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	Author	Eduardo Aguilar; Petia Radeva
	Title	Uncertainty-aware integration of local and flat classifiers for food recognition			Type	Journal Article
	Year	2020	Publication	Pattern Recognition Letters	Abbreviated Journal	PRL
	Volume	136	Issue		Pages	237-243
	Keywords
	Abstract	Food image recognition has recently attracted the attention of many researchers, due to the challenging problem it poses, the ease collection of food images, and its numerous applications to health and leisure. In real applications, it is necessary to analyze and recognize thousands of different foods. For this purpose, we propose a novel prediction scheme based on a class hierarchy that considers local classifiers, in addition to a flat classifier. In order to make a decision about which approach to use, we define different criteria that take into account both the analysis of the Epistemic Uncertainty estimated from the ‘children’ classifiers and the prediction from the ‘parent’ classifier. We evaluate our proposal using three Uncertainty estimation methods, tested on two public food datasets. The results show that the proposed method reduces parent-child error propagation in hierarchical schemes and improves classification results compared to the single flat classifier, meanwhile maintains good performance regardless the Uncertainty estimation method chosen.
	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 @ AgR2020			Serial	3525
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	Author	Giuseppe Pezzano; Vicent Ribas Ripoll; Petia Radeva
	Title	CoLe-CNN: Context-learning convolutional neural network with adaptive loss function for lung nodule segmentation			Type	Journal Article
	Year	2021	Publication	Computer Methods and Programs in Biomedicine	Abbreviated Journal	CMPB
	Volume	198	Issue		Pages	105792
	Keywords
	Abstract	Background and objective:An accurate segmentation of lung nodules in computed tomography images is a crucial step for the physical characterization of the tumour. Being often completely manually accomplished, nodule segmentation turns to be a tedious and time-consuming procedure and this represents a high obstacle in clinical practice. In this paper, we propose a novel Convolutional Neural Network for nodule segmentation that combines a light and efficient architecture with innovative loss function and segmentation strategy. Methods:In contrast to most of the standard end-to-end architectures for nodule segmentation, our network learns the context of the nodules by producing two masks representing all the background and secondary-important elements in the Computed Tomography scan. The nodule is detected by subtracting the context from the original scan image. Additionally, we introduce an asymmetric loss function that automatically compensates for potential errors in the nodule annotations. We trained and tested our Neural Network on the public LIDC-IDRI database, compared it with the state of the art and run a pseudo-Turing test between four radiologists and the network. Results:The results proved that the behaviour of the algorithm is very near to the human performance and its segmentation masks are almost indistinguishable from the ones made by the radiologists. Our method clearly outperforms the state of the art on CT nodule segmentation in terms of F1 score and IoU of and respectively. Conclusions: The main structure of the network ensures all the properties of the UNet architecture, while the Multi Convolutional Layers give a more accurate pattern recognition. The newly adopted solutions also increase the details on the border of the nodule, even under the noisiest conditions. This method can be applied now for single CT slice nodule segmentation and it represents a starting point for the future development of a fully automatic 3D segmentation software.
	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 @ PRR2021			Serial	3530
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	Author	Daniel Rato; Miguel Oliveira; Vitor Santos; Manuel Gomes; Angel Sappa
	Title	A sensor-to-pattern calibration framework for multi-modal industrial collaborative cells			Type	Journal Article
	Year	2022	Publication	Journal of Manufacturing Systems	Abbreviated Journal	JMANUFSYST
	Volume	64	Issue		Pages	497-507
	Keywords	Calibration; Collaborative cell; Multi-modal; Multi-sensor
	Abstract	Collaborative robotic industrial cells are workspaces where robots collaborate with human operators. In this context, safety is paramount, and for that a complete perception of the space where the collaborative robot is inserted is necessary. To ensure this, collaborative cells are equipped with a large set of sensors of multiple modalities, covering the entire work volume. However, the fusion of information from all these sensors requires an accurate extrinsic calibration. The calibration of such complex systems is challenging, due to the number of sensors and modalities, and also due to the small overlapping fields of view between the sensors, which are positioned to capture different viewpoints of the cell. This paper proposes a sensor to pattern methodology that can calibrate a complex system such as a collaborative cell in a single optimization procedure. Our methodology can tackle RGB and Depth cameras, as well as LiDARs. Results show that our methodology is able to accurately calibrate a collaborative cell containing three RGB cameras, a depth camera and three 3D LiDARs.
	Address
	Corporate Author				Thesis
	Publisher	Science Direct	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	MSIAU; MACO			Approved	no
	Call Number	Admin @ si @ ROS2022			Serial	3750
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	Author	Xavier Soria; Gonzalo Pomboza-Junez; Angel Sappa
	Title	LDC: Lightweight Dense CNN for Edge Detection			Type	Journal Article
	Year	2022	Publication	IEEE Access	Abbreviated Journal	ACCESS
	Volume	10	Issue		Pages	68281-68290
	Keywords
	Abstract	This paper presents a Lightweight Dense Convolutional (LDC) neural network for edge detection. The proposed model is an adaptation of two state-of-the-art approaches, but it requires less than 4% of parameters in comparison with these approaches. The proposed architecture generates thin edge maps and reaches the highest score (i.e., ODS) when compared with lightweight models (models with less than 1 million parameters), and reaches a similar performance when compare with heavy architectures (models with about 35 million parameters). Both quantitative and qualitative results and comparisons with state-of-the-art models, using different edge detection datasets, are provided. The proposed LDC does not use pre-trained weights and requires straightforward hyper-parameter settings. The source code is released at https://github.com/xavysp/LDC
	Address	27 June 2022
	Corporate Author				Thesis
	Publisher	IEEE	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	MSIAU; MACO; 600.160; 600.167			Approved	no
	Call Number	Admin @ si @ SPS2022			Serial	3751
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	Author	Marc Masana; Xialei Liu; Bartlomiej Twardowski; Mikel Menta; Andrew Bagdanov; Joost Van de Weijer
	Title	Class-incremental learning: survey and performance evaluation			Type	Journal Article
	Year	2022	Publication	IEEE Transactions on Pattern Analysis and Machine Intelligence	Abbreviated Journal	TPAMI
	Volume		Issue		Pages
	Keywords
	Abstract	For future learning systems incremental learning is desirable, because it allows for: efficient resource usage by eliminating the need to retrain from scratch at the arrival of new data; reduced memory usage by preventing or limiting the amount of data required to be stored -- also important when privacy limitations are imposed; and learning that more closely resembles human learning. The main challenge for incremental learning is catastrophic forgetting, which refers to the precipitous drop in performance on previously learned tasks after learning a new one. Incremental learning of deep neural networks has seen explosive growth in recent years. Initial work focused on task incremental learning, where a task-ID is provided at inference time. Recently we have seen a shift towards class-incremental learning where the learner must classify at inference time between all classes seen in previous tasks without recourse to a task-ID. In this paper, we provide a complete survey of existing methods for incremental learning, and in particular we perform an extensive experimental evaluation on twelve class-incremental methods. We consider several new experimental scenarios, including a comparison of class-incremental methods on multiple large-scale datasets, investigation into small and large domain shifts, and comparison on various network architectures.
	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	LAMP; 600.120			Approved	no
	Call Number	Admin @ si @ MLT2022			Serial	3538
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	Author	Sudeep Katakol; Basem Elbarashy; Luis Herranz; Joost Van de Weijer; Antonio Lopez
	Title	Distributed Learning and Inference with Compressed Images			Type	Journal Article
	Year	2021	Publication	IEEE Transactions on Image Processing	Abbreviated Journal	TIP
	Volume	30	Issue		Pages	3069 - 3083
	Keywords
	Abstract	Modern computer vision requires processing large amounts of data, both while training the model and/or during inference, once the model is deployed. Scenarios where images are captured and processed in physically separated locations are increasingly common (e.g. autonomous vehicles, cloud computing). In addition, many devices suffer from limited resources to store or transmit data (e.g. storage space, channel capacity). In these scenarios, lossy image compression plays a crucial role to effectively increase the number of images collected under such constraints. However, lossy compression entails some undesired degradation of the data that may harm the performance of the downstream analysis task at hand, since important semantic information may be lost in the process. Moreover, we may only have compressed images at training time but are able to use original images at inference time, or vice versa, and in such a case, the downstream model suffers from covariate shift. In this paper, we analyze this phenomenon, with a special focus on vision-based perception for autonomous driving as a paradigmatic scenario. We see that loss of semantic information and covariate shift do indeed exist, resulting in a drop in performance that depends on the compression rate. In order to address the problem, we propose dataset restoration, based on image restoration with generative adversarial networks (GANs). Our method is agnostic to both the particular image compression method and the downstream task; and has the advantage of not adding additional cost to the deployed models, which is particularly important in resource-limited devices. The presented experiments focus on semantic segmentation as a challenging use case, cover a broad range of compression rates and diverse datasets, and show how our method is able to significantly alleviate the negative effects of compression on the downstream visual task.
	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	LAMP; ADAS; 600.120; 600.118			Approved	no
	Call Number	Admin @ si @ KEH2021			Serial	3543
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	Author	Carola Figueroa Flores; David Berga; Joost Van de Weijer; Bogdan Raducanu
	Title	Saliency for free: Saliency prediction as a side-effect of object recognition			Type	Journal Article
	Year	2021	Publication	Pattern Recognition Letters	Abbreviated Journal	PRL
	Volume	150	Issue		Pages	1-7
	Keywords	Saliency maps; Unsupervised learning; Object recognition
	Abstract	Saliency is the perceptual capacity of our visual system to focus our attention (i.e. gaze) on relevant objects instead of the background. So far, computational methods for saliency estimation required the explicit generation of a saliency map, process which is usually achieved via eyetracking experiments on still images. This is a tedious process that needs to be repeated for each new dataset. In the current paper, we demonstrate that is possible to automatically generate saliency maps without ground-truth. In our approach, saliency maps are learned as a side effect of object recognition. Extensive experiments carried out on both real and synthetic datasets demonstrated that our approach is able to generate accurate saliency maps, achieving competitive results when compared with supervised methods.
	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	LAMP; 600.147; 600.120			Approved	no
	Call Number	Admin @ si @ FBW2021			Serial	3559
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	Author	Ana Garcia Rodriguez; Yael Tudela; Henry Cordova; S. Carballal; I. Ordas; L. Moreira; E. Vaquero; O. Ortiz; L. Rivero; F. Javier Sanchez; Miriam Cuatrecasas; Maria Pellise; Jorge Bernal; Gloria Fernandez Esparrach
	Title	First in Vivo Computer-Aided Diagnosis of Colorectal Polyps using White Light Endoscopy			Type	Journal Article
	Year	2022	Publication	Endoscopy	Abbreviated Journal	END
	Volume	54	Issue		Pages
	Keywords
	Abstract
	Address	2022/04/14
	Corporate Author				Thesis
	Publisher	Georg Thieme Verlag KG	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			Approved	no
	Call Number	Admin @ si @ GTC2022a			Serial	3746
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	Author	Henry Velesaca; Patricia Suarez; Raul Mira; Angel Sappa
	Title	Computer Vision based Food Grain Classification: a Comprehensive Survey			Type	Journal Article
	Year	2021	Publication	Computers and Electronics in Agriculture	Abbreviated Journal	CEA
	Volume	187	Issue		Pages	106287
	Keywords
	Abstract	This manuscript presents a comprehensive survey on recent computer vision based food grain classification techniques. It includes state-of-the-art approaches intended for different grain varieties. The approaches proposed in the literature are analyzed according to the processing stages considered in the classification pipeline, making it easier to identify common techniques and comparisons. Additionally, the type of images considered by each approach (i.e., images from the: visible, infrared, multispectral, hyperspectral bands) together with the strategy used to generate ground truth data (i.e., real and synthetic images) are reviewed. Finally, conclusions highlighting future needs and challenges are presented.
	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	MSIAU; 600.130; 600.122			Approved	no
	Call Number	Admin @ si @ VSM2021			Serial	3576
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	Author	Lei Kang; Pau Riba; Marçal Rusiñol; Alicia Fornes; Mauricio Villegas
	Title	Pay Attention to What You Read: Non-recurrent Handwritten Text-Line Recognition			Type	Journal Article
	Year	2022	Publication	Pattern Recognition	Abbreviated Journal	PR
	Volume	129	Issue		Pages	108766
	Keywords
	Abstract	The advent of recurrent neural networks for handwriting recognition marked an important milestone reaching impressive recognition accuracies despite the great variability that we observe across different writing styles. Sequential architectures are a perfect fit to model text lines, not only because of the inherent temporal aspect of text, but also to learn probability distributions over sequences of characters and words. However, using such recurrent paradigms comes at a cost at training stage, since their sequential pipelines prevent parallelization. In this work, we introduce a non-recurrent approach to recognize handwritten text by the use of transformer models. We propose a novel method that bypasses any recurrence. By using multi-head self-attention layers both at the visual and textual stages, we are able to tackle character recognition as well as to learn language-related dependencies of the character sequences to be decoded. Our model is unconstrained to any predefined vocabulary, being able to recognize out-of-vocabulary words, i.e. words that do not appear in the training vocabulary. We significantly advance over prior art and demonstrate that satisfactory recognition accuracies are yielded even in few-shot learning scenarios.
	Address	Sept. 2022
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference
	Notes	DAG; 600.121; 600.162			Approved	no
	Call Number	Admin @ si @ KRR2022			Serial	3556
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	Author	Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan C. Moure
	Title	3D Perception With Slanted Stixels on GPU			Type	Journal Article
	Year	2021	Publication	IEEE Transactions on Parallel and Distributed Systems	Abbreviated Journal	TPDS
	Volume	32	Issue	10	Pages	2434-2447
	Keywords	Daniel Hernandez-Juarez; Antonio Espinosa; David Vazquez; Antonio M. Lopez; Juan C. Moure
	Abstract	This article presents a GPU-accelerated software design of the recently proposed model of Slanted Stixels, which represents the geometric and semantic information of a scene in a compact and accurate way. We reformulate the measurement depth model to reduce the computational complexity of the algorithm, relying on the confidence of the depth estimation and the identification of invalid values to handle outliers. The proposed massively parallel scheme and data layout for the irregular computation pattern that corresponds to a Dynamic Programming paradigm is described and carefully analyzed in performance terms. Performance is shown to scale gracefully on current generation embedded GPUs. We assess the proposed methods in terms of semantic and geometric accuracy as well as run-time performance on three publicly available benchmark datasets. Our approach achieves real-time performance with high accuracy for 2048 × 1024 image sizes and 4 × 4 Stixel resolution on the low-power embedded GPU of an NVIDIA Tegra Xavier.
	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	ADAS; 600.124; 600.118			Approved	no
	Call Number	Admin @ si @ HEV2021			Serial	3561
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	Author	Jose Luis Gomez; Gabriel Villalonga; Antonio Lopez
	Title	Co-Training for Deep Object Detection: Comparing Single-Modal and Multi-Modal Approaches			Type	Journal Article
	Year	2021	Publication	Sensors	Abbreviated Journal	SENS
	Volume	21	Issue	9	Pages	3185
	Keywords	co-training; multi-modality; vision-based object detection; ADAS; self-driving
	Abstract	Top-performing computer vision models are powered by convolutional neural networks (CNNs). Training an accurate CNN highly depends on both the raw sensor data and their associated ground truth (GT). Collecting such GT is usually done through human labeling, which is time-consuming and does not scale as we wish. This data-labeling bottleneck may be intensified due to domain shifts among image sensors, which could force per-sensor data labeling. In this paper, we focus on the use of co-training, a semi-supervised learning (SSL) method, for obtaining self-labeled object bounding boxes (BBs), i.e., the GT to train deep object detectors. In particular, we assess the goodness of multi-modal co-training by relying on two different views of an image, namely, appearance (RGB) and estimated depth (D). Moreover, we compare appearance-based single-modal co-training with multi-modal. Our results suggest that in a standard SSL setting (no domain shift, a few human-labeled data) and under virtual-to-real domain shift (many virtual-world labeled data, no human-labeled data) multi-modal co-training outperforms single-modal. In the latter case, by performing GAN-based domain translation both co-training modalities are on par, at least when using an off-the-shelf depth estimation model not specifically trained on the translated images.
	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	ADAS; 600.118			Approved	no
	Call Number	Admin @ si @ GVL2021			Serial	3562
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	Author	Shiqi Yang; Kai Wang; Luis Herranz; Joost Van de Weijer
	Title	On Implicit Attribute Localization for Generalized Zero-Shot Learning			Type	Journal Article
	Year	2021	Publication	IEEE Signal Processing Letters	Abbreviated Journal
	Volume	28	Issue		Pages	872 - 876
	Keywords
	Abstract	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.
	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	LAMP; 600.120			Approved	no
	Call Number	YWH2021			Serial	3563
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	Author	Domicele Jonauskaite; Lucia Camenzind; C. Alejandro Parraga; Cecile N Diouf; Mathieu Mercapide Ducommun; Lauriane Müller; Melanie Norberg; Christine Mohr
	Title	Colour-emotion associations in individuals with red-green colour blindness			Type	Journal Article
	Year	2021	Publication	PeerJ	Abbreviated Journal
	Volume	9	Issue		Pages	e11180
	Keywords	Affect; Chromotherapy; Colour cognition; Colour vision deficiency; Cross-modal correspondences; Daltonism; Deuteranopia; Dichromatic; Emotion; Protanopia.
	Abstract	Colours and emotions are associated in languages and traditions. Some of us may convey sadness by saying feeling blue or by wearing black clothes at funerals. The first example is a conceptual experience of colour and the second example is an immediate perceptual experience of colour. To investigate whether one or the other type of experience more strongly drives colour-emotion associations, we tested 64 congenitally red-green colour-blind men and 66 non-colour-blind men. All participants associated 12 colours, presented as terms or patches, with 20 emotion concepts, and rated intensities of the associated emotions. We found that colour-blind and non-colour-blind men associated similar emotions with colours, irrespective of whether colours were conveyed via terms (r = .82) or patches (r = .80). The colour-emotion associations and the emotion intensities were not modulated by participants' severity of colour blindness. Hinting at some additional, although minor, role of actual colour perception, the consistencies in associations for colour terms and patches were higher in non-colour-blind than colour-blind men. Together, these results suggest that colour-emotion associations in adults do not require immediate perceptual colour experiences, as conceptual experiences are sufficient.
	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; LAMP; 600.120; 600.128			Approved	no
	Call Number	Admin @ si @ JCP2021			Serial	3564
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	Author	Sanket Biswas; Pau Riba; Josep Llados; Umapada Pal
	Title	Beyond Document Object Detection: Instance-Level Segmentation of Complex Layouts			Type	Journal Article
	Year	2021	Publication	International Journal on Document Analysis and Recognition	Abbreviated Journal	IJDAR
	Volume	24	Issue		Pages	269–281
	Keywords
	Abstract	Information extraction is a fundamental task of many business intelligence services that entail massive document processing. Understanding a document page structure in terms of its layout provides contextual support which is helpful in the semantic interpretation of the document terms. In this paper, inspired by the progress of deep learning methodologies applied to the task of object recognition, we transfer these models to the specific case of document object detection, reformulating the traditional problem of document layout analysis. Moreover, we importantly contribute to prior arts by defining the task of instance segmentation on the document image domain. An instance segmentation paradigm is especially important in complex layouts whose contents should interact for the proper rendering of the page, i.e., the proper text wrapping around an image. Finally, we provide an extensive evaluation, both qualitative and quantitative, that demonstrates the superior performance of the proposed methodology over the current state of the art.
	Address
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference
	Notes	DAG; 600.121; 600.140; 110.312			Approved	no
	Call Number	Admin @ si @ BRL2021b			Serial	3574
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