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| Author | Jiaolong Xu; Liang Xiao; Antonio Lopez | ||||
| Title | Self-supervised Domain Adaptation for Computer Vision Tasks | Type | Journal Article | ||
| Year | 2019 | Publication | IEEE Access | Abbreviated Journal | ACCESS |
| Volume | 7 | Issue | Pages | 156694 - 156706 | |
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| Abstract | Recent progress of self-supervised visual representation learning has achieved remarkable success on many challenging computer vision benchmarks. However, whether these techniques can be used for domain adaptation has not been explored. In this work, we propose a generic method for self-supervised domain adaptation, using object recognition and semantic segmentation of urban scenes as use cases. Focusing on simple pretext/auxiliary tasks (e.g. image rotation prediction), we assess different learning strategies to improve domain adaptation effectiveness by self-supervision. Additionally, we propose two complementary strategies to further boost the domain adaptation accuracy on semantic segmentation within our method, consisting of prediction layer alignment and batch normalization calibration. The experimental results show adaptation levels comparable to most studied domain adaptation methods, thus, bringing self-supervision as a new alternative for reaching domain adaptation. The code is available at this link. https://github.com/Jiaolong/self-supervised-da. | ||||
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ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ XXL2019 | Serial | 3302 | ||
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| Author | Zhijie Fang; Antonio Lopez | ||||
| Title | Intention Recognition of Pedestrians and Cyclists by 2D Pose Estimation | Type | Journal Article | ||
| Year | 2019 | Publication | IEEE Transactions on Intelligent Transportation Systems | Abbreviated Journal | TITS |
| Volume | 21 | Issue | 11 | Pages | 4773 - 4783 |
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| Abstract | Anticipating the intentions of vulnerable road users (VRUs) such as pedestrians and cyclists is critical for performing safe and comfortable driving maneuvers. This is the case for human driving and, thus, should be taken into account by systems providing any level of driving assistance, from advanced driver assistant systems (ADAS) to fully autonomous vehicles (AVs). In this paper, we show how the latest advances on monocular vision-based human pose estimation, i.e. those relying on deep Convolutional Neural Networks (CNNs), enable to recognize the intentions of such VRUs. In the case of cyclists, we assume that they follow traffic rules to indicate future maneuvers with arm signals. In the case of pedestrians, no indications can be assumed. Instead, we hypothesize that the walking pattern of a pedestrian allows to determine if he/she has the intention of crossing the road in the path of the ego-vehicle, so that the ego-vehicle must maneuver accordingly (e.g. slowing down or stopping). In this paper, we show how the same methodology can be used for recognizing pedestrians and cyclists' intentions. For pedestrians, we perform experiments on the JAAD dataset. For cyclists, we did not found an analogous dataset, thus, we created our own one by acquiring and annotating videos which we share with the research community. Overall, the proposed pipeline provides new state-of-the-art results on the intention recognition of VRUs. | ||||
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ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ FaL2019 | Serial | 3305 | ||
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| Author | Felipe Codevilla | ||||
| Title | On Building End-to-End Driving Models Through Imitation Learning | Type | Book Whole | ||
| Year | 2019 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
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| Abstract | Autonomous vehicles are now considered as an assured asset in the future. Literally, all the relevant car-markers are now in a race to produce fully autonomous vehicles. These car-makers usually make use of modular pipelines for designing autonomous vehicles. This strategy decomposes the problem in a variety of tasks such as object detection and recognition, semantic and instance segmentation, depth estimation, SLAM and place recognition, as well as planning and control. Each module requires a separate set of expert algorithms, which are costly specially in the amount of human labor and necessity of data labelling. An alternative, that recently has driven considerable interest, is the end-to-end driving. In the end-to-end driving paradigm, perception and control are learned simultaneously using a deep network. These sensorimotor models are typically obtained by imitation learning fromhuman demonstrations. The main advantage is that this approach can directly learn from large fleets of human-driven vehicles without requiring a fixed ontology and extensive amounts of labeling. However, scaling end-to-end driving methods to behaviors more complex than simple lane keeping or lead vehicle following remains an open problem. On this thesis, in order to achieve more complex behaviours, we
address some issues when creating end-to-end driving system through imitation learning. The first of themis a necessity of an environment for algorithm evaluation and collection of driving demonstrations. On this matter, we participated on the creation of the CARLA simulator, an open source platformbuilt from ground up for autonomous driving validation and prototyping. Since the end-to-end approach is purely reactive, there is also the necessity to provide an interface with a global planning system. With this, we propose the conditional imitation learning that conditions the actions produced into some high level command. Evaluation is also a concern and is commonly performed by comparing the end-to-end network output to some pre-collected driving dataset. We show that this is surprisingly weakly correlated to the actual driving and propose strategies on how to better acquire data and a better comparison strategy. Finally, we confirmwell-known generalization issues (due to dataset bias and overfitting), new ones (due to dynamic objects and the lack of a causal model), and training instability; problems requiring further research before end-to-end driving through imitation can scale to real-world driving. |
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| Address | May 2019 | ||||
| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Editor | Antonio Lopez | |
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| Notes |
ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ Cod2019 | Serial | 3387 | ||
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| Author | Zhijie Fang | ||||
| Title | Behavior understanding of vulnerable road users by 2D pose estimation | Type | Book Whole | ||
| Year | 2019 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
| Volume | Issue | Pages | |||
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| Abstract | Anticipating the intentions of vulnerable road users (VRUs) such as pedestrians
and cyclists can be critical for performing safe and comfortable driving maneuvers. This is the case for human driving and, therefore, should be taken into account by systems providing any level of driving assistance, i.e. from advanced driver assistant systems (ADAS) to fully autonomous vehicles (AVs). In this PhD work, we show how the latest advances on monocular vision-based human pose estimation, i.e. those relying on deep Convolutional Neural Networks (CNNs), enable to recognize the intentions of such VRUs. In the case of cyclists, we assume that they follow the established traffic codes to indicate future left/right turns and stop maneuvers with arm signals. In the case of pedestrians, no indications can be assumed a priori. Instead, we hypothesize that the walking pattern of a pedestrian can allow us to determine if he/she has the intention of crossing the road in the path of the egovehicle, so that the ego-vehicle must maneuver accordingly (e.g. slowing down or stopping). In this PhD work, we show how the same methodology can be used for recognizing pedestrians and cyclists’ intentions. For pedestrians, we perform experiments on the publicly available Daimler and JAAD datasets. For cyclists, we did not found an analogous dataset, therefore, we created our own one by acquiring and annotating corresponding video-sequences which we aim to share with the research community. Overall, the proposed pipeline provides new state-of-the-art results on the intention recognition of VRUs. |
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| Address | May 2019 | ||||
| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Editor | Antonio Lopez;David Vazquez | |
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| Series Volume | Series Issue | Edition | |||
| ISSN | ISBN | 978-84-948531-6-6 | Medium | ||
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| Notes |
ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ Fan2019 | Serial | 3388 | ||
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| Author | Akhil Gurram; Ahmet Faruk Tuna; Fengyi Shen; Onay Urfalioglu; Antonio Lopez | ||||
| Title | Monocular Depth Estimation through Virtual-world Supervision and Real-world SfM Self-Supervision | Type | Journal Article | ||
| Year | 2021 | Publication | IEEE Transactions on Intelligent Transportation Systems | Abbreviated Journal | TITS |
| Volume | 23 | Issue | 8 | Pages | 12738-12751 |
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| Abstract | Depth information is essential for on-board perception in autonomous driving and driver assistance. Monocular depth estimation (MDE) is very appealing since it allows for appearance and depth being on direct pixelwise correspondence without further calibration. Best MDE models are based on Convolutional Neural Networks (CNNs) trained in a supervised manner, i.e., assuming pixelwise ground truth (GT). Usually, this GT is acquired at training time through a calibrated multi-modal suite of sensors. However, also using only a monocular system at training time is cheaper and more scalable. This is possible by relying on structure-from-motion (SfM) principles to generate self-supervision. Nevertheless, problems of camouflaged objects, visibility changes, static-camera intervals, textureless areas, and scale ambiguity, diminish the usefulness of such self-supervision. In this paper, we perform monocular depth estimation by virtual-world supervision (MonoDEVS) and real-world SfM self-supervision. We compensate the SfM self-supervision limitations by leveraging virtual-world images with accurate semantic and depth supervision and addressing the virtual-to-real domain gap. Our MonoDEVSNet outperforms previous MDE CNNs trained on monocular and even stereo sequences. | ||||
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ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ GTS2021 | Serial | 3598 | ||
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| Author | Gabriel Villalonga | ||||
| Title | Leveraging Synthetic Data to Create Autonomous Driving Perception Systems | Type | Book Whole | ||
| Year | 2021 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
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| Abstract | Manually annotating images to develop vision models has been a major bottleneck
since computer vision and machine learning started to walk together. This has been more evident since computer vision falls on the shoulders of data-hungry deep learning techniques. When addressing on-board perception for autonomous driving, the curse of data annotation is exacerbated due to the use of additional sensors such as LiDAR. Therefore, any approach aiming at reducing such a timeconsuming and costly work is of high interest for addressing autonomous driving and, in fact, for any application requiring some sort of artificial perception. In the last decade, it has been shown that leveraging from synthetic data is a paradigm worth to pursue in order to minimizing manual data annotation. The reason is that the automatic process of generating synthetic data can also produce different types of associated annotations (e.g. object bounding boxes for synthetic images and LiDAR pointclouds, pixel/point-wise semantic information, etc.). Directly using synthetic data for training deep perception models may not be the definitive solution in all circumstances since it can appear a synth-to-real domain shift. In this context, this work focuses on leveraging synthetic data to alleviate manual annotation for three perception tasks related to driving assistance and autonomous driving. In all cases, we assume the use of deep convolutional neural networks (CNNs) to develop our perception models. The first task addresses traffic sign recognition (TSR), a kind of multi-class classification problem. We assume that the number of sign classes to be recognized must be suddenly increased without having annotated samples to perform the corresponding TSR CNN re-training. We show that leveraging synthetic samples of such new classes and transforming them by a generative adversarial network (GAN) trained on the known classes (i.e. without using samples from the new classes), it is possible to re-train the TSR CNN to properly classify all the signs for a ∼ 1/4 ratio of new/known sign classes. The second task addresses on-board 2D object detection, focusing on vehicles and pedestrians. In this case, we assume that we receive a set of images without the annotations required to train an object detector, i.e. without object bounding boxes. Therefore, our goal is to self-annotate these images so that they can later be used to train the desired object detector. In order to reach this goal, we leverage from synthetic data and propose a semi-supervised learning approach based on the co-training idea. In fact, we use a GAN to reduce the synthto-real domain shift before applying co-training. Our quantitative results show that co-training and GAN-based image-to-image translation complement each other up to allow the training of object detectors without manual annotation, and still almost reaching the upper-bound performances of the detectors trained from human annotations. While in previous tasks we focus on vision-based perception, the third task we address focuses on LiDAR pointclouds. Our initial goal was to develop a 3D object detector trained on synthetic LiDAR-style pointclouds. While for images we may expect synth/real-to-real domain shift due to differences in their appearance (e.g. when source and target images come from different camera sensors), we did not expect so for LiDAR pointclouds since these active sensors factor out appearance and provide sampled shapes. However, in practice, we have seen that it can be domain shift even among real-world LiDAR pointclouds. Factors such as the sampling parameters of the LiDARs, the sensor suite configuration onboard the ego-vehicle, and the human annotation of 3D bounding boxes, do induce a domain shift. We show it through comprehensive experiments with different publicly available datasets and 3D detectors. This redirected our goal towards the design of a GAN for pointcloud-to-pointcloud translation, a relatively unexplored topic. Finally, it is worth to mention that all the synthetic datasets used for these three tasks, have been designed and generated in the context of this PhD work and will be publicly released. Overall, we think this PhD presents several steps forward to encourage leveraging synthetic data for developing deep perception models in the field of driving assistance and autonomous driving. |
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| Address | February 2021 | ||||
| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Editor | Antonio Lopez;German Ros | |
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| Series Volume | Series Issue | Edition | |||
| ISSN | ISBN | 978-84-122714-2-3 | Medium | ||
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| Notes |
ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ Vil2021 | Serial | 3599 | ||
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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 | |
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| 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 | ||||
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| Area | Expedition | Conference | CORL | ||
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ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ XCP2020 | Serial | 3487 | ||
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| Author | Gabriel Villalonga; Antonio Lopez | ||||
| Title | Co-Training for On-Board Deep Object Detection | Type | Journal Article | ||
| Year | 2020 | Publication | IEEE Access | Abbreviated Journal | ACCESS |
| Volume | Issue | Pages | 194441 - 194456 | ||
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| Abstract | Providing ground truth supervision to train visual models has been a bottleneck over the years, exacerbated by domain shifts which degenerate the performance of such models. This was the case when visual tasks relied on handcrafted features and shallow machine learning and, despite its unprecedented performance gains, the problem remains open within the deep learning paradigm due to its data-hungry nature. Best performing deep vision-based object detectors are trained in a supervised manner by relying on human-labeled bounding boxes which localize class instances (i.e. objects) within the training images. Thus, object detection is one of such tasks for which human labeling is a major bottleneck. In this article, we assess co-training as a semi-supervised learning method for self-labeling objects in unlabeled images, so reducing the human-labeling effort for developing deep object detectors. Our study pays special attention to a scenario involving domain shift; in particular, when we have automatically generated virtual-world images with object bounding boxes and we have real-world images which are unlabeled. Moreover, we are particularly interested in using co-training for deep object detection in the context of driver assistance systems and/or self-driving vehicles. Thus, using well-established datasets and protocols for object detection in these application contexts, we will show how co-training is a paradigm worth to pursue for alleviating object labeling, working both alone and together with task-agnostic domain adaptation. | ||||
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ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ ViL2020 | Serial | 3488 | ||
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| Author | Hannes Mueller; Andre Groger; Jonathan Hersh; Andrea Matranga; Joan Serrat | ||||
| Title | Monitoring War Destruction from Space: A Machine Learning Approach | Type | Miscellaneous | ||
| Year | 2020 | Publication | Arxiv | Abbreviated Journal | |
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| Abstract | Existing data on building destruction in conflict zones rely on eyewitness reports or manual detection, which makes it generally scarce, incomplete and potentially biased. This lack of reliable data imposes severe limitations for media reporting, humanitarian relief efforts, human rights monitoring, reconstruction initiatives, and academic studies of violent conflict. This article introduces an automated method of measuring destruction in high-resolution satellite images using deep learning techniques combined with data augmentation to expand training samples. We apply this method to the Syrian civil war and reconstruct the evolution of damage in major cities across the country. The approach allows generating destruction data with unprecedented scope, resolution, and frequency – only limited by the available satellite imagery – which can alleviate data limitations decisively. | ||||
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ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ MGH2020 | Serial | 3489 | ||
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| Author | Jose Luis Gomez; Gabriel Villalonga; Antonio Lopez | ||||
| Title | Co-Training for Deep Object Detection: Comparing Single-Modal and Multi-Modal Approaches | Type | Journal Article | ||
| Year | 2021 | Publication | Sensors | Abbreviated Journal | SENS |
| Volume | 21 | Issue | 9 | Pages | 3185 |
| Keywords | co-training; multi-modality; vision-based object detection; ADAS; self-driving | ||||
| Abstract | Top-performing computer vision models are powered by convolutional neural networks (CNNs). Training an accurate CNN highly depends on both the raw sensor data and their associated ground truth (GT). Collecting such GT is usually done through human labeling, which is time-consuming and does not scale as we wish. This data-labeling bottleneck may be intensified due to domain shifts among image sensors, which could force per-sensor data labeling. In this paper, we focus on the use of co-training, a semi-supervised learning (SSL) method, for obtaining self-labeled object bounding boxes (BBs), i.e., the GT to train deep object detectors. In particular, we assess the goodness of multi-modal co-training by relying on two different views of an image, namely, appearance (RGB) and estimated depth (D). Moreover, we compare appearance-based single-modal co-training with multi-modal. Our results suggest that in a standard SSL setting (no domain shift, a few human-labeled data) and under virtual-to-real domain shift (many virtual-world labeled data, no human-labeled data) multi-modal co-training outperforms single-modal. In the latter case, by performing GAN-based domain translation both co-training modalities are on par, at least when using an off-the-shelf depth estimation model not specifically trained on the translated images. | ||||
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ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ GVL2021 | Serial | 3562 | ||
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| Author | Hannes Mueller; Andre Groeger; Jonathan Hersh; Andrea Matranga; Joan Serrat | ||||
| Title | Monitoring war destruction from space using machine learning | Type | Journal Article | ||
| Year | 2021 | Publication | Proceedings of the National Academy of Sciences of the United States of America | Abbreviated Journal | PNAS |
| Volume | 118 | Issue | 23 | Pages | e2025400118 |
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| Abstract | Existing data on building destruction in conflict zones rely on eyewitness reports or manual detection, which makes it generally scarce, incomplete, and potentially biased. This lack of reliable data imposes severe limitations for media reporting, humanitarian relief efforts, human-rights monitoring, reconstruction initiatives, and academic studies of violent conflict. This article introduces an automated method of measuring destruction in high-resolution satellite images using deep-learning techniques combined with label augmentation and spatial and temporal smoothing, which exploit the underlying spatial and temporal structure of destruction. As a proof of concept, we apply this method to the Syrian civil war and reconstruct the evolution of damage in major cities across the country. Our approach allows generating destruction data with unprecedented scope, resolution, and frequency—and makes use of the ever-higher frequency at which satellite imagery becomes available. | ||||
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ADAS; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ MGH2021 | Serial | 3584 | ||
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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 | ||
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| 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 | ||||
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| Area | Expedition | Conference | ICRA | ||
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ADAS; 600.116; 600.124; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ CML2018 | Serial | 3108 | ||
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| Author | Cristhian A. Aguilera-Carrasco; Angel Sappa; Cristhian Aguilera; Ricardo Toledo | ||||
| Title | Cross-Spectral Local Descriptors via Quadruplet Network | Type | Journal Article | ||
| Year | 2017 | Publication | Sensors | Abbreviated Journal | SENS |
| Volume | 17 | Issue | 4 | Pages | 873 |
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| Abstract | This paper presents a novel CNN-based architecture, referred to as Q-Net, to learn local feature descriptors that are useful for matching image patches from two different spectral bands. Given correctly matched and non-matching cross-spectral image pairs, a quadruplet network is trained to map input image patches to a common Euclidean space, regardless of the input spectral band. Our approach is inspired by the recent success of triplet networks in the visible spectrum, but adapted for cross-spectral scenarios, where, for each matching pair, there are always two possible non-matching patches: one for each spectrum. Experimental evaluations on a public cross-spectral VIS-NIR dataset shows that the proposed approach improves the state-of-the-art. Moreover, the proposed technique can also be used in mono-spectral settings, obtaining a similar performance to triplet network descriptors, but requiring less training data. | ||||
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ADAS; 600.086; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ ASA2017 | Serial | 2914 | ||
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| Author | Patricia Suarez; Angel Sappa; Boris X. Vintimilla | ||||
| Title | Cross-Spectral Image Patch Similarity using Convolutional Neural Network | Type | Conference Article | ||
| Year | 2017 | Publication | IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics | Abbreviated Journal | |
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| Abstract | The ability to compare image regions (patches) has been the basis of many approaches to core computer vision problems, including object, texture and scene categorization. Hence, developing representations for image patches have been of interest in several works. The current work focuses on learning similarity between cross-spectral image patches with a 2 channel convolutional neural network (CNN) model. The proposed approach is an adaptation of a previous work, trying to obtain similar results than the state of the art but with a lowcost hardware. Hence, obtained results are compared with both
classical approaches, showing improvements, and a state of the art CNN based approach. |
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| Address | San Sebastian; Spain; May 2017 | ||||
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| Area | Expedition | Conference | ECMSM | ||
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ADAS; 600.086; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ SSV2017a | Serial | 2916 | ||
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| Author | Angel Valencia; Roger Idrovo; Angel Sappa; Douglas Plaza; Daniel Ochoa | ||||
| Title | A 3D Vision Based Approach for Optimal Grasp of Vacuum Grippers | Type | Conference Article | ||
| Year | 2017 | Publication | IEEE International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics | Abbreviated Journal | |
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| Abstract | In general, robot grasping approaches are based on the usage of multi-finger grippers. However, when large size objects need to be manipulated vacuum grippers are preferred, instead of finger based grippers. This paper aims to estimate the best picking place for a two suction cups vacuum gripper,
when planar objects with an unknown size and geometry are considered. The approach is based on the estimation of geometric properties of object’s shape from a partial cloud of points (a single 3D view), in such a way that combine with considerations of a theoretical model to generate an optimal contact point that minimizes the vacuum force needed to guarantee a grasp. Experimental results in real scenarios are presented to show the validity of the proposed approach. |
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| Address | San Sebastian; Spain; May 2017 | ||||
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| Area | Expedition | Conference | ECMSM | ||
| Notes |
ADAS; 600.086; 600.118 | Approved | no | ||
| Call Number | Admin @ si @ VIS2017 | Serial | 2917 | ||
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