| |
Records |
Links |
|
Author |
Ernest Valveny; Enric Marti |
|
| |
Title |
Learning of structural descriptions of graphic symbols using deformable template matching |
Type |
Conference Article |
| |
Year |
2001 |
Publication |
Proc. Sixth Int Document Analysis and Recognition Conf |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
455-459 |
|
| |
Keywords |
|
|
| |
Abstract |
Accurate symbol recognition in graphic documents needs an accurate representation of the symbols to be recognized. If structural approaches are used for recognition, symbols have to be described in terms of their shape, using structural relationships among extracted features. Unlike statistical pattern recognition, in structural methods, symbols are usually manually defined from expertise knowledge, and not automatically infered from sample images. In this work we explain one approach to learn from examples a representative structural description of a symbol, thus providing better information about shape variability. The description of a symbol is based on a probabilistic model. It consists of a set of lines described by the mean and the variance of line parameters, respectively providing information about the model of the symbol, and its shape variability. The representation of each image in the sample set as a set of lines is achieved using deformable template matching. |
|
| |
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 |
DAG;IAM; |
Approved |
no |
|
| |
Call Number |
IAM @ iam @ VMA2001 |
Serial |
1654 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Ernest Valveny; Enric Marti |
|
| |
Title |
Deformable Template Matching within a Bayesian Framework for Hand-Written Graphic Symbol Recognition |
Type |
Journal Article |
| |
Year |
2000 |
Publication |
Graphics Recognition Recent Advances |
Abbreviated Journal |
|
|
| |
Volume |
1941 |
Issue |
|
Pages |
193-208 |
|
| |
Keywords |
|
|
| |
Abstract |
We describe a method for hand-drawn symbol recognition based on deformable template matching able to handle uncertainty and imprecision inherent to hand-drawing. Symbols are represented as a set of straight lines and their deformations as geometric transformations of these lines. Matching, however, is done over the original binary image to avoid loss of information during line detection. It is defined as an energy minimization problem, using a Bayesian framework which allows to combine fidelity to ideal shape of the symbol and flexibility to modify the symbol in order to get the best fit to the binary input image. Prior to matching, we find the best global transformation of the symbol to start the recognition process, based on the distance between symbol lines and image lines. We have applied this method to the recognition of dimensions and symbols in architectural floor plans and we show its flexibility to recognize distorted symbols. |
|
| |
Address |
|
|
| |
Corporate Author |
Springer Verlag |
Thesis |
|
|
| |
Publisher |
Springer Verlag |
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 |
DAG;IAM; |
Approved |
no |
|
| |
Call Number |
IAM @ iam @ MVA2000 |
Serial |
1655 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Ernest Valveny; Enric Marti |
|
| |
Title |
Hand-drawn symbol recognition in graphic documents using deformable template matching and a Bayesian framework |
Type |
Conference Article |
| |
Year |
2000 |
Publication |
Proc. 15th Int Pattern Recognition Conf |
Abbreviated Journal |
|
|
| |
Volume |
2 |
Issue |
|
Pages |
239-242 |
|
| |
Keywords |
|
|
| |
Abstract |
Hand-drawn symbols can take many different and distorted shapes from their ideal representation. Then, very flexible methods are needed to be able to handle unconstrained drawings. We propose here to extend our previous work in hand-drawn symbol recognition based on a Bayesian framework and deformable template matching. This approach gets flexibility enough to fit distorted shapes in the drawing while keeping fidelity to the ideal shape of the symbol. In this work, we define the similarity measure between an image and a symbol based on the distance from every pixel in the image to the lines in the symbol. Matching is carried out using an implementation of the EM algorithm. Thus, we can improve recognition rates and computation time with respect to our previous formulation based on a simulated annealing algorithm. |
|
| |
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 |
0-7695-0750-6 |
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
DAG;IAM; |
Approved |
no |
|
| |
Call Number |
IAM @ iam @ VAM2000 |
Serial |
1656 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Ernest Valveny; Enric Marti |
|
| |
Title |
Recognition of lineal symbols in hand-written drawings using deformable template matching |
Type |
Conference Article |
| |
Year |
1999 |
Publication |
Proceedings of the VIII Symposium Nacional de Reconocimiento de Formas y Análisis de Imágenes |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
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 |
DAG;IAM; |
Approved |
no |
|
| |
Call Number |
IAM @ iam @ VAM1999 |
Serial |
1658 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Ernest Valveny; Ricardo Toledo; Ramon Baldrich; Enric Marti |
|
| |
Title |
Combining recognition-based in segmentation-based approaches for graphic symol recognition using deformable template matching |
Type |
Conference Article |
| |
Year |
2002 |
Publication |
Proceeding of the Second IASTED International Conference Visualization, Imaging and Image Proceesing VIIP 2002 |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
502–507 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
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 |
DAG;RV;CAT;IAM;CIC;ADAS |
Approved |
no |
|
| |
Call Number |
IAM @ iam @ VTB2002 |
Serial |
1660 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Fernando Vilariño; Debora Gil; Petia Radeva |
|
| |
Title |
A Novel FLDA Formulation for Numerical Stability Analysis |
Type |
Book Chapter |
| |
Year |
2004 |
Publication |
Recent Advances in Artificial Intelligence Research and Development |
Abbreviated Journal |
|
|
| |
Volume |
113 |
Issue |
|
Pages |
77-84 |
|
| |
Keywords |
Supervised Learning; Linear Discriminant Analysis; Numerical Stability; Computer Vision |
|
| |
Abstract |
Fisher Linear Discriminant Analysis (FLDA) is one of the most popular techniques used in classification applying dimensional reduction. The numerical scheme involves the inversion of the within-class scatter matrix, which makes FLDA potentially ill-conditioned when it becomes singular. In this paper we present a novel explicit formulation of FLDA in terms of the eccentricity ratio and eigenvector orientations of the within-class scatter matrix. An analysis of this function will characterize those situations where FLDA response is not reliable because of numerical instability. This can solve common situations of poor classification performance in computer vision. |
|
| |
Address |
|
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
IOS Press |
Place of Publication |
|
Editor |
J. Vitrià, P. Radeva and I. Aguiló |
|
| |
Language |
|
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
978-1-58603-466-5 |
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
MV;IAM;MILAB;SIAI |
Approved |
no |
|
| |
Call Number |
IAM @ iam @ VGR2004 |
Serial |
1663 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Fernando Vilariño; Enric Marti |
|
| |
Title |
New didactic techniques in the EHES applying mobile technologies |
Type |
Miscellaneous |
| |
Year |
2008 |
Publication |
Agencia de Gestio d´Ajuts Universitaris I de Recerca (AGAUR), Generalitat de Catalunya |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
|
|
| |
Corporate Author |
Agencia de Gestió d’Ajuts Universitaris I de Recerca (AGAUR), Generalitat de Catalunya |
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 |
Agencia de Gestio d´Ajuts Universitaris I de Recerca (AGAUR), Generalitat de Catalunya |
Expedition |
|
Conference |
|
|
| |
Notes |
MILAB;IAM;MV;SIAI |
Approved |
no |
|
| |
Call Number |
IAM @ iam @ VIM2008 |
Serial |
1664 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Sergio Escalera; Jordi Gonzalez; Xavier Baro; Miguel Reyes; Oscar Lopes; Isabelle Guyon; V. Athitsos; Hugo Jair Escalante |
|
| |
Title |
Multi-modal Gesture Recognition Challenge 2013: Dataset and Results |
Type |
Conference Article |
| |
Year |
2013 |
Publication |
15th ACM International Conference on Multimodal Interaction |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
445-452 |
|
| |
Keywords |
|
|
| |
Abstract |
The recognition of continuous natural gestures is a complex and challenging problem due to the multi-modal nature of involved visual cues (e.g. fingers and lips movements, subtle facial expressions, body pose, etc.), as well as technical limitations such as spatial and temporal resolution and unreliable
depth cues. In order to promote the research advance on this field, we organized a challenge on multi-modal gesture recognition. We made available a large video database of 13; 858 gestures from a lexicon of 20 Italian gesture categories recorded with a KinectTM camera, providing the audio, skeletal model, user mask, RGB and depth images. The focus of the challenge was on user independent multiple gesture learning. There are no resting positions and the gestures are performed in continuous sequences lasting 1-2 minutes, containing between 8 and 20 gesture instances in each sequence. As a result, the dataset contains around 1:720:800 frames. In addition to the 20 main gesture categories, ‘distracter’ gestures are included, meaning that additional audio
and gestures out of the vocabulary are included. The final evaluation of the challenge was defined in terms of the Levenshtein edit distance, where the goal was to indicate the real order of gestures within the sequence. 54 international teams participated in the challenge, and outstanding results
were obtained by the first ranked participants. |
|
| |
Address |
Sidney; Australia; December 2013 |
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
|
|
| |
Language |
|
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
978-1-4503-2129-7 |
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
ICMI |
|
| |
Notes |
HUPBA; ISE; 600.063;MV |
Approved |
no |
|
| |
Call Number |
Admin @ si @ EGB2013 |
Serial |
2373 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Onur Ferhat; Fernando Vilariño |
|
| |
Title |
A Cheap Portable Eye-Tracker Solution for Common Setups |
Type |
Conference Article |
| |
Year |
2013 |
Publication |
17th European Conference on Eye Movements |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
Low cost; eye-tracker; software; webcam; Raspberry Pi |
|
| |
Abstract |
We analyze the feasibility of a cheap eye-tracker where the hardware consists of a single webcam and a Raspberry Pi device. Our aim is to discover the limits of such a system and to see whether it provides an acceptable performance. We base our work on the open source Opengazer (Zielinski, 2013) and we propose several improvements to create a robust, real-time system. After assessing the accuracy of our eye-tracker in elaborated experiments involving 18 subjects under 4 different system setups, we developed a simple game to see how it performs in practice and we also installed it on a Raspberry Pi to create a portable stand-alone eye-tracker which achieves 1.62° horizontal accuracy with 3 fps refresh rate for a building cost of 70 Euros. |
|
| |
Address |
Lund; Sweden; August 2013 |
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
|
|
| |
Language |
|
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
ECEM |
|
| |
Notes |
MV;SIAI |
Approved |
no |
|
| |
Call Number |
Admin @ si @ FeV2013 |
Serial |
2374 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
David Vazquez; Enrique Cabello |
|
| |
Title |
Empleo de sistemas biométricos faciales aplicados al reconocimiento de personas en aeropuertos |
Type |
Report |
| |
Year |
2007 |
Publication |
Ingeniería Técnica en Informática de Sistemas |
Abbreviated Journal |
URJC |
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
Surveillance; Face detection; Face recognition |
|
| |
Abstract |
El presente proyecto se desarrolló a lo largo del año 2005 y 2006, probando un prototipo de un sistema de verificación facial con imágenes extraídas de las cámaras de video-vigilancia del aeropuerto de Barajas. Se diseñaron varios experimentos, agrupados en dos clases. En el primer tipo, el sistema es entre- nado con imágenes obtenidas en condiciones de laboratorio y luego probado con imágenes extraídas de las cámaras de video-vigilancia del aeropuerto de Barajas. En el segundo caso, tanto las imágenes de entrenamiento como las de prueba corresponden a imágenes extraídas de Barajas.
Se ha desarrollado un sistema completo, que incluye adquisición y digitalización de las imágenes, localización y recorte de las caras en escena, verificación de sujetos y obtención de resultados. Los resultados muestran que, en general, un sistema de verificación facial basado en imágenes puede ser una valiosa ayuda a un operario que deba estar vigilando amplias zonas. |
|
| |
Address |
|
|
| |
Corporate Author |
|
Thesis |
Bachelor's 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 |
invisible;ADAS |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ VC2007a |
Serial |
1671 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
David Roche; Debora Gil; Jesus Giraldo |
|
| |
Title |
An inference model for analyzing termination conditions of Evolutionary Algorithms |
Type |
Conference Article |
| |
Year |
2011 |
Publication |
14th Congrès Català en Intel·ligencia Artificial |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
216-225 |
|
| |
Keywords |
Evolutionary Computation Convergence, Termination Conditions, Statistical Inference |
|
| |
Abstract |
In real-world problems, it is mandatory to design a termination condition for Evolutionary Algorithms (EAs) ensuring stabilization close to the unknown optimum. Distribution-based quantities are good candidates as far as suitable parameters are used. A main limitation for application to real-world problems is that such parameters strongly depend on the topology of the objective function, as well as, the EA paradigm used.
We claim that the termination problem would be fully solved if we had a model measuring to what extent a distribution-based quantity asymptotically behaves like the solution accuracy. We present a regression-prediction model that relates any two given quantities and reports if they can be statistically swapped as termination conditions. Our framework is applied to two issues. First, exploring if the parameters involved in the computation of distribution-based quantities influence their asymptotic behavior. Second, to what extent existing distribution-based quantities can be asymptotically exchanged for the accuracy of the EA solution. |
|
| |
Address |
Lleida, Catalonia (Spain) |
|
| |
Corporate Author |
Associació Catalana Intel·ligència Artificial |
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 |
978-1-60750-841-0 |
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
CCIA |
|
| |
Notes |
IAM |
Approved |
no |
|
| |
Call Number |
IAM @ iam @ RGG2011a |
Serial |
1677 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
David Roche; Debora Gil; Jesus Giraldo |
|
| |
Title |
Using statistical inference for designing termination conditions ensuring convergence of Evolutionary Algorithms |
Type |
Conference Article |
| |
Year |
2011 |
Publication |
11th European Conference on Artificial Life |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
|
|
| |
Abstract |
A main challenge in Evolutionary Algorithms (EAs) is determining a termination condition ensuring stabilization close to the optimum in real-world applications. Although for known test functions distribution-based quantities are good candidates (as far as suitable parameters are used), in real-world problems an open question still remains unsolved. How can we estimate an upper-bound for the termination condition value ensuring a given accuracy for the (unknown) EA solution?
We claim that the termination problem would be fully solved if we defined a quantity (depending only on the EA output) behaving like the solution accuracy. The open question would be, then, satisfactorily answered if we had a model relating both quantities, since accuracy could be predicted from the alternative quantity. We present a statistical inference framework addressing two topics: checking the correlation between the two quantities and defining a regression model for predicting (at a given confidence level) accuracy values from the EA output. |
|
| |
Address |
Paris, France |
|
| |
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 |
ECAL |
|
| |
Notes |
IAM; |
Approved |
no |
|
| |
Call Number |
IAM @ iam @ RGG2011b |
Serial |
1678 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Ferran Poveda; Debora Gil ;Albert Andaluz ;Enric Marti |
|
| |
Title |
Multiscale Tractography for Representing Heart Muscular Architecture |
Type |
Conference Article |
| |
Year |
2011 |
Publication |
In MICCAI 2011 Workshop on Computational Diffusion MRI |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
|
|
| |
Abstract |
Deep understanding of myocardial structure of the heart would unravel crucial knowledge for clinical and medical procedures. Although the muscular architecture of the heart has been debated by countless researchers, the controversy is still alive. Diffusion Tensor MRI, DT-MRI, is a unique imaging technique for computational validation of the muscular structure of the heart. By the complex arrangement of myocites, existing techniques can not provide comprehensive descriptions of the global muscular architecture. In this paper we introduce a multiresolution reconstruction technique based on DT-MRI streamlining for simplified global myocardial model generation. Our reconstructions can restore the most complex myocardial structures and indicate a global helical organization |
|
| |
Address |
|
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
|
|
| |
Language |
English |
Summary Language |
english |
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
CDRMI |
|
| |
Notes |
IAM |
Approved |
no |
|
| |
Call Number |
IAM @ iam @ PGA2011 |
Serial |
1681 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Aura Hernandez-Sabate; Debora Gil |
|
| |
Title |
The Benefits of IVUS Dynamics for Retrieving Stable Models of Arteries |
Type |
Book Chapter |
| |
Year |
2012 |
Publication |
Intravascular Ultrasound |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
185-206 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
|
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
Intech |
Place of Publication |
|
Editor |
Yasuhiro Honda |
|
| |
Language |
English |
Summary Language |
english |
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
978-953-307-900-4 |
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
IAM; ADAS |
Approved |
no |
|
| |
Call Number |
IAM @ iam @ HeG2012 |
Serial |
1684 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Andrew Nolan; Daniel Serrano; Aura Hernandez-Sabate; Daniel Ponsa; Antonio Lopez |
|
| |
Title |
Obstacle mapping module for quadrotors on outdoor Search and Rescue operations |
Type |
Conference Article |
| |
Year |
2013 |
Publication |
International Micro Air Vehicle Conference and Flight Competition |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
UAV |
|
| |
Abstract |
Obstacle avoidance remains a challenging task for Micro Aerial Vehicles (MAV), due to their limited payload capacity to carry advanced sensors. Unlike larger vehicles, MAV can only carry light weight sensors, for instance a camera, which is our main assumption in this work. We explore passive monocular depth estimation and propose a novel method Position Aided Depth Estimation
(PADE). We analyse PADE performance and compare it against the extensively used Time To Collision (TTC). We evaluate the accuracy, robustness to noise and speed of three Optical Flow (OF) techniques, combined with both depth estimation methods. Our results show PADE is more accurate than TTC at depths between 0-12 meters and is less sensitive to noise. Our findings highlight the potential application of PADE for MAV to perform safe autonomous navigation in
unknown and unstructured environments. |
|
| |
Address |
Toulouse; France; September 2013 |
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
|
|
| |
Language |
|
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
IMAV |
|
| |
Notes |
ADAS; 600.054; 600.057;IAM |
Approved |
no |
|
| |
Call Number |
Admin @ si @ NSH2013 |
Serial |
2371 |
|
| Permanent link to this record |
