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	Author	Jiaolong Xu; David Vazquez; Sebastian Ramos; Antonio Lopez; Daniel Ponsa
	Title	Adapting a Pedestrian Detector by Boosting LDA Exemplar Classifiers			Type	Conference Article
	Year	2013	Publication	CVPR Workshop on Ground Truth – What is a good dataset?	Abbreviated Journal
	Volume		Issue		Pages	688 - 693
	Keywords	Pedestrian Detection; Domain Adaptation
	Abstract	Training vision-based pedestrian detectors using synthetic datasets (virtual world) is a useful technique to collect automatically the training examples with their pixel-wise ground truth. However, as it is often the case, these detectors must operate in real-world images, experiencing a significant drop of their performance. In fact, this effect also occurs among different real-world datasets, i.e. detectors' accuracy drops when the training data (source domain) and the application scenario (target domain) have inherent differences. Therefore, in order to avoid this problem, it is required to adapt the detector trained with synthetic data to operate in the real-world scenario. In this paper, we propose a domain adaptation approach based on boosting LDA exemplar classifiers from both virtual and real worlds. We evaluate our proposal on multiple real-world pedestrian detection datasets. The results show that our method can efficiently adapt the exemplar classifiers from virtual to real world, avoiding drops in average precision over the 15%.
	Address	Portland; oregon; June 2013
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language	English	Summary Language	English	Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	CVPRW
	Notes	ADAS; 600.054; 600.057; 601.217			Approved	yes
	Call Number	XVR2013; ADAS @ adas @ xvr2013a			Serial	2220
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	Author	Muhammad Anwer Rao; David Vazquez; Antonio Lopez
	Title	Opponent Colors for Human Detection			Type	Conference Article
	Year	2011	Publication	5th Iberian Conference on Pattern Recognition and Image Analysis	Abbreviated Journal
	Volume	6669	Issue		Pages	363-370
	Keywords	Pedestrian Detection; Color; Part Based Models
	Abstract	Human detection is a key component in fields such as advanced driving assistance and video surveillance. However, even detecting non-occluded standing humans remains a challenge of intensive research. Finding good features to build human models for further detection is probably one of the most important issues to face. Currently, shape, texture and motion features have deserve extensive attention in the literature. However, color-based features, which are important in other domains (e.g., image categorization), have received much less attention. In fact, the use of RGB color space has become a kind of choice by default. The focus has been put in developing first and second order features on top of RGB space (e.g., HOG and co-occurrence matrices, resp.). In this paper we evaluate the opponent colors (OPP) space as a biologically inspired alternative for human detection. In particular, by feeding OPP space in the baseline framework of Dalal et al. for human detection (based on RGB, HOG and linear SVM), we will obtain better detection performance than by using RGB space. This is a relevant result since, up to the best of our knowledge, OPP space has not been previously used for human detection. This suggests that in the future it could be worth to compute co-occurrence matrices, self-similarity features, etc., also on top of OPP space, i.e., as we have done with HOG in this paper.
	Address	Las Palmas de Gran Canaria. Spain
	Corporate Author				Thesis
	Publisher	Springer	Place of Publication	Berlin Heidelberg	Editor	J. Vitria; J.M. Sanches; M. Hernandez
	Language	English	Summary Language	English	Original Title	Opponent Colors for Human Detection
	Series Editor		Series Title	Lecture Notes on Computer Science	Abbreviated Series Title	LNCS
	Series Volume		Series Issue		Edition
	ISSN	0302-9743	ISBN	978-3-642-21256-7	Medium
	Area		Expedition		Conference	IbPRIA
	Notes	ADAS			Approved	no
	Call Number	ADAS @ adas @ RVL2011a			Serial	1666
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	Author	Muhammad Anwer Rao; David Vazquez; Antonio Lopez
	Title	Color Contribution to Part-Based Person Detection in Different Types of Scenarios			Type	Conference Article
	Year	2011	Publication	14th International Conference on Computer Analysis of Images and Patterns	Abbreviated Journal
	Volume	6855	Issue	II	Pages	463-470
	Keywords	Pedestrian Detection; Color
	Abstract	Camera-based person detection is of paramount interest due to its potential applications. The task is diffcult because the great variety of backgrounds (scenarios, illumination) in which persons are present, as well as their intra-class variability (pose, clothe, occlusion). In fact, the class person is one of the included in the popular PASCAL visual object classes (VOC) challenge. A breakthrough for this challenge, regarding person detection, is due to Felzenszwalb et al. These authors proposed a part-based detector that relies on histograms of oriented gradients (HOG) and latent support vector machines (LatSVM) to learn a model of the whole human body and its constitutive parts, as well as their relative position. Since the approach of Felzenszwalb et al. appeared new variants have been proposed, usually giving rise to more complex models. In this paper, we focus on an issue that has not attracted suficient interest up to now. In particular, we refer to the fact that HOG is usually computed from RGB color space, but other possibilities exist and deserve the corresponding investigation. In this paper we challenge RGB space with the opponent color space (OPP), which is inspired in the human vision system.We will compute the HOG on top of OPP, then we train and test the part-based human classifer by Felzenszwalb et al. using PASCAL VOC challenge protocols and person database. Our experiments demonstrate that OPP outperforms RGB. We also investigate possible differences among types of scenarios: indoor, urban and countryside. Interestingly, our experiments suggest that the beneficts of OPP with respect to RGB mainly come for indoor and countryside scenarios, those in which the human visual system was designed by evolution.
	Address	Seville, Spain
	Corporate Author				Thesis
	Publisher	Springer	Place of Publication	Berlin Heidelberg	Editor	P. Real, D. Diaz, H. Molina, A. Berciano, W. Kropatsch
	Language	English	Summary Language	english	Original Title	Color Contribution to Part-Based Person Detection in Different Types of Scenarios
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	0302-9743	ISBN	978-3-642-23677-8	Medium
	Area		Expedition		Conference	CAIP
	Notes	ADAS			Approved	no
	Call Number	ADAS @ adas @ RVL2011b			Serial	1665
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	Author	Victor Campmany; Sergio Silva; Antonio Espinosa; Juan Carlos Moure; David Vazquez; Antonio Lopez
	Title	GPU-based pedestrian detection for autonomous driving			Type	Conference Article
	Year	2016	Publication	16th International Conference on Computational Science	Abbreviated Journal
	Volume	80	Issue		Pages	2377-2381
	Keywords	Pedestrian detection; Autonomous Driving; CUDA
	Abstract	We propose a real-time pedestrian detection system for the embedded Nvidia Tegra X1 GPU-CPU hybrid platform. The pipeline is composed by the following state-of-the-art algorithms: Histogram of Local Binary Patterns (LBP) and Histograms of Oriented Gradients (HOG) features extracted from the input image; Pyramidal Sliding Window technique for foreground segmentation; and Support Vector Machine (SVM) for classification. Results show a 8x speedup in the target Tegra X1 platform and a better performance/watt ratio than desktop CUDA platforms in study.
	Address	San Diego; CA; USA; June 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	ICCS
	Notes	ADAS; 600.085; 600.082; 600.076			Approved	no
	Call Number	ADAS @ adas @ CSE2016			Serial	2741
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	Author	David Geronimo; Angel Sappa; Daniel Ponsa; Antonio Lopez
	Title	2D-3D based on-board pedestrian detection system			Type	Journal Article
	Year	2010	Publication	Computer Vision and Image Understanding	Abbreviated Journal	CVIU
	Volume	114	Issue	5	Pages	583–595
	Keywords	Pedestrian detection; Advanced Driver Assistance Systems; Horizon line; Haar wavelets; Edge orientation histograms
	Abstract	During the next decade, on-board pedestrian detection systems will play a key role in the challenge of increasing traffic safety. The main target of these systems, to detect pedestrians in urban scenarios, implies overcoming difficulties like processing outdoor scenes from a mobile platform and searching for aspect-changing objects in cluttered environments. This makes such systems combine techniques in the state-of-the-art Computer Vision. In this paper we present a three module system based on both 2D and 3D cues. The first module uses 3D information to estimate the road plane parameters and thus select a coherent set of regions of interest (ROIs) to be further analyzed. The second module uses Real AdaBoost and a combined set of Haar wavelets and edge orientation histograms to classify the incoming ROIs as pedestrian or non-pedestrian. The final module loops again with the 3D cue in order to verify the classified ROIs and with the 2D in order to refine the final results. According to the results, the integration of the proposed techniques gives rise to a promising system.
	Address	Computer Vision and Image Understanding (Special Issue on Intelligent Vision Systems), Vol. 114(5):583-595
	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	1077-3142	ISBN		Medium
	Area		Expedition		Conference
	Notes	ADAS			Approved	no
	Call Number	ADAS @ adas @ GSP2010			Serial	1341
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	Author	David Vazquez; David Geronimo; Antonio Lopez
	Title	The effect of the distance in pedestrian detection			Type	Report
	Year	2009	Publication	CVC Technical Report	Abbreviated Journal
	Volume	149	Issue		Pages
	Keywords	Pedestrian Detection
	Abstract	Pedestrian accidents are one of the leading preventable causes of death. In order to reduce the number of accidents, in the last decade the pedestrian protection systems have been introduced, a special type of advanced driver assistance systems, in witch an on-board camera explores the road ahead for possible collisions with pedestrians in order to warn the driver or perform braking actions. As a result of the variability of the appearance, pose and size, pedestrian detection is a very challenging task. So many techniques, models and features have been proposed to solve the problem. As the appearance of pedestrians varies signicantly as a function of distance, a system based on multiple classiers specialized on diferent depths is likely to improve the overall performance with respect to a typical system based on a general detector. Accordingly, the main aim of this work is to explore the eect of the distance in pedestrian detection. We have evaluated three pedestrian detectors (HOG, HAAR and EOH) in two dierent databases (INRIA and Daimler09) for two dierent sizes (small and big). By a extensive set of experiments we answer to questions like which datasets and evaluation methods are the most adequate, which is the best method for each size of the pedestrians and why or how do the method optimum parameters vary with respect to the distance
	Address
	Corporate Author				Thesis	Master's 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	M.Sc.
	Notes	ADAS			Approved	no
	Call Number	ADAS @ adas @ VGL2009			Serial	1669
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	Author	David Geronimo; Angel Sappa; Antonio Lopez; Daniel Ponsa
	Title	Adaptive Image Sampling and Windows Classification for On-board Pedestrian Detection			Type	Conference Article
	Year	2007	Publication	Proceedings of the 5th International Conference on Computer Vision Systems	Abbreviated Journal	ICVS
	Volume		Issue		Pages
	Keywords	Pedestrian Detection
	Abstract	On–board pedestrian detection is in the frontier of the state–of–the–art since it implies processing outdoor scenarios from a mobile platform and searching for aspect–changing objects in cluttered urban environments. Most promising approaches include the development of classifiers based on feature selection and machine learning. However, they use a large number of features which compromises real–time. Thus, methods for running the classifiers in only a few image windows must be provided. In this paper we contribute in both aspects, proposing a camera pose estimation method for adaptive sparse image sampling, as well as a classifier for pedestrian detection based on Haar wavelets and edge orientation histograms as features and AdaBoost as learning machine. Both proposals are compared with relevant approaches in the literature, showing comparable results but reducing processing time by four for the sampling tasks and by ten for the classification one.
	Address	Bielefeld (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	ADAS			Approved	no
	Call Number	ADAS @ adas @ gsl2007a			Serial	786
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	Author	David Geronimo; Antonio Lopez; Angel Sappa
	Title	Computer Vision Approaches for Pedestrian Detection: Visible Spectrum Survey			Type	Conference Article
	Year	2007	Publication	3rd Iberian Conference on Pattern Recognition and Image Analysis, LNCS 4477	Abbreviated Journal
	Volume	1	Issue		Pages	547–554
	Keywords	Pedestrian detection
	Abstract	Pedestrian detection from images of the visible spectrum is a high relevant area of research given its potential impact in the design of pedestrian protection systems. There are many proposals in the literature but they lack a comparative viewpoint. According to this, in this paper we first propose a common framework where we fit the different approaches, and second we use this framework to provide a comparative point of view of the details of such different approaches, pointing out also the main challenges to be solved in the future. In summary, we expect this survey to be useful for both novel and experienced researchers in the field. In the first case, as a clarifying snapshot of the state of the art; in the second, as a way to unveil trends and to take conclusions from the comparative study.
	Address	Girona (Spain)
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor	J. Marti et al.
	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 @ GLS2007			Serial	804
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	Author	David Geronimo; Antonio Lopez; Daniel Ponsa; Angel Sappa
	Title	Haar Wavelets and Edge Orientation Histograms for On-Board Pedestrian Detection			Type	Conference Article
	Year	2007	Publication	3rd Iberian Conference on Pattern Recognition and Image Analysis, LNCS 4477	Abbreviated Journal
	Volume	1	Issue		Pages	418–425
	Keywords	Pedestrian detection
	Abstract
	Address	Girona (Spain)
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor	J. Marti et al.
	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 @ GLP2007a			Serial	805
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	Author	David Geronimo; Angel Sappa; Antonio Lopez
	Title	Stereo-based Candidate Generation for Pedestrian Protection Systems			Type	Book Chapter
	Year	2010	Publication	Binocular Vision: Development, Depth Perception and Disorders	Abbreviated Journal
	Volume		Issue	9	Pages	189–208
	Keywords	Pedestrian Detection
	Abstract	This chapter describes a stereo-based algorithm that provides candidate image windows to a latter 2D classification stage in an on-board pedestrian detection system. The proposed algorithm, which consists of three stages, is based on the use of both stereo imaging and scene prior knowledge (i.e., pedestrians are on the ground) to reduce the candidate searching space. First, a successful road surface fitting algorithm provides estimates on the relative ground-camera pose. This stage directs the search toward the road area thus avoiding irrelevant regions like the sky. Then, three different schemes are used to scan the estimated road surface with pedestrian-sized windows: (a) uniformly distributed through the road surface (3D); (b) uniformly distributed through the image (2D); (c) not uniformly distributed but according to a quadratic function (combined 2D-3D). Finally, the set of candidate windows is reduced by analyzing their 3D content. Experimental results of the proposed algorithm, together with statistics of searching space reduction are provided.
	Address
	Corporate Author				Thesis
	Publisher	NOVA Publishers	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 @ GSL2010			Serial	1301
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	Author	Fahad Shahbaz Khan; Muhammad Anwer Rao; Joost Van de Weijer; Andrew Bagdanov; Maria Vanrell; Antonio Lopez
	Title	Color Attributes for Object Detection			Type	Conference Article
	Year	2012	Publication	25th IEEE Conference on Computer Vision and Pattern Recognition	Abbreviated Journal
	Volume		Issue		Pages	3306-3313
	Keywords	pedestrian detection
	Abstract	State-of-the-art object detectors typically use shape information as a low level feature representation to capture the local structure of an object. This paper shows that early fusion of shape and color, as is popular in image classification, leads to a significant drop in performance for object detection. Moreover, such approaches also yields suboptimal results for object categories with varying importance of color and shape. In this paper we propose the use of color attributes as an explicit color representation for object detection. Color attributes are compact, computationally efficient, and when combined with traditional shape features provide state-ofthe- art results for object detection. Our method is tested on the PASCAL VOC 2007 and 2009 datasets and results clearly show that our method improves over state-of-the-art techniques despite its simplicity. We also introduce a new dataset consisting of cartoon character images in which color plays a pivotal role. On this dataset, our approach yields a significant gain of 14% in mean AP over conventional state-of-the-art methods.
	Address	Providence; Rhode Island; USA;
	Corporate Author				Thesis
	Publisher	IEEE Xplore	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	1063-6919	ISBN	978-1-4673-1226-4	Medium
	Area		Expedition		Conference	CVPR
	Notes	ADAS; CIC;			Approved	no
	Call Number	Admin @ si @ KRW2012			Serial	1935
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	Author	Diego Cheda; Daniel Ponsa; Antonio Lopez
	Title	Pedestrian Candidates Generation using Monocular Cues			Type	Conference Article
	Year	2012	Publication	IEEE Intelligent Vehicles Symposium	Abbreviated Journal
	Volume		Issue		Pages	7-12
	Keywords	pedestrian detection
	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.
	Address
	Corporate Author				Thesis
	Publisher	IEEE Xplore	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	1931-0587	ISBN	978-1-4673-2119-8	Medium
	Area		Expedition		Conference	IV
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ CPL2012c; ADAS @ adas @ cpl2012d			Serial	2013
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	Author	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	Alejandro Gonzalez Alzate; Gabriel Villalonga; Jiaolong Xu; David Vazquez; Jaume Amores; Antonio Lopez
	Title	Multiview Random Forest of Local Experts Combining RGB and LIDAR data for Pedestrian Detection			Type	Conference Article
	Year	2015	Publication	IEEE Intelligent Vehicles Symposium IV2015	Abbreviated Journal
	Volume		Issue		Pages	356-361
	Keywords	Pedestrian Detection
	Abstract	Despite recent significant advances, pedestrian detection continues to be an extremely challenging problem in real scenarios. In order to develop a detector that successfully operates under these conditions, it becomes critical to leverage upon multiple cues, multiple imaging modalities and a strong multi-view classifier that accounts for different pedestrian views and poses. In this paper we provide an extensive evaluation that gives insight into how each of these aspects (multi-cue, multimodality and strong multi-view classifier) affect performance both individually and when integrated together. In the multimodality component we explore the fusion of RGB and depth maps obtained by high-definition LIDAR, a type of modality that is only recently starting to receive attention. As our analysis reveals, although all the aforementioned aspects significantly help in improving the performance, the fusion of visible spectrum and depth information allows to boost the accuracy by a much larger margin. The resulting detector not only ranks among the top best performers in the challenging KITTI benchmark, but it is built upon very simple blocks that are easy to implement and computationally efficient. These simple blocks can be easily replaced with more sophisticated ones recently proposed, such as the use of convolutional neural networks for feature representation, to further improve the accuracy.
	Address	Seoul; Corea; June 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	ACDC	Expedition		Conference	IV
	Notes	ADAS; 600.076; 600.057; 600.054			Approved	no
	Call Number	ADAS @ adas @ GVX2015			Serial	2625
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	Author	Gabriel Villalonga; Sebastian Ramos; German Ros; David Vazquez; Antonio Lopez
	Title	3d Pedestrian Detection via Random Forest			Type	Miscellaneous
	Year	2014	Publication	European Conference on Computer Vision	Abbreviated Journal
	Volume		Issue		Pages	231-238
	Keywords	Pedestrian Detection
	Abstract	Our demo focuses on showing the extraordinary performance of our novel 3D pedestrian detector along with its simplicity and real-time capabilities. This detector has been designed for autonomous driving applications, but it can also be applied in other scenarios that cover both outdoor and indoor applications. Our pedestrian detector is based on the combination of a random forest classifier with HOG-LBP features and the inclusion of a preprocessing stage based on 3D scene information in order to precisely determinate the image regions where the detector should search for pedestrians. This approach ends up in a high accurate system that runs real-time as it is required by many computer vision and robotics applications.
	Address	Zurich; suiza; September 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	ECCV-Demo
	Notes	ADAS; 600.076			Approved	no
	Call Number	Admin @ si @ VRR2014			Serial	2570
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