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| Author | Jose Manuel Alvarez; Theo Gevers; Antonio Lopez | ||||
| Title | Evaluating Color Representation for Online Road Detection | Type | Conference Article | ||
| Year | 2013 | Publication | ICCV Workshop on Computer Vision in Vehicle Technology: From Earth to Mars | Abbreviated Journal | |
| Volume | Issue | Pages | 594-595 | ||
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| Abstract | Detecting traversable road areas ahead a moving vehicle is a key process for modern autonomous driving systems. Most existing algorithms use color to classify pixels as road or background. These algorithms reduce the effect of lighting variations and weather conditions by exploiting the discriminant/invariant properties of different color representations. However, up to date, no comparison between these representations have been conducted. Therefore, in this paper, we perform an evaluation of existing color representations for road detection. More specifically, we focus on color planes derived from RGB data and their most com-
mon combinations. The evaluation is done on a set of 7000 road images acquired using an on-board camera in different real-driving situations. |
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| Area | Expedition | Conference | CVVT:E2M | ||
| Notes | ADAS;ISE | Approved | no | ||
| Call Number | Admin @ si @ AGL2013 | Serial | 2794 | ||
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| Author | Jose Manuel Alvarez; Theo Gevers; Antonio Lopez | ||||
| Title | 3D Scene Priors for Road Detection | Type | Conference Article | ||
| Year | 2010 | Publication | 23rd IEEE Conference on Computer Vision and Pattern Recognition | Abbreviated Journal | |
| Volume | Issue | Pages | 57–64 | ||
| Keywords | road detection | ||||
| Abstract | Vision-based road detection is important in different areas of computer vision such as autonomous driving, car collision warning and pedestrian crossing detection. However, current vision-based road detection methods are usually based on low-level features and they assume structured roads, road homogeneity, and uniform lighting conditions. Therefore, in this paper, contextual 3D information is used in addition to low-level cues. Low-level photometric invariant cues are derived from the appearance of roads. Contextual cues used include horizon lines, vanishing points, 3D scene layout and 3D road stages. Moreover, temporal road cues are included. All these cues are sensitive to different imaging conditions and hence are considered as weak cues. Therefore, they are combined to improve the overall performance of the algorithm. To this end, the low-level, contextual and temporal cues are combined in a Bayesian framework to classify road sequences. Large scale experiments on road sequences show that the road detection method is robust to varying imaging conditions, road types, and scenarios (tunnels, urban and highway). Further, using the combined cues outperforms all other individual cues. Finally, the proposed method provides highest road detection accuracy when compared to state-of-the-art methods. | ||||
| Address | San Francisco; CA; USA; June 2010 | ||||
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| Language | Summary Language | Original Title | |||
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| Series Volume | Series Issue | Edition | |||
| ISSN | 1063-6919 | ISBN | 978-1-4244-6984-0 | Medium | |
| Area | Expedition | Conference | CVPR | ||
| Notes | ADAS;ISE | Approved | no | ||
| Call Number | ADAS @ adas @ AGL2010a | Serial | 1302 | ||
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| Author | Jose Manuel Alvarez; Theo Gevers; Antonio Lopez | ||||
| Title | Learning Photometric Invariance from Diversified Color Model Ensembles | Type | Conference Article | ||
| Year | 2009 | Publication | 22nd IEEE Conference on Computer Vision and Pattern Recognition | Abbreviated Journal | |
| Volume | Issue | Pages | 565–572 | ||
| Keywords | road detection | ||||
| Abstract | Color is a powerful visual cue for many computer vision applications such as image segmentation and object recognition. However, most of the existing color models depend on the imaging conditions affecting negatively the performance of the task at hand. Often, a reflection model (e.g., Lambertian or dichromatic reflectance) is used to derive color invariant models. However, those reflection models might be too restricted to model real-world scenes in which different reflectance mechanisms may hold simultaneously. Therefore, in this paper, we aim to derive color invariance by learning from color models to obtain diversified color invariant ensembles. First, a photometrical orthogonal and non-redundant color model set is taken on input composed of both color variants and invariants. Then, the proposed method combines and weights these color models to arrive at a diversified color ensemble yielding a proper balance between invariance (repeatability) and discriminative power (distinctiveness). To achieve this, the fusion method uses a multi-view approach to minimize the estimation error. In this way, the method is robust to data uncertainty and produces properly diversified color invariant ensembles. Experiments are conducted on three different image datasets to validate the method. From the theoretical and experimental results, it is concluded that the method is robust against severe variations in imaging conditions. The method is not restricted to a certain reflection model or parameter tuning. Further, the method outperforms state-of- the-art detection techniques in the field of object, skin and road recognition. | ||||
| Address | Miami (USA) | ||||
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| Language | Summary Language | Original Title | |||
| Series Editor | Series Title | Abbreviated Series Title | |||
| Series Volume | Series Issue | Edition | |||
| ISSN | 1063-6919 | ISBN | 978-1-4244-3992-8 | Medium | |
| Area | Expedition | Conference | CVPR | ||
| Notes | ADAS;ISE | Approved | no | ||
| Call Number | ADAS @ adas @ AGL2009 | Serial | 1169 | ||
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| Author | Jose Manuel Alvarez; Theo Gevers; Antonio Lopez | ||||
| Title | Learning photometric invariance for object detection | Type | Journal Article | ||
| Year | 2010 | Publication | International Journal of Computer Vision | Abbreviated Journal | IJCV |
| Volume | 90 | Issue | 1 | Pages | 45-61 |
| Keywords | road detection | ||||
| Abstract | Impact factor: 3.508 (the last available from JCR2009SCI). Position 4/103 in the category Computer Science, Artificial Intelligence. Quartile
Color is a powerful visual cue in many computer vision applications such as image segmentation and object recognition. However, most of the existing color models depend on the imaging conditions that negatively affect the performance of the task at hand. Often, a reflection model (e.g., Lambertian or dichromatic reflectance) is used to derive color invariant models. However, this approach may be too restricted to model real-world scenes in which different reflectance mechanisms can hold simultaneously. Therefore, in this paper, we aim to derive color invariance by learning from color models to obtain diversified color invariant ensembles. First, a photometrical orthogonal and non-redundant color model set is computed composed of both color variants and invariants. Then, the proposed method combines these color models to arrive at a diversified color ensemble yielding a proper balance between invariance (repeatability) and discriminative power (distinctiveness). To achieve this, our fusion method uses a multi-view approach to minimize the estimation error. In this way, the proposed method is robust to data uncertainty and produces properly diversified color invariant ensembles. Further, the proposed method is extended to deal with temporal data by predicting the evolution of observations over time. Experiments are conducted on three different image datasets to validate the proposed method. Both the theoretical and experimental results show that the method is robust against severe variations in imaging conditions. The method is not restricted to a certain reflection model or parameter tuning, and outperforms state-of-the-art detection techniques in the field of object, skin and road recognition. Considering sequential data, the proposed method (extended to deal with future observations) outperforms the other methods |
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| Publisher | Springer US | Place of Publication | Editor | ||
| Language | Summary Language | Original Title | |||
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| Series Volume | Series Issue | Edition | |||
| ISSN | 0920-5691 | ISBN | Medium | ||
| Area | Expedition | Conference | |||
| Notes | ADAS;ISE | Approved | no | ||
| Call Number | ADAS @ adas @ AGL2010c | Serial | 1451 | ||
| Permanent link to this record | |||||