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	Author	Jianzhy Guo; Zhen Lei; Jun Wan; Egils Avots; Noushin Hajarolasvadi; Boris Knyazev; Artem Kuharenko; Julio C. S. Jacques Junior; Xavier Baro; Hasan Demirel; Sergio Escalera; Juri Allik; Gholamreza Anbarjafari
	Title	Dominant and Complementary Emotion Recognition from Still Images of Faces			Type	Journal Article
	Year	2018	Publication	IEEE Access	Abbreviated Journal	ACCESS
	Volume	6	Issue		Pages	26391 - 26403
	Keywords
	Abstract	Emotion recognition has a key role in affective computing. Recently, fine-grained emotion analysis, such as compound facial expression of emotions, has attracted high interest of researchers working on affective computing. A compound facial emotion includes dominant and complementary emotions (e.g., happily-disgusted and sadly-fearful), which is more detailed than the seven classical facial emotions (e.g., happy, disgust, and so on). Current studies on compound emotions are limited to use data sets with limited number of categories and unbalanced data distributions, with labels obtained automatically by machine learning-based algorithms which could lead to inaccuracies. To address these problems, we released the iCV-MEFED data set, which includes 50 classes of compound emotions and labels assessed by psychologists. The task is challenging due to high similarities of compound facial emotions from different categories. In addition, we have organized a challenge based on the proposed iCV-MEFED data set, held at FG workshop 2017. In this paper, we analyze the top three winner methods and perform further detailed experiments on the proposed data set. Experiments indicate that pairs of compound emotion (e.g., surprisingly-happy vs happily-surprised) are more difficult to be recognized if compared with the seven basic emotions. However, we hope the proposed data set can help to pave the way for further research on compound facial emotion recognition.
	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	HUPBA; no proj			Approved	no
	Call Number	Admin @ si @ GLW2018			Serial	3122
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	Author	Mohammad N. S. Jahromi; Morten Bojesen Bonderup; Maryam Asadi-Aghbolaghi; Egils Avots; Kamal Nasrollahi; Sergio Escalera; Shohreh Kasaei; Thomas B. Moeslund; Gholamreza Anbarjafari
	Title	Automatic Access Control Based on Face and Hand Biometrics in a Non-cooperative Context			Type	Conference Article
	Year	2018	Publication	IEEE Winter Applications of Computer Vision Workshops	Abbreviated Journal
	Volume		Issue		Pages	28-36
	Keywords	IEEE Winter Applications of Computer Vision Workshops
	Abstract	Automatic access control systems (ACS) based on the human biometrics or physical tokens are widely employed in public and private areas. Yet these systems, in their conventional forms, are restricted to active interaction from the users. In scenarios where users are not cooperating with the system, these systems are challenged. Failure in cooperation with the biometric systems might be intentional or because the users are incapable of handling the interaction procedure with the biometric system or simply forget to cooperate with it, due to for example, illness like dementia. This work introduces a challenging bimodal database, including face and hand information of the users when they approach a door to open it by its handle in a noncooperative context. We have defined two (an easy and a challenging) protocols on how to use the database. We have reported results on many baseline methods, including deep learning techniques as well as conventional methods on the database. The obtained results show the merit of the proposed database and the challenging nature of access control with non-cooperative users.
	Address	Lake Tahoe; USA; March 2018
	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	WACVW
	Notes	HUPBA; 602.133			Approved	no
	Call Number	Admin @ si @ JBA2018			Serial	3121
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	Author	Pau Rodriguez; Miguel Angel Bautista; Sergio Escalera; Jordi Gonzalez
	Title	Beyond Oneshot Encoding: lower dimensional target embedding			Type	Journal Article
	Year	2018	Publication	Image and Vision Computing	Abbreviated Journal	IMAVIS
	Volume	75	Issue		Pages	21-31
	Keywords	Error correcting output codes; Output embeddings; Deep learning; Computer vision
	Abstract	Target encoding plays a central role when learning Convolutional Neural Networks. In this realm, one-hot encoding is the most prevalent strategy due to its simplicity. However, this so widespread encoding schema assumes a flat label space, thus ignoring rich relationships existing among labels that can be exploited during training. In large-scale datasets, data does not span the full label space, but instead lies in a low-dimensional output manifold. Following this observation, we embed the targets into a low-dimensional space, drastically improving convergence speed while preserving accuracy. Our contribution is two fold: (i) We show that random projections of the label space are a valid tool to find such lower dimensional embeddings, boosting dramatically convergence rates at zero computational cost; and (ii) we propose a normalized eigenrepresentation of the class manifold that encodes the targets with minimal information loss, improving the accuracy of random projections encoding while enjoying the same convergence rates. Experiments on CIFAR-100, CUB200-2011, Imagenet, and MIT Places demonstrate that the proposed approach drastically improves convergence speed while reaching very competitive accuracy rates.
	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	ISE; HuPBA; 600.098; 602.133; 602.121; 600.119			Approved	no
	Call Number	Admin @ si @ RBE2018			Serial	3120
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	Author	Mohamed Ilyes Lakhal; Hakan Çevikalp; Sergio Escalera; Ferda Ofli
	Title	Recurrent Neural Networks for Remote Sensing Image Classification			Type	Journal Article
	Year	2018	Publication	IET Computer Vision	Abbreviated Journal	IETCV
	Volume	12	Issue	7	Pages	1040 - 1045
	Keywords
	Abstract	Automatically classifying an image has been a central problem in computer vision for decades. A plethora of models has been proposed, from handcrafted feature solutions to more sophisticated approaches such as deep learning. The authors address the problem of remote sensing image classification, which is an important problem to many real world applications. They introduce a novel deep recurrent architecture that incorporates high-level feature descriptors to tackle this challenging problem. Their solution is based on the general encoder–decoder framework. To the best of the authors’ knowledge, this is the first study to use a recurrent network structure on this task. The experimental results show that the proposed framework outperforms the previous works in the three datasets widely used in the literature. They have achieved a state-of-the-art accuracy rate of 97.29% on the UC Merced dataset.
	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	HUPBA; no proj			Approved	no
	Call Number	Admin @ si @ LÇE2018			Serial	3119
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	Author	Rain Eric Haamer; Kaustubh Kulkarni; Nasrin Imanpour; Mohammad Ahsanul Haque; Egils Avots; Michelle Breisch; Kamal Nasrollahi; Sergio Escalera; Cagri Ozcinar; Xavier Baro; Ahmad R. Naghsh-Nilchi; Thomas B. Moeslund; Gholamreza Anbarjafari
	Title	Changes in Facial Expression as Biometric: A Database and Benchmarks of Identification			Type	Conference Article
	Year	2018	Publication	8th International Workshop on Human Behavior Understanding	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	Facial dynamics can be considered as unique signatures for discrimination between people. These have started to become important topic since many devices have the possibility of unlocking using face recognition or verification. In this work, we evaluate the efficacy of the transition frames of video in emotion as compared to the peak emotion frames for identification. For experiments with transition frames we extract features from each frame of the video from a fine-tuned VGG-Face Convolutional Neural Network (CNN) and geometric features from facial landmark points. To model the temporal context of the transition frames we train a Long-Short Term Memory (LSTM) on the geometric and the CNN features. Furthermore, we employ two fusion strategies: first, an early fusion, in which the geometric and the CNN features are stacked and fed to the LSTM. Second, a late fusion, in which the prediction of the LSTMs, trained independently on the two features, are stacked and used with a Support Vector Machine (SVM). Experimental results show that the late fusion strategy gives the best results and the transition frames give better identification results as compared to the peak emotion frames.
	Address	Xian; China; May 2018
	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	FGW
	Notes	HUPBA; no proj			Approved	no
	Call Number	Admin @ si @ HKI2018			Serial	3118
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	Author	Mohammad A. Haque; Ruben B. Bautista; Kamal Nasrollahi; Sergio Escalera; Christian B. Laursen; Ramin Irani; Ole K. Andersen; Erika G. Spaich; Kaustubh Kulkarni; Thomas B. Moeslund; Marco Bellantonio; Golamreza Anbarjafari; Fatemeh Noroozi
	Title	Deep Multimodal Pain Recognition: A Database and Comparision of Spatio-Temporal Visual Modalities, Faces and Gestures			Type	Conference Article
	Year	2018	Publication	13th IEEE Conference on Automatic Face and Gesture Recognition	Abbreviated Journal
	Volume		Issue		Pages	250 - 257
	Keywords
	Abstract	Pain is a symptom of many disorders associated with actual or potential tissue damage in human body. Managing pain is not only a duty but also highly cost prone. The most primitive state of pain management is the assessment of pain. Traditionally it was accomplished by self-report or visual inspection by experts. However, automatic pain assessment systems from facial videos are also rapidly evolving due to the need of managing pain in a robust and cost effective way. Among different challenges of automatic pain assessment from facial video data two issues are increasingly prevalent: first, exploiting both spatial and temporal information of the face to assess pain level, and second, incorporating multiple visual modalities to capture complementary face information related to pain. Most works in the literature focus on merely exploiting spatial information on chromatic (RGB) video data on shallow learning scenarios. However, employing deep learning techniques for spatio-temporal analysis considering Depth (D) and Thermal (T) along with RGB has high potential in this area. In this paper, we present the first state-of-the-art publicly available database, 'Multimodal Intensity Pain (MIntPAIN)' database, for RGBDT pain level recognition in sequences. We provide a first baseline results including 5 pain levels recognition by analyzing independent visual modalities and their fusion with CNN and LSTM models. From the experimental evaluation we observe that fusion of modalities helps to enhance recognition performance of pain levels in comparison to isolated ones. In particular, the combination of RGB, D, and T in an early fusion fashion achieved the best recognition rate.
	Address	Xian; China; May 2018
	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	FG
	Notes	HUPBA; no proj			Approved	no
	Call Number	Admin @ si @ HBN2018			Serial	3117
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	Author	Albert Clapes; Ozan Bilici; Dariia Temirova; Egils Avots; Gholamreza Anbarjafari; Sergio Escalera
	Title	From apparent to real age: gender, age, ethnic, makeup, and expression bias analysis in real age estimation			Type	Conference Article
	Year	2018	Publication	IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops	Abbreviated Journal
	Volume		Issue		Pages	2373-2382
	Keywords
	Abstract
	Address	Salt Lake City; USA; June 2018
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	CVPRW
	Notes	HUPBA			Approved	no
	Call Number	Admin @ si @			Serial	3116
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	Author	Shanxin Yuan; Guillermo Garcia-Hernando; Bjorn Stenger; Gyeongsik Moon; Ju Yong Chang; Kyoung Mu Lee; Pavlo Molchanov; Jan Kautz; Sina Honari; Liuhao Ge; Junsong Yuan; Xinghao Chen; Guijin Wang; Fan Yang; Kai Akiyama; Yang Wu; Qingfu Wan; Meysam Madadi; Sergio Escalera; Shile Li; Dongheui Lee; Iason Oikonomidis; Antonis Argyros; Tae-Kyun Kim
	Title	Depth-Based 3D Hand Pose Estimation: From Current Achievements to Future Goals			Type	Conference Article
	Year	2018	Publication	31st IEEE Conference on Computer Vision and Pattern Recognition	Abbreviated Journal
	Volume		Issue		Pages	2636 - 2645
	Keywords	Three-dimensional displays; Task analysis; Pose estimation; Two dimensional displays; Joints; Training; Solid modeling
	Abstract	In this paper, we strive to answer two questions: What is the current state of 3D hand pose estimation from depth images? And, what are the next challenges that need to be tackled? Following the successful Hands In the Million Challenge (HIM2017), we investigate the top 10 state-of-the-art methods on three tasks: single frame 3D pose estimation, 3D hand tracking, and hand pose estimation during object interaction. We analyze the performance of different CNN structures with regard to hand shape, joint visibility, view point and articulation distributions. Our findings include: (1) isolated 3D hand pose estimation achieves low mean errors (10 mm) in the view point range of [70, 120] degrees, but it is far from being solved for extreme view points; (2) 3D volumetric representations outperform 2D CNNs, better capturing the spatial structure of the depth data; (3) Discriminative methods still generalize poorly to unseen hand shapes; (4) While joint occlusions pose a challenge for most methods, explicit modeling of structure constraints can significantly narrow the gap between errors on visible and occluded joints.
	Address	Salt Lake City; USA; June 2018
	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	CVPR
	Notes	HUPBA; no proj			Approved	no
	Call Number	Admin @ si @ YGS2018			Serial	3115
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	Author	Ivet Rafegas; Maria Vanrell
	Title	Color encoding in biologically-inspired convolutional neural networks			Type	Journal Article
	Year	2018	Publication	Vision Research	Abbreviated Journal	VR
	Volume	151	Issue		Pages	7-17
	Keywords	Color coding; Computer vision; Deep learning; Convolutional neural networks
	Abstract	Convolutional Neural Networks have been proposed as suitable frameworks to model biological vision. Some of these artificial networks showed representational properties that rival primate performances in object recognition. In this paper we explore how color is encoded in a trained artificial network. It is performed by estimating a color selectivity index for each neuron, which allows us to describe the neuron activity to a color input stimuli. The index allows us to classify whether they are color selective or not and if they are of a single or double color. We have determined that all five convolutional layers of the network have a large number of color selective neurons. Color opponency clearly emerges in the first layer, presenting 4 main axes (Black-White, Red-Cyan, Blue-Yellow and Magenta-Green), but this is reduced and rotated as we go deeper into the network. In layer 2 we find a denser hue sampling of color neurons and opponency is reduced almost to one new main axis, the Bluish-Orangish coinciding with the dataset bias. In layers 3, 4 and 5 color neurons are similar amongst themselves, presenting different type of neurons that detect specific colored objects (e.g., orangish faces), specific surrounds (e.g., blue sky) or specific colored or contrasted object-surround configurations (e.g. blue blob in a green surround). Overall, our work concludes that color and shape representation are successively entangled through all the layers of the studied network, revealing certain parallelisms with the reported evidences in primate brains that can provide useful insight into intermediate hierarchical spatio-chromatic representations.
	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	CIC; 600.051; 600.087			Approved	no
	Call Number	Admin @ si @RaV2018			Serial	3114
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	Author	Md.Mostafa Kamal Sarker; Mohammed Jabreel; , Hatem A. Rashwan; Syeda Furruka Banu; Petia Radeva; Domenec Puig
	Title	CuisineNet: Food Attributes Classification using Multi-scale Convolution Network			Type	Conference Article
	Year	2018	Publication	21st International Conference of the Catalan Association for Artificial Intelligence	Abbreviated Journal
	Volume		Issue		Pages	365-372
	Keywords
	Abstract	Diversity of food and its attributes represents the culinary habits of peoples from different countries. Thus, this paper addresses the problem of identifying food culture of people around the world and its flavor by classifying two main food attributes, cuisine and flavor. A deep learning model based on multi-scale convotuional networks is proposed for extracting more accurate features from input images. The aggregation of multi-scale convolution layers with different kernel size is also used for weighting the features results from different scales. In addition, a joint loss function based on Negative Log Likelihood (NLL) is used to fit the model probability to multi labeled classes for multi-modal classification task. Furthermore, this work provides a new dataset for food attributes, so-called Yummly48K, extracted from the popular food website, Yummly. Our model is assessed on the constructed Yummly48K dataset. The experimental results show that our proposed method yields 65% and 62% average F1 score on validation and test set which outperforming the state-of-the-art models.
	Address	Roses; catalonia; October 2018
	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	CCIA
	Notes	MILAB; no menciona			Approved	no
	Call Number	Admin @ si @ SJR2018			Serial	3113
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	Author	Md.Mostafa Kamal Sarker; , Hatem A. Rashwan; Farhan Akram; Syeda Furruka Banu; Adel Saleh; Vivek Kumar Singh; Forhad U. H. Chowdhury; Saddam Abdulwahab; Santiago Romani; Petia Radeva; Domenec Puig
	Title	SLSDeep: Skin Lesion Segmentation Based on Dilated Residual and Pyramid Pooling Networks.			Type	Conference Article
	Year	2018	Publication	21st International Conference on Medical Image Computing & Computer Assisted Intervention	Abbreviated Journal
	Volume	2	Issue		Pages	21-29
	Keywords
	Abstract	Skin lesion segmentation (SLS) in dermoscopic images is a crucial task for automated diagnosis of melanoma. In this paper, we present a robust deep learning SLS model, so-called SLSDeep, which is represented as an encoder-decoder network. The encoder network is constructed by dilated residual layers, in turn, a pyramid pooling network followed by three convolution layers is used for the decoder. Unlike the traditional methods employing a cross-entropy loss, we investigated a loss function by combining both Negative Log Likelihood (NLL) and End Point Error (EPE) to accurately segment the melanoma regions with sharp boundaries. The robustness of the proposed model was evaluated on two public databases: ISBI 2016 and 2017 for skin lesion analysis towards melanoma detection challenge. The proposed model outperforms the state-of-the-art methods in terms of segmentation accuracy. Moreover, it is capable to segment more than 100 images of size 384x384 per second on a recent GPU.
	Address	Granada; Espanya; September 2018
	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	MICCAI
	Notes	MILAB; no proj			Approved	no
	Call Number	Admin @ si @ SRA2018			Serial	3112
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	Author	Stefan Lonn; Petia Radeva; Mariella Dimiccoli
	Title	A picture is worth a thousand words but how to organize thousands of pictures?			Type	Miscellaneous
	Year	2018	Publication	Arxiv	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	We live in a society where the large majority of the population has a camera-equipped smartphone. In addition, hard drives and cloud storage are getting cheaper and cheaper, leading to a tremendous growth in stored personal photos. Unlike photo collections captured by a digital camera, which typically are pre-processed by the user who organizes them into event-related folders, smartphone pictures are automatically stored in the cloud. As a consequence, photo collections captured by a smartphone are highly unstructured and because smartphones are ubiquitous, they present a larger variability compared to pictures captured by a digital camera. To solve the need of organizing large smartphone photo collections automatically, we propose here a new methodology for hierarchical photo organization into topics and topic-related categories. Our approach successfully estimates latent topics in the pictures by applying probabilistic Latent Semantic Analysis, and automatically assigns a name to each topic by relying on a lexical database. Topic-related categories are then estimated by using a set of topic-specific Convolutional Neuronal Networks. To validate our approach, we ensemble and make public a large dataset of more than 8,000 smartphone pictures from 10 persons. Experimental results demonstrate better user satisfaction with respect to state of the art solutions in terms of organization.
	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	MILAB; no proj			Approved	no
	Call Number	Admin @ si @ LRD2018			Serial	3111
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	Author	Stefan Schurischuster; Beatriz Remeseiro; Petia Radeva; Martin Kampel
	Title	A Preliminary Study of Image Analysis for Parasite Detection on Honey Bees			Type	Conference Article
	Year	2018	Publication	15th International Conference on Image Analysis and Recognition	Abbreviated Journal
	Volume	10882	Issue		Pages	465-473
	Keywords
	Abstract	Varroa destructor is a parasite harming bee colonies. As the worldwide bee population is in danger, beekeepers as well as researchers are looking for methods to monitor the health of bee hives. In this context, we present a preliminary study to detect parasites on bee videos by means of image analysis and machine learning techniques. For this purpose, each video frame is analyzed individually to extract bee image patches, which are then processed to compute image descriptors and finally classified into mite and no mite bees. The experimental results demonstrated the adequacy of the proposed method, which will be a perfect stepping stone for a further bee monitoring system.
	Address	Povoa de Varzim; Portugal; June 2018
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title	LNCS
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	ICIAR
	Notes	MILAB; no proj			Approved	no
	Call Number	Admin @ si @ SRR2018a			Serial	3110
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	Author	Marc Bolaños; Alvaro Peris; Francisco Casacuberta; Sergi Solera; Petia Radeva
	Title	Egocentric video description based on temporally-linked sequences			Type	Journal Article
	Year	2018	Publication	Journal of Visual Communication and Image Representation	Abbreviated Journal	JVCIR
	Volume	50	Issue		Pages	205-216
	Keywords	egocentric vision; video description; deep learning; multi-modal learning
	Abstract	Egocentric vision consists in acquiring images along the day from a first person point-of-view using wearable cameras. The automatic analysis of this information allows to discover daily patterns for improving the quality of life of the user. A natural topic that arises in egocentric vision is storytelling, that is, how to understand and tell the story relying behind the pictures. In this paper, we tackle storytelling as an egocentric sequences description problem. We propose a novel methodology that exploits information from temporally neighboring events, matching precisely the nature of egocentric sequences. Furthermore, we present a new method for multimodal data fusion consisting on a multi-input attention recurrent network. We also release the EDUB-SegDesc dataset. This is the first dataset for egocentric image sequences description, consisting of 1,339 events with 3,991 descriptions, from 55 days acquired by 11 people. Finally, we prove that our proposal outperforms classical attentional encoder-decoder methods for video description.
	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	MILAB; no proj			Approved	no
	Call Number	Admin @ si @ BPC2018			Serial	3109
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	Author	Felipe Codevilla; Matthias Muller; Antonio Lopez; Vladlen Koltun; Alexey Dosovitskiy
	Title	End-to-end Driving via Conditional Imitation Learning			Type	Conference Article
	Year	2018	Publication	IEEE International Conference on Robotics and Automation	Abbreviated Journal
	Volume		Issue		Pages	4693 - 4700
	Keywords
	Abstract	Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate an expert cannot be guided to take a specific turn at an upcoming intersection. This limits the utility of such systems. We propose to condition imitation learning on high-level command input. At test time, the learned driving policy functions as a chauffeur that handles sensorimotor coordination but continues to respond to navigational commands. We evaluate different architectures for conditional imitation learning in vision-based driving. We conduct experiments in realistic three-dimensional simulations of urban driving and on a 1/5 scale robotic truck that is trained to drive in a residential area. Both systems drive based on visual input yet remain responsive to high-level navigational commands. The supplementary video can be viewed at this https URL
	Address	Brisbane; Australia; May 2018
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference	ICRA
	Notes	ADAS; 600.116; 600.124; 600.118			Approved	no
	Call Number	Admin @ si @ CML2018			Serial	3108
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