved | no | |||
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Admin @ si @ Row2005 | Serial | 601 | ||
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| Author | Mohammad Rouhani | ||||
| Title | Shape Representation and Registration using Implicit Functions | Type | Book Whole | ||
| Year | 2012 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
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| Abstract | Shape representation and registration are two important problems in computer vision and graphics. Representing the given cloud of points through an implicit function provides a higher level information describing the data. This representation can be more compact more robust to noise and outliers, hence it can be exploited in different computer vision application. In the first part of this thesis implicit shape representations, including both implicit B-spline and polynomial, are tackled. First, an approximation of a geometric distance is proposed to measure the closeness of the given cloud of points and the implicit surface. The analysis of the proposed distance shows an accurate estimation with smooth behavior. The distance by itself is used in a RANSAC based quadratic fitting method. Moreover, since the gradient information of the distance with respect to the surface parameters can be analytically computed, it is used in Levenberg-Marquadt algorithm to refine the surface parameters. In a different approach, an algebraic fitting method is used to represent an object through implicit B-splines. The outcome is a smooth flexible surface and can be represented in different levels from coarse to fine. This property has been exploited to solve the registration problem in the second part of the thesis. In the proposed registration technique the model set is replaced with an implicit representation provided in the first part; then, the point-to-point registration is converted to a point-to-model one in a higher level. This registration error can benefit from different distance estimations to speed up the registration process even without need of correspondence search. Finally, the non-rigid registration problem is tackled through a quadratic distance approximation that is based on the curvature information of the model set. This approximation is used in a free form deformation model to update its control lattice. Then it is shown how an accurate distance approximation can benefit non-rigid registration problems. | ||||
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| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Editor | Angel Sappa | |
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| Notes | ADAS | Approved | no | ||
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Admin @ si @ Rou2012 | Serial | 2205 | ||
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| Author | Mohammad Rouhani | ||||
| Title | 3D Data Fitting and Tracking for Real Time Applications | Type | Report | ||
| Year | 2009 | Publication | CVC Technical Report | Abbreviated Journal | |
| Volume | 138 | Issue | 138 | Pages | |
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| Address | Barcelona, Spain | ||||
| Corporate Author | Thesis | Master's thesis | |||
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| Notes | invisible;ADAS | Approved | no | ||
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Admin @ si @ Rou2009 | Serial | 1150 | ||
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| Author | Gemma Rotger | ||||
| Title | Lifelike Humans: Detailed Reconstruction of Expressive Human Faces | Type | Book Whole | ||
| Year | 2021 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
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| Abstract | Developing human-like digital characters is a challenging task since humans are used to recognizing our fellows, and find the computed generated characters inadequately humanized. To fulfill the standards of the videogame and digital film productions it is necessary to model and animate these characters the most closely to human beings. However, it is an arduous and expensive task, since many artists and specialists are required to work on a single character. Therefore, to fulfill these requirements we found an interesting option to study the automatic creation of detailed characters through inexpensive setups. In this work, we develop novel techniques to bring detailed characters by combining different aspects that stand out when developing realistic characters, skin detail, facial hairs, expressions, and microexpressions. We examine each of the mentioned areas with the aim of automatically recover each of the parts without user interaction nor training data. We study the problems for their robustness but also for the simplicity of the setup, preferring single-image with uncontrolled illumination and methods that can be easily computed with the commodity of a standard laptop. A detailed face with wrinkles and skin details is vital to develop a realistic character. In this work, we introduce our method to automatically describe facial wrinkles on the image and transfer to the recovered base face. Then we advance to facial hair recovery by resolving a fitting problem with a novel parametrization model. As of last, we develop a mapping function that allows transfer expressions and microexpressions between different meshes, which provides realistic animations to our detailed mesh. We cover all the mentioned points with the focus on key aspects as (i) how to describe skin wrinkles in a simple and straightforward manner, (ii) how to recover 3D from 2D detections, (iii) how to recover and model facial hair from 2D to 3D, (iv) how to transfer expressions between models holding both skin detail and facial hair, (v) how to perform all the described actions without training data nor user interaction. In this work, we present our proposals to solve these aspects with an efficient and simple setup. We validate our work with several datasets both synthetic and real data, prooving remarkable results even in challenging cases as occlusions as glasses, thick beards, and indeed working with different face topologies like single-eyed cyclops. | ||||
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| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Editor | Felipe Lumbreras;Antonio Agudo | |
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| ISSN | ISBN | 978-84-122714-3-0 | Medium | ||
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| Notes | ADAS | Approved | no | ||
| Call Number |
Admin @ si @ Rot2021 | Serial | 3513 | ||
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| Author | David Rotger | ||||
| Title | Analysis and Multi-Modal Fusion of coronary Images | Type | Book Whole | ||
| Year | 2009 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
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| Abstract | The framework of this thesis is to study in detail different techniques and tools for medical image registration in order to ease the daily life of clinical experts in cardiology. The first aim of this thesis is providing computer tools for
fusing IVUS and angiogram data is of high clinical interest to help the physicians locate in IVUS data and decide which lesion is observed, how long it is, how far from a bifurcation or another lesions stays, etc. This thesis proves and validates that we can segment the catheter path in angiographies using geodesic snakes (based on fast marching algorithm), a three-dimensional reconstruction of the catheter inspired in stereo vision and a new technique to fuse IVUS and angiograms that establishes exact correspondences between them. We have developed a new workstation called iFusion that has four strong advantages: registration of IVUS and angiographic images with sub-pixel precision, it works on- and off-line, it is independent on the X-ray system and there is no need of daily calibration. The second aim of the thesis is devoted to developing a computer-aided analysis of IVUS for image-guided intervention. We have designed, implemented and validated a robust algorithm for stent extraction and reconstruction from IVUS videos. We consider a very special and recent kind of stents, bioabsorbable stents that represent a great clinical challenge due to their property to be absorbed by time and thus avoiding the “danger” of neostenosis as one of the main problems of metallic stents. We present a new and very promising algorithm based on an optimized cascade of multiple classifiers to automatically detect individual stent struts of a very novel bioabsorbable drug eluting coronary stent. This problem represents a very challenging target given the variability in contrast, shape and grey levels of the regions to be detected, what is denoted by the high variability between the specialists (inter-observer variability of 0.14~$\pm$0.12). The obtained results of the automatic strut detection are within the inter-observer variability. |
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| Address | Barcelona (Espanya) | ||||
| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Editor | Petia Radeva | |
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| Notes | Approved | no | |||
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Admin @ si @ Rot2009 | Serial | 1261 | ||
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| Author | David Rotger | ||||
| Title | Multimodal Registration of Intravascular Ultrasound Images and Angiography | Type | Miscellaneous | ||
| Year | 2002 | Publication | Director: P. Radeva, Master Thesis. | Abbreviated Journal | |
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| Notes | Approved | no | |||
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Admin @ si @ Rot2002 | Serial | 324 | ||
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| Author | Daniel Rato; Miguel Oliveira; Vitor Santos; Manuel Gomes; Angel Sappa | ||||
| Title | A sensor-to-pattern calibration framework for multi-modal industrial collaborative cells | Type | Journal Article | ||
| Year | 2022 | Publication | Journal of Manufacturing Systems | Abbreviated Journal | JMANUFSYST |
| Volume | 64 | Issue | Pages | 497-507 | |
| Keywords | Calibration; Collaborative cell; Multi-modal; Multi-sensor | ||||
| Abstract | Collaborative robotic industrial cells are workspaces where robots collaborate with human operators. In this context, safety is paramount, and for that a complete perception of the space where the collaborative robot is inserted is necessary. To ensure this, collaborative cells are equipped with a large set of sensors of multiple modalities, covering the entire work volume. However, the fusion of information from all these sensors requires an accurate extrinsic calibration. The calibration of such complex systems is challenging, due to the number of sensors and modalities, and also due to the small overlapping fields of view between the sensors, which are positioned to capture different viewpoints of the cell. This paper proposes a sensor to pattern methodology that can calibrate a complex system such as a collaborative cell in a single optimization procedure. Our methodology can tackle RGB and Depth cameras, as well as LiDARs. Results show that our methodology is able to accurately calibrate a collaborative cell containing three RGB cameras, a depth camera and three 3D LiDARs. | ||||
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| Publisher | Science Direct | Place of Publication | Editor | ||
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| Notes | MSIAU; MACO | Approved | no | ||
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Admin @ si @ ROS2022 | Serial | 3750 | ||
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| Author | German Ros | ||||
| Title | Visual Scene Understanding for Autonomous Vehicles: Understanding Where and What | Type | Book Whole | ||
| Year | 2016 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
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| Abstract | Making Ground Autonomous Vehicles (GAVs) a reality as a service for the society is one of the major scientific and technological challenges of this century. The potential benefits of autonomous vehicles include reducing accidents, improving traffic congestion and better usage of road infrastructures, among others. These vehicles must operate in our cities, towns and highways, dealing with many different types of situations while respecting traffic rules and protecting human lives. GAVs are expected to deal with all types of scenarios and situations, coping with an uncertain and chaotic world.
Therefore, in order to fulfill these demanding requirements GAVs need to be endowed with the capability of understanding their surrounding at many different levels, by means of affordable sensors and artificial intelligence. This capacity to understand the surroundings and the current situation that the vehicle is involved in is called scene understanding. In this work we investigate novel techniques to bring scene understanding to autonomous vehicles by combining the use of cameras as the main source of information—due to their versatility and affordability—and algorithms based on computer vision and machine learning. We investigate different degrees of understanding of the scene, starting from basic geometric knowledge about where is the vehicle within the scene. A robust and efficient estimation of the vehicle location and pose with respect to a map is one of the most fundamental steps towards autonomous driving. We study this problem from the point of view of robustness and computational efficiency, proposing key insights to improve current solutions. Then we advance to higher levels of abstraction to discover what is in the scene, by recognizing and parsing all the elements present on a driving scene, such as roads, sidewalks, pedestrians, etc. We investigate this problem known as semantic segmentation, proposing new approaches to improve recognition accuracy and computational efficiency. We cover these points by focusing on key aspects such as: (i) how to leverage computation moving semantics to an offline process, (ii) how to train compact architectures based on deconvolutional networks to achieve their maximum potential, (iii) how to use virtual worlds in combination with domain adaptation to produce accurate models in a cost-effective fashion, and (iv) how to use transfer learning techniques to prepare models to new situations. We finally extend the previous level of knowledge enabling systems to reasoning about what has change in a scene with respect to a previous visit, which in return allows for efficient and cost-effective map updating. |
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| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Editor | Angel Sappa;Julio Guerrero;Antonio Lopez | |
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| ISSN | ISBN | 978-84-945373-1-8 | Medium | ||
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| Notes | ADAS | Approved | no | ||
| Call Number |
Admin @ si @ Ros2016 | Serial | 2860 | ||
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| Author | Mohammad Rouhani; Angel Sappa | ||||
| Title | The Richer Representation the Better Registration | Type | Journal Article | ||
| Year | 2013 | Publication | IEEE Transactions on Image Processing | Abbreviated Journal | TIP |
| Volume | 22 | Issue | 12 | Pages | 5036-5049 |
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| Abstract | In this paper, the registration problem is formulated as a point to model distance minimization. Unlike most of the existing works, which are based on minimizing a point-wise correspondence term, this formulation avoids the correspondence search that is time-consuming. In the first stage, the target set is described through an implicit function by employing a linear least squares fitting. This function can be either an implicit polynomial or an implicit B-spline from a coarse to fine representation. In the second stage, we show how the obtained implicit representation is used as an interface to convert point-to-point registration into point-to-implicit problem. Furthermore, we show that this registration distance is smooth and can be minimized through the Levengberg-Marquardt algorithm. All the formulations presented for both stages are compact and easy to implement. In addition, we show that our registration method can be handled using any implicit representation though some are coarse and others provide finer representations; hence, a tradeoff between speed and accuracy can be set by employing the right implicit function. Experimental results and comparisons in 2D and 3D show the robustness and the speed of convergence of the proposed approach. | ||||
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| ISSN | 1057-7149 | ISBN | Medium | ||
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| Notes | ADAS | Approved | no | ||
| Call Number |
Admin @ si @ RoS2013 | Serial | 2665 | ||
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| Author | German Ros | ||||
| Title | Visual SLAM for Driverless Cars: An Initial Survey | Type | Report | ||
| Year | 2012 | Publication | CVC Technical Report | Abbreviated Journal | |
| Volume | 170 | Issue | Pages | ||
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| Corporate Author | Thesis | Master's thesis | |||
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| Notes | ADAS | Approved | no | ||
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Admin @ si @ Ros2012c | Serial | 2414 | ||
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| Author | Mohammad Rouhani; Angel Sappa | ||||
| Title | Implicit Polynomial Representation through a Fast Fitting Error Estimation | Type | Journal Article | ||
| Year | 2012 | Publication | IEEE Transactions on Image Processing | Abbreviated Journal | TIP |
| Volume | 21 | Issue | 4 | Pages | 2089-2098 |
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| Abstract | Impact Factor
This paper presents a simple distance estimation for implicit polynomial fitting. It is computed as the height of a simplex built between the point and the surface (i.e., a triangle in 2-D or a tetrahedron in 3-D), which is used as a coarse but reliable estimation of the orthogonal distance. The proposed distance can be described as a function of the coefficients of the implicit polynomial. Moreover, it is differentiable and has a smooth behavior . Hence, it can be used in any gradient-based optimization. In this paper, its use in a Levenberg-Marquardt framework is shown, which is particularly devoted for nonlinear least squares problems. The proposed estimation is a generalization of the gradient-based distance estimation, which is widely used in the literature. Experimental results, both in 2-D and 3-D data sets, are provided. Comparisons with state-of-the-art techniques are presented, showing the advantages of the proposed approach. |
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| ISSN | 1057-7149 | ISBN | Medium | ||
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| Notes | ADAS | Approved | no | ||
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Admin @ si @ RoS2012b; ADAS @ adas @ | Serial | 1937 | ||
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| Author | Mohammad Rouhani; Angel Sappa | ||||
| Title | Non-Rigid Shape Registration: A Single Linear Least Squares Framework | Type | Conference Article | ||
| Year | 2012 | Publication | 12th European Conference on Computer Vision | Abbreviated Journal | |
| Volume | 7578 | Issue | Pages | 264-277 | |
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| Abstract | This paper proposes a non-rigid registration formulation capturing both global and local deformations in a single framework. This formulation is based on a quadratic estimation of the registration distance together with a quadratic regularization term. Hence, the optimal transformation parameters are easily obtained by solving a liner system of equations, which guarantee a fast convergence. Experimental results with challenging 2D and 3D shapes are presented to show the validity of the proposed framework. Furthermore, comparisons with the most relevant approaches are provided. | ||||
| Address | Florencia | ||||
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| Publisher | Springer Berlin Heidelberg | Place of Publication | Editor | ||
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| 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 | Approved | no | ||
| Call Number |
Admin @ si @ RoS2012a | Serial | 2158 | ||
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| Author | Mohammad Rouhani; Angel Sappa | ||||
| Title | Correspondence Free Registration through a Point-to-Model Distance Minimization | Type | Conference Article | ||
| Year | 2011 | Publication | 13th IEEE International Conference on Computer Vision | Abbreviated Journal | |
| Volume | Issue | Pages | 2150-2157 | ||
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| Abstract | This paper presents a novel formulation, which derives in a smooth minimization problem, to tackle the rigid registration between a given point set and a model set. Unlike most of the existing works, which are based on minimizing a point-wise correspondence term, we propose to describe the model set by means of an implicit representation. It allows a new definition of the registration error, which works beyond the point level representation. Moreover, it could be used in a gradient-based optimization framework. The proposed approach consists of two stages. Firstly, a novel formulation is proposed that relates the registration parameters with the distance between the model and data set. Secondly, the registration parameters are obtained by means of the Levengberg-Marquardt algorithm. Experimental results and comparisons with state of the art show the validity of the proposed framework. | ||||
| Address | Barcelona | ||||
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| ISSN | 1550-5499 | ISBN | 978-1-4577-1101-5 | Medium | |
| Area | Expedition | Conference | ICCV | ||
| Notes | ADAS | Approved | no | ||
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Admin @ si @ RoS2011b; ADAS @ adas @ | Serial | 1832 | ||
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| Author | Mohammad Rouhani; Angel Sappa | ||||
| Title | Implicit B-Spline Fitting Using the 3L Algorithm | Type | Conference Article | ||
| Year | 2011 | Publication | 18th IEEE International Conference on Image Processing | Abbreviated Journal | |
| Volume | Issue | Pages | 893-896 | ||
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| Address | Brussels, Belgium | ||||
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| Area | Expedition | Conference | ICIP | ||
| Notes | ADAS | Approved | no | ||
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Admin @ si @ RoS2011a; ADAS @ adas @ | Serial | 1782 | ||
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| Author | Misael Rosales | ||||
| Title | A Physics-Based Image Modelling of IVUS as a Geometric and Kinematic System | Type | Book Whole | ||
| Year | 2005 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
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| Address | CVC (UAB) | ||||
| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Place of Publication | Editor | Petia Radeva | ||
| Language | Summary Language | Original Title | |||
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| Area | Expedition | 978-84-922529-8-7 | Conference | ||
| Notes | Approved | no | |||
| Call Number |
Admin @ si @ Ros2005 | Serial | 603 | ||
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