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	Author	Saad Minhas; Aura Hernandez-Sabate; Shoaib Ehsan; Katerine Diaz; Ales Leonardis; Antonio Lopez; Klaus McDonald Maier
	Title	LEE: A photorealistic Virtual Environment for Assessing Driver-Vehicle Interactions in Self-Driving Mode			Type	Conference Article
	Year	2016	Publication	14th European Conference on Computer Vision Workshops	Abbreviated Journal
	Volume	9915	Issue		Pages	894-900
	Keywords	Simulation environment; Automated Driving; Driver-Vehicle interaction
	Abstract	Photorealistic virtual environments are crucial for developing and testing automated driving systems in a safe way during trials. As commercially available simulators are expensive and bulky, this paper presents a low-cost, extendable, and easy-to-use (LEE) virtual environment with the aim to highlight its utility for level 3 driving automation. In particular, an experiment is performed using the presented simulator to explore the influence of different variables regarding control transfer of the car after the system was driving autonomously in a highway scenario. The results show that the speed of the car at the time when the system needs to transfer the control to the human driver is critical.
	Address	Amsterdam; The Netherlands; October 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	ECCVW
	Notes	ADAS;IAM; 600.085; 600.076			Approved	no
	Call Number	MHE2016			Serial	2865
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	Author	Ikechukwu Ofodile; Ahmed Helmi; Albert Clapes; Egils Avots; Kerttu Maria Peensoo; Sandhra Mirella Valdma; Andreas Valdmann; Heli Valtna Lukner; Sergey Omelkov; Sergio Escalera; Cagri Ozcinar; Gholamreza Anbarjafari
	Title	Action recognition using single-pixel time-of-flight detection			Type	Journal Article
	Year	2019	Publication	Entropy	Abbreviated Journal	ENTROPY
	Volume	21	Issue	4	Pages	414
	Keywords	single pixel single photon image acquisition; time-of-flight; action recognition
	Abstract	Action recognition is a challenging task that plays an important role in many robotic systems, which highly depend on visual input feeds. However, due to privacy concerns, it is important to find a method which can recognise actions without using visual feed. In this paper, we propose a concept for detecting actions while preserving the test subject’s privacy. Our proposed method relies only on recording the temporal evolution of light pulses scattered back from the scene. Such data trace to record one action contains a sequence of one-dimensional arrays of voltage values acquired by a single-pixel detector at 1 GHz repetition rate. Information about both the distance to the object and its shape are embedded in the traces. We apply machine learning in the form of recurrent neural networks for data analysis and demonstrate successful action recognition. The experimental results show that our proposed method could achieve on average 96.47% accuracy on the actions walking forward, walking backwards, sitting down, standing up and waving hand, using recurrent neural network.
	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	HuPBA; no proj			Approved	no
	Call Number	Admin @ si @ OHC2019			Serial	3319
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	Author	Asma Bensalah; Pau Riba; Alicia Fornes; Josep Llados
	Title	Shoot less and Sketch more: An Efficient Sketch Classification via Joining Graph Neural Networks and Few-shot Learning			Type	Conference Article
	Year	2019	Publication	13th IAPR International Workshop on Graphics Recognition	Abbreviated Journal
	Volume		Issue		Pages	80-85
	Keywords	Sketch classification; Convolutional Neural Network; Graph Neural Network; Few-shot learning
	Abstract	With the emergence of the touchpad devices and drawing tablets, a new era of sketching started afresh. However, the recognition of sketches is still a tough task due to the variability of the drawing styles. Moreover, in some application scenarios there is few labelled data available for training, which imposes a limitation for deep learning architectures. In addition, in many cases there is a need to generate models able to adapt to new classes. In order to cope with these limitations, we propose a method based on few-shot learning and graph neural networks for classifying sketches aiming for an efficient neural model. We test our approach with several databases of sketches, showing promising results.
	Address	Sydney; Australia; September 2019
	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	GREC
	Notes	DAG; 600.140; 601.302; 600.121			Approved	no
	Call Number	Admin @ si @ BRF2019			Serial	3354
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	Author	German Ros; J. Guerrero; Angel Sappa; Daniel Ponsa; Antonio Lopez
	Title	Fast and Robust l1-averaging-based Pose Estimation for Driving Scenarios			Type	Conference Article
	Year	2013	Publication	24th British Machine Vision Conference	Abbreviated Journal
	Volume		Issue		Pages
	Keywords	SLAM
	Abstract	Robust visual pose estimation is at the core of many computer vision applications, being fundamental for Visual SLAM and Visual Odometry problems. During the last decades, many approaches have been proposed to solve these problems, being RANSAC one of the most accepted and used. However, with the arrival of new challenges, such as large driving scenarios for autonomous vehicles, along with the improvements in the data gathering frameworks, new issues must be considered. One of these issues is the capability of a technique to deal with very large amounts of data while meeting the realtime constraint. With this purpose in mind, we present a novel technique for the problem of robust camera-pose estimation that is more suitable for dealing with large amount of data, which additionally, helps improving the results. The method is based on a combination of a very fast coarse-evaluation function and a robust ℓ1-averaging procedure. Such scheme leads to high-quality results while taking considerably less time than RANSAC. Experimental results on the challenging KITTI Vision Benchmark Suite are provided, showing the validity of the proposed approach.
	Address	Bristol; UK; September 2013
	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	BMVC
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ RGS2013b; ADAS @ adas @			Serial	2274
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	Author	Diego Cheda; Daniel Ponsa; Antonio Lopez
	Title	Monocular Egomotion Estimation based on Image Matching			Type	Conference Article
	Year	2012	Publication	1st International Conference on Pattern Recognition Applications and Methods	Abbreviated Journal
	Volume		Issue		Pages	425-430
	Keywords	SLAM
	Abstract
	Address	Portugal
	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	ICPRAM
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ CPL2012a;; ADAS @ adas @			Serial	2011
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	Author	German Ros; Angel Sappa; Daniel Ponsa; Antonio Lopez
	Title	Visual SLAM for Driverless Cars: A Brief Survey			Type	Conference Article
	Year	2012	Publication	IEEE Workshop on Navigation, Perception, Accurate Positioning and Mapping for Intelligent Vehicles	Abbreviated Journal
	Volume		Issue		Pages
	Keywords	SLAM
	Abstract
	Address	Alcalá de Henares
	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	IVW
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ RSP2012; ADAS @ adas			Serial	2019
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	Author	German Ros; J. Guerrero; Angel Sappa; Antonio Lopez
	Title	VSLAM pose initialization via Lie groups and Lie algebras optimization			Type	Conference Article
	Year	2013	Publication	Proceedings of IEEE International Conference on Robotics and Automation	Abbreviated Journal
	Volume		Issue		Pages	5740 - 5747
	Keywords	SLAM
	Abstract	We present a novel technique for estimating initial 3D poses in the context of localization and Visual SLAM problems. The presented approach can deal with noise, outliers and a large amount of input data and still performs in real time in a standard CPU. Our method produces solutions with an accuracy comparable to those produced by RANSAC but can be much faster when the percentage of outliers is high or for large amounts of input data. On the current work we propose to formulate the pose estimation as an optimization problem on Lie groups, considering their manifold structure as well as their associated Lie algebras. This allows us to perform a fast and simple optimization at the same time that conserve all the constraints imposed by the Lie group SE(3). Additionally, we present several key design concepts related with the cost function and its Jacobian; aspects that are critical for the good performance of the algorithm.
	Address	Karlsruhe; Germany; May 2013
	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	1050-4729	ISBN	978-1-4673-5641-1	Medium
	Area		Expedition		Conference	ICRA
	Notes	ADAS; 600.054; 600.055; 600.057			Approved	no
	Call Number	Admin @ si @ RGS2013a; ADAS @ adas @			Serial	2225
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	Author	Cristina Palmero; Jordi Esquirol; Vanessa Bayo; Miquel Angel Cos; Pouya Ahmadmonfared; Joan Salabert; David Sanchez; Sergio Escalera
	Title	Automatic Sleep System Recommendation by Multi-modal RBG-Depth-Pressure Anthropometric Analysis			Type	Journal Article
	Year	2017	Publication	International Journal of Computer Vision	Abbreviated Journal	IJCV
	Volume	122	Issue	2	Pages	212–227
	Keywords	Sleep system recommendation; RGB-Depth data Pressure imaging; Anthropometric landmark extraction; Multi-part human body segmentation
	Abstract	This paper presents a novel system for automatic sleep system recommendation using RGB, depth and pressure information. It consists of a validated clinical knowledge-based model that, along with a set of prescription variables extracted automatically, obtains a personalized bed design recommendation. The automatic process starts by performing multi-part human body RGB-D segmentation combining GrabCut, 3D Shape Context descriptor and Thin Plate Splines, to then extract a set of anthropometric landmark points by applying orthogonal plates to the segmented human body. The extracted variables are introduced to the computerized clinical model to calculate body circumferences, weight, morphotype and Body Mass Index categorization. Furthermore, pressure image analysis is performed to extract pressure values and at-risk points, which are also introduced to the model to eventually obtain the final prescription of mattress, topper, and pillow. We validate the complete system in a set of 200 subjects, showing accurate category classification and high correlation results with respect to manual measures.
	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	HuPBA;MILAB; 303.100			Approved	no
	Call Number	Admin @ si @ PEB2017			Serial	2765
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	Author	Michal Drozdzal; Santiago Segui; Petia Radeva; Carolina Malagelada; Fernando Azpiroz; Jordi Vitria
	Title	Motility bar: a new tool for motility analysis of endoluminal videos			Type	Journal Article
	Year	2015	Publication	Computers in Biology and Medicine	Abbreviated Journal	CBM
	Volume	65	Issue		Pages	320-330
	Keywords	Small intestine; Motility; WCE; Computer vision; Image classification
	Abstract	Wireless Capsule Endoscopy (WCE) provides a new perspective of the small intestine, since it enables, for the first time, visualization of the entire organ. However, the long visual video analysis time, due to the large number of data in a single WCE study, was an important factor impeding the widespread use of the capsule as a tool for intestinal abnormalities detection. Therefore, the introduction of WCE triggered a new field for the application of computational methods, and in particular, of computer vision. In this paper, we follow the computational approach and come up with a new perspective on the small intestine motility problem. Our approach consists of three steps: first, we review a tool for the visualization of the motility information contained in WCE video; second, we propose algorithms for the characterization of two motility building-blocks: contraction detector and lumen size estimation; finally, we introduce an approach to detect segments of stable motility behavior. Our claims are supported by an evaluation performed with 10 WCE videos, suggesting that our methods ably capture the intestinal motility information.
	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	MILAB;MV			Approved	no
	Call Number	Admin @ si @ DSR2015			Serial	2635
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	Author	Petia Radeva; Joan Serrat; Enric Marti
	Title	A snake for model-based segmentation			Type	Conference Article
	Year	1995	Publication	Proc. Conf. Fifth Int Computer Vision	Abbreviated Journal
	Volume		Issue		Pages	816-821
	Keywords	snakes; elastic matching; model-based segmenta tion
	Abstract	Despite the promising results of numerous applications, the hitherto proposed snake techniques share some common problems: snake attraction by spurious edge points, snake degeneration (shrinking and attening), convergence and stability of the deformation process, snake initialization and local determination of the parameters of elasticity. We argue here that these problems can be solved only when all the snake aspects are considered. The snakes proposed here implement a new potential eld and external force in order to provide a deformation convergence, attraction by both near and far edges as well as snake behaviour selective according to the edge orientation. Furthermore, we conclude that in the case of model-based seg mentation, the internal force should include structural information about the expected snake shape. Experiments using this kind of snakes for segmenting bones in complex hand radiographs show a signicant improvement.
	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	MILAB;ADAS;IAM			Approved	no
	Call Number	IAM @ iam @ RSM1995			Serial	1634
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	Author	Sergio Escalera; Petia Radeva; Jordi Vitria; Xavier Baro; Bogdan Raducanu
	Title	Modelling and Analyzing Multimodal Dyadic Interactions Using Social Networks			Type	Conference Article
	Year	2010	Publication	12th International Conference on Multimodal Interfaces and 7th Workshop on Machine Learning for Multimodal Interaction.	Abbreviated Journal
	Volume		Issue		Pages
	Keywords	Social interaction; Multimodal fusion, Influence model; Social network analysis
	Abstract	Social network analysis became a common technique used to model and quantify the properties of social interactions. In this paper, we propose an integrated framework to explore the characteristics of a social network extracted from multimodal dyadic interactions. First, speech detection is performed through an audio/visual fusion scheme based on stacked sequential learning. In the audio domain, speech is detected through clusterization of audio features. Clusters are modelled by means of an One-state Hidden Markov Model containing a diagonal covariance Gaussian Mixture Model. In the visual domain, speech detection is performed through differential-based feature extraction from the segmented mouth region, and a dynamic programming matching procedure. Second, in order to model the dyadic interactions, we employed the Influence Model whose states encode the previous integrated audio/visual data. Third, the social network is extracted based on the estimated influences. For our study, we used a set of videos belonging to New York Times’ Blogging Heads opinion blog. The results are reported both in terms of accuracy of the audio/visual data fusion and centrality measures used to characterize the social network.
	Address	Beijing (China)
	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	ICMI-MLI
	Notes	OR;MILAB;HUPBA;MV			Approved	no
	Call Number	BCNPCL @ bcnpcl @ ERV2010			Serial	1427
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	Author	Maedeh Aghaei; Mariella Dimiccoli; C. Canton-Ferrer; Petia Radeva
	Title	Towards social pattern characterization from egocentric photo-streams			Type	Journal Article
	Year	2018	Publication	Computer Vision and Image Understanding	Abbreviated Journal	CVIU
	Volume	171	Issue		Pages	104-117
	Keywords	Social pattern characterization; Social signal extraction; Lifelogging; Convolutional and recurrent neural networks
	Abstract	Following the increasingly popular trend of social interaction analysis in egocentric vision, this article presents a comprehensive pipeline for automatic social pattern characterization of a wearable photo-camera user. The proposed framework relies merely on the visual analysis of egocentric photo-streams and consists of three major steps. The first step is to detect social interactions of the user where the impact of several social signals on the task is explored. The detected social events are inspected in the second step for categorization into different social meetings. These two steps act at event-level where each potential social event is modeled as a multi-dimensional time-series, whose dimensions correspond to a set of relevant features for each task; finally, LSTM is employed to classify the time-series. The last step of the framework is to characterize social patterns of the user. Our goal is to quantify the duration, the diversity and the frequency of the user social relations in various social situations. This goal is achieved by the discovery of recurrences of the same people across the whole set of social events related to the user. Experimental evaluation over EgoSocialStyle – the proposed dataset in this work, and EGO-GROUP demonstrates promising results on the task of social pattern characterization from egocentric photo-streams.
	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	MILAB; no proj			Approved	no
	Call Number	Admin @ si @ ADC2018			Serial	3022
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	Author	Alvaro Cepero; Albert Clapes; Sergio Escalera
	Title	Automatic non-verbal communication skills analysis: a quantitative evaluation			Type	Journal Article
	Year	2015	Publication	AI Communications	Abbreviated Journal	AIC
	Volume	28	Issue	1	Pages	87-101
	Keywords	Social signal processing; human behavior analysis; multi-modal data description; multi-modal data fusion; non-verbal communication analysis; e-Learning
	Abstract	The oral communication competence is defined on the top of the most relevant skills for one's professional and personal life. Because of the importance of communication in our activities of daily living, it is crucial to study methods to evaluate and provide the necessary feedback that can be used in order to improve these communication capabilities and, therefore, learn how to express ourselves better. In this work, we propose a system capable of evaluating quantitatively the quality of oral presentations in an automatic fashion. The system is based on a multi-modal RGB, depth, and audio data description and a fusion approach in order to recognize behavioral cues and train classifiers able to eventually predict communication quality levels. The performance of the proposed system is tested on a novel dataset containing Bachelor thesis' real defenses, presentations from an 8th semester Bachelor courses, and Master courses' presentations at Universitat de Barcelona. Using as groundtruth the marks assigned by actual instructors, our system achieves high performance categorizing and ranking presentations by their quality, and also making real-valued mark predictions.
	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	0921-7126	ISBN		Medium
	Area		Expedition		Conference
	Notes	HUPBA;MILAB			Approved	no
	Call Number	Admin @ si @ CCE2015			Serial	2549
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	Author	Naveen Onkarappa; Angel Sappa
	Title	A Novel Space Variant Image Representation			Type	Journal Article
	Year	2013	Publication	Journal of Mathematical Imaging and Vision	Abbreviated Journal	JMIV
	Volume	47	Issue	1-2	Pages	48-59
	Keywords	Space-variant representation; Log-polar mapping; Onboard vision applications
	Abstract	Traditionally, in machine vision images are represented using cartesian coordinates with uniform sampling along the axes. On the contrary, biological vision systems represent images using polar coordinates with non-uniform sampling. For various advantages provided by space-variant representations many researchers are interested in space-variant computer vision. In this direction the current work proposes a novel and simple space variant representation of images. The proposed representation is compared with the classical log-polar mapping. The log-polar representation is motivated by biological vision having the characteristic of higher resolution at the fovea and reduced resolution at the periphery. On the contrary to the log-polar, the proposed new representation has higher resolution at the periphery and lower resolution at the fovea. Our proposal is proved to be a better representation in navigational scenarios such as driver assistance systems and robotics. The experimental results involve analysis of optical flow fields computed on both proposed and log-polar representations. Additionally, an egomotion estimation application is also shown as an illustrative example. The experimental analysis comprises results from synthetic as well as real sequences.
	Address
	Corporate Author				Thesis
	Publisher	Springer US	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	0924-9907	ISBN		Medium
	Area		Expedition		Conference
	Notes	ADAS; 600.055; 605.203; 601.215			Approved	no
	Call Number	Admin @ si @ OnS2013a			Serial	2243
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	Author	F. Javier Sanchez; Jorge Bernal; Cristina Sanchez Montes; Cristina Rodriguez de Miguel; Gloria Fernandez Esparrach
	Title	Bright spot regions segmentation and classification for specular highlights detection in colonoscopy videos			Type	Journal Article
	Year	2017	Publication	Machine Vision and Applications	Abbreviated Journal	MVAP
	Volume		Issue		Pages	1-20
	Keywords	Specular highlights; bright spot regions segmentation; region classification; colonoscopy
	Abstract	A novel specular highlights detection method in colonoscopy videos is presented. The method is based on a model of appearance dening specular highlights as bright spots which are highly contrasted with respect to adjacent regions. Our approach proposes two stages; segmentation, and then classication of bright spot regions. The former denes a set of candidate regions obtained through a region growing process with local maxima as initial region seeds. This process creates a tree structure which keeps track, at each growing iteration, of the region frontier contrast; nal regions provided depend on restrictions over contrast value. Non-specular regions are ltered through a classication stage performed by a linear SVM classier using model-based features from each region. We introduce a new validation database with more than 25; 000 regions along with their corresponding pixel-wise annotations. We perform a comparative study against other approaches. Results show that our method is superior to other approaches, with our segmented regions being closer to actual specular regions in the image. Finally, we also present how our methodology can also be used to obtain an accurate prediction of polyp histology.
	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	MV; 600.096; 600.175			Approved	no
	Call Number	Admin @ si @ SBS2017			Serial	2975
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