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	Author	Patricia Suarez; Angel Sappa; Boris X. Vintimilla
	Title	Infrared Image Colorization based on a Triplet DCGAN Architecture			Type	Conference Article
	Year	2017	Publication	IEEE Conference on Computer Vision and Pattern Recognition Workshops	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	This paper proposes a novel approach for colorizing near infrared (NIR) images using Deep Convolutional Generative Adversarial Network (GAN) architectures. The proposed approach is based on the usage of a triplet model for learning each color channel independently, in a more homogeneous way. It allows a fast convergence during the training, obtaining a greater similarity between the given NIR image and the corresponding ground truth. The proposed approach has been evaluated with a large data set of NIR images and compared with a recent approach, which is also based on a GAN architecture but in this case all the color channels are obtained at the same time.
	Address	Honolulu; Hawaii; USA; July 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	CVPRW
	Notes	ADAS; 600.086; 600.118			Approved	no
	Call Number	Admin @ si @ SSV2017b			Serial	2920
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	Author	Angel Sappa; P. Carvajal; Cristhian A. Aguilera-Carrasco; Miguel Oliveira; Dennis Romero; Boris X. Vintimilla
	Title	Wavelet based visible and infrared image fusion: a comparative study			Type	Journal Article
	Year	2016	Publication	Sensors	Abbreviated Journal	SENS
	Volume	16	Issue	6	Pages	1-15
	Keywords	Image fusion; fusion evaluation metrics; visible and infrared imaging; discrete wavelet transform
	Abstract	This paper evaluates different wavelet-based cross-spectral image fusion strategies adopted to merge visible and infrared images. The objective is to find the best setup independently of the evaluation metric used to measure the performance. Quantitative performance results are obtained with state of the art approaches together with adaptations proposed in the current work. The options evaluated in the current work result from the combination of different setups in the wavelet image decomposition stage together with different fusion strategies for the final merging stage that generates the resulting representation. Most of the approaches evaluate results according to the application for which they are intended for. Sometimes a human observer is selected to judge the quality of the obtained results. In the current work, quantitative values are considered in order to find correlations between setups and performance of obtained results; these correlations can be used to define a criteria for selecting the best fusion strategy for a given pair of cross-spectral images. The whole procedure is evaluated with a large set of correctly registered visible and infrared image pairs, including both Near InfraRed (NIR) and Long Wave InfraRed (LWIR).
	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	ADAS; 600.086; 600.076			Approved	no
	Call Number	Admin @ si @SCA2016			Serial	2807
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	Author	Cristhian A. Aguilera-Carrasco; F. Aguilera; Angel Sappa; C. Aguilera; Ricardo Toledo
	Title	Learning cross-spectral similarity measures with deep convolutional neural networks			Type	Conference Article
	Year	2016	Publication	29th IEEE Conference on Computer Vision and Pattern Recognition Worshops	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	The simultaneous use of images from different spectracan be helpful to improve the performance of many computer vision tasks. The core idea behind the usage of crossspectral approaches is to take advantage of the strengths of each spectral band providing a richer representation of a scene, which cannot be obtained with just images from one spectral band. In this work we tackle the cross-spectral image similarity problem by using Convolutional Neural Networks (CNNs). We explore three different CNN architectures to compare the similarity of cross-spectral image patches. Specifically, we train each network with images from the visible and the near-infrared spectrum, and then test the result with two public cross-spectral datasets. Experimental results show that CNN approaches outperform the current state-of-art on both cross-spectral datasets. Additionally, our experiments show that some CNN architectures are capable of generalizing between different crossspectral domains.
	Address	Las vegas; USA; June 2016
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	CVPRW
	Notes	ADAS; 600.086; 600.076			Approved	no
	Call Number	Admin @ si @AAS2016			Serial	2809
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	Author	Miguel Oliveira; Victor Santos; Angel Sappa; P. Dias; A. Moreira
	Title	Incremental Scenario Representations for Autonomous Driving using Geometric Polygonal Primitives			Type	Journal Article
	Year	2016	Publication	Robotics and Autonomous Systems	Abbreviated Journal	RAS
	Volume	83	Issue		Pages	312-325
	Keywords	Incremental scene reconstruction; Point clouds; Autonomous vehicles; Polygonal primitives
	Abstract	When an autonomous vehicle is traveling through some scenario it receives a continuous stream of sensor data. This sensor data arrives in an asynchronous fashion and often contains overlapping or redundant information. Thus, it is not trivial how a representation of the environment observed by the vehicle can be created and updated over time. This paper presents a novel methodology to compute an incremental 3D representation of a scenario from 3D range measurements. We propose to use macro scale polygonal primitives to model the scenario. This means that the representation of the scene is given as a list of large scale polygons that describe the geometric structure of the environment. Furthermore, we propose mechanisms designed to update the geometric polygonal primitives over time whenever fresh sensor data is collected. Results show that the approach is capable of producing accurate descriptions of the scene, and that it is computationally very efficient when compared to other reconstruction techniques.
	Address
	Corporate Author				Thesis
	Publisher	Elsevier B.V.	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference
	Notes	ADAS; 600.086, 600.076			Approved	no
	Call Number	Admin @ si @OSS2016a			Serial	2806
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	Author	Vassileios Balntas; Edgar Riba; Daniel Ponsa; Krystian Mikolajczyk
	Title	Learning local feature descriptors with triplets and shallow convolutional neural networks			Type	Conference Article
	Year	2016	Publication	27th British Machine Vision Conference	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	It has recently been demonstrated that local feature descriptors based on convolutional neural networks (CNN) can significantly improve the matching performance. Previous work on learning such descriptors has focused on exploiting pairs of positive and negative patches to learn discriminative CNN representations. In this work, we propose to utilize triplets of training samples, together with in-triplet mining of hard negatives. We show that our method achieves state of the art results, without the computational overhead typically associated with mining of negatives and with lower complexity of the network architecture. We compare our approach to recently introduced convolutional local feature descriptors, and demonstrate the advantages of the proposed methods in terms of performance and speed. We also examine different loss functions associated with triplets.
	Address	York; UK; September 2016
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	BMVC
	Notes	ADAS; 600.086			Approved	no
	Call Number	Admin @ si @ BRP2016			Serial	2818
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	Author	Juan A. Carvajal Ayala; Dennis Romero; Angel Sappa
	Title	Fine-tuning based deep convolutional networks for lepidopterous genus recognition			Type	Conference Article
	Year	2016	Publication	21st Ibero American Congress on Pattern Recognition	Abbreviated Journal
	Volume		Issue		Pages	467-475
	Keywords
	Abstract	This paper describes an image classification approach oriented to identify specimens of lepidopterous insects at Ecuadorian ecological reserves. This work seeks to contribute to studies in the area of biology about genus of butterflies and also to facilitate the registration of unrecognized specimens. The proposed approach is based on the fine-tuning of three widely used pre-trained Convolutional Neural Networks (CNNs). This strategy is intended to overcome the reduced number of labeled images. Experimental results with a dataset labeled by expert biologists is presented, reaching a recognition accuracy above 92%.
	Address	Lima; Perú; November 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	CIARP
	Notes	ADAS; 600.086			Approved	no
	Call Number	Admin @ si @ CRS2016			Serial	2913
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	Author	Miguel Oliveira; Victor Santos; Angel Sappa; P. Dias; A. Moreira
	Title	Incremental texture mapping for autonomous driving			Type	Journal Article
	Year	2016	Publication	Robotics and Autonomous Systems	Abbreviated Journal	RAS
	Volume	84	Issue		Pages	113-128
	Keywords	Scene reconstruction; Autonomous driving; Texture mapping
	Abstract	Autonomous vehicles have a large number of on-board sensors, not only for providing coverage all around the vehicle, but also to ensure multi-modality in the observation of the scene. Because of this, it is not trivial to come up with a single, unique representation that feeds from the data given by all these sensors. We propose an algorithm which is capable of mapping texture collected from vision based sensors onto a geometric description of the scenario constructed from data provided by 3D sensors. The algorithm uses a constrained Delaunay triangulation to produce a mesh which is updated using a specially devised sequence of operations. These enforce a partial configuration of the mesh that avoids bad quality textures and ensures that there are no gaps in the texture. Results show that this algorithm is capable of producing fine quality textures.
	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	ADAS; 600.086			Approved	no
	Call Number	Admin @ si @ OSS2016b			Serial	2912
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	Author	Antonio Lopez; Jiaolong Xu; Jose Luis Gomez; David Vazquez; German Ros
	Title	From Virtual to Real World Visual Perception using Domain Adaptation -- The DPM as Example			Type	Book Chapter
	Year	2017	Publication	Domain Adaptation in Computer Vision Applications	Abbreviated Journal
	Volume		Issue	13	Pages	243-258
	Keywords	Domain Adaptation
	Abstract	Supervised learning tends to produce more accurate classifiers than unsupervised learning in general. This implies that training data is preferred with annotations. When addressing visual perception challenges, such as localizing certain object classes within an image, the learning of the involved classifiers turns out to be a practical bottleneck. The reason is that, at least, we have to frame object examples with bounding boxes in thousands of images. A priori, the more complex the model is regarding its number of parameters, the more annotated examples are required. This annotation task is performed by human oracles, which ends up in inaccuracies and errors in the annotations (aka ground truth) since the task is inherently very cumbersome and sometimes ambiguous. As an alternative we have pioneered the use of virtual worlds for collecting such annotations automatically and with high precision. However, since the models learned with virtual data must operate in the real world, we still need to perform domain adaptation (DA). In this chapter we revisit the DA of a deformable part-based model (DPM) as an exemplifying case of virtual- to-real-world DA. As a use case, we address the challenge of vehicle detection for driver assistance, using different publicly available virtual-world data. While doing so, we investigate questions such as: how does the domain gap behave due to virtual-vs-real data with respect to dominant object appearance per domain, as well as the role of photo-realism in the virtual world.
	Address
	Corporate Author				Thesis
	Publisher	Springer	Place of Publication		Editor	Gabriela Csurka
	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; 600.085; 601.223; 600.076; 600.118			Approved	no
	Call Number	ADAS @ adas @ LXG2017			Serial	2872
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	Author	Alexey Dosovitskiy; German Ros; Felipe Codevilla; Antonio Lopez; Vladlen Koltun
	Title	CARLA: An Open Urban Driving Simulator			Type	Conference Article
	Year	2017	Publication	1st Annual Conference on Robot Learning. Proceedings of Machine Learning	Abbreviated Journal
	Volume	78	Issue		Pages	1-16
	Keywords	Autonomous driving; sensorimotor control; simulation
	Abstract	We introduce CARLA, an open-source simulator for autonomous driving research. CARLA has been developed from the ground up to support development, training, and validation of autonomous urban driving systems. In addition to open-source code and protocols, CARLA provides open digital assets (urban layouts, buildings, vehicles) that were created for this purpose and can be used freely. The simulation platform supports flexible specification of sensor suites and environmental conditions. We use CARLA to study the performance of three approaches to autonomous driving: a classic modular pipeline, an endto-end model trained via imitation learning, and an end-to-end model trained via reinforcement learning. The approaches are evaluated in controlled scenarios of increasing difficulty, and their performance is examined via metrics provided by CARLA, illustrating the platform’s utility for autonomous driving research.
	Address	Mountain View; CA; USA; November 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	CORL
	Notes	ADAS; 600.085; 600.118			Approved	no
	Call Number	Admin @ si @ DRC2017			Serial	2988
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	Author	Daniel Hernandez; Alejandro Chacon; Antonio Espinosa; David Vazquez; Juan Carlos Moure; Antonio Lopez
	Title	Stereo Matching using SGM on the GPU			Type	Report
	Year	2016	Publication	Programming and Tuning Massively Parallel Systems	Abbreviated Journal	PUMPS
	Volume		Issue		Pages
	Keywords	CUDA; Stereo; Autonomous Vehicle
	Abstract	Dense, robust and real-time computation of depth information from stereo-camera systems is a computationally demanding requirement for robotics, advanced driver assistance systems (ADAS) and autonomous vehicles. Semi-Global Matching (SGM) is a widely used algorithm that propagates consistency constraints along several paths across the image. This work presents a real-time system producing reliable disparity estimation results on the new embedded energy efficient GPU devices. Our design runs on a Tegra X1 at 42 frames per second (fps) for an image size of 640x480, 128 disparity levels, and using 4 path directions for the SGM method.
	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	PUMPS
	Notes	ADAS; 600.085; 600.087; 600.076			Approved	no
	Call Number	ADAS @ adas @ HCE2016b			Serial	2776
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	Author	Alejandro Gonzalez Alzate; David Vazquez; Antonio Lopez; Jaume Amores
	Title	On-Board Object Detection: Multicue, Multimodal, and Multiview Random Forest of Local Experts			Type	Journal Article
	Year	2017	Publication	IEEE Transactions on cybernetics	Abbreviated Journal	Cyber
	Volume	47	Issue	11	Pages	3980 - 3990
	Keywords	Multicue; multimodal; multiview; object detection
	Abstract	Despite recent significant advances, object detection continues to be an extremely challenging problem in real scenarios. In order to develop a detector that successfully operates under these conditions, it becomes critical to leverage upon multiple cues, multiple imaging modalities, and a strong multiview (MV) classifier that accounts for different object views and poses. In this paper, we provide an extensive evaluation that gives insight into how each of these aspects (multicue, multimodality, and strong MV classifier) affect accuracy both individually and when integrated together. In the multimodality component, we explore the fusion of RGB and depth maps obtained by high-definition light detection and ranging, a type of modality that is starting to receive increasing attention. As our analysis reveals, although all the aforementioned aspects significantly help in improving the accuracy, the fusion of visible spectrum and depth information allows to boost the accuracy by a much larger margin. The resulting detector not only ranks among the top best performers in the challenging KITTI benchmark, but it is built upon very simple blocks that are easy to implement and computationally efficient.
	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	2168-2267	ISBN		Medium
	Area		Expedition		Conference
	Notes	ADAS; 600.085; 600.082; 600.076; 600.118			Approved	no
	Call Number	Admin @ si @			Serial	2810
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	Author	German Ros; Laura Sellart; Gabriel Villalonga; Elias Maidanik; Francisco Molero; Marc Garcia; Adriana Cedeño; Francisco Perez; Didier Ramirez; Eduardo Escobar; Jose Luis Gomez; David Vazquez; Antonio Lopez
	Title	Semantic Segmentation of Urban Scenes via Domain Adaptation of SYNTHIA			Type	Book Chapter
	Year	2017	Publication	Domain Adaptation in Computer Vision Applications	Abbreviated Journal
	Volume	12	Issue		Pages	227-241
	Keywords	SYNTHIA; Virtual worlds; Autonomous Driving
	Abstract	Vision-based semantic segmentation in urban scenarios is a key functionality for autonomous driving. Recent revolutionary results of deep convolutional neural networks (DCNNs) foreshadow the advent of reliable classifiers to perform such visual tasks. However, DCNNs require learning of many parameters from raw images; thus, having a sufficient amount of diverse images with class annotations is needed. These annotations are obtained via cumbersome, human labour which is particularly challenging for semantic segmentation since pixel-level annotations are required. In this chapter, we propose to use a combination of a virtual world to automatically generate realistic synthetic images with pixel-level annotations, and domain adaptation to transfer the models learnt to correctly operate in real scenarios. We address the question of how useful synthetic data can be for semantic segmentation – in particular, when using a DCNN paradigm. In order to answer this question we have generated a synthetic collection of diverse urban images, named SYNTHIA, with automatically generated class annotations and object identifiers. We use SYNTHIA in combination with publicly available real-world urban images with manually provided annotations. Then, we conduct experiments with DCNNs that show that combining SYNTHIA with simple domain adaptation techniques in the training stage significantly improves performance on semantic segmentation.
	Address
	Corporate Author				Thesis
	Publisher	Springer	Place of Publication		Editor	Gabriela Csurka
	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; 600.085; 600.082; 600.076; 600.118			Approved	no
	Call Number	ADAS @ adas @ RSV2017			Serial	2882
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	Author	Jiaolong Xu; Sebastian Ramos; David Vazquez; Antonio Lopez
	Title	Hierarchical Adaptive Structural SVM for Domain Adaptation			Type	Journal Article
	Year	2016	Publication	International Journal of Computer Vision	Abbreviated Journal	IJCV
	Volume	119	Issue	2	Pages	159-178
	Keywords	Domain Adaptation; Pedestrian Detection
	Abstract	A key topic in classification is the accuracy loss produced when the data distribution in the training (source) domain differs from that in the testing (target) domain. This is being recognized as a very relevant problem for many computer vision tasks such as image classification, object detection, and object category recognition. In this paper, we present a novel domain adaptation method that leverages multiple target domains (or sub-domains) in a hierarchical adaptation tree. The core idea is to exploit the commonalities and differences of the jointly considered target domains. Given the relevance of structural SVM (SSVM) classifiers, we apply our idea to the adaptive SSVM (A-SSVM), which only requires the target domain samples together with the existing source-domain classifier for performing the desired adaptation. Altogether, we term our proposal as hierarchical A-SSVM (HA-SSVM). As proof of concept we use HA-SSVM for pedestrian detection, object category recognition and face recognition. In the former we apply HA-SSVM to the deformable partbased model (DPM) while in the rest HA-SSVM is applied to multi-category classifiers. We will show how HA-SSVM is effective in increasing the detection/recognition accuracy with respect to adaptation strategies that ignore the structure of the target data. Since, the sub-domains of the target data are not always known a priori, we shown how HA-SSVM can incorporate sub-domain discovery for object category recognition.
	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	0920-5691	ISBN		Medium
	Area		Expedition		Conference
	Notes	ADAS; 600.085; 600.082; 600.076			Approved	no
	Call Number	Admin @ si @ XRV2016			Serial	2669
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	Author	Jiaolong Xu; David Vazquez; Krystian Mikolajczyk; Antonio Lopez
	Title	Hierarchical online domain adaptation of deformable part-based models			Type	Conference Article
	Year	2016	Publication	IEEE International Conference on Robotics and Automation	Abbreviated Journal
	Volume		Issue		Pages	5536-5541
	Keywords	Domain Adaptation; Pedestrian Detection
	Abstract	We propose an online domain adaptation method for the deformable part-based model (DPM). The online domain adaptation is based on a two-level hierarchical adaptation tree, which consists of instance detectors in the leaf nodes and a category detector at the root node. Moreover, combined with a multiple object tracking procedure (MOT), our proposal neither requires target-domain annotated data nor revisiting the source-domain data for performing the source-to-target domain adaptation of the DPM. From a practical point of view this means that, given a source-domain DPM and new video for training on a new domain without object annotations, our procedure outputs a new DPM adapted to the domain represented by the video. As proof-of-concept we apply our proposal to the challenging task of pedestrian detection. In this case, each instance detector is an exemplar classifier trained online with only one pedestrian per frame. The pedestrian instances are collected by MOT and the hierarchical model is constructed dynamically according to the pedestrian trajectories. Our experimental results show that the adapted detector achieves the accuracy of recent supervised domain adaptation methods (i.e., requiring manually annotated targetdomain data), and improves the source detector more than 10 percentage points.
	Address	Stockholm; Sweden; May 2016
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	ICRA
	Notes	ADAS; 600.085; 600.082; 600.076			Approved	no
	Call Number	Admin @ si @ XVM2016			Serial	2728
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	Author	Victor Campmany; Sergio Silva; Juan Carlos Moure; Toni Espinosa; David Vazquez; Antonio Lopez
	Title	GPU-based pedestrian detection for autonomous driving			Type	Conference Article
	Year	2016	Publication	GPU Technology Conference	Abbreviated Journal
	Volume		Issue		Pages
	Keywords	Pedestrian Detection; GPU
	Abstract	Pedestrian detection for autonomous driving is one of the hardest tasks within computer vision, and involves huge computational costs. Obtaining acceptable real-time performance, measured in frames per second (fps), for the most advanced algorithms is nowadays a hard challenge. Taking the work in [1] as our baseline, we propose a CUDA implementation of a pedestrian detection system that includes LBP and HOG as feature descriptors and SVM and Random forest as classifiers. We introduce significant algorithmic adjustments and optimizations to adapt the problem to the NVIDIA GPU architecture. The aim is to deploy a real-time system providing reliable results.
	Address	Silicon Valley; San Francisco; USA; April 2016
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	GTC
	Notes	ADAS; 600.085; 600.082; 600.076			Approved	no
	Call Number	ADAS @ adas @ CSM2016			Serial	2737
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