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Author Felipe Codevilla; Matthias Muller; Antonio Lopez; Vladlen Koltun; Alexey Dosovitskiy
Title End-to-end Driving via Conditional Imitation Learning Type Conference Article
Year 2018 Publication IEEE International Conference on Robotics and Automation Abbreviated Journal
Volume Issue Pages 4693 - 4700
Keywords
Abstract Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate an expert cannot be guided to take a specific turn at an upcoming intersection. This limits the utility of such systems. We propose to condition imitation learning on high-level command input. At test time, the learned driving policy functions as a chauffeur that handles sensorimotor coordination but continues to respond to navigational commands. We evaluate different architectures for conditional imitation learning in vision-based driving. We conduct experiments in realistic three-dimensional simulations of urban driving and on a 1/5 scale robotic truck that is trained to drive in a residential area. Both systems drive based on visual input yet remain responsive to high-level navigational commands. The supplementary video can be viewed at this https URL
Address Brisbane; Australia; May 2018
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 ICRA
Notes (up) ADAS; 600.116; 600.124; 600.118 Approved no
Call Number Admin @ si @ CML2018 Serial 3108
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Author Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan Carlos Moure
Title GPU-accelerated real-time stixel computation Type Conference Article
Year 2017 Publication IEEE Winter Conference on Applications of Computer Vision Abbreviated Journal
Volume Issue Pages 1054-1062
Keywords Autonomous Driving; GPU; Stixel
Abstract The Stixel World is a medium-level, compact representation of road scenes that abstracts millions of disparity pixels into hundreds or thousands of stixels. The goal of this work is to implement and evaluate a complete multi-stixel estimation pipeline on an embedded, energyefficient, GPU-accelerated device. This work presents a full GPU-accelerated implementation of stixel estimation that produces reliable results at 26 frames per second (real-time) on the Tegra X1 for disparity images of 1024×440 pixels and stixel widths of 5 pixels, and achieves more than 400 frames per second on a high-end Titan X GPU card.
Address Santa Rosa; CA; USA; March 2017
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 WACV
Notes (up) ADAS; 600.118 Approved no
Call Number ADAS @ adas @ HEV2017b Serial 2812
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Author Daniel Hernandez; Lukas Schneider; Antonio Espinosa; David Vazquez; Antonio Lopez; Uwe Franke; Marc Pollefeys; Juan C. Moure
Title Slanted Stixels: Representing San Francisco's Steepest Streets} Type Conference Article
Year 2017 Publication 28th British Machine Vision Conference Abbreviated Journal
Volume Issue Pages
Keywords
Abstract In this work we present a novel compact scene representation based on Stixels that infers geometric and semantic information. Our approach overcomes the previous rather restrictive geometric assumptions for Stixels by introducing a novel depth model to account for non-flat roads and slanted objects. Both semantic and depth cues are used jointly to infer the scene representation in a sound global energy minimization formulation. Furthermore, a novel approximation scheme is introduced that uses an extremely efficient over-segmentation. In doing so, the computational complexity of the Stixel inference algorithm is reduced significantly, achieving real-time computation capabilities with only a slight drop in accuracy. We evaluate the proposed approach in terms of semantic and geometric accuracy as well as run-time on four publicly available benchmark datasets. Our approach maintains accuracy on flat road scene datasets while improving substantially on a novel non-flat road dataset.
Address London; uk; September 2017
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 (up) ADAS; 600.118 Approved no
Call Number ADAS @ adas @ HSE2017a Serial 2945
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Author Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan Carlos Moure
Title Embedded Real-time Stixel Computation Type Conference Article
Year 2017 Publication GPU Technology Conference Abbreviated Journal
Volume Issue Pages
Keywords GPU; CUDA; Stixels; Autonomous Driving
Abstract
Address Silicon Valley; USA; May 2017
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 GTC
Notes (up) ADAS; 600.118 Approved no
Call Number ADAS @ adas @ HEV2017a Serial 2879
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Author Victor Vaquero; German Ros; Francesc Moreno-Noguer; Antonio Lopez; Alberto Sanfeliu
Title Joint coarse-and-fine reasoning for deep optical flow Type Conference Article
Year 2017 Publication 24th International Conference on Image Processing Abbreviated Journal
Volume Issue Pages 2558-2562
Keywords
Abstract We propose a novel representation for dense pixel-wise estimation tasks using CNNs that boosts accuracy and reduces training time, by explicitly exploiting joint coarse-and-fine reasoning. The coarse reasoning is performed over a discrete classification space to obtain a general rough solution, while the fine details of the solution are obtained over a continuous regression space. In our approach both components are jointly estimated, which proved to be beneficial for improving estimation accuracy. Additionally, we propose a new network architecture, which combines coarse and fine components by treating the fine estimation as a refinement built on top of the coarse solution, and therefore adding details to the general prediction. We apply our approach to the challenging problem of optical flow estimation and empirically validate it against state-of-the-art CNN-based solutions trained from scratch and tested on large optical flow datasets.
Address Beijing; China; September 2017
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 ICIP
Notes (up) ADAS; 600.118 Approved no
Call Number Admin @ si @ VRM2017 Serial 2898
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Author Konstantia Georgouli; Katerine Diaz; Jesus Martinez del Rincon; Anastasios Koidis
Title Building generic, easily-updatable chemometric models with harmonisation and augmentation features: The case of FTIR vegetable oils classification Type Conference Article
Year 2017 Publication 3rd Ιnternational Conference Metrology Promoting Standardization and Harmonization in Food and Nutrition Abbreviated Journal
Volume Issue Pages
Keywords
Abstract
Address Thessaloniki; Greece; October 2017
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 IMEKOFOODS
Notes (up) ADAS; 600.118 Approved no
Call Number Admin @ si @ GDM2017 Serial 3081
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Author Santi Puch; Irina Sanchez; Aura Hernandez-Sabate; Gemma Piella; Vesna Prckovska
Title Global Planar Convolutions for Improved Context Aggregation in Brain Tumor Segmentation Type Conference Article
Year 2018 Publication International MICCAI Brainlesion Workshop Abbreviated Journal
Volume 11384 Issue Pages 393-405
Keywords Brain tumors; 3D fully-convolutional CNN; Magnetic resonance imaging; Global planar convolution
Abstract In this work, we introduce the Global Planar Convolution module as a building-block for fully-convolutional networks that aggregates global information and, therefore, enhances the context perception capabilities of segmentation networks in the context of brain tumor segmentation. We implement two baseline architectures (3D UNet and a residual version of 3D UNet, ResUNet) and present a novel architecture based on these two architectures, ContextNet, that includes the proposed Global Planar Convolution module. We show that the addition of such module eliminates the need of building networks with several representation levels, which tend to be over-parametrized and to showcase slow rates of convergence. Furthermore, we provide a visual demonstration of the behavior of GPC modules via visualization of intermediate representations. We finally participate in the 2018 edition of the BraTS challenge with our best performing models, that are based on ContextNet, and report the evaluation scores on the validation and the test sets of the challenge.
Address
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 MICCAIW
Notes (up) ADAS; 600.118 Approved no
Call Number Admin @ si @ PSH2018 Serial 3251
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Author Chris Bahnsen; David Vazquez; Antonio Lopez; Thomas B. Moeslund
Title Learning to Remove Rain in Traffic Surveillance by Using Synthetic Data Type Conference Article
Year 2019 Publication 14th International Conference on Computer Vision Theory and Applications Abbreviated Journal
Volume Issue Pages 123-130
Keywords Rain Removal; Traffic Surveillance; Image Denoising
Abstract Rainfall is a problem in automated traffic surveillance. Rain streaks occlude the road users and degrade the overall visibility which in turn decrease object detection performance. One way of alleviating this is by artificially removing the rain from the images. This requires knowledge of corresponding rainy and rain-free images. Such images are often produced by overlaying synthetic rain on top of rain-free images. However, this method fails to incorporate the fact that rain fall in the entire three-dimensional volume of the scene. To overcome this, we introduce training data from the SYNTHIA virtual world that models rain streaks in the entirety of a scene. We train a conditional Generative Adversarial Network for rain removal and apply it on traffic surveillance images from SYNTHIA and the AAU RainSnow datasets. To measure the applicability of the rain-removed images in a traffic surveillance context, we run the YOLOv2 object detection algorithm on the original and rain-removed frames. The results on SYNTHIA show an 8% increase in detection accuracy compared to the original rain image. Interestingly, we find that high PSNR or SSIM scores do not imply good object detection performance.
Address Praga; Czech Republic; February 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 VISIGRAPP
Notes (up) ADAS; 600.118 Approved no
Call Number Admin @ si @ BVL2019 Serial 3256
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Author Yi Xiao; Felipe Codevilla; Christopher Pal; Antonio Lopez
Title Action-Based Representation Learning for Autonomous Driving Type Conference Article
Year 2020 Publication Conference on Robot Learning Abbreviated Journal
Volume Issue Pages
Keywords
Abstract Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly into driving actions are problematic in terms of interpretability, and typically have significant difficulty dealing with spurious correlations. Alternatively, we propose to use this kind of action-based driving data for learning representations. Our experiments show that an affordance-based driving model pre-trained with this approach can leverage a relatively small amount of weakly annotated imagery and outperform pure end-to-end driving models, while being more interpretable. Further, we demonstrate how this strategy outperforms previous methods based on learning inverse dynamics models as well as other methods based on heavy human supervision (ImageNet).
Address virtual; November 2020
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 CORL
Notes (up) ADAS; 600.118 Approved no
Call Number Admin @ si @ XCP2020 Serial 3487
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Author Idoia Ruiz; Lorenzo Porzi; Samuel Rota Bulo; Peter Kontschieder; Joan Serrat
Title Weakly Supervised Multi-Object Tracking and Segmentation Type Conference Article
Year 2021 Publication IEEE Winter Conference on Applications of Computer Vision Workshops Abbreviated Journal
Volume Issue Pages 125-133
Keywords
Abstract We introduce the problem of weakly supervised MultiObject Tracking and Segmentation, i.e. joint weakly supervised instance segmentation and multi-object tracking, in which we do not provide any kind of mask annotation.
To address it, we design a novel synergistic training strategy by taking advantage of multi-task learning, i.e. classification and tracking tasks guide the training of the unsupervised instance segmentation. For that purpose, we extract weak foreground localization information, provided by
Grad-CAM heatmaps, to generate a partial ground truth to learn from. Additionally, RGB image level information is employed to refine the mask prediction at the edges of the
objects. We evaluate our method on KITTI MOTS, the most representative benchmark for this task, reducing the performance gap on the MOTSP metric between the fully supervised and weakly supervised approach to just 12% and 12.7 % for cars and pedestrians, respectively.
Address Virtual; January 2021
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 WACVW
Notes (up) ADAS; 600.118; 600.124 Approved no
Call Number Admin @ si @ RPR2021 Serial 3548
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Author Idoia Ruiz; Joan Serrat
Title Rank-based ordinal classification Type Conference Article
Year 2020 Publication 25th International Conference on Pattern Recognition Abbreviated Journal
Volume Issue Pages 8069-8076
Keywords
Abstract Differently from the regular classification task, in ordinal classification there is an order in the classes. As a consequence not all classification errors matter the same: a predicted class close to the groundtruth one is better than predicting a farther away class. To account for this, most previous works employ loss functions based on the absolute difference between the predicted and groundtruth class labels. We argue that there are many cases in ordinal classification where label values are arbitrary (for instance 1. . . C, being C the number of classes) and thus such loss functions may not be the best choice. We instead propose a network architecture that produces not a single class prediction but an ordered vector, or ranking, of all the possible classes from most to least likely. This is thanks to a loss function that compares groundtruth and predicted rankings of these class labels, not the labels themselves. Another advantage of this new formulation is that we can enforce consistency in the predictions, namely, predicted rankings come from some unimodal vector of scores with mode at the groundtruth class. We compare with the state of the art ordinal classification methods, showing
that ours attains equal or better performance, as measured by common ordinal classification metrics, on three benchmark datasets. Furthermore, it is also suitable for a new task on image aesthetics assessment, i.e. most voted score prediction. Finally, we also apply it to building damage assessment from satellite images, providing an analysis of its performance depending on the degree of imbalance of the dataset.
Address Virtual; January 2021
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 ICPR
Notes (up) ADAS; 600.118; 600.124 Approved no
Call Number Admin @ si @ RuS2020 Serial 3549
Permanent link to this record
 
 
Author Zhijie Fang; Antonio Lopez
Title Is the Pedestrian going to Cross? Answering by 2D Pose Estimation Type Conference Article
Year 2018 Publication IEEE Intelligent Vehicles Symposium Abbreviated Journal
Volume Issue Pages 1271 - 1276
Keywords
Abstract Our recent work suggests that, thanks to nowadays powerful CNNs, image-based 2D pose estimation is a promising cue for determining pedestrian intentions such as crossing the road in the path of the ego-vehicle, stopping before entering the road, and starting to walk or bending towards the road. This statement is based on the results obtained on non-naturalistic sequences (Daimler dataset), i.e. in sequences choreographed specifically for performing the study. Fortunately, a new publicly available dataset (JAAD) has appeared recently to allow developing methods for detecting pedestrian intentions in naturalistic driving conditions; more specifically, for addressing the relevant question is the pedestrian going to cross? Accordingly, in this paper we use JAAD to assess the usefulness of 2D pose estimation for answering such a question. We combine CNN-based pedestrian detection, tracking and pose estimation to predict the crossing action from monocular images. Overall, the proposed pipeline provides new state-ofthe-art results.
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 IV
Notes (up) ADAS; 600.124; 600.116; 600.118 Approved no
Call Number Admin @ si @ FaL2018 Serial 3181
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Author Jiaolong Xu; Peng Wang; Heng Yang; Antonio Lopez
Title Training a Binary Weight Object Detector by Knowledge Transfer for Autonomous Driving Type Conference Article
Year 2019 Publication IEEE International Conference on Robotics and Automation Abbreviated Journal
Volume Issue Pages 2379-2384
Keywords
Abstract Autonomous driving has harsh requirements of small model size and energy efficiency, in order to enable the embedded system to achieve real-time on-board object detection. Recent deep convolutional neural network based object detectors have achieved state-of-the-art accuracy. However, such models are trained with numerous parameters and their high computational costs and large storage prohibit the deployment to memory and computation resource limited systems. Low-precision neural networks are popular techniques for reducing the computation requirements and memory footprint. Among them, binary weight neural network (BWN) is the extreme case which quantizes the float-point into just bit. BWNs are difficult to train and suffer from accuracy deprecation due to the extreme low-bit representation. To address this problem, we propose a knowledge transfer (KT) method to aid the training of BWN using a full-precision teacher network. We built DarkNet-and MobileNet-based binary weight YOLO-v2 detectors and conduct experiments on KITTI benchmark for car, pedestrian and cyclist detection. The experimental results show that the proposed method maintains high detection accuracy while reducing the model size of DarkNet-YOLO from 257 MB to 8.8 MB and MobileNet-YOLO from 193 MB to 7.9 MB.
Address Montreal; Canada; May 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 ICRA
Notes (up) ADAS; 600.124; 600.116; 600.118 Approved no
Call Number Admin @ si @ XWY2018 Serial 3182
Permanent link to this record
 
 
Author Akhil Gurram; Onay Urfalioglu; Ibrahim Halfaoui; Fahd Bouzaraa; Antonio Lopez
Title Monocular Depth Estimation by Learning from Heterogeneous Datasets Type Conference Article
Year 2018 Publication IEEE Intelligent Vehicles Symposium Abbreviated Journal
Volume Issue Pages 2176 - 2181
Keywords
Abstract Depth estimation provides essential information to perform autonomous driving and driver assistance. Especially, Monocular Depth Estimation is interesting from a practical point of view, since using a single camera is cheaper than many other options and avoids the need for continuous calibration strategies as required by stereo-vision approaches. State-of-the-art methods for Monocular Depth Estimation are based on Convolutional Neural Networks (CNNs). A promising line of work consists of introducing additional semantic information about the traffic scene when training CNNs for depth estimation. In practice, this means that the depth data used for CNN training is complemented with images having pixel-wise semantic labels, which usually are difficult to annotate (eg crowded urban images). Moreover, so far it is common practice to assume that the same raw training data is associated with both types of ground truth, ie, depth and semantic labels. The main contribution of this paper is to show that this hard constraint can be circumvented, ie, that we can train CNNs for depth estimation by leveraging the depth and semantic information coming from heterogeneous datasets. In order to illustrate the benefits of our approach, we combine KITTI depth and Cityscapes semantic segmentation datasets, outperforming state-of-the-art results on Monocular Depth Estimation.
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 IV
Notes (up) ADAS; 600.124; 600.116; 600.118 Approved no
Call Number Admin @ si @ GUH2018 Serial 3183
Permanent link to this record
 
 
Author Felipe Codevilla; Antonio Lopez; Vladlen Koltun; Alexey Dosovitskiy
Title On Offline Evaluation of Vision-based Driving Models Type Conference Article
Year 2018 Publication 15th European Conference on Computer Vision Abbreviated Journal
Volume 11219 Issue Pages 246-262
Keywords Autonomous driving; deep learning
Abstract Autonomous driving models should ideally be evaluated by deploying
them on a fleet of physical vehicles in the real world. Unfortunately, this approach is not practical for the vast majority of researchers. An attractive alternative is to evaluate models offline, on a pre-collected validation dataset with ground truth annotation. In this paper, we investigate the relation between various online and offline metrics for evaluation of autonomous driving models. We find that offline prediction error is not necessarily correlated with driving quality, and two models with identical prediction error can differ dramatically in their driving performance. We show that the correlation of offline evaluation with driving quality can be significantly improved by selecting an appropriate validation dataset and
suitable offline metrics.
Address Munich; September 2018
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 ECCV
Notes (up) ADAS; 600.124; 600.118 Approved no
Call Number Admin @ si @ CLK2018 Serial 3162
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