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Angel Sappa; Fadi Dornaika; Daniel Ponsa; David Geronimo; Antonio Lopez |
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Title |
An Efficient Approach to Onboard Stereo Vision System Pose Estimation |
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Journal Article |
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2008 |
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IEEE Transactions on Intelligent Transportation Systems |
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TITS |
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9 |
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3 |
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476–490 |
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Camera extrinsic parameter estimation, ground plane estimation, onboard stereo vision system |
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This paper presents an efficient technique for estimating the pose of an onboard stereo vision system relative to the environment’s dominant surface area, which is supposed to be the road surface. Unlike previous approaches, it can be used either for urban or highway scenarios since it is not based on a specific visual traffic feature extraction but on 3-D raw data points. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact 2-D representation of the original 3-D data points is computed. Then, a RANdom SAmple Consensus (RANSAC) based least-squares approach is used to fit a plane to the road. Fast RANSAC fitting is obtained by selecting points according to a probability function that takes into account the density of points at a given depth. Finally, stereo camera height and pitch angle are computed related to the fitted road plane. The proposed technique is intended to be used in driverassistance systems for applications such as vehicle or pedestrian detection. Experimental results on urban environments, which are the most challenging scenarios (i.e., flat/uphill/downhill driving, speed bumps, and car’s accelerations), are presented. These results are validated with manually annotated ground truth. Additionally, comparisons with previous works are presented to show the improvements in the central processing unit processing time, as well as in the accuracy of the obtained results. |
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ADAS @ adas @ SDP2008 |
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1000 |
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Jaume Garcia; Debora Gil; Sandra Pujades; Francesc Carreras |
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Title |
Valoracion de la Funcion del Ventriculo Izquierdo mediante Modelos Regionales Hiperparametricos |
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2008 |
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Revista Española de Cardiologia |
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61 |
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3 |
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79 |
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La mayoría de la enfermedades cardiovasculares afectan a las propiedades contráctiles de la banda ventricular helicoidal. Esto se refleja en una variación del comportamiento normal de la función ventricular. Parámetros locales tales como los strains, o la deformación experimentada por el tejido, son indicadores capaces de detectar anomalías funcionales en territorios específicos. A menudo, dichos parámetros son considerados de forma separada. En este trabajo presentamos un marco computacional (el Dominio Paramétrico Normalizado, DPN) que permite integrarlos en hiperparámetros funcionales y estudiar sus rangos de normalidad. Dichos rangos permiten valorar de forma objetiva la función regional de cualquier nuevo paciente. Para ello, consideramos secuencias de resonancia magnética etiquetada a nivel basal, medio y apical. Los hiperparámetros se obtienen a partir del movimiento intramural del VI estimado mediante el método Harmonic Phase Flow. El DPN se define a partir de en una parametrización del Ventrículo Izquierdo (VI) en sus coordenadas radiales y circunferencial basada en criterios anatómicos. El paso de los hiperparámetros al DPN hace posible la comparación entre distintos pacientes. Los rangos de normalidad se definen mediante análisis estadístico de valores de voluntarios sanos en 45 regiones del DPN a lo largo de 9 fases sistólicas. Se ha usado un conjunto de 19 (14 H; E: 30.7±7.5) voluntarios sanos para crear los patrones de normalidad y se han validado usando 2 controles sanos y 3 pacientes afectados de contractilidad global reducida. Para los controles los resultados regionales se han ajustado dentro de la normalidad, mientras que para los pacientes se han obtenido valores anormales en las zonas descritas, localizando y cuantificando así el diagnóstico empírico. |
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IAM @ iam @ GRP2008 |
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1032 |
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T. Widemann; Xavier Otazu |
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Titanias radius and an upper limit on its atmosphere from the September 8, 2001 stellar occultation |
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2009 |
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International Journal of Solar System Studies |
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199 |
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2 |
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458–476 |
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Occultations; Uranus, satellites; Satellites, shapes; Satellites, dynamics; Ices; Satellites, atmospheres |
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On September 8, 2001 around 2 h UT, the largest uranian moon, Titania, occulted Hipparcos star 106829 (alias SAO 164538, a V=7.2, K0 III star). This was the first-ever observed occultation by this satellite, a rare event as Titania subtends only 0.11 arcsec on the sky. The star's unusual brightness allowed many observers, both amateurs or professionals, to monitor this unique event, providing fifty-seven occultations chords over three continents, all reported here. Selecting the best 27 occultation chords, and assuming a circular limb, we derive Titania's radius: View the MathML source (1-σ error bar). This implies a density of View the MathML source using the value View the MathML source derived by Taylor [Taylor, D.B., 1998. Astron. Astrophys. 330, 362–374]. We do not detect any significant difference between equatorial and polar radii, in the limit View the MathML source, in agreement with Voyager limb image retrieval during the 1986 flyby. Titania's offset with respect to the DE405 + URA027 (based on GUST86 theory) ephemeris is derived: ΔαTcos(δT)=−108±13 mas and ΔδT=−62±7 mas (ICRF J2000.0 system). Most of this offset is attributable to a Uranus' barycentric offset with respect to DE405, that we estimate to be: View the MathML source and ΔδU=−85±25 mas at the moment of occultation. This offset is confirmed by another Titania stellar occultation observed on August 1st, 2003, which provides an offset of ΔαTcos(δT)=−127±20 mas and ΔδT=−97±13 mas for the satellite. The combined ingress and egress data do not show any significant hint for atmospheric refraction, allowing us to set surface pressure limits at the level of 10–20 nbar. More specifically, we find an upper limit of 13 nbar (1-σ level) at 70 K and 17 nbar at 80 K, for a putative isothermal CO2 atmosphere. We also provide an upper limit of 8 nbar for a possible CH4 atmosphere, and 22 nbar for pure N2, again at the 1-σ level. We finally constrain the stellar size using the time-resolved star disappearance and reappearance at ingress and egress. We find an angular diameter of 0.54±0.03 mas (corresponding to View the MathML source projected at Titania). With a distance of 170±25 parsecs, this corresponds to a radius of 9.8±0.2 solar radii for HIP 106829, typical of a K0 III giant. |
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CAT @ cat @ Wid2009 |
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1052 |
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Author |
Jose Antonio Rodriguez; Florent Perronnin |
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Handwritten word-spotting using hidden Markov models and universal vocabularies |
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2009 |
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Pattern Recognition |
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PR |
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42 |
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9 |
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2103-2116 |
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Word-spotting; Hidden Markov model; Score normalization; Universal vocabulary; Handwriting recognition |
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Handwritten word-spotting is traditionally viewed as an image matching task between one or multiple query word-images and a set of candidate word-images in a database. This is a typical instance of the query-by-example paradigm. In this article, we introduce a statistical framework for the word-spotting problem which employs hidden Markov models (HMMs) to model keywords and a Gaussian mixture model (GMM) for score normalization. We explore the use of two types of HMMs for the word modeling part: continuous HMMs (C-HMMs) and semi-continuous HMMs (SC-HMMs), i.e. HMMs with a shared set of Gaussians. We show on a challenging multi-writer corpus that the proposed statistical framework is always superior to a traditional matching system which uses dynamic time warping (DTW) for word-image distance computation. A very important finding is that the SC-HMM is superior when labeled training data is scarce—as low as one sample per keyword—thanks to the prior information which can be incorporated in the shared set of Gaussians. |
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Admin @ si @ RoP2009 |
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1053 |
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Jaume Garcia; Debora Gil; Sandra Pujades; Francesc Carreras |
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A Variational Framework for Assessment of the Left Ventricle Motion |
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2008 |
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International Journal Mathematical Modelling of Natural Phenomena |
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3 |
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6 |
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76-100 |
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Key words: Left Ventricle Dynamics, Ventricular Torsion, Tagged Magnetic Resonance, Motion Tracking, Variational Framework, Gabor Transform. |
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Impairment of left ventricular contractility due to cardiovascular diseases is reflected in left ventricle (LV) motion patterns. An abnormal change of torsion or long axis shortening LV values can help with the diagnosis and follow-up of LV dysfunction. Tagged Magnetic Resonance (TMR) is a widely spread medical imaging modality that allows estimation of the myocardial tissue local deformation. In this work, we introduce a novel variational framework for extracting the left ventricle dynamics from TMR sequences. A bi-dimensional representation space of TMR images given by Gabor filter banks is defined. Tracking of the phases of the Gabor response is combined using a variational framework which regularizes the deformation field just at areas where the Gabor amplitude drops, while restoring the underlying motion otherwise. The clinical applicability of the proposed method is illustrated by extracting normality models of the ventricular torsion from 19 healthy subjects. |
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IAM @ iam @ GGC2008a |
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1058 |
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C. Butakoff; Simone Balocco; F.M. Sukno; C. Hoogendoorn; C. Tobon-Gomez; G. Avegliano; A.F. Frangi |
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Left-ventricular Epi- and Endocardium Extraction from 3D Ultrasound Images Using an Automatically Constructed 3D ASM |
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2016 |
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Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization |
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CMBBE |
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4 |
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5 |
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265-280 |
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ASM; cardiac segmentation; statistical model; shape model; 3D ultrasound; cardiac segmentation |
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In this paper, we propose an automatic method for constructing an active shape model (ASM) to segment the complete cardiac left ventricle in 3D ultrasound (3DUS) images, which avoids costly manual landmarking. The automatic construction of the ASM has already been addressed in the literature; however, the direct application of these methods to 3DUS is hampered by a high level of noise and artefacts. Therefore, we propose to construct the ASM by fusing the multidetector computed tomography data, to learn the shape, with the artificially generated 3DUS, in order to learn the neighbourhood of the boundaries. Our artificial images were generated by two approaches: a faster one that does not take into account the geometry of the transducer, and a more comprehensive one, implemented in Field II toolbox. The segmentation accuracy of our ASM was evaluated on 20 patients with left-ventricular asynchrony, demonstrating plausibility of the approach. |
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2168-1163 |
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MILAB |
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Admin @ si @ BBS2016 |
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2449 |
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Jiaolong Xu; Sebastian Ramos; David Vazquez; Antonio Lopez |
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Domain Adaptation of Deformable Part-Based Models |
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2014 |
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IEEE Transactions on Pattern Analysis and Machine Intelligence |
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TPAMI |
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36 |
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12 |
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2367-2380 |
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Domain Adaptation; Pedestrian Detection |
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The accuracy of object classifiers can significantly drop when the training data (source domain) and the application scenario (target domain) have inherent differences. Therefore, adapting the classifiers to the scenario in which they must operate is of paramount importance. We present novel domain adaptation (DA) methods for object detection. As proof of concept, we focus on adapting the state-of-the-art deformable part-based model (DPM) for pedestrian detection. We introduce an adaptive structural SVM (A-SSVM) that adapts a pre-learned classifier between different domains. By taking into account the inherent structure in feature space (e.g., the parts in a DPM), we propose a structure-aware A-SSVM (SA-SSVM). Neither A-SSVM nor SA-SSVM needs to revisit the source-domain training data to perform the adaptation. Rather, a low number of target-domain training examples (e.g., pedestrians) are used. To address the scenario where there are no target-domain annotated samples, we propose a self-adaptive DPM based on a self-paced learning (SPL) strategy and a Gaussian Process Regression (GPR). Two types of adaptation tasks are assessed: from both synthetic pedestrians and general persons (PASCAL VOC) to pedestrians imaged from an on-board camera. Results show that our proposals avoid accuracy drops as high as 15 points when comparing adapted and non-adapted detectors. |
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0162-8828 |
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ADAS; 600.057; 600.054; 601.217; 600.076 |
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ADAS @ adas @ XRV2014b |
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2436 |
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Santiago Segui; Michal Drozdzal; Ekaterina Zaytseva; Fernando Azpiroz; Petia Radeva; Jordi Vitria |
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Detection of wrinkle frames in endoluminal videos using betweenness centrality measures for images |
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2014 |
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IEEE Transactions on Information Technology in Biomedicine |
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TITB |
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18 |
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6 |
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1831-1838 |
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Wireless Capsule Endoscopy; Small Bowel Motility Dysfunction; Contraction Detection; Structured Prediction; Betweenness Centrality |
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Intestinal contractions are one of the most important events to diagnose motility pathologies of the small intestine. When visualized by wireless capsule endoscopy (WCE), the sequence of frames that represents a contraction is characterized by a clear wrinkle structure in the central frames that corresponds to the folding of the intestinal wall. In this paper we present a new method to robustly detect wrinkle frames in full WCE videos by using a new mid-level image descriptor that is based on a centrality measure proposed for graphs. We present an extended validation, carried out in a very large database, that shows that the proposed method achieves state of the art performance for this task. |
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OR; MILAB; 600.046;MV |
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Admin @ si @ SDZ2014 |
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2385 |
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Miquel Ferrer; Ernest Valveny; F. Serratosa |
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Median graph: A new exact algorithm using a distance based on the maximum common subgraph |
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2009 |
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Pattern Recognition Letters |
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30 |
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579–588 |
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Median graphs have been presented as a useful tool for capturing the essential information of a set of graphs. Nevertheless, computation of optimal solutions is a very hard problem. In this work we present a new and more efficient optimal algorithm for the median graph computation. With the use of a particular cost function that permits the definition of the graph edit distance in terms of the maximum common subgraph, and a prediction function in the backtracking algorithm, we reduce the size of the search space, avoiding the evaluation of a great amount of states and still obtaining the exact median. We present a set of experiments comparing our new algorithm against the previous existing exact algorithm using synthetic data. In addition, we present the first application of the exact median graph computation to real data and we compare the results against an approximate algorithm based on genetic search. These experimental results show that our algorithm outperforms the previous existing exact algorithm and in addition show the potential applicability of the exact solutions to real problems. |
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Elsevier Science Inc. |
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DAG @ dag @ FVS2009a |
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1114 |
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Fadi Dornaika; Angel Sappa |
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Instantaneous 3D motion from image derivatives using the Least Trimmed Square Regression |
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2009 |
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Pattern Recognition Letters |
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30 |
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5 |
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535–543 |
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This paper presents a new technique to the instantaneous 3D motion estimation. The main contributions are as follows. First, we show that the 3D camera or scene velocity can be retrieved from image derivatives only assuming that the scene contains a dominant plane. Second, we propose a new robust algorithm that simultaneously provides the Least Trimmed Square solution and the percentage of inliers-the non-contaminated data. Experiments on both synthetic and real image sequences demonstrated the effectiveness of the developed method. Those experiments show that the new robust approach can outperform classical robust schemes. |
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Elsevier Science Inc. |
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ADAS @ adas @ DoS2009a |
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1115 |
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Xavier Baro; Sergio Escalera; Jordi Vitria; Oriol Pujol; Petia Radeva |
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Traffic Sign Recognition Using Evolutionary Adaboost Detection and Forest-ECOC Classification |
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2009 |
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IEEE Transactions on Intelligent Transportation Systems |
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TITS |
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10 |
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1 |
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113–126 |
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The high variability of sign appearance in uncontrolled environments has made the detection and classification of road signs a challenging problem in computer vision. In this paper, we introduce a novel approach for the detection and classification of traffic signs. Detection is based on a boosted detectors cascade, trained with a novel evolutionary version of Adaboost, which allows the use of large feature spaces. Classification is defined as a multiclass categorization problem. A battery of classifiers is trained to split classes in an Error-Correcting Output Code (ECOC) framework. We propose an ECOC design through a forest of optimal tree structures that are embedded in the ECOC matrix. The novel system offers high performance and better accuracy than the state-of-the-art strategies and is potentially better in terms of noise, affine deformation, partial occlusions, and reduced illumination. |
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1524-9050 |
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OR;MILAB;HuPBA;MV |
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BCNPCL @ bcnpcl @ BEV2008 |
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1116 |
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Fadi Dornaika; Angel Sappa |
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A Featureless and Stochastic Approach to On-board Stereo Vision System Pose |
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2009 |
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Image and Vision Computing |
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IMAVIS |
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27 |
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9 |
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1382–1393 |
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On-board stereo vision system; Pose estimation; Featureless approach; Particle filtering; Image warping |
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This paper presents a direct and stochastic technique for real-time estimation of on-board stereo head’s position and orientation. Unlike existing works which rely on feature extraction either in the image domain or in 3D space, our proposed approach directly estimates the unknown parameters from the stream of stereo pairs’ brightness. The pose parameters are tracked using the particle filtering framework which implicitly enforces the smoothness constraints on the estimated parameters. The proposed technique can be used with a driver assistance applications as well as with augmented reality applications. Extended experiments on urban environments with different road geometries are presented. Comparisons with a 3D data-based approach are presented. Moreover, we provide a performance study aiming at evaluating the accuracy of the proposed approach. |
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ADAS @ adas @ DoS2009b |
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1152 |
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Sergio Escalera; Oriol Pujol; Petia Radeva |
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Title |
Separability of Ternary Codes for Sparse Designs of Error-Correcting Output Codes |
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2009 |
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Pattern Recognition Letters |
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PRL |
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30 |
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3 |
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285–297 |
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Error Correcting Output Codes (ECOC) represent a successful framework to deal with multi-class categorization problems based on combining binary classifiers. In this paper, we present a new formulation of the ternary ECOC distance and the error-correcting capabilities in the ternary ECOC framework. Based on the new measure, we stress on how to design coding matrices preventing codification ambiguity and propose a new Sparse Random coding matrix with ternary distance maximization. The results on the UCI Repository and in a real speed traffic categorization problem show that when the coding design satisfies the new ternary measures, significant performance improvement is obtained independently of the decoding strategy applied. |
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MILAB;HuPBA |
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BCNPCL @ bcnpcl @ EPR2009a |
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1153 |
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Author |
David Masip; Agata Lapedriza; Jordi Vitria |
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Title |
Boosted Online Learning for Face Recognition |
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Journal Article |
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2009 |
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IEEE Transactions on Systems, Man and Cybernetics part B |
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TSMCB |
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39 |
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2 |
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530–538 |
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Face recognition applications commonly suffer from three main drawbacks: a reduced training set, information lying in high-dimensional subspaces, and the need to incorporate new people to recognize. In the recent literature, the extension of a face classifier in order to include new people in the model has been solved using online feature extraction techniques. The most successful approaches of those are the extensions of the principal component analysis or the linear discriminant analysis. In the current paper, a new online boosting algorithm is introduced: a face recognition method that extends a boosting-based classifier by adding new classes while avoiding the need of retraining the classifier each time a new person joins the system. The classifier is learned using the multitask learning principle where multiple verification tasks are trained together sharing the same feature space. The new classes are added taking advantage of the structure learned previously, being the addition of new classes not computationally demanding. The present proposal has been (experimentally) validated with two different facial data sets by comparing our approach with the current state-of-the-art techniques. The results show that the proposed online boosting algorithm fares better in terms of final accuracy. In addition, the global performance does not decrease drastically even when the number of classes of the base problem is multiplied by eight. |
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1083–4419 |
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OR;MV |
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BCNPCL @ bcnpcl @ MLV2009 |
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1155 |
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Author |
C. Alejandro Parraga; Robert Benavente; Maria Vanrell; Ramon Baldrich |
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Psychophysical measurements to model inter-colour regions of colour-naming space |
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Journal Article |
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2009 |
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Journal of Imaging Science and Technology |
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53 |
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3 |
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031106 (8 pages) |
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image processing; Analysis |
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JCR Impact Factor 2009: 0.391
In this paper, we present a fuzzy-set of parametric functions which segment the CIE lab space into eleven regions which correspond to the group of common universal categories present in all evolved languages as identified by anthropologists and linguists. The set of functions is intended to model a color-name assignment task by humans and differs from other models in its emphasis on the inter-color boundary regions, which were explicitly measured by means of a psychophysics experiment. In our particular implementation, the CIE lab space was segmented into eleven color categories using a Triple Sigmoid as the fuzzy sets basis, whose parameters are included in this paper. The model’s parameters were adjusted according to the psychophysical results of a yes/no discrimination paradigm where observers had to choose (English) names for isoluminant colors belonging to regions in-between neighboring categories. These colors were presented on a calibrated CRT monitor (14-bit x 3 precision). The experimental results show that inter- color boundary regions are much less defined than expected and color samples other than those near the most representatives are needed to define the position and shape of boundaries between categories. The extended set of model parameters is given as a table. |
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CIC |
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CAT @ cat @ PBV2009 |
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1157 |
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