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German Ros. (2012). Visual SLAM for Driverless Cars: An Initial Survey (Vol. 170). Master's thesis, , .
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Xu Hu. (2012). Real-Time Part Based Models for Object Detection (Vol. 171). Master's thesis, , .
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Nuria Cirera. (2012). Recognition of Handwritten Historical Documents (Vol. 174). Master's thesis, , .
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Jordi Roca. (2012). Constancy and inconstancy in categorical colour perception (Maria Vanrell, & C. Alejandro Parraga, Eds.). Ph.D. thesis, , .
Abstract: To recognise objects is perhaps the most important task an autonomous system, either biological or artificial needs to perform. In the context of human vision, this is partly achieved by recognizing the colour of surfaces despite changes in the wavelength distribution of the illumination, a property called colour constancy. Correct surface colour recognition may be adequately accomplished by colour category matching without the need to match colours precisely, therefore categorical colour constancy is likely to play an important role for object identification to be successful. The main aim of this work is to study the relationship between colour constancy and categorical colour perception. Previous studies of colour constancy have shown the influence of factors such the spatio-chromatic properties of the background, individual observer's performance, semantics, etc. However there is very little systematic study of these influences. To this end, we developed a new approach to colour constancy which includes both individual observers' categorical perception, the categorical structure of the background, and their interrelations resulting in a more comprehensive characterization of the phenomenon. In our study, we first developed a new method to analyse the categorical structure of 3D colour space, which allowed us to characterize individual categorical colour perception as well as quantify inter-individual variations in terms of shape and centroid location of 3D categorical regions. Second, we developed a new colour constancy paradigm, termed chromatic setting, which allows measuring the precise location of nine categorically-relevant points in colour space under immersive illumination. Additionally, we derived from these measurements a new colour constancy index which takes into account the magnitude and orientation of the chromatic shift, memory effects and the interrelations among colours and a model of colour naming tuned to each observer/adaptation state. Our results lead to the following conclusions: (1) There exists large inter-individual variations in the categorical structure of colour space, and thus colour naming ability varies significantly but this is not well predicted by low-level chromatic discrimination ability; (2) Analysis of the average colour naming space suggested the need for an additional three basic colour terms (turquoise, lilac and lime) for optimal colour communication; (3) Chromatic setting improved the precision of more complex linear colour constancy models and suggested that mechanisms other than cone gain might be best suited to explain colour constancy; (4) The categorical structure of colour space is broadly stable under illuminant changes for categorically balanced backgrounds; (5) Categorical inconstancy exists for categorically unbalanced backgrounds thus indicating that categorical information perceived in the initial stages of adaptation may constrain further categorical perception.
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Javier Vazquez, J. Kevin O'Regan, Maria Vanrell, & Graham D. Finlayson. (2012). A new spectrally sharpened basis to predict colour naming, unique hues, and hue cancellation. VSS - Journal of Vision, 12(6 (7)), 1–14.
Abstract: When light is reflected off a surface, there is a linear relation between the three human photoreceptor responses to the incoming light and the three photoreceptor responses to the reflected light. Different colored surfaces have different linear relations. Recently, Philipona and O'Regan (2006) showed that when this relation is singular in a mathematical sense, then the surface is perceived as having a highly nameable color. Furthermore, white light reflected by that surface is perceived as corresponding precisely to one of the four psychophysically measured unique hues. However, Philipona and O'Regan's approach seems unrelated to classical psychophysical models of color constancy. In this paper we make this link. We begin by transforming cone sensors to spectrally sharpened counterparts. In sharp color space, illumination change can be modeled by simple von Kries type scalings of response values within each of the spectrally sharpened response channels. In this space, Philipona and O'Regan's linear relation is captured by a simple Land-type color designator defined by dividing reflected light by incident light. This link between Philipona and O'Regan's theory and Land's notion of color designator gives the model biological plausibility. We then show that Philipona and O'Regan's singular surfaces are surfaces which are very close to activating only one or only two of such newly defined spectrally sharpened sensors, instead of the usual three. Closeness to zero is quantified in a new simplified measure of singularity which is also shown to relate to the chromaticness of colors. As in Philipona and O'Regan's original work, our new theory accounts for a large variety of psychophysical color data.
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Albert Clapes, Miguel Reyes, & Sergio Escalera. (2012). User Identification and Object Recognition in Clutter Scenes Based on RGB-Depth Analysis. In 7th Conference on Articulated Motion and Deformable Objects (Vol. 7378, pp. 1–11). LNCS. Springer Berlin Heidelberg.
Abstract: We propose an automatic system for user identification and object recognition based on multi-modal RGB-Depth data analysis. We model a RGBD environment learning a pixel-based background Gaussian distribution. Then, user and object candidate regions are detected and recognized online using robust statistical approaches over RGBD descriptions. Finally, the system saves the historic of user-object assignments, being specially useful for surveillance scenarios. The system has been evaluated on a novel data set containing different indoor/outdoor scenarios, objects, and users, showing accurate recognition and better performance than standard state-of-the-art approaches.
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Diego Cheda, Daniel Ponsa, & Antonio Lopez. (2012). Pedestrian Candidates Generation using Monocular Cues. In IEEE Intelligent Vehicles Symposium (pp. 7–12). IEEE Xplore.
Abstract: Common techniques for pedestrian candidates generation (e.g., sliding window approaches) are based on an exhaustive search over the image. This implies that the number of windows produced is huge, which translates into a significant time consumption in the classification stage. In this paper, we propose a method that significantly reduces the number of windows to be considered by a classifier. Our method is a monocular one that exploits geometric and depth information available on single images. Both representations of the world are fused together to generate pedestrian candidates based on an underlying model which is focused only on objects standing vertically on the ground plane and having certain height, according with their depths on the scene. We evaluate our algorithm on a challenging dataset and demonstrate its application for pedestrian detection, where a considerable reduction in the number of candidate windows is reached.
Keywords: pedestrian detection
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Cesar Isaza, Joaquin Salas, & Bogdan Raducanu. (2012). Synthetic ground truth dataset to detect shadow cast by static objects in outdoor. In 1st International Workshop on Visual Interfaces for Ground Truth Collection in Computer Vision Applications (art. 11). ACM.
Abstract: In this paper, we propose a precise synthetic ground truth dataset to study the problem of detection of the shadows cast by static objects in outdoor environments during extended periods of time (days). For our dataset, we have created a virtual scenario using a rendering software. To increase the realism of the simulated environment, we have defined the scenario in a precise geographical location. In our dataset the sun is by far the main illumination source. The sun position during the simulation time takes into consideration factors related to the geographical location, such as the latitude, longitude, elevation above sea level, and precise image capturing day and time. In our simulation the camera remains fixed. The dataset consists of seven days of simulation, from 10:00am to 5:00pm. Images are captured every 10 seconds. The shadows' ground truth is automatically computed by the rendering software.
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Jose Carlos Rubio, Joan Serrat, & Antonio Lopez. (2012). Video Co-segmentation. In 11th Asian Conference on Computer Vision (Vol. 7725, pp. 13–24). LNCS. Springer Berlin Heidelberg.
Abstract: Segmentation of a single image is in general a highly underconstrained problem. A frequent approach to solve it is to somehow provide prior knowledge or constraints on how the objects of interest look like (in terms of their shape, size, color, location or structure). Image co-segmentation trades the need for such knowledge for something much easier to obtain, namely, additional images showing the object from other viewpoints. Now the segmentation problem is posed as one of differentiating the similar object regions in all the images from the more varying background. In this paper, for the first time, we extend this approach to video segmentation: given two or more video sequences showing the same object (or objects belonging to the same class) moving in a similar manner, we aim to outline its region in all the frames. In addition, the method works in an unsupervised manner, by learning to segment at testing time. We compare favorably with two state-of-the-art methods on video segmentation and report results on benchmark videos.
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Xavier Perez Sala, Laura Igual, Sergio Escalera, & Cecilio Angulo. (2012). Uniform Sampling of Rotations for Discrete and Continuous Learning of 2D Shape Models. In Vision Robotics: Technologies for Machine Learning and Vision Applications (pp. 23–42). IGI-Global.
Abstract: Different methodologies of uniform sampling over the rotation group, SO(3), for building unbiased 2D shape models from 3D objects are introduced and reviewed in this chapter. State-of-the-art non uniform sampling approaches are discussed, and uniform sampling methods using Euler angles and quaternions are introduced. Moreover, since presented work is oriented to model building applications, it is not limited to general discrete methods to obtain uniform 3D rotations, but also from a continuous point of view in the case of Procrustes Analysis.
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Mohammad Ali Bagheri, Qigang Gao, & Sergio Escalera. (2012). Efficient pairwise classification using Local Cross Off strategy. In 25th Canadian Conference on Artificial Intelligence (Vol. 7310, pp. 25–36). LNCS.
Abstract: The pairwise classification approach tends to perform better than other well-known approaches when dealing with multiclass classification problems. In the pairwise approach, however, the nuisance votes of many irrelevant classifiers may result in a wrong prediction class. To overcome this problem, a novel method, Local Crossing Off (LCO), is presented and evaluated in this paper. The proposed LCO system takes advantage of nearest neighbor classification algorithm because of its simplicity and speed, as well as the strength of other two powerful binary classifiers to discriminate between two classes. This paper provides a set of experimental results on 20 datasets using two base learners: Neural Networks and Support Vector Machines. The results show that the proposed technique not only achieves better classification accuracy, but also is computationally more efficient for tackling classification problems which have a relatively large number of target classes.
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Angel Sappa, David Geronimo, Fadi Dornaika, Mohammad Rouhani, & Antonio Lopez. (2012). Moving object detection from mobile platforms using stereo data registration. In Marek R. Ogiela, & Lakhmi C. Jain (Eds.), Computational Intelligence paradigms in advanced pattern classification (Vol. 386, pp. 25–37). Springer Berlin Heidelberg.
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.
Keywords: pedestrian detection
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Alicia Fornes, Josep Llados, Gemma Sanchez, & Horst Bunke. (2012). Writer Identification in Old Handwritten Music Scores. In Copnstantin Papaodysseus (Ed.), Pattern Recognition and Signal Processing in Archaeometry: Mathematical and Computational Solutions for Archaeology (pp. 27–63). IGI-Global.
Abstract: The aim of writer identification is determining the writer of a piece of handwriting from a set of writers. In this paper we present a system for writer identification in old handwritten music scores. Even though an important amount of compositions contains handwritten text in the music scores, the aim of our work is to use only music notation to determine the author. The steps of the system proposed are the following. First of all, the music sheet is preprocessed and normalized for obtaining a single binarized music line, without the staff lines. Afterwards, 100 features are extracted for every music line, which are subsequently used in a k-NN classifier that compares every feature vector with prototypes stored in a database. By applying feature selection and extraction methods on the original feature set, the performance is increased. The proposed method has been tested on a database of old music scores from the 17th to 19th centuries, achieving a recognition rate of about 95%.
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Mohammad Ali Bagheri, Qigang Gao, & Sergio Escalera. (2012). Three-Dimensional Design of Error Correcting Output Codes. In 8th International Conference on Machine Learning and Data Mining (pp. 29–).
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Monica Piñol, Angel Sappa, Angeles Lopez, & Ricardo Toledo. (2012). Feature Selection Based on Reinforcement Learning for Object Recognition. In Adaptive Learning Agents Workshop (pp. 33–39).
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