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Author |
M. Altillawi; S. Li; S.M. Prakhya; Z. Liu; Joan Serrat |
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Title |
Implicit Learning of Scene Geometry From Poses for Global Localization |
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Journal Article |
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Year |
2024 |
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IEEE Robotics and Automation Letters |
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ROBOTAUTOMLET |
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9 |
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2 |
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955-962 |
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Localization; Localization and mapping; Deep learning for visual perception; Visual learning |
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Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by latest advances in deep learning, many existing approaches directly learn and regress 6 DoF pose from an input image. However, these methods do not fully utilize the underlying scene geometry for pose regression. The challenge in monocular relocalization is the minimal availability of supervised training data, which is just the corresponding 6 DoF poses of the images. In this letter, we propose to utilize these minimal available labels (i.e., poses) to learn the underlying 3D geometry of the scene and use the geometry to estimate the 6 DoF camera pose. We present a learning method that uses these pose labels and rigid alignment to learn two 3D geometric representations ( X, Y, Z coordinates ) of the scene, one in camera coordinate frame and the other in global coordinate frame. Given a single image, it estimates these two 3D scene representations, which are then aligned to estimate a pose that matches the pose label. This formulation allows for the active inclusion of additional learning constraints to minimize 3D alignment errors between the two 3D scene representations, and 2D re-projection errors between the 3D global scene representation and 2D image pixels, resulting in improved localization accuracy. During inference, our model estimates the 3D scene geometry in camera and global frames and aligns them rigidly to obtain pose in real-time. We evaluate our work on three common visual localization datasets, conduct ablation studies, and show that our method exceeds state-of-the-art regression methods' pose accuracy on all datasets. |
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2377-3766 |
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ADAS |
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no |
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Admin @ si @ |
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3857 |
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Author |
Qingshan Chen; Zhenzhen Quan; Yujun Li; Chao Zhai; Mikhail Mozerov |
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Title |
An Unsupervised Domain Adaption Approach for Cross-Modality RGB-Infrared Person Re-Identification |
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Journal Article |
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Year |
2023 |
Publication |
IEEE Sensors Journal |
Abbreviated Journal |
IEEE-SENS |
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23 |
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24 |
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Q. Chen, Z. Quan, Y. Li, C. Zhai and M. G. Mozerov |
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Dual-camera systems commonly employed in surveillance serve as the foundation for RGB-infrared (IR) cross-modality person re-identification (ReID). However, significant modality differences give rise to inferior performance compared to single-modality scenarios. Furthermore, most existing studies in this area rely on supervised training with meticulously labeled datasets. Labeling RGB-IR image pairs is more complex than labeling conventional image data, and deploying pretrained models on unlabeled datasets can lead to catastrophic performance degradation. In contrast to previous solutions that focus solely on cross-modality or domain adaptation issues, this article presents an end-to-end unsupervised domain adaptation (UDA) framework for the cross-modality person ReID, which can simultaneously address both of these challenges. This model employs source domain classes, target domain clusters, and unclustered instance samples for the training, maximizing the comprehensive use of the dataset. Moreover, it addresses the problem of mismatched clustering labels between the two modalities in the target domain by incorporating a label matching module that reassigns reliable clusters with labels, ensuring correspondence between different modality labels. We construct the loss function by incorporating distinctiveness loss and multiplicity loss, both of which are determined by the similarity of neighboring features in the predicted feature space and the difference between distant features. This approach enables efficient feature clustering and cluster class assignment to occur concurrently. Eight UDA cross-modality person ReID experiments are conducted on three real datasets and six synthetic datasets. The experimental results unequivocally demonstrate that the proposed model outperforms the existing state-of-the-art algorithms to a significant degree. Notably, in RegDB → RegDB_light, the Rank-1 accuracy exhibits a remarkable improvement of 8.24%. |
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LAMP |
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no |
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Admin @ si @ CQL2023 |
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3884 |
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Mikhail Mozerov; Fei Yang; Joost Van de Weijer |
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Title |
Sparse Data Interpolation Using the Geodesic Distance Affinity Space |
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Journal Article |
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Year |
2019 |
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IEEE Signal Processing Letters |
Abbreviated Journal |
SPL |
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26 |
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6 |
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943 - 947 |
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In this letter, we adapt the geodesic distance-based recursive filter to the sparse data interpolation problem. The proposed technique is general and can be easily applied to any kind of sparse data. We demonstrate its superiority over other interpolation techniques in three experiments for qualitative and quantitative evaluation. In addition, we compare our method with the popular interpolation algorithm presented in the paper on EpicFlow optical flow, which is intuitively motivated by a similar geodesic distance principle. The comparison shows that our algorithm is more accurate and considerably faster than the EpicFlow interpolation technique. |
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LAMP; 600.120 |
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no |
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Admin @ si @ MYW2019 |
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3261 |
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Author |
Fei Yang; Luis Herranz; Joost Van de Weijer; Jose Antonio Iglesias; Antonio Lopez; Mikhail Mozerov |
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Title |
Variable Rate Deep Image Compression with Modulated Autoencoder |
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Journal Article |
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2020 |
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IEEE Signal Processing Letters |
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SPL |
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27 |
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331-335 |
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Variable rate is a requirement for flexible and adaptable image and video compression. However, deep image compression methods (DIC) are optimized for a single fixed rate-distortion (R-D) tradeoff. While this can be addressed by training multiple models for different tradeoffs, the memory requirements increase proportionally to the number of models. Scaling the bottleneck representation of a shared autoencoder can provide variable rate compression with a single shared autoencoder. However, the R-D performance using this simple mechanism degrades in low bitrates, and also shrinks the effective range of bitrates. To address these limitations, we formulate the problem of variable R-D optimization for DIC, and propose modulated autoencoders (MAEs), where the representations of a shared autoencoder are adapted to the specific R-D tradeoff via a modulation network. Jointly training this modulated autoencoder and the modulation network provides an effective way to navigate the R-D operational curve. Our experiments show that the proposed method can achieve almost the same R-D performance of independent models with significantly fewer parameters. |
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LAMP; ADAS; 600.141; 600.120; 600.118 |
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no |
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Admin @ si @ YHW2020 |
Serial |
3346 |
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Author |
Shiqi Yang; Kai Wang; Luis Herranz; Joost Van de Weijer |
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Title |
On Implicit Attribute Localization for Generalized Zero-Shot Learning |
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Journal Article |
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Year |
2021 |
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IEEE Signal Processing Letters |
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28 |
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872 - 876 |
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Zero-shot learning (ZSL) aims to discriminate images from unseen classes by exploiting relations to seen classes via their attribute-based descriptions. Since attributes are often related to specific parts of objects, many recent works focus on discovering discriminative regions. However, these methods usually require additional complex part detection modules or attention mechanisms. In this paper, 1) we show that common ZSL backbones (without explicit attention nor part detection) can implicitly localize attributes, yet this property is not exploited. 2) Exploiting it, we then propose SELAR, a simple method that further encourages attribute localization, surprisingly achieving very competitive generalized ZSL (GZSL) performance when compared with more complex state-of-the-art methods. Our findings provide useful insight for designing future GZSL methods, and SELAR provides an easy to implement yet strong baseline. |
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LAMP; 600.120 |
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no |
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YWH2021 |
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3563 |
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Author |
Joost Van de Weijer; Theo Gevers; A. Gijsenij |
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Title |
Edge-Based Color Constancy |
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2007 |
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IEEE Trans. on Image Processing, vol. 16(9):2207–2214 |
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ISE |
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no |
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CAT @ cat @ WGG2007 |
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949 |
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H.M.G. Stokman; Theo Gevers |
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Selection and Fusion of Color Models for Image Feature Detection |
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2007 |
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IEEE Trans. on Pattern Analysis and Machine Intelligence, vol.29(3):371–381 |
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ALTRES;ISE |
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no |
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Admin @ si @ StG2007 |
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948 |
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Author |
Yu Jie; Jaume Amores; N. Sebe; Petia Radeva; Tian Qi |
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Title |
Distance Learning for Similarity Estimation |
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2008 |
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IEEE Trans. on Pattern Analysis and Machine Intelligence, vol.30(3):451–462 |
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ADAS;MILAB |
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ADAS @ adas @ JAS2008 |
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961 |
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Sergio Escalera; David M.J. Tax; Oriol Pujol; Petia Radeva; Robert P.W. Duin |
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Subclass Problem-Dependent Design for Error-Correcting Output Codes |
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2008 |
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IEEE Trans. on Pattern Analysis and Machine Intelligence, vol.30(6):1041–1054 |
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MILAB;HuPBA |
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BCNPCL @ bcnpcl @ ETP2008 |
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951 |
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A. Martinez; Jordi Vitria |
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Clustering in Image Space for Place Recognition and Visiual Annotations for Human-Robot Interaction. |
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2001 |
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IEEE Trans. on Systems, Man, and Cybernatics–Part B: Cybernetics, 31(5):669–682 (IF: 0.789) |
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OR;MV |
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BCNPCL @ bcnpcl @ MVi2001 |
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141 |
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M.A. Garcia; Angel Sappa |
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Efficient Generation of Discontinuity-Preserving Adaptive Triangulations from Range Images |
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2004 |
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IEEE Trans. on Systems, Man, and Cybernetics (Part B), 34(5):2003–2014 (IF: 1.052) |
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ADAS @ adas @ GaS2004 |
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457 |
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Joost Van de Weijer; Cordelia Schmid; Jakob Verbeek; Diane Larlus |
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Learning Color Names for Real-World Applications |
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2009 |
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IEEE Transaction in Image Processing |
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TIP |
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18 |
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7 |
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1512–1524 |
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Color names are required in real-world applications such as image retrieval and image annotation. Traditionally, they are learned from a collection of labelled color chips. These color chips are labelled with color names within a well-defined experimental setup by human test subjects. However naming colors in real-world images differs significantly from this experimental setting. In this paper, we investigate how color names learned from color chips compare to color names learned from real-world images. To avoid hand labelling real-world images with color names we use Google Image to collect a data set. Due to limitations of Google Image this data set contains a substantial quantity of wrongly labelled data. We propose several variants of the PLSA model to learn color names from this noisy data. Experimental results show that color names learned from real-world images significantly outperform color names learned from labelled color chips for both image retrieval and image annotation. |
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1057-7149 |
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CAT @ cat @ WSV2009 |
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1195 |
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Adriana Romero; Carlo Gatta; Gustavo Camps-Valls |
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Unsupervised Deep Feature Extraction for Remote Sensing Image Classification |
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2016 |
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IEEE Transaction on Geoscience and Remote Sensing |
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TGRS |
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54 |
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3 |
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1349 - 1362 |
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This paper introduces the use of single-layer and deep convolutional networks for remote sensing data analysis. Direct application to multi- and hyperspectral imagery of supervised (shallow or deep) convolutional networks is very challenging given the high input data dimensionality and the relatively small amount of available labeled data. Therefore, we propose the use of greedy layerwise unsupervised pretraining coupled with a highly efficient algorithm for unsupervised learning of sparse features. The algorithm is rooted on sparse representations and enforces both population and lifetime sparsity of the extracted features, simultaneously. We successfully illustrate the expressive power of the extracted representations in several scenarios: classification of aerial scenes, as well as land-use classification in very high resolution or land-cover classification from multi- and hyperspectral images. The proposed algorithm clearly outperforms standard principal component analysis (PCA) and its kernel counterpart (kPCA), as well as current state-of-the-art algorithms of aerial classification, while being extremely computationally efficient at learning representations of data. Results show that single-layer convolutional networks can extract powerful discriminative features only when the receptive field accounts for neighboring pixels and are preferred when the classification requires high resolution and detailed results. However, deep architectures significantly outperform single-layer variants, capturing increasing levels of abstraction and complexity throughout the feature hierarchy. |
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0196-2892 |
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LAMP; 600.079;MILAB |
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Admin @ si @ RGC2016 |
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2723 |
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David Geronimo; Antonio Lopez; Angel Sappa; Thorsten Graf |
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Survey on Pedestrian Detection for Advanced Driver Assistance Systems |
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2010 |
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IEEE Transaction on Pattern Analysis and Machine Intelligence |
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TPAMI |
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32 |
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7 |
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1239–1258 |
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ADAS, pedestrian detection, on-board vision, survey |
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Advanced driver assistance systems (ADASs), and particularly pedestrian protection systems (PPSs), have become an active research area aimed at improving traffic safety. The major challenge of PPSs is the development of reliable on-board pedestrian detection systems. Due to the varying appearance of pedestrians (e.g., different clothes, changing size, aspect ratio, and dynamic shape) and the unstructured environment, it is very difficult to cope with the demanded robustness of this kind of system. Two problems arising in this research area are the lack of public benchmarks and the difficulty in reproducing many of the proposed methods, which makes it difficult to compare the approaches. As a result, surveying the literature by enumerating the proposals one-after-another is not the most useful way to provide a comparative point of view. Accordingly, we present a more convenient strategy to survey the different approaches. We divide the problem of detecting pedestrians from images into different processing steps, each with attached responsibilities. Then, the different proposed methods are analyzed and classified with respect to each processing stage, favoring a comparative viewpoint. Finally, discussion of the important topics is presented, putting special emphasis on the future needs and challenges. |
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ADAS @ adas @ GLS2010 |
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1340 |
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Koen E.A. van de Sande; Theo Gevers; C.G.M. Snoek |
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Evaluating Color Descriptors for Object and Scene Recognition |
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2010 |
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IEEE Transaction on Pattern Analysis and Machine Intelligence |
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TPAMI |
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32 |
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9 |
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1582 - 1596 |
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Impact factor: 5.308
Image category recognition is important to access visual information on the level of objects and scene types. So far, intensity-based descriptors have been widely used for feature extraction at salient points. To increase illumination invariance and discriminative power, color descriptors have been proposed. Because many different descriptors exist, a structured overview is required of color invariant descriptors in the context of image category recognition. Therefore, this paper studies the invariance properties and the distinctiveness of color descriptors (software to compute the color descriptors from this paper is available from http://www.colordescriptors.com) in a structured way. The analytical invariance properties of color descriptors are explored, using a taxonomy based on invariance properties with respect to photometric transformations, and tested experimentally using a data set with known illumination conditions. In addition, the distinctiveness of color descriptors is assessed experimentally using two benchmarks, one from the image domain and one from the video domain. From the theoretical and experimental results, it can be derived that invariance to light intensity changes and light color changes affects category recognition. The results further reveal that, for light intensity shifts, the usefulness of invariance is category-specific. Overall, when choosing a single descriptor and no prior knowledge about the data set and object and scene categories is available, the OpponentSIFT is recommended. Furthermore, a combined set of color descriptors outperforms intensity-based SIFT and improves category recognition by 8 percent on the PASCAL VOC 2007 and by 7 percent on the Mediamill Challenge. |
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ALTRES;ISE |
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Admin @ si @ SGS2010 |
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1846 |
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