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	Author	Victor Campmany; Sergio Silva; Juan Carlos Moure; Antoni Espinosa; David Vazquez; Antonio Lopez
	Title	GPU-based pedestrian detection for autonomous driving			Type	Abstract
	Year	2015	Publication	Programming and Tunning Massive Parallel Systems	Abbreviated Journal	PUMPS
	Volume		Issue		Pages
	Keywords	Autonomous Driving; ADAS; CUDA; Pedestrian Detection
	Abstract	Pedestrian detection for autonomous driving has gained a lot of prominence during the last few years. Besides the fact that it is one of the hardest tasks within computer vision, it involves huge computational costs. The real-time constraints in the field are tight, and regular processors are not able to handle the workload obtaining an acceptable ratio of frames per second (fps). Moreover, multiple cameras are required to obtain accurate results, so the need to speed up the process is even higher. Taking the work in [1] as our baseline, we propose a CUDA implementation of a pedestrian detection system. Further, we introduce significant algorithmic adjustments and optimizations to adapt the problem to the GPU architecture. The aim is to provide a system capable of running in real-time obtaining reliable results.
	Address	Barcelona; Spain
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title	PUMPS
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	PUMPS
	Notes	ADAS; 600.076; 600.082; 600.085			Approved	no
	Call Number	ADAS @ adas @ CSM2015			Serial	2644
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	Author	Sergio Silva; Victor Campmany; Laura Sellart; Juan Carlos Moure; Antoni Espinosa; David Vazquez; Antonio Lopez
	Title	Autonomous GPU-based Driving			Type	Abstract
	Year	2015	Publication	Programming and Tunning Massive Parallel Systems	Abbreviated Journal	PUMPS
	Volume		Issue		Pages
	Keywords	Autonomous Driving; ADAS; CUDA
	Abstract	Human factors cause most driving accidents; this is why nowadays is common to hear about autonomous driving as an alternative. Autonomous driving will not only increase safety, but also will develop a system of cooperative self-driving cars that will reduce pollution and congestion. Furthermore, it will provide more freedom to handicapped people, elderly or kids. Autonomous Driving requires perceiving and understanding the vehicle environment (e.g., road, traffic signs, pedestrians, vehicles) using sensors (e.g., cameras, lidars, sonars, and radars), selflocalization (requiring GPS, inertial sensors and visual localization in precise maps), controlling the vehicle and planning the routes. These algorithms require high computation capability, and thanks to NVIDIA GPU acceleration this starts to become feasible. NVIDIA® is developing a new platform for boosting the Autonomous Driving capabilities that is able of managing the vehicle via CAN-Bus: the Drive™ PX. It has 8 ARM cores with dual accelerated Tegra® X1 chips. It has 12 synchronized camera inputs for 360º vehicle perception, 4G and Wi-Fi capabilities allowing vehicle communications and GPS and inertial sensors inputs for self-localization. Our research group has been selected for testing Drive™ PX. Accordingly, we are developing a Drive™ PX based autonomous car. Currently, we are porting our previous CPU based algorithms (e.g., Lane Departure Warning, Collision Warning, Automatic Cruise Control, Pedestrian Protection, or Semantic Segmentation) for running in the GPU.
	Address	Barcelona; Spain
	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	PUMPS
	Notes	ADAS; 600.076; 600.082; 600.085			Approved	no
	Call Number	ADAS @ adas @ SCS2015			Serial	2645
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	Author	Daniel Hernandez; Alejandro Chacon; Antonio Espinosa; David Vazquez; Juan Carlos Moure; Antonio Lopez
	Title	Stereo Matching using SGM on the GPU			Type	Report
	Year	2016	Publication	Programming and Tuning Massively Parallel Systems	Abbreviated Journal	PUMPS
	Volume		Issue		Pages
	Keywords	CUDA; Stereo; Autonomous Vehicle
	Abstract	Dense, robust and real-time computation of depth information from stereo-camera systems is a computationally demanding requirement for robotics, advanced driver assistance systems (ADAS) and autonomous vehicles. Semi-Global Matching (SGM) is a widely used algorithm that propagates consistency constraints along several paths across the image. This work presents a real-time system producing reliable disparity estimation results on the new embedded energy efficient GPU devices. Our design runs on a Tegra X1 at 42 frames per second (fps) for an image size of 640x480, 128 disparity levels, and using 4 path directions for the SGM method.
	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	PUMPS
	Notes	ADAS; 600.085; 600.087; 600.076			Approved	no
	Call Number	ADAS @ adas @ HCE2016b			Serial	2776
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	Author	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	Fernando Barrera; Felipe Lumbreras; Cristhian Aguilera; Angel Sappa
	Title	Planar-Based Multispectral Stereo			Type	Conference Article
	Year	2012	Publication	11th Quantitative InfraRed Thermography	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract
	Address	Naples, Italy
	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	QIRT
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ BLA2012			Serial	2016
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	Author	Cristhian Aguilera; Fernando Barrera; Angel Sappa; Ricardo Toledo
	Title	A Novel SIFT-Like-Based Approach for FIR-VS Images Registration			Type	Conference Article
	Year	2012	Publication	11th Quantitative InfraRed Thermography	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract
	Address	Naples, Italy
	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	QIRT
	Notes	ADAS; TV			Approved	no
	Call Number	Admin @ si @ ABS2012			Serial	2017
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	Author	Josep Llados; Jaime Lopez-Krahe; Gemma Sanchez; Enric Marti
	Title	Interprétation de cartes et plans par mise en correspondance de graphes de attributs			Type	Conference Article
	Year	2000	Publication	12 Congrès Francophone AFRIF–AFIA	Abbreviated Journal
	Volume	3	Issue		Pages	225-234
	Keywords
	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	RFIA
	Notes	DAG;IAM			Approved	no
	Call Number	IAM @ iam @ LLS2000			Serial	1567
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	Author	Clement Guerin; Christophe Rigaud; Karell Bertet; Jean-Christophe Burie; Arnaud Revel ; Jean-Marc Ogier
	Title	Réduction de l’espace de recherche pour les personnages de bandes dessinées			Type	Conference Article
	Year	2014	Publication	19th National Congress Reconnaissance de Formes et l'Intelligence Artificielle	Abbreviated Journal
	Volume		Issue		Pages
	Keywords	contextual search; document analysis; comics characters
	Abstract	Les bandes dessinées représentent un patrimoine culturel important dans de nombreux pays et leur numérisation massive offre la possibilité d'effectuer des recherches dans le contenu des images. À ce jour, ce sont principalement les structures des pages et leurs contenus textuels qui ont été étudiés, peu de travaux portent sur le contenu graphique. Nous proposons de nous appuyer sur des éléments déjà étudiés tels que la position des cases et des bulles, pour réduire l'espace de recherche et localiser les personnages en fonction de la queue des bulles. L'évaluation de nos différentes contributions à partir de la base eBDtheque montre un taux de détection des queues de bulle de 81.2%, de localisation des personnages allant jusqu'à 85% et un gain d'espace de recherche de plus de 50%.
	Address	Rouen; Francia; July 2014
	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	RFIA
	Notes	DAG; 600.077			Approved	no
	Call Number	Admin @ si @ GRB2014			Serial	2480
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	Author	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	J.Poujol; Cristhian A. Aguilera-Carrasco; E.Danos; Boris X. Vintimilla; Ricardo Toledo; Angel Sappa
	Title	Visible-Thermal Fusion based Monocular Visual Odometry			Type	Conference Article
	Year	2015	Publication	2nd Iberian Robotics Conference ROBOT2015	Abbreviated Journal
	Volume	417	Issue		Pages	517-528
	Keywords	Monocular Visual Odometry; LWIR-RGB cross-spectral Imaging; Image Fusion.
	Abstract	The manuscript evaluates the performance of a monocular visual odometry approach when images from different spectra are considered, both independently and fused. The objective behind this evaluation is to analyze if classical approaches can be improved when the given images, which are from different spectra, are fused and represented in new domains. The images in these new domains should have some of the following properties: i) more robust to noisy data; ii) less sensitive to changes (e.g., lighting); iii) more rich in descriptive information, among other. In particular in the current work two different image fusion strategies are considered. Firstly, images from the visible and thermal spectrum are fused using a Discrete Wavelet Transform (DWT) approach. Secondly, a monochrome threshold strategy is considered. The obtained representations are evaluated under a visual odometry framework, highlighting their advantages and disadvantages, using different urban and semi-urban scenarios. Comparisons with both monocular-visible spectrum and monocular-infrared spectrum, are also provided showing the validity of the proposed approach.
	Address	Lisboa; Portugal; November 2015
	Corporate Author				Thesis
	Publisher	Springer International Publishing	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	2194-5357	ISBN	978-3-319-27145-3	Medium
	Area		Expedition		Conference	ROBOT
	Notes	ADAS; 600.076; 600.086			Approved	no
	Call Number	Admin @ si @ PAD2015			Serial	2663
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	Author	Arnau Ramisa; David Aldavert; Shrihari Vasudevan; Ricardo Toledo; Ramon Lopez de Mantaras
	Title	The IIIA30 MObile Robot Object Recognition Datset			Type	Conference Article
	Year	2011	Publication	11th Portuguese Robotics Open	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	Object perception is a key feature in order to make mobile robots able to perform high-level tasks. However, research aimed at addressing the constraints and limitations encountered in a mobile robotics scenario, like low image resolution, motion blur or tight computational constraints, is still very scarce. In order to facilitate future research in this direction, in this work we present an object detection and recognition dataset acquired using a mobile robotic platform. As a baseline for the dataset, we evaluated the cascade of weak classifiers object detection method from Viola and Jones.
	Address	Lisboa
	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	Robotica
	Notes	RV;ADAS			Approved	no
	Call Number	Admin @ si @ RAV2011			Serial	1777
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	Author	Thanh Ha Do; Salvatore Tabbone; Oriol Ramos Terrades
	Title	Spotting Symbol over Graphical Documents Via Sparsity in Visual Vocabulary			Type	Book Chapter
	Year	2016	Publication	Recent Trends in Image Processing and Pattern Recognition	Abbreviated Journal
	Volume	709	Issue		Pages
	Keywords
	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	RTIP2R
	Notes	DAG			Approved	no
	Call Number	Admin @ si @ HTR2016			Serial	2956
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	Author	Jaume Gibert; Ernest Valveny
	Title	Graph Embedding based on Nodes Attributes Representatives and a Graph of Words Representation.			Type	Conference Article
	Year	2010	Publication	13th International worshop on structural and syntactic pattern recognition and 8th international worshop on statistical pattern recognition	Abbreviated Journal
	Volume	6218	Issue		Pages	223–232
	Keywords
	Abstract	Although graph embedding has recently been used to extend statistical pattern recognition techniques to the graph domain, some existing embeddings are usually computationally expensive as they rely on classical graph-based operations. In this paper we present a new way to embed graphs into vector spaces by first encapsulating the information stored in the original graph under another graph representation by clustering the attributes of the graphs to be processed. This new representation makes the association of graphs to vectors an easy step by just arranging both node attributes and the adjacency matrix in the form of vectors. To test our method, we use two different databases of graphs whose nodes attributes are of different nature. A comparison with a reference method permits to show that this new embedding is better in terms of classification rates, while being much more faster.
	Address
	Corporate Author				Thesis
	Publisher	Springer Berlin Heidelberg	Place of Publication		Editor	In E.R. Hancock, R.C. Wilson, T. Windeatt, I. Ulusoy and F. Escolano,
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title	LNCS
	Series Volume		Series Issue		Edition
	ISSN	0302-9743	ISBN	978-3-642-14979-5	Medium
	Area		Expedition		Conference	S+SSPR
	Notes	DAG			Approved	no
	Call Number	DAG @ dag @ GiV2010			Serial	1416
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	Author	Youssef El Rhabi; Simon Loic; Brun Luc; Josep Llados; Felipe Lumbreras
	Title	Information Theoretic Rotationwise Robust Binary Descriptor Learning			Type	Conference Article
	Year	2016	Publication	Joint IAPR International Workshops on Statistical Techniques in Pattern Recognition (SPR) and Structural and Syntactic Pattern Recognition (SSPR)	Abbreviated Journal
	Volume		Issue		Pages	368-378
	Keywords
	Abstract	In this paper, we propose a new data-driven approach for binary descriptor selection. In order to draw a clear analysis of common designs, we present a general information-theoretic selection paradigm. It encompasses several standard binary descriptor construction schemes, including a recent state-of-the-art one named BOLD. We pursue the same endeavor to increase the stability of the produced descriptors with respect to rotations. To achieve this goal, we have designed a novel offline selection criterion which is better adapted to the online matching procedure. The effectiveness of our approach is demonstrated on two standard datasets, where our descriptor is compared to BOLD and to several classical descriptors. In particular, it emerges that our approach can reproduce equivalent if not better performance as BOLD while relying on twice shorter descriptors. Such an improvement can be influential for real-time applications.
	Address	Mérida; Mexico; November 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	S+SSPR
	Notes	DAG; ADAS; 600.097; 600.086			Approved	no
	Call Number	Admin @ si @ RLL2016			Serial	2871
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	Author	Sounak Dey; Anguelos Nicolaou; Josep Llados; Umapada Pal
	Title	Local Binary Pattern for Word Spotting in Handwritten Historical Document			Type	Conference Article
	Year	2016	Publication	Joint IAPR International Workshops on Statistical Techniques in Pattern Recognition (SPR) and Structural and Syntactic Pattern Recognition (SSPR)	Abbreviated Journal
	Volume		Issue		Pages	574-583
	Keywords	Local binary patterns; Spatial sampling; Learning-free; Word spotting; Handwritten; Historical document analysis; Large-scale data
	Abstract	Digital libraries store images which can be highly degraded and to index this kind of images we resort to word spotting as our information retrieval system. Information retrieval for handwritten document images is more challenging due to the difficulties in complex layout analysis, large variations of writing styles, and degradation or low quality of historical manuscripts. This paper presents a simple innovative learning-free method for word spotting from large scale historical documents combining Local Binary Pattern (LBP) and spatial sampling. This method offers three advantages: firstly, it operates in completely learning free paradigm which is very different from unsupervised learning methods, secondly, the computational time is significantly low because of the LBP features, which are very fast to compute, and thirdly, the method can be used in scenarios where annotations are not available. Finally, we compare the results of our proposed retrieval method with other methods in the literature and we obtain the best results in the learning free paradigm.
	Address	Merida; Mexico; December 2016
	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	S+SSPR
	Notes	DAG; 600.097; 602.006; 603.053			Approved	no
	Call Number	Admin @ si @ DNL2016			Serial	2876
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