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| Author | Jorge Bernal; David Vazquez (eds) | ||||
| Title | Computer vision Trends and Challenges | Type | Book Whole | ||
| Year | 2013 | Publication | Computer vision Trends and Challenges | Abbreviated Journal | |
| Volume | Issue | Pages | |||
| Keywords | CVCRD; Computer Vision | ||||
| Abstract | This book contains the papers presented at the Eighth CVC Workshop on Computer Vision Trends and Challenges (CVCR&D'2013). The workshop was held at the Computer Vision Center (Universitat Autònoma de Barcelona), the October 25th, 2013. The CVC workshops provide an excellent opportunity for young researchers and project engineers to share new ideas and knowledge about the progress of their work, and also, to discuss about challenges and future perspectives. In addition, the workshop is the welcome event for new people that recently have joined the institute.
The program of CVCR&D is organized in a single-track single-day workshop. It comprises several sessions dedicated to specific topics. For each session, a doctor working on the topic introduces the general research lines. The PhD students expose their specific research. A poster session will be held for open questions. Session topics cover the current research lines and development projects of the CVC: Medical Imaging, Medical Imaging, Color & Texture Analysis, Object Recognition, Image Sequence Evaluation, Advanced Driver Assistance Systems, Machine Vision, Document Analysis, Pattern Recognition and Applications. We want to thank all paper authors and Program Committee members. Their contribution shows that the CVC has a dynamic, active, and promising scientific community. We hope you all enjoy this Eighth workshop and we are looking forward to meeting you and new people next year in the Ninth CVCR&D. |
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| Corporate Author | Thesis | ||||
| Publisher | Place of Publication | Editor | Jorge Bernal; David Vazquez | ||
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | ISBN | 978-84-940902-2-6 | Medium | ||
| Area | Expedition | Conference | |||
Notes  |
Approved | no | |||
| Call Number | ADAS @ adas @ BeV2013 | Serial | 2339 | ||
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| Author | A.S. Coquel; Jean-Pascal Jacob; M. Primet; A. Demarez; Mariella Dimiccoli; T. Julou; L. Moisan; A. Lindner; H. Berry | ||||
| Title | Localization of protein aggregation in Escherichia coli is governed by diffusion and nucleoid macromolecular crowding effect | Type | Journal Article | ||
| Year | 2013 | Publication | Plos Computational Biology | Abbreviated Journal | PCB |
| Volume | 9 | Issue | 4 | Pages | |
| Keywords | |||||
| Abstract | Aggregates of misfolded proteins are a hallmark of many age-related diseases. Recently, they have been linked to aging of Escherichia coli (E. coli) where protein aggregates accumulate at the old pole region of the aging bacterium. Because of the potential of E. coli as a model organism, elucidating aging and protein aggregation in this bacterium may pave the way to significant advances in our global understanding of aging. A first obstacle along this path is to decipher the mechanisms by which protein aggregates are targeted to specific intercellular locations. Here, using an integrated approach based on individual-based modeling, time-lapse fluorescence microscopy and automated image analysis, we show that the movement of aging-related protein aggregates in E. coli is purely diffusive (Brownian). Using single-particle tracking of protein aggregates in live E. coli cells, we estimated the average size and diffusion constant of the aggregates. Our results provide evidence that the aggregates passively diffuse within the cell, with diffusion constants that depend on their size in agreement with the Stokes-Einstein law. However, the aggregate displacements along the cell long axis are confined to a region that roughly corresponds to the nucleoid-free space in the cell pole, thus confirming the importance of increased macromolecular crowding in the nucleoids. We thus used 3D individual-based modeling to show that these three ingredients (diffusion, aggregation and diffusion hindrance in the nucleoids) are sufficient and necessary to reproduce the available experimental data on aggregate localization in the cells. Taken together, our results strongly support the hypothesis that the localization of aging-related protein aggregates in the poles of E. coli results from the coupling of passive diffusion-aggregation with spatially non-homogeneous macromolecular crowding. They further support the importance of “soft” intracellular structuring (based on macromolecular crowding) in diffusion-based protein localization in E. coli. | ||||
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| Corporate Author | Thesis | ||||
| Publisher | Place of Publication | Editor | : Stanislav Shvartsman, Princeton University, United States of America | ||
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
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| Area | Expedition | Conference | |||
| Notes |
Approved | no | |||
| Call Number | Admin @ si @CJP2013 | Serial | 2786 | ||
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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. |
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| 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 | ||
| Permanent link to this record | |||||
| Author | Muhammad Anwer Rao | ||||
| Title | Color for Object Detection and Action Recognition | Type | Book Whole | ||
| Year | 2013 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
| Volume | Issue | Pages | |||
| Keywords | |||||
| Abstract | Recognizing object categories in real world images is a challenging problem in computer vision. The deformable part based framework is currently the most successful approach for object detection. Generally, HOG are used for image representation within the part-based framework. For action recognition, the bag-of-word framework has shown to provide promising results. Within the bag-of-words framework, local image patches are described by SIFT descriptor. Contrary to object detection and action recognition, combining color and shape has shown to provide the best performance for object and scene recognition.
In the first part of this thesis, we analyze the problem of person detection in still images. Standard person detection approaches rely on intensity based features for image representation while ignoring the color. Channel based descriptors is one of the most commonly used approaches in object recognition. This inspires us to evaluate incorporating color information using the channel based fusion approach for the task of person detection. In the second part of the thesis, we investigate the problem of object detection in still images. Due to high dimensionality, channel based fusion increases the computational cost. Moreover, channel based fusion has been found to obtain inferior results for object category where one of the visual varies significantly. On the other hand, late fusion is known to provide improved results for a wide range of object categories. A consequence of late fusion strategy is the need of a pure color descriptor. Therefore, we propose to use Color attributes as an explicit color representation for object detection. Color attributes are compact and computationally efficient. Consequently color attributes are combined with traditional shape features providing excellent results for object detection task. Finally, we focus on the problem of action detection and classification in still images. We investigate the potential of color for action classification and detection in still images. We also evaluate different fusion approaches for combining color and shape information for action recognition. Additionally, an analysis is performed to validate the contribution of color for action recognition. Our results clearly demonstrate that combining color and shape information significantly improve the performance of both action classification and detection in still images. |
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| Address | Barcelona | ||||
| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Editor | Antonio Lopez;Joost Van de Weijer | |
| 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 | Admin @ si @ Rao2013 | Serial | 2281 | ||
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| Author | Javier Marin | ||||
| Title | Pedestrian Detection Based on Local Experts | Type | Book Whole | ||
| Year | 2013 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
| Volume | Issue | Pages | |||
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| Abstract | During the last decade vision-based human detection systems have started to play a key rolein multiple applications linked to driver assistance, surveillance, robot sensing and home automation.
Detecting humans is by far one of the most challenging tasks in Computer Vision. This is mainly due to the high degree of variability in the human appearanceassociated to the clothing, pose, shape and size. Besides, other factors such as cluttered scenarios, partial occlusions, or environmental conditions can make the detection task even harder. Most promising methods of the state-of-the-art rely on discriminative learning paradigms which are fed with positive and negative examples. The training data is one of the most relevant elements in order to build a robust detector as it has to cope the large variability of the target. In order to create this dataset human supervision is required. The drawback at this point is the arduous effort of annotating as well as looking for such claimed variability. In this PhD thesis we address two recurrent problems in the literature. In the first stage,we aim to reduce the consuming task of annotating, namely, by using computer graphics. More concretely, we develop a virtual urban scenario for later generating a pedestrian dataset. Then, we train a detector using this dataset, and finally we assess if this detector can be successfully applied in a real scenario. In the second stage, we focus on increasing the robustness of our pedestrian detectors under partial occlusions. In particular, we present a novel occlusion handling approach to increase the performance of block-based holistic methods under partial occlusions. For this purpose, we make use of local experts via a RandomSubspaceMethod (RSM) to handle these cases. If the method infers a possible partial occlusion, then the RSM, based on performance statistics obtained from partially occluded data, is applied. The last objective of this thesis is to propose a robust pedestrian detector based on an ensemble of local experts. To achieve this goal, we use the random forest paradigm, where the trees act as ensembles an their nodesare the local experts. In particular, each expert focus on performing a robust classification ofa pedestrian body patch. This approach offers computational efficiency and far less design complexity when compared to other state-of-the-artmethods, while reaching better accuracy |
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| Address | Barcelona | ||||
| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Editor | Antonio Lopez;Jaume Amores | |
| 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 | Admin @ si @ Mar2013 | Serial | 2280 | ||
| Permanent link to this record | |||||
| Author | David Vazquez | ||||
| Title | Domain Adaptation of Virtual and Real Worlds for Pedestrian Detection | Type | Book Whole | ||
| Year | 2013 | Publication | PhD Thesis, Universitat de Barcelona-CVC | Abbreviated Journal | |
| Volume | 1 | Issue | 1 | Pages | 1-105 |
| Keywords | Pedestrian Detection; Domain Adaptation | ||||
| Abstract | Pedestrian detection is of paramount interest for many applications, e.g. Advanced Driver Assistance Systems, Intelligent Video Surveillance and Multimedia systems. Most promising pedestrian detectors rely on appearance-based classifiers trained with annotated data. However, the required annotation step represents an intensive and subjective task for humans, what makes worth to minimize their intervention in this process by using computational tools like realistic virtual worlds. The reason to use these kind of tools relies in the fact that they allow the automatic generation of precise and rich annotations of visual information. Nevertheless, the use of this kind of data comes with the following question: can a pedestrian appearance model learnt with virtual-world data work successfully for pedestrian detection in real-world scenarios?. To answer this question, we conduct different experiments that suggest a positive answer. However, the pedestrian classifiers trained with virtual-world data can suffer the so called dataset shift problem as real-world based classifiers does. Accordingly, we have designed different domain adaptation techniques to face this problem, all of them integrated in a same framework (V-AYLA). We have explored different methods to train a domain adapted pedestrian classifiers by collecting a few pedestrian samples from the target domain (real world) and combining them with many samples of the source domain (virtual world). The extensive experiments we present show that pedestrian detectors developed within the V-AYLA framework do achieve domain adaptation. Ideally, we would like to adapt our system without any human intervention. Therefore, as a first proof of concept we also propose an unsupervised domain adaptation technique that avoids human intervention during the adaptation process. To the best of our knowledge, this Thesis work is the first demonstrating adaptation of virtual and real worlds for developing an object detector. Last but not least, we also assessed a different strategy to avoid the dataset shift that consists in collecting real-world samples and retrain with them in such a way that no bounding boxes of real-world pedestrians have to be provided. We show that the generated classifier is competitive with respect to the counterpart trained with samples collected by manually annotating pedestrian bounding boxes. The results presented on this Thesis not only end with a proposal for adapting a virtual-world pedestrian detector to the real world, but also it goes further by pointing out a new methodology that would allow the system to adapt to different situations, which we hope will provide the foundations for future research in this unexplored area. | ||||
| Address | Barcelona | ||||
| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Barcelona | Editor | Antonio Lopez;Daniel Ponsa |
| Language | English | Summary Language | Original Title | ||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | ISBN | 978-84-940530-1-6 | Medium | ||
| Area | Expedition | Conference | |||
| Notes |
adas | Approved | yes | ||
| Call Number | ADAS @ adas @ Vaz2013 | Serial | 2276 | ||
| Permanent link to this record | |||||
| Author | Ferran Diego; Joan Serrat; Antonio Lopez | ||||
| Title | Joint spatio-temporal alignment of sequences | Type | Journal Article | ||
| Year | 2013 | Publication | IEEE Transactions on Multimedia | Abbreviated Journal | TMM |
| Volume | 15 | Issue | 6 | Pages | 1377-1387 |
| Keywords | video alignment | ||||
| Abstract | Video alignment is important in different areas of computer vision such as wide baseline matching, action recognition, change detection, video copy detection and frame dropping prevention. Current video alignment methods usually deal with a relatively simple case of fixed or rigidly attached cameras or simultaneous acquisition. Therefore, in this paper we propose a joint video alignment for bringing two video sequences into a spatio-temporal alignment. Specifically, the novelty of the paper is to formulate the video alignment to fold the spatial and temporal alignment into a single alignment framework. This simultaneously satisfies a frame-correspondence and frame-alignment similarity; exploiting the knowledge among neighbor frames by a standard pairwise Markov random field (MRF). This new formulation is able to handle the alignment of sequences recorded at different times by independent moving cameras that follows a similar trajectory, and also generalizes the particular cases that of fixed geometric transformation and/or linear temporal mapping. We conduct experiments on different scenarios such as sequences recorded simultaneously or by moving cameras to validate the robustness of the proposed approach. The proposed method provides the highest video alignment accuracy compared to the state-of-the-art methods on sequences recorded from vehicles driving along the same track at different times. | ||||
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| 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 | 1520-9210 | ISBN | Medium | ||
| Area | Expedition | Conference | |||
| Notes |
ADAS | Approved | no | ||
| Call Number | Admin @ si @ DSL2013; ADAS @ adas @ | Serial | 2228 | ||
| Permanent link to this record | |||||
| Author | J.S. Cope; P.Remagnino; S.Mannan; Katerine Diaz; Francesc J. Ferri; P.Wilkin | ||||
| Title | Reverse Engineering Expert Visual Observations: From Fixations To The Learning Of Spatial Filters With A Neural-Gas Algorithm | Type | Journal Article | ||
| Year | 2013 | Publication | Expert Systems with Applications | Abbreviated Journal | EXWA |
| Volume | 40 | Issue | 17 | Pages | 6707-6712 |
| Keywords | Neural gas; Expert vision; Eye-tracking; Fixations | ||||
| Abstract | Human beings can become experts in performing specific vision tasks, for example, doctors analysing medical images, or botanists studying leaves. With sufficient knowledge and experience, people can become very efficient at such tasks. When attempting to perform these tasks with a machine vision system, it would be highly beneficial to be able to replicate the process which the expert undergoes. Advances in eye-tracking technology can provide data to allow us to discover the manner in which an expert studies an image. This paper presents a first step towards utilizing these data for computer vision purposes. A growing-neural-gas algorithm is used to learn a set of Gabor filters which give high responses to image regions which a human expert fixated on. These filters can then be used to identify regions in other images which are likely to be useful for a given vision task. The algorithm is evaluated by learning filters for locating specific areas of plant leaves. | ||||
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| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | 0957-4174 | ISBN | Medium | ||
| Area | Expedition | Conference | |||
| Notes |
ADAS | Approved | no | ||
| Call Number | Admin @ si @ CRM2013 | Serial | 2438 | ||
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| Author | Katerine Diaz; Francesc J. Ferri; W. Diaz | ||||
| Title | Fast Approximated Discriminative Common Vectors using rank-one SVD updates | Type | Conference Article | ||
| Year | 2013 | Publication | 20th International Conference On Neural Information Processing | Abbreviated Journal | |
| Volume | 8228 | Issue | III | Pages | 368-375 |
| Keywords | |||||
| Abstract | An efficient incremental approach to the discriminative common vector (DCV) method for dimensionality reduction and classification is presented. The proposal consists of a rank-one update along with an adaptive restriction on the rank of the null space which leads to an approximate but convenient solution. The algorithm can be implemented very efficiently in terms of matrix operations and space complexity, which enables its use in large-scale dynamic application domains. Deep comparative experimentation using publicly available high dimensional image datasets has been carried out in order to properly assess the proposed algorithm against several recent incremental formulations.
K. Diaz-Chito, F.J. Ferri, W. Diaz |
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| Address | Daegu; Korea; November 2013 | ||||
| Corporate Author | Thesis | ||||
| Publisher | Springer Berlin Heidelberg | Place of Publication | Editor | ||
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | LNCS | ||
| Series Volume | Series Issue | Edition | |||
| ISSN | 0302-9743 | ISBN | 978-3-642-42050-4 | Medium | |
| Area | Expedition | Conference | ICONIP | ||
| Notes |
ADAS | Approved | no | ||
| Call Number | Admin @ si @ DFD2013 | Serial | 2439 | ||
| Permanent link to this record | |||||
| Author | Katerine Diaz; Francesc J. Ferri | ||||
| Title | Extensiones del método de vectores comunes discriminantes Aplicadas a la clasificación de imágenes | Type | Book Whole | ||
| Year | 2013 | Publication | Extensiones del método de vectores comunes discriminantes Aplicadas a la clasificación de imágenes | Abbreviated Journal | |
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| Abstract | Los métodos basados en subespacios son una herramienta muy utilizada en aplicaciones de visión por computador. Aquí se presentan y validan algunos algoritmos que hemos propuesto en este campo de investigación. El primer algoritmo está relacionado con una extensión del método de vectores comunes discriminantes con kernel, que reinterpreta el espacio nulo de la matriz de dispersión intra-clase del conjunto de entrenamiento para obtener las características discriminantes. Dentro de los métodos basados en subespacios existen diferentes tipos de entrenamiento. Uno de los más populares, pero no por ello uno de los más eficientes, es el aprendizaje por lotes. En este tipo de aprendizaje, todas las muestras del conjunto de entrenamiento tienen que estar disponibles desde el inicio. De este modo, cuando nuevas muestras se ponen a disposición del algoritmo, el sistema tiene que ser reentrenado de nuevo desde cero. Una alternativa a este tipo de entrenamiento es el aprendizaje incremental. Aquí se proponen diferentes algoritmos incrementales del método de vectores comunes discriminantes. | ||||
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| Publisher | Place of Publication | Editor | |||
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | ISBN | 978-3-639-55339-0 | Medium | ||
| Area | Expedition | Conference | |||
| Notes |
ADAS | Approved | no | ||
| Call Number | Admin @ si @ DiF2013 | Serial | 2440 | ||
| Permanent link to this record | |||||
| Author | Naveen Onkarappa | ||||
| Title | Optical Flow in Driver Assistance Systems | Type | Book Whole | ||
| Year | 2013 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
| Volume | Issue | Pages | |||
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| Abstract | Motion perception is one of the most important attributes of the human brain. Visual motion perception consists in inferring speed and direction of elements in a scene based on visual inputs. Analogously, computer vision is assisted by motion cues in the scene. Motion detection in computer vision is useful in solving problems such as segmentation, depth from motion, structure from motion, compression, navigation and many others. These problems are common in several applications, for instance, video surveillance, robot navigation and advanced driver assistance systems (ADAS). One of the most widely used techniques for motion detection is the optical flow estimation. The work in this thesis attempts to make optical flow suitable for the requirements and conditions of driving scenarios. In this context, a novel space-variant representation called reverse log-polar representation is proposed that is shown to be better than the traditional log-polar space-variant representation for ADAS. The space-variant representations reduce the amount of data to be processed. Another major contribution in this research is related to the analysis of the influence of specific characteristics from driving scenarios on the optical flow accuracy. Characteristics such as vehicle speed and
road texture are considered in the aforementioned analysis. From this study, it is inferred that the regularization weight has to be adapted according to the required error measure and for different speeds and road textures. It is also shown that polar represented optical flow suits driving scenarios where predominant motion is translation. Due to the requirements of such a study and by the lack of needed datasets a new synthetic dataset is presented; it contains: i) sequences of different speeds and road textures in an urban scenario; ii) sequences with complex motion of an on-board camera; and iii) sequences with additional moving vehicles in the scene. The ground-truth optical flow is generated by the ray-tracing technique. Further, few applications of optical flow in ADAS are shown. Firstly, a robust RANSAC based technique to estimate horizon line is proposed. Then, an egomotion estimation is presented to compare the proposed space-variant representation with the classical one. As a final contribution, a modification in the regularization term is proposed that notably improves the results in the ADAS applications. This adaptation is evaluated using a state of the art optical flow technique. The experiments on a public dataset (KITTI) validate the advantages of using the proposed modification. |
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| Address | Bellaterra | ||||
| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Editor | Angel Sappa | |
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | ISBN | 978-84-940902-1-9 | Medium | ||
| Area | Expedition | Conference | |||
| Notes |
ADAS | Approved | no | ||
| Call Number | Admin @ si @ Nav2013 | Serial | 2447 | ||
| Permanent link to this record | |||||
| Author | Jiaolong Xu; Sebastian Ramos; David Vazquez; Antonio Lopez | ||||
| Title | DA-DPM Pedestrian Detection | Type | Conference Article | ||
| Year | 2013 | Publication | ICCV Workshop on Reconstruction meets Recognition | Abbreviated Journal | |
| Volume | Issue | Pages | |||
| Keywords | Domain Adaptation; Pedestrian Detection | ||||
| Abstract | |||||
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| Area | Expedition | Conference | ICCVW-RR | ||
| Notes |
ADAS | Approved | no | ||
| Call Number | Admin @ si @ XRV2013 | Serial | 2569 | ||
| Permanent link to this record | |||||
| 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 |
| Keywords | |||||
| 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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| Series Volume | Series Issue | Edition | |||
| ISSN | 1057-7149 | ISBN | Medium | ||
| Area | Expedition | Conference | |||
| Notes |
ADAS | Approved | no | ||
| Call Number | Admin @ si @ RoS2013 | Serial | 2665 | ||
| Permanent link to this record | |||||
| 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 | ||
| Permanent link to this record | |||||
| Author | Yainuvis Socarras; Sebastian Ramos; David Vazquez; Antonio Lopez; Theo Gevers | ||||
| Title | Adapting Pedestrian Detection from Synthetic to Far Infrared Images | Type | Conference Article | ||
| Year | 2013 | Publication | ICCV Workshop on Visual Domain Adaptation and Dataset Bias | Abbreviated Journal | |
| Volume | Issue | Pages | |||
| Keywords | Domain Adaptation; Far Infrared; Pedestrian Detection | ||||
| Abstract | We present different techniques to adapt a pedestrian classifier trained with synthetic images and the corresponding automatically generated annotations to operate with far infrared (FIR) images. The information contained in this kind of images allow us to develop a robust pedestrian detector invariant to extreme illumination changes. | ||||
| Address | Sydney; Australia; December 2013 | ||||
| Corporate Author | Thesis | ||||
| Publisher | Place of Publication | Sydney, Australy | Editor | ||
| Language | English | Summary Language | Original Title | ||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | ISBN | Medium | |||
| Area | Expedition | Conference | ICCVW-VisDA | ||
| Notes |
ADAS; 600.054; 600.055; 600.057; 601.217;ISE | Approved | no | ||
| Call Number | ADAS @ adas @ SRV2013 | Serial | 2334 | ||
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