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Author |
Gabriel Villalonga |
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Title  |
Leveraging Synthetic Data to Create Autonomous Driving Perception Systems |
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Year |
2021 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Manually annotating images to develop vision models has been a major bottleneck
since computer vision and machine learning started to walk together. This has
been more evident since computer vision falls on the shoulders of data-hungry
deep learning techniques. When addressing on-board perception for autonomous
driving, the curse of data annotation is exacerbated due to the use of additional
sensors such as LiDAR. Therefore, any approach aiming at reducing such a timeconsuming and costly work is of high interest for addressing autonomous driving
and, in fact, for any application requiring some sort of artificial perception. In the
last decade, it has been shown that leveraging from synthetic data is a paradigm
worth to pursue in order to minimizing manual data annotation. The reason is
that the automatic process of generating synthetic data can also produce different
types of associated annotations (e.g. object bounding boxes for synthetic images
and LiDAR pointclouds, pixel/point-wise semantic information, etc.). Directly
using synthetic data for training deep perception models may not be the definitive
solution in all circumstances since it can appear a synth-to-real domain shift. In
this context, this work focuses on leveraging synthetic data to alleviate manual
annotation for three perception tasks related to driving assistance and autonomous
driving. In all cases, we assume the use of deep convolutional neural networks
(CNNs) to develop our perception models.
The first task addresses traffic sign recognition (TSR), a kind of multi-class
classification problem. We assume that the number of sign classes to be recognized
must be suddenly increased without having annotated samples to perform the
corresponding TSR CNN re-training. We show that leveraging synthetic samples of
such new classes and transforming them by a generative adversarial network (GAN)
trained on the known classes (i.e. without using samples from the new classes), it is
possible to re-train the TSR CNN to properly classify all the signs for a ∼ 1/4 ratio of
new/known sign classes. The second task addresses on-board 2D object detection,
focusing on vehicles and pedestrians. In this case, we assume that we receive a set
of images without the annotations required to train an object detector, i.e. without
object bounding boxes. Therefore, our goal is to self-annotate these images so
that they can later be used to train the desired object detector. In order to reach
this goal, we leverage from synthetic data and propose a semi-supervised learning
approach based on the co-training idea. In fact, we use a GAN to reduce the synthto-real domain shift before applying co-training. Our quantitative results show
that co-training and GAN-based image-to-image translation complement each
other up to allow the training of object detectors without manual annotation, and still almost reaching the upper-bound performances of the detectors trained from
human annotations. While in previous tasks we focus on vision-based perception,
the third task we address focuses on LiDAR pointclouds. Our initial goal was to
develop a 3D object detector trained on synthetic LiDAR-style pointclouds. While
for images we may expect synth/real-to-real domain shift due to differences in
their appearance (e.g. when source and target images come from different camera
sensors), we did not expect so for LiDAR pointclouds since these active sensors
factor out appearance and provide sampled shapes. However, in practice, we have
seen that it can be domain shift even among real-world LiDAR pointclouds. Factors
such as the sampling parameters of the LiDARs, the sensor suite configuration onboard the ego-vehicle, and the human annotation of 3D bounding boxes, do induce
a domain shift. We show it through comprehensive experiments with different
publicly available datasets and 3D detectors. This redirected our goal towards the
design of a GAN for pointcloud-to-pointcloud translation, a relatively unexplored
topic.
Finally, it is worth to mention that all the synthetic datasets used for these three
tasks, have been designed and generated in the context of this PhD work and will
be publicly released. Overall, we think this PhD presents several steps forward to
encourage leveraging synthetic data for developing deep perception models in the
field of driving assistance and autonomous driving. |
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February 2021 |
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Thesis |
Ph.D. thesis |
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Publisher |
Ediciones Graficas Rey |
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Editor |
Antonio Lopez;German Ros |
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978-84-122714-2-3 |
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Notes |
ADAS; 600.118 |
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Call Number |
Admin @ si @ Vil2021 |
Serial |
3599 |
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Author |
Gemma Rotger |
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Title |
Lifelike Humans: Detailed Reconstruction of Expressive Human Faces |
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Book Whole |
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Year |
2021 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Developing human-like digital characters is a challenging task since humans are used to recognizing our fellows, and find the computed generated characters inadequately humanized. To fulfill the standards of the videogame and digital film productions it is necessary to model and animate these characters the most closely to human beings. However, it is an arduous and expensive task, since many artists and specialists are required to work on a single character. Therefore, to fulfill these requirements we found an interesting option to study the automatic creation of detailed characters through inexpensive setups. In this work, we develop novel techniques to bring detailed characters by combining different aspects that stand out when developing realistic characters, skin detail, facial hairs, expressions, and microexpressions. We examine each of the mentioned areas with the aim of automatically recover each of the parts without user interaction nor training data. We study the problems for their robustness but also for the simplicity of the setup, preferring single-image with uncontrolled illumination and methods that can be easily computed with the commodity of a standard laptop. A detailed face with wrinkles and skin details is vital to develop a realistic character. In this work, we introduce our method to automatically describe facial wrinkles on the image and transfer to the recovered base face. Then we advance to facial hair recovery by resolving a fitting problem with a novel parametrization model. As of last, we develop a mapping function that allows transfer expressions and microexpressions between different meshes, which provides realistic animations to our detailed mesh. We cover all the mentioned points with the focus on key aspects as (i) how to describe skin wrinkles in a simple and straightforward manner, (ii) how to recover 3D from 2D detections, (iii) how to recover and model facial hair from 2D to 3D, (iv) how to transfer expressions between models holding both skin detail and facial hair, (v) how to perform all the described actions without training data nor user interaction. In this work, we present our proposals to solve these aspects with an efficient and simple setup. We validate our work with several datasets both synthetic and real data, prooving remarkable results even in challenging cases as occlusions as glasses, thick beards, and indeed working with different face topologies like single-eyed cyclops. |
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Thesis |
Ph.D. thesis |
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Publisher |
Ediciones Graficas Rey |
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Editor |
Felipe Lumbreras;Antonio Agudo |
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978-84-122714-3-0 |
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ADAS |
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no |
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Call Number |
Admin @ si @ Rot2021 |
Serial |
3513 |
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Author |
Marc Masana |
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Title |
Lifelong Learning of Neural Networks: Detecting Novelty and Adapting to New Domains without Forgetting |
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Year |
2020 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Computer vision has gone through considerable changes in the last decade as neural networks have come into common use. As available computational capabilities have grown, neural networks have achieved breakthroughs in many computer vision tasks, and have even surpassed human performance in others. With accuracy being so high, focus has shifted to other issues and challenges. One research direction that saw a notable increase in interest is on lifelong learning systems. Such systems should be capable of efficiently performing tasks, identifying and learning new ones, and should moreover be able to deploy smaller versions of themselves which are experts on specific tasks. In this thesis, we contribute to research on lifelong learning and address the compression and adaptation of networks to small target domains, the incremental learning of networks faced with a variety of tasks, and finally the detection of out-of-distribution samples at inference time.
We explore how knowledge can be transferred from large pretrained models to more task-specific networks capable of running on smaller devices by extracting the most relevant information. Using a pretrained model provides more robust representations and a more stable initialization when learning a smaller task, which leads to higher performance and is known as domain adaptation. However, those models are too large for certain applications that need to be deployed on devices with limited memory and computational capacity. In this thesis we show that, after performing domain adaptation, some learned activations barely contribute to the predictions of the model. Therefore, we propose to apply network compression based on low-rank matrix decomposition using the activation statistics. This results in a significant reduction of the model size and the computational cost.
Like human intelligence, machine intelligence aims to have the ability to learn and remember knowledge. However, when a trained neural network is presented with learning a new task, it ends up forgetting previous ones. This is known as catastrophic forgetting and its avoidance is studied in continual learning. The work presented in this thesis extensively surveys continual learning techniques and presents an approach to avoid catastrophic forgetting in sequential task learning scenarios. Our technique is based on using ternary masks in order to update a network to new tasks, reusing the knowledge of previous ones while not forgetting anything about them. In contrast to earlier work, our masks are applied to the activations of each layer instead of the weights. This considerably reduces the number of parameters to be added for each new task. Furthermore, the analysis on a wide range of work on incremental learning without access to the task-ID, provides insight on current state-of-the-art approaches that focus on avoiding catastrophic forgetting by using regularization, rehearsal of previous tasks from a small memory, or compensating the task-recency bias.
Neural networks trained with a cross-entropy loss force the outputs of the model to tend toward a one-hot encoded vector. This leads to models being too overly confident when presented with images or classes that were not present in the training distribution. The capacity of a system to be aware of the boundaries of the learned tasks and identify anomalies or classes which have not been learned yet is key to lifelong learning and autonomous systems. In this thesis, we present a metric learning approach to out-of-distribution detection that learns the task at hand on an embedding space. |
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Ph.D. thesis |
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Publisher |
Ediciones Graficas Rey |
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Editor |
Joost Van de Weijer;Andrew Bagdanov |
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978-84-121011-9-5 |
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Notes |
LAMP; 600.120 |
Approved |
no |
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Call Number |
Admin @ si @ Mas20 |
Serial |
3481 |
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Author |
Oriol Ramos Terrades |
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Title |
Linear Combination of Multiresolution Descriptors: Application to Graphics Recognition |
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Year |
2006 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC & Universite Nancy 2 |
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Ph.D. thesis |
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Editor |
Salvatore Antoine Tabbone;Ernest Valveny |
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DAG |
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no |
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Call Number |
DAG @ dag @ Ram2006 |
Serial |
713 |
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Author |
Cristhian Aguilera |
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Title |
Local feature description in cross-spectral imagery |
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Year |
2017 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Over the last few years, the number of consumer computer vision applications has increased dramatically. Today, computer vision solutions can be found in video game consoles, smartphone applications, driving assistance – just to name a few. Ideally, we require the performance of those applications, particularly those that are safety critical to remain constant under any external environment factors, such as changes in illumination or weather conditions. However, this is not always possible or very difficult to obtain by only using visible imagery, due to the inherent limitations of the images from that spectral band. For that reason, the use of images from different or multiple spectral bands is becoming more appealing.
The aforementioned possible advantages of using images from multiples spectral bands on various vision applications make multi-spectral image processing a relevant topic for research and development. Like in visible image processing, multi-spectral image processing needs tools and algorithms to handle information from various spectral bands. Furthermore, traditional tools such as local feature detection, which is the basis of many vision tasks such as visual odometry, image registration, or structure from motion, must be adjusted or reformulated to operate under new conditions. Traditional feature detection, description, and matching methods tend to underperform in multi-spectral settings, in comparison to mono-spectral settings, due to the natural differences between each spectral band.
The work in this thesis is focused on the local feature description problem when cross-spectral images are considered. In this context, this dissertation has three main contributions. Firstly, the work starts by proposing the usage of a combination of frequency and spatial information, in a multi-scale scheme, as feature description. Evaluations of this proposal, based on classical hand-made feature descriptors, and comparisons with state of the art cross-spectral approaches help to find and understand limitations of such strategy. Secondly, different convolutional neural network (CNN) based architectures are evaluated when used to describe cross-spectral image patches. Results showed that CNN-based methods, designed to work with visible monocular images, could be successfully applied to the description of images from two different spectral bands, with just minor modifications. In this framework, a novel CNN-based network model, specifically intended to describe image patches from two different spectral bands, is proposed. This network, referred to as Q-Net, outperforms state of the art in the cross-spectral domain, including both previous hand-made solutions as well as L2 CNN-based architectures. The third contribution of this dissertation is in the cross-spectral feature description application domain. The multispectral odometry problem is tackled showing a real application of cross-spectral descriptors
In addition to the three main contributions mentioned above, in this dissertation, two different multi-spectral datasets are generated and shared with the community to be used as benchmarks for further studies. |
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Address |
October 2017 |
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Corporate Author |
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Thesis |
Ph.D. thesis |
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Publisher |
Ediciones Graficas Rey |
Place of Publication |
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Editor |
Angel Sappa |
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ISBN |
978-84-945373-6-3 |
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Notes |
ADAS; 600.118 |
Approved |
no |
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Call Number |
Admin @ si @ Agu2017 |
Serial |
3020 |
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Author |
Murad Al Haj |
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Title |
Looking at Faces: Detection, Tracking and Pose Estimation |
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Year |
2013 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Humans can effortlessly perceive faces, follow them over space and time, and decode their rich content, such as pose, identity and expression. However, despite many decades of research on automatic facial perception in areas like face detection, expression recognition, pose estimation and face recognition, and despite many successes, a complete solution remains elusive. This thesis is dedicated to three problems in automatic face perception, namely face detection, face tracking and pose estimation.
In face detection, an initial simple model is presented that uses pixel-based heuristics to segment skin locations and hand-crafted rules to determine the locations of the faces present in an image. Different colorspaces are studied to judge whether a colorspace transformation can aid skin color detection. The output of this study is used in the design of a more complex face detector that is able to successfully generalize to different scenarios.
In face tracking, a framework that combines estimation and control in a joint scheme is presented to track a face with a single pan-tilt-zoom camera. While this work is mainly motivated by tracking faces, it can be easily applied atop of any detector to track different objects. The applicability of this method is demonstrated on simulated as well as real-life scenarios.
The last and most important part of this thesis is dedicate to monocular head pose estimation. In this part, a method based on partial least squares (PLS) regression is proposed to estimate pose and solve the alignment problem simultaneously. The contributions of this work are two-fold: 1) demonstrating that the proposed method achieves better than state-of-the-art results on the estimation problem and 2) developing a technique to reduce misalignment based on the learned PLS factors that outperform multiple instance learning (MIL) without the need for any re-training or the inclusion of misaligned samples in the training process, as normally done in MIL. |
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Address |
Barcelona |
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Thesis |
Ph.D. thesis |
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Publisher |
Ediciones Graficas Rey |
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Editor |
Jordi Gonzalez;Xavier Roca |
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ISE |
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Call Number |
Admin @ si @ Haj2013 |
Serial |
2278 |
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Author |
Jose Carlos Rubio |
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Title |
Many-to-Many High Order Matching. Applications to Tracking and Object Segmentation |
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Year |
2012 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Feature matching is a fundamental problem in Computer Vision, having multiple applications such as tracking, image classification and retrieval, shape recognition and stereo fusion. In numerous domains, it is useful to represent the local structure of the matching features to increase the matching accuracy or to make the correspondence invariant to certain transformations (affine, homography, etc. . . ). However, encoding this knowledge requires complicating the model by establishing high-order relationships between the model elements, and therefore increasing the complexity of the optimization problem.
The importance of many-to-many matching is sometimes dismissed in the literature. Most methods are restricted to perform one-to-one matching, and are usually validated on synthetic, or non-realistic datasets. In a real challenging environment, with scale, pose and illumination variations of the object of interest, as well as the presence of occlusions, clutter, and noisy observations, many-to-many matching is necessary to achieve satisfactory results. As a consequence, finding the most likely many-to-many correspondence often involves a challenging combinatorial optimization process.
In this work, we design and demonstrate matching algorithms that compute many-to-many correspondences, applied to several challenging problems. Our goal is to make use of high-order representations to improve the expressive power of the matching, at the same time that we make feasible the process of inference or optimization of such models. We effectively use graphical models as our preferred representation because they provide an elegant probabilistic framework to tackle structured prediction problems.
We introduce a matching-based tracking algorithm which performs matching between frames of a video sequence in order to solve the difficult problem of headlight tracking at night-time. We also generalise this algorithm to solve the problem of data association applied to various tracking scenarios. We demonstrate the effectiveness of such approach in real video sequences and we show that our tracking algorithm can be used to improve the accuracy of a headlight classification system.
In the second part of this work, we move from single (point) matching to dense (region) matching and we introduce a new hierarchical image representation. We make use of such model to develop a high-order many-to-many matching between pairs of images. We show that the use of high-order models in comparison to simpler models improves not only the accuracy of the results, but also the convergence speed of the inference algorithm.
Finally, we keep exploiting the idea of region matching to design a fully unsupervised image co-segmentation algorithm that is able to perform competitively with state-of-the-art supervised methods. Our method also overcomes the typical drawbacks of some of the past works, such as avoiding the necessity of variate appearances on the image backgrounds. The region matching in this case is applied to effectively exploit inter-image information. We also extend this work to perform co-segmentation of videos, being the first time that such problem is addressed, as a way to perform video object segmentation |
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Ph.D. thesis |
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Publisher |
Ediciones Graficas Rey |
Place of Publication |
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Editor |
Joan Serrat |
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ADAS |
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no |
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Call Number |
Admin @ si @ Rub2012 |
Serial |
2206 |
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Author |
Sounak Dey |
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Title |
Mapping between Images and Conceptual Spaces: Sketch-based Image Retrieval |
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Year |
2020 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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This thesis presents several contributions to the literature of sketch based image retrieval (SBIR). In SBIR the first challenge we face is how to map two different domains to common space for effective retrieval of images, while tackling the different levels of abstraction people use to express their notion of objects around while sketching. To this extent we first propose a cross-modal learning framework that maps both sketches and text into a joint embedding space invariant to depictive style, while preserving semantics. Then we have also investigated different query types possible to encompass people's dilema in sketching certain world objects. For this we propose an approach for multi-modal image retrieval in multi-labelled images. A multi-modal deep network architecture is formulated to jointly model sketches and text as input query modalities into a common embedding space, which is then further aligned with the image feature space. This permits encoding the object-based features and its alignment with the query irrespective of the availability of the co-occurrence of different objects in the training set.
Finally, we explore the problem of zero-shot sketch-based image retrieval (ZS-SBIR), where human sketches are used as queries to conduct retrieval of photos from unseen categories. We importantly advance prior arts by proposing a novel ZS-SBIR scenario that represents a firm step forward in its practical application. The new setting uniquely recognises two important yet often neglected challenges of practical ZS-SBIR, (i) the large domain gap between amateur sketch and photo, and (ii) the necessity for moving towards large-scale retrieval. We first contribute to the community a novel ZS-SBIR dataset, QuickDraw-Extended. We also in this dissertation pave the path to the future direction of research in this domain. |
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Thesis |
Ph.D. thesis |
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Publisher |
Ediciones Graficas Rey |
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Editor |
Josep Llados;Umapada Pal |
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978-84-121011-8-8 |
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Notes |
DAG; 600.121 |
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Call Number |
Admin @ si @ Dey20 |
Serial |
3480 |
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Author |
David Lloret |
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Title |
Medical Image Registration Based on a Creaseress Measure. |
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2002 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Ph.D. thesis |
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Editor |
Joan Serrat |
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Admin @ si @ Llo2002 |
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321 |
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Author |
Bhaskar Chakraborty |
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Title |
Model free approach to human action recognition |
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2012 |
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PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Automatic understanding of human activity and action is very important and challenging research area of Computer Vision with wide applications in video surveillance, motion analysis, virtual reality interfaces, video indexing, content based video retrieval, HCI and health care. This thesis presents a series of techniques to solve the problem of human action recognition in video. First approach towards this goal is based on a probabilistic optimization model of body parts using Hidden Markov Model. This strong model based approach is able to distinguish between similar actions by only considering the body parts having major contributions to the actions. In next approach, we apply a weak model based human detector and actions are represented by Bag-of-key poses model to capture the human pose changes during the actions. To tackle the problem of human action recognition in complex scenes, a selective spatio-temporal interest point (STIP) detector is proposed by using a mechanism similar to that of the non-classical receptive field inhibition that is exhibited by most oriented selective neuron in the primary visual cortex. An extension of the selective STIP detector is applied to multi-view action recognition system by introducing a novel 4D STIPs (3D space + time). Finally, we use our STIP detector on large scale continuous visual event recognition problem and propose a novel generalized max-margin Hough transformation framework for activity detection |
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Ph.D. thesis |
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Ediciones Graficas Rey |
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Jordi Gonzalez;Xavier Roca |
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ISE |
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Admin @ si @ Cha2012 |
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2207 |
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Author |
Daniel Ponsa |
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Title |
Model-Based Visual Localisation of Contours and Vehicles |
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2007 |
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PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Phd Thesis |
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Ph.D. thesis |
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Ediciones Graficas Rey |
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Editor |
Antonio Lopez;Xavier Roca |
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978-84-935251-3-2 |
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ADAS @ adas @ Pon2007 |
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1107 |
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Author |
Pau Baiget |
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Title |
Modeling Human Behavior for Image Sequence Understanding and Generation |
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2009 |
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PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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The comprehension of animal behavior, especially human behavior, is one of the most ancient and studied problems since the beginning of civilization. The big list of factors that interact to determine a person action require the collaboration of different disciplines, such as psichology, biology, or sociology. In the last years the analysis of human behavior has received great attention also from the computer vision community, given the latest advances in the acquisition of human motion data from image sequences.
Despite the increasing availability of that data, there still exists a gap towards obtaining a conceptual representation of the obtained observations. Human behavior analysis is based on a qualitative interpretation of the results, and therefore the assignment of concepts to quantitative data is linked to a certain ambiguity.
This Thesis tackles the problem of obtaining a proper representation of human behavior in the contexts of computer vision and animation. On the one hand, a good behavior model should permit the recognition and explanation the observed activity in image sequences. On the other hand, such a model must allow the generation of new synthetic instances, which model the behavior of virtual agents.
First, we propose methods to automatically learn the models from observations. Given a set of quantitative results output by a vision system, a normal behavior model is learnt. This results provides a tool to determine the normality or abnormality of future observations. However, machine learning methods are unable to provide a richer description of the observations. We confront this problem by means of a new method that incorporates prior knowledge about the enviornment and about the expected behaviors. This framework, formed by the reasoning engine FMTL and the modeling tool SGT allows the generation of conceptual descriptions of activity in new image sequences. Finally, we demonstrate the suitability of the proposed framework to simulate behavior of virtual agents, which are introduced into real image sequences and interact with observed real agents, thereby easing the generation of augmented reality sequences.
The set of approaches presented in this Thesis has a growing set of potential applications. The analysis and description of behavior in image sequences has its principal application in the domain of smart video--surveillance, in order to detect suspicious or dangerous behaviors. Other applications include automatic sport commentaries, elderly monitoring, road traffic analysis, and the development of semantic video search engines. Alternatively, behavioral virtual agents allow to simulate accurate real situations, such as fires or crowds. Moreover, the inclusion of virtual agents into real image sequences has been widely deployed in the games and cinema industries. |
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Bellaterra (Spain) |
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Ph.D. thesis |
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Ediciones Graficas Rey |
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Jordi Gonzalez;Xavier Roca |
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no |
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Admin @ si @ Bai2009 |
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1210 |
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Author |
Marc Serra |
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Title |
Modeling, estimation and evaluation of intrinsic images considering color information |
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2015 |
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PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Image values are the result of a combination of visual information coming from multiple sources. Recovering information from the multiple factors thatproduced an image seems a hard and ill-posed problem. However, it is important to observe that humans develop the ability to interpret images and recognize and isolate specific physical properties of the scene.
Images describing a single physical characteristic of an scene are called intrinsic images. These images would benefit most computer vision tasks which are often affected by the multiple complex effects that are usually found in natural images (e.g. cast shadows, specularities, interreflections...).
In this thesis we analyze the problem of intrinsic image estimation from different perspectives, including the theoretical formulation of the problem, the visual cues that can be used to estimate the intrinsic components and the evaluation mechanisms of the problem. |
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September 2015 |
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Ph.D. thesis |
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Ediciones Graficas Rey |
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Robert Benavente;Olivier Penacchio |
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978-84-943427-4-5 |
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CIC; 600.074 |
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Admin @ si @ Ser2015 |
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2688 |
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Author |
Diego Alejandro Cheda |
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Title |
Monocular Depth Cues in Computer Vision Applications |
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2012 |
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PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Depth perception is a key aspect of human vision. It is a routine and essential visual task that the human do effortlessly in many daily activities. This has often been associated with stereo vision, but humans have an amazing ability to perceive depth relations even from a single image by using several monocular cues.
In the computer vision field, if image depth information were available, many tasks could be posed from a different perspective for the sake of higher performance and robustness. Nevertheless, given a single image, this possibility is usually discarded, since obtaining depth information has frequently been performed by three-dimensional reconstruction techniques, requiring two or more images of the same scene taken from different viewpoints. Recently, some proposals have shown the feasibility of computing depth information from single images. In essence, the idea is to take advantage of a priori knowledge of the acquisition conditions and the observed scene to estimate depth from monocular pictorial cues. These approaches try to precisely estimate the scene depth maps by employing computationally demanding techniques. However, to assist many computer vision algorithms, it is not really necessary computing a costly and detailed depth map of the image. Indeed, just a rough depth description can be very valuable in many problems.
In this thesis, we have demonstrated how coarse depth information can be integrated in different tasks following alternative strategies to obtain more precise and robust results. In that sense, we have proposed a simple, but reliable enough technique, whereby image scene regions are categorized into discrete depth ranges to build a coarse depth map. Based on this representation, we have explored the potential usefulness of our method in three application domains from novel viewpoints: camera rotation parameters estimation, background estimation and pedestrian candidate generation. In the first case, we have computed camera rotation mounted in a moving vehicle applying two novels methods based on distant elements in the image, where the translation component of the image flow vectors is negligible. In background estimation, we have proposed a novel method to reconstruct the background by penalizing close regions in a cost function, which integrates color, motion, and depth terms. Finally, we have benefited of geometric and depth information available on single images for pedestrian candidate generation to significantly reduce the number of generated windows to be further processed by a pedestrian classifier. In all cases, results have shown that our approaches contribute to better performances. |
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Ph.D. thesis |
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Ediciones Graficas Rey |
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Daniel Ponsa;Antonio Lopez |
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ADAS |
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Call Number |
Admin @ si @ Che2012 |
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2210 |
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Author |
Akhil Gurram |
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Title |
Monocular Depth Estimation for Autonomous Driving |
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2022 |
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PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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3D geometric information is essential for on-board perception in autonomous driving and driver assistance. Autonomous vehicles (AVs) are equipped with calibrated sensor suites. As part of these suites, we can find LiDARs, which are expensive active sensors in charge of providing the 3D geometric information. Depending on the operational conditions for the AV, calibrated stereo rigs may be also sufficient for obtaining 3D geometric information, being these rigs less expensive and easier to install than LiDARs. However, ensuring a proper maintenance and calibration of these types of sensors is not trivial. Accordingly, there is an increasing interest on performing monocular depth estimation (MDE) to obtain 3D geometric information on-board. MDE is very appealing since it allows for appearance and depth being on direct pixelwise correspondence without further calibration. Moreover, a set of single cameras with MDE capabilities would still be a cheap solution for on-board perception, relatively easy to integrate and maintain in an AV.
Best MDE models are based on Convolutional Neural Networks (CNNs) trained in a supervised manner, i.e., assuming pixelwise ground truth (GT). Accordingly, the overall goal of this PhD is to study methods for improving CNN-based MDE accuracy under different training settings. More specifically, this PhD addresses different research questions that are described below. When we started to work in this PhD, state-of-theart methods for MDE were already based on CNNs. In fact, a promising line of work consisted in using image-based semantic supervision (i.e., pixel-level class labels) while training CNNs for MDE using LiDAR-based supervision (i.e., depth). It was common practice to assume that the same raw training data are complemented by both types of supervision, i.e., with depth and semantic labels. However, in practice, it was more common to find heterogeneous datasets with either only depth supervision or only semantic supervision. Therefore, our first work was to research if we could train CNNs for MDE by leveraging depth and semantic information from heterogeneous datasets. We show that this is indeed possible, and we surpassed the state-of-the-art results on MDE at the time we did this research. To achieve our results, we proposed a particular CNN architecture and a new training protocol.
After this research, it was clear that the upper-bound setting to train CNN-based MDE models consists in using LiDAR data as supervision. However, it would be cheaper and more scalable if we would be able to train such models from monocular sequences. Obviously, this is far more challenging, but worth to research. Training MDE models using monocular sequences is possible by relying on structure-from-motion (SfM) principles to generate self-supervision. Nevertheless, problems of camouflaged objects, visibility changes, static-camera intervals, textureless areas, and scale ambiguity, diminish the usefulness of such self-supervision. To alleviate these problems, we perform MDE by virtual-world supervision and real-world SfM self-supervision. We call our proposalMonoDEVSNet. We compensate the SfM self-supervision limitations by leveraging
virtual-world images with accurate semantic and depth supervision, as well as addressing the virtual-to-real domain gap. MonoDEVSNet outperformed previous MDE CNNs trained on monocular and even stereo sequences. We have publicly released MonoDEVSNet at <https://github.com/HMRC-AEL/MonoDEVSNet>.
Finally, since MDE is performed to produce 3D information for being used in downstream tasks related to on-board perception. We also address the question of whether the standard metrics for MDE assessment are a good indicator for future MDE-based driving-related perception tasks. By using 3D object detection on point clouds as proxy of on-board perception, we conclude that, indeed, MDE evaluation metrics give rise to a ranking of methods which reflects relatively well the 3D object detection results we may expect. |
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March, 2022 |
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Ph.D. thesis |
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Publisher |
IMPRIMA |
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Antonio Lopez;Onay Urfalioglu |
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978-84-124793-0-0 |
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Admin @ si @ Gur2022 |
Serial |
3712 |
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