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| Author | Sergio Silva; Victor Campmany; Laura Sellart; Juan Carlos Moure; Antoni Espinosa; David Vazquez; Antonio Lopez | ||||
| Title | Autonomous GPU-based Driving | Type | Abstract | ||
| Year | 2015 | Publication | Programming and Tunning Massive Parallel Systems | Abbreviated Journal | PUMPS |
| Volume | Issue | Pages | |||
| Keywords | Autonomous Driving; ADAS; CUDA | ||||
| Abstract | Human factors cause most driving accidents; this is why nowadays is common to hear about autonomous driving as an alternative. Autonomous driving will not only increase safety, but also will develop a system of cooperative self-driving cars that will reduce pollution and congestion. Furthermore, it will provide more freedom to handicapped people, elderly or kids.
Autonomous Driving requires perceiving and understanding the vehicle environment (e.g., road, traffic signs, pedestrians, vehicles) using sensors (e.g., cameras, lidars, sonars, and radars), selflocalization (requiring GPS, inertial sensors and visual localization in precise maps), controlling the vehicle and planning the routes. These algorithms require high computation capability, and thanks to NVIDIA GPU acceleration this starts to become feasible. NVIDIA® is developing a new platform for boosting the Autonomous Driving capabilities that is able of managing the vehicle via CAN-Bus: the Drive™ PX. It has 8 ARM cores with dual accelerated Tegra® X1 chips. It has 12 synchronized camera inputs for 360º vehicle perception, 4G and Wi-Fi capabilities allowing vehicle communications and GPS and inertial sensors inputs for self-localization. Our research group has been selected for testing Drive™ PX. Accordingly, we are developing a Drive™ PX based autonomous car. Currently, we are porting our previous CPU based algorithms (e.g., Lane Departure Warning, Collision Warning, Automatic Cruise Control, Pedestrian Protection, or Semantic Segmentation) for running in the GPU. |
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| Address | Barcelona; Spain | ||||
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| ISSN | ISBN | Medium | |||
| Area | Expedition | Conference | PUMPS | ||
Notes  |
ADAS; 600.076; 600.082; 600.085 | Approved | no | ||
| Call Number | ADAS @ adas @ SCS2015 | Serial | 2645 | ||
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| Author | Alejandro Gonzalez Alzate; Gabriel Villalonga; Jiaolong Xu; David Vazquez; Jaume Amores; Antonio Lopez | ||||
| Title | Multiview Random Forest of Local Experts Combining RGB and LIDAR data for Pedestrian Detection | Type | Conference Article | ||
| Year | 2015 | Publication | IEEE Intelligent Vehicles Symposium IV2015 | Abbreviated Journal | |
| Volume | Issue | Pages | 356-361 | ||
| Keywords | Pedestrian Detection | ||||
| Abstract | Despite recent significant advances, pedestrian 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 multi-view classifier that accounts for different pedestrian views and poses. In this paper we provide an extensive evaluation that gives insight into how each of these aspects (multi-cue, multimodality and strong multi-view classifier) affect performance both individually and when integrated together. In the multimodality component we explore the fusion of RGB and depth maps obtained by high-definition LIDAR, a type of modality that is only recently starting to receive attention. As our analysis reveals, although all the aforementioned aspects significantly help in improving the performance, 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. These simple blocks can be easily replaced with more sophisticated ones recently proposed, such as the use of convolutional neural networks for feature representation, to further improve the accuracy. | ||||
| Address | Seoul; Corea; June 2015 | ||||
| Corporate Author | Thesis | ||||
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| ISSN | ISBN | Medium | |||
| Area | ACDC | Expedition | Conference | IV | |
| Notes |
ADAS; 600.076; 600.057; 600.054 | Approved | no | ||
| Call Number | ADAS @ adas @ GVX2015 | Serial | 2625 | ||
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| Author | Alejandro Gonzalez Alzate; Gabriel Villalonga; German Ros; David Vazquez; Antonio Lopez | ||||
| Title | 3D-Guided Multiscale Sliding Window for Pedestrian Detection | Type | Conference Article | ||
| Year | 2015 | Publication | Pattern Recognition and Image Analysis, Proceedings of 7th Iberian Conference , ibPRIA 2015 | Abbreviated Journal | |
| Volume | 9117 | Issue | Pages | 560-568 | |
| Keywords | Pedestrian Detection | ||||
| Abstract | The most relevant modules of a pedestrian detector are the candidate generation and the candidate classification. The former aims at presenting image windows to the latter so that they are classified as containing a pedestrian or not. Much attention has being paid to the classification module, while candidate generation has mainly relied on (multiscale) sliding window pyramid. However, candidate generation is critical for achieving real-time. In this paper we assume a context of autonomous driving based on stereo vision. Accordingly, we evaluate the effect of taking into account the 3D information (derived from the stereo) in order to prune the hundred of thousands windows per image generated by classical pyramidal sliding window. For our study we use a multimodal (RGB, disparity) and multi-descriptor (HOG, LBP, HOG+LBP) holistic ensemble based on linear SVM. Evaluation on data from the challenging KITTI benchmark suite shows the effectiveness of using 3D information to dramatically reduce the number of candidate windows, even improving the overall pedestrian detection accuracy. | ||||
| Address | Santiago de Compostela; España; June 2015 | ||||
| Corporate Author | Thesis | ||||
| Publisher | Place of Publication | Editor | |||
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
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| ISSN | ISBN | Medium | |||
| Area | ACDC | Expedition | Conference | IbPRIA | |
| Notes |
ADAS; 600.076; 600.057; 600.054 | Approved | no | ||
| Call Number | ADAS @ adas @ GVR2015 | Serial | 2585 | ||
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| Author | David Geronimo; Antonio Lopez | ||||
| Title | Vision-based Pedestrian Protection Systems for Intelligent Vehicles | Type | Book Whole | ||
| Year | 2014 | Publication | SpringerBriefs in Computer Science | Abbreviated Journal | |
| Volume | Issue | Pages | 1-114 | ||
| Keywords | Computer Vision; Driver Assistance Systems; Intelligent Vehicles; Pedestrian Detection; Vulnerable Road Users | ||||
| Abstract | Pedestrian Protection Systems (PPSs) are on-board systems aimed at detecting and tracking people in the surroundings of a vehicle in order to avoid potentially dangerous situations. These systems, together with other Advanced Driver Assistance Systems (ADAS) such as lane departure warning or adaptive cruise control, are one of the most promising ways to improve traffic safety. By the use of computer vision, cameras working either in the visible or infra-red spectra have been demonstrated as a reliable sensor to perform this task. Nevertheless, the variability of human’s appearance, not only in terms of clothing and sizes but also as a result of their dynamic shape, makes pedestrians one of the most complex classes even for computer vision. Moreover, the unstructured changing and unpredictable environment in which such on-board systems must work makes detection a difficult task to be carried out with the demanded robustness. In this brief, the state of the art in PPSs is introduced through the review of the most relevant papers of the last decade. A common computational architecture is presented as a framework to organize each method according to its main contribution. More than 300 papers are referenced, most of them addressing pedestrian detection and others corresponding to the descriptors (features), pedestrian models, and learning machines used. In addition, an overview of topics such as real-time aspects, systems benchmarking and future challenges of this research area are presented. | ||||
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| Corporate Author | Thesis | ||||
| Publisher | Springer Briefs in Computer Vision | Place of Publication | Editor | ||
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | ISBN | 978-1-4614-7986-4 | Medium | ||
| Area | Expedition | Conference | |||
| Notes |
ADAS; 600.076 | Approved | no | ||
| Call Number | GeL2014 | Serial | 2325 | ||
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| Author | Naveen Onkarappa; Angel Sappa | ||||
| Title | Speed and Texture: An Empirical Study on Optical-Flow Accuracy in ADAS Scenarios | Type | Journal Article | ||
| Year | 2014 | Publication | IEEE Transactions on Intelligent Transportation Systems | Abbreviated Journal | TITS |
| Volume | 15 | Issue | 1 | Pages | 136-147 |
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| Abstract | IF: 3.064
Increasing mobility in everyday life has led to the concern for the safety of automotives and human life. Computer vision has become a valuable tool for developing driver assistance applications that target such a concern. Many such vision-based assisting systems rely on motion estimation, where optical flow has shown its potential. A variational formulation of optical flow that achieves a dense flow field involves a data term and regularization terms. Depending on the image sequence, the regularization has to appropriately be weighted for better accuracy of the flow field. Because a vehicle can be driven in different kinds of environments, roads, and speeds, optical-flow estimation has to be accurately computed in all such scenarios. In this paper, we first present the polar representation of optical flow, which is quite suitable for driving scenarios due to the possibility that it offers to independently update regularization factors in different directional components. Then, we study the influence of vehicle speed and scene texture on optical-flow accuracy. Furthermore, we analyze the relationships of these specific characteristics on a driving scenario (vehicle speed and road texture) with the regularization weights in optical flow for better accuracy. As required by the work in this paper, we have generated several synthetic sequences along with ground-truth flow fields. |
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| Language | Summary Language | Original Title | |||
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| Series Volume | Series Issue | Edition | |||
| ISSN | 1524-9050 | ISBN | Medium | ||
| Area | Expedition | Conference | |||
| Notes |
ADAS; 600.076 | Approved | no | ||
| Call Number | Admin @ si @ OnS2014a | Serial | 2386 | ||
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| Author | Jiaolong Xu; David Vazquez; Antonio Lopez; Javier Marin; Daniel Ponsa | ||||
| Title | Learning a Part-based Pedestrian Detector in Virtual World | Type | Journal Article | ||
| Year | 2014 | Publication | IEEE Transactions on Intelligent Transportation Systems | Abbreviated Journal | TITS |
| Volume | 15 | Issue | 5 | Pages | 2121-2131 |
| Keywords | Domain Adaptation; Pedestrian Detection; Virtual Worlds | ||||
| Abstract | Detecting pedestrians with on-board vision systems is of paramount interest for assisting drivers to prevent vehicle-to-pedestrian accidents. The core of a pedestrian detector is its classification module, which aims at deciding if a given image window contains a pedestrian. Given the difficulty of this task, many classifiers have been proposed during the last fifteen years. Among them, the so-called (deformable) part-based classifiers including multi-view modeling are usually top ranked in accuracy. Training such classifiers is not trivial since a proper aspect clustering and spatial part alignment of the pedestrian training samples are crucial for obtaining an accurate classifier. In this paper, first we perform automatic aspect clustering and part alignment by using virtual-world pedestrians, i.e., human annotations are not required. Second, we use a mixture-of-parts approach that allows part sharing among different aspects. Third, these proposals are integrated in a learning framework which also allows to incorporate real-world training data to perform domain adaptation between virtual- and real-world cameras. Overall, the obtained results on four popular on-board datasets show that our proposal clearly outperforms the state-of-the-art deformable part-based detector known as latent SVM. | ||||
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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 | 1931-0587 | ISBN | 978-1-4673-2754-1 | Medium | |
| Area | Expedition | Conference | |||
| Notes |
ADAS; 600.076 | Approved | no | ||
| Call Number | ADAS @ adas @ XVL2014 | Serial | 2433 | ||
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| Author | Monica Piñol | ||||
| Title | Reinforcement Learning of Visual Descriptors for Object Recognition | Type | Book Whole | ||
| Year | 2014 | Publication | PhD Thesis, Universitat Autonoma de Barcelona-CVC | Abbreviated Journal | |
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| Abstract | The human visual system is able to recognize the object in an image even if the object is partially occluded, from various points of view, in different colors, or with independence of the distance to the object. To do this, the eye obtains an image and extracts features that are sent to the brain, and then, in the brain the object is recognized. In computer vision, the object recognition branch tries to learns from the human visual system behaviour to achieve its goal. Hence, an algorithm is used to identify representative features of the scene (detection), then another algorithm is used to describe these points (descriptor) and finally the extracted information is used for classifying the object in the scene. The selection of this set of algorithms is a very complicated task and thus, a very active research field. In this thesis we are focused on the selection/learning of the best descriptor for a given image. In the state of the art there are several descriptors but we do not know how to choose the best descriptor because depends on scenes that we will use (dataset) and the algorithm chosen to do the classification. We propose a framework based on reinforcement learning and bag of features to choose the best descriptor according to the given image. The system can analyse the behaviour of different learning algorithms and descriptor sets. Furthermore the proposed framework for improving the classification/recognition ratio can be used with minor changes in other computer vision fields, such as video retrieval. | ||||
| Address | |||||
| Corporate Author | Thesis | Ph.D. thesis | |||
| Publisher | Ediciones Graficas Rey | Place of Publication | Editor | Ricardo Toledo;Angel Sappa | |
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | ISBN | 978-84-940902-5-7 | Medium | ||
| Area | Expedition | Conference | |||
| Notes |
ADAS; 600.076 | Approved | no | ||
| Call Number | Admin @ si @ Piñ2014 | Serial | 2464 | ||
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| Author | German Ros; Sebastian Ramos; Manuel Granados; Amir Bakhtiary; David Vazquez; Antonio Lopez | ||||
| Title | Vision-based Offline-Online Perception Paradigm for Autonomous Driving | Type | Conference Article | ||
| Year | 2015 | Publication | IEEE Winter Conference on Applications of Computer Vision | Abbreviated Journal | |
| Volume | Issue | Pages | 231 - 238 | ||
| Keywords | Autonomous Driving; Scene Understanding; SLAM; Semantic Segmentation | ||||
| Abstract | Autonomous driving is a key factor for future mobility. Properly perceiving the environment of the vehicles is essential for a safe driving, which requires computing accurate geometric and semantic information in real-time. In this paper, we challenge state-of-the-art computer vision algorithms for building a perception system for autonomous driving. An inherent drawback in the computation of visual semantics is the trade-off between accuracy and computational cost. We propose to circumvent this problem by following an offline-online strategy. During the offline stage dense 3D semantic maps are created. In the online stage the current driving area is recognized in the maps via a re-localization process, which allows to retrieve the pre-computed accurate semantics and 3D geometry in realtime. Then, detecting the dynamic obstacles we obtain a rich understanding of the current scene. We evaluate quantitatively our proposal in the KITTI dataset and discuss the related open challenges for the computer vision community. | ||||
| Address | Hawaii; January 2015 | ||||
| Corporate Author | Thesis | ||||
| Publisher | Place of Publication | Editor | |||
| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
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| ISSN | ISBN | Medium | |||
| Area | ACDC | Expedition | Conference | WACV | |
| Notes |
ADAS; 600.076 | Approved | no | ||
| Call Number | ADAS @ adas @ RRG2015 | Serial | 2499 | ||
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| Author | Cristhian A. Aguilera-Carrasco | ||||
| Title | Evaluation of feature detectors and descriptors in VISIBLE-LWIR cross-spectral imaging | Type | Report | ||
| Year | 2014 | Publication | CVC Technical Report | Abbreviated Journal | |
| Volume | 177 | Issue | Pages | ||
| Keywords | Multi-spectral; Cross-spectral; Visible-LWIR imaging; Multimodal. | ||||
| Abstract | This thesis evaluates the performance of different state-of-art feature detectors and descriptors algorithms in the Visible-LWIR cross-spectral scenario. The focus is to determine if current detector and descriptor algorithms can be used to match features between the LWIR spectrum and the visible spectrum in applications such as, visual odometry, object recognition, image registration and stereo vision. An outdoor cross-spectral dataset was created to evaluate the suitability of the different algorithms. The results
show that the tested algorithms are not suitable to the task of matching features across different spectra. The repeatability ratio was smaller than the 30 percent in the best case and in general matched features were not accurate located. Additionally, these results also suggest that is necessary to create new algorithms that take into account the nature of the different spectra, describing characteristics that exist in both spectra such as discontinuities. |
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| Corporate Author | Thesis | Master's thesis | |||
| Publisher | Place of Publication | Editor | |||
| Language | Summary Language | Original Title | |||
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| Notes |
ADAS; 600.076 | Approved | no | ||
| Call Number | Admin @ si @Agu2014 | Serial | 2526 | ||
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| Author | Mohammad Rouhani; Angel Sappa; E. Boyer | ||||
| Title | Implicit B-Spline Surface Reconstruction | Type | Journal Article | ||
| Year | 2015 | Publication | IEEE Transactions on Image Processing | Abbreviated Journal | TIP |
| Volume | 24 | Issue | 1 | Pages | 22 - 32 |
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| Abstract | This paper presents a fast and flexible curve, and surface reconstruction technique based on implicit B-spline. This representation does not require any parameterization and it is locally supported. This fact has been exploited in this paper to propose a reconstruction technique through solving a sparse system of equations. This method is further accelerated to reduce the dimension to the active control lattice. Moreover, the surface smoothness and user interaction are allowed for controlling the surface. Finally, a novel weighting technique has been introduced in order to blend small patches and smooth them in the overlapping regions. The whole framework is very fast and efficient and can handle large cloud of points with very low computational cost. The experimental results show the flexibility and accuracy of the proposed algorithm to describe objects with complex topologies. Comparisons with other fitting methods highlight the superiority of the proposed approach in the presence of noise and missing data. | ||||
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| Series Volume | Series Issue | Edition | |||
| ISSN | 1057-7149 | ISBN | Medium | ||
| Area | Expedition | Conference | |||
| Notes |
ADAS; 600.076 | Approved | no | ||
| Call Number | Admin @ si @ RSB2015 | Serial | 2541 | ||
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| Author | Katerine Diaz; Francesc J. Ferri; W. Diaz | ||||
| Title | Incremental Generalized Discriminative Common Vectors for Image Classification | Type | Journal Article | ||
| Year | 2015 | Publication | IEEE Transactions on Neural Networks and Learning Systems | Abbreviated Journal | TNNLS |
| Volume | 26 | Issue | 8 | Pages | 1761 - 1775 |
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| Abstract | Subspace-based methods have become popular due to their ability to appropriately represent complex data in such a way that both dimensionality is reduced and discriminativeness is enhanced. Several recent works have concentrated on the discriminative common vector (DCV) method and other closely related algorithms also based on the concept of null space. In this paper, we present a generalized incremental formulation of the DCV methods, which allows the update of a given model by considering the addition of new examples even from unseen classes. Having efficient incremental formulations of well-behaved batch algorithms allows us to conveniently adapt previously trained classifiers without the need of recomputing them from scratch. The proposed generalized incremental method has been empirically validated in different case studies from different application domains (faces, objects, and handwritten digits) considering several different scenarios in which new data are continuously added at different rates starting from an initial model. | ||||
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| Series Volume | Series Issue | Edition | |||
| ISSN | 2162-237X | ISBN | Medium | ||
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| Notes |
ADAS; 600.076 | Approved | no | ||
| Call Number | Admin @ si @ DFD2015 | Serial | 2547 | ||
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| Author | Miguel Oliveira; Angel Sappa; Victor Santos | ||||
| Title | A probabilistic approach for color correction in image mosaicking applications | Type | Journal Article | ||
| Year | 2015 | Publication | IEEE Transactions on Image Processing | Abbreviated Journal | TIP |
| Volume | 14 | Issue | 2 | Pages | 508 - 523 |
| Keywords | Color correction; image mosaicking; color transfer; color palette mapping functions | ||||
| Abstract | Image mosaicking applications require both geometrical and photometrical registrations between the images that compose the mosaic. This paper proposes a probabilistic color correction algorithm for correcting the photometrical disparities. First, the image to be color corrected is segmented into several regions using mean shift. Then, connected regions are extracted using a region fusion algorithm. Local joint image histograms of each region are modeled as collections of truncated Gaussians using a maximum likelihood estimation procedure. Then, local color palette mapping functions are computed using these sets of Gaussians. The color correction is performed by applying those functions to all the regions of the image. An extensive comparison with ten other state of the art color correction algorithms is presented, using two different image pair data sets. Results show that the proposed approach obtains the best average scores in both data sets and evaluation metrics and is also the most robust to failures. | ||||
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| ISSN | 1057-7149 | ISBN | Medium | ||
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| Notes |
ADAS; 600.076 | Approved | no | ||
| Call Number | Admin @ si @ OSS2015b | Serial | 2554 | ||
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| Author | Francisco Blanco; Felipe Lumbreras; Joan Serrat; Roswitha Siener; Silvia Serranti; Giuseppe Bonifazi; Montserrat Lopez Mesas; Manuel Valiente | ||||
| Title | Taking advantage of Hyperspectral Imaging classification of urinary stones against conventional IR Spectroscopy | Type | Journal Article | ||
| Year | 2014 | Publication | Journal of Biomedical Optics | Abbreviated Journal | JBiO |
| Volume | 19 | Issue | 12 | Pages | 126004-1 - 126004-9 |
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| Abstract | The analysis of urinary stones is mandatory for the best management of the disease after the stone passage in order to prevent further stone episodes. Thus the use of an appropriate methodology for an individualized stone analysis becomes a key factor for giving the patient the most suitable treatment. A recently developed hyperspectral imaging methodology, based on pixel-to-pixel analysis of near-infrared spectral images, is compared to the reference technique in stone analysis, infrared (IR) spectroscopy. The developed classification model yields >90% correct classification rate when compared to IR and is able to precisely locate stone components within the structure of the stone with a 15 µm resolution. Due to the little sample pretreatment, low analysis time, good performance of the model, and the automation of the measurements, they become analyst independent; this methodology can be considered to become a routine analysis for clinical laboratories. | ||||
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ADAS; 600.076 | Approved | no | ||
| Call Number | Admin @ si @ BLS2014 | Serial | 2563 | ||
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| Author | Gabriel Villalonga; Sebastian Ramos; German Ros; David Vazquez; Antonio Lopez | ||||
| Title | 3d Pedestrian Detection via Random Forest | Type | Miscellaneous | ||
| Year | 2014 | Publication | European Conference on Computer Vision | Abbreviated Journal | |
| Volume | Issue | Pages | 231-238 | ||
| Keywords | Pedestrian Detection | ||||
| Abstract | Our demo focuses on showing the extraordinary performance of our novel 3D pedestrian detector along with its simplicity and real-time capabilities. This detector has been designed for autonomous driving applications, but it can also be applied in other scenarios that cover both outdoor and indoor applications.
Our pedestrian detector is based on the combination of a random forest classifier with HOG-LBP features and the inclusion of a preprocessing stage based on 3D scene information in order to precisely determinate the image regions where the detector should search for pedestrians. This approach ends up in a high accurate system that runs real-time as it is required by many computer vision and robotics applications. |
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| Address | Zurich; suiza; September 2014 | ||||
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| Area | Expedition | Conference | ECCV-Demo | ||
| Notes |
ADAS; 600.076 | Approved | no | ||
| Call Number | Admin @ si @ VRR2014 | Serial | 2570 | ||
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| Author | Sebastian Ramos | ||||
| Title | Vision-based Detection of Road Hazards for Autonomous Driving | Type | Report | ||
| Year | 2014 | Publication | CVC Technical Report | Abbreviated Journal | |
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| Address | UAB; September 2014 | ||||
| Corporate Author | Thesis | Master's thesis | |||
| Publisher | Place of Publication | Editor | |||
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ADAS; 600.076 | Approved | no | ||
| Call Number | Admin @ si @ Ram2014 | Serial | 2580 | ||
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