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	Author	Fadi Dornaika; Angel Sappa
	Title	A Featureless and Stochastic Approach to On-board Stereo Vision System Pose			Type	Journal Article
	Year	2009	Publication	Image and Vision Computing	Abbreviated Journal	IMAVIS
	Volume	27	Issue	9	Pages	1382–1393
	Keywords	On-board stereo vision system; Pose estimation; Featureless approach; Particle filtering; Image warping
	Abstract	This paper presents a direct and stochastic technique for real-time estimation of on-board stereo head’s position and orientation. Unlike existing works which rely on feature extraction either in the image domain or in 3D space, our proposed approach directly estimates the unknown parameters from the stream of stereo pairs’ brightness. The pose parameters are tracked using the particle filtering framework which implicitly enforces the smoothness constraints on the estimated parameters. The proposed technique can be used with a driver assistance applications as well as with augmented reality applications. Extended experiments on urban environments with different road geometries are presented. Comparisons with a 3D data-based approach are presented. Moreover, we provide a performance study aiming at evaluating the accuracy of the proposed approach.
	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			Approved	no
	Call Number	ADAS @ adas @ DoS2009b			Serial	1152
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	Author	Jordi Gonzalez; Dani Rowe; Javier Varona; Xavier Roca
	Title	Understanding Dynamic Scenes based on Human Sequence Evaluation			Type	Journal Article
	Year	2009	Publication	Image and Vision Computing	Abbreviated Journal	IMAVIS
	Volume	27	Issue	10	Pages	1433–1444
	Keywords	Image Sequence Evaluation; High-level processing of monitored scenes; Segmentation and tracking in complex scenes; Event recognition in dynamic scenes; Human motion understanding; Human behaviour interpretation; Natural-language text generation; Realistic demonstrators
	Abstract	In this paper, a Cognitive Vision System (CVS) is presented, which explains the human behaviour of monitored scenes using natural-language texts. This cognitive analysis of human movements recorded in image sequences is here referred to as Human Sequence Evaluation (HSE) which defines a set of transformation modules involved in the automatic generation of semantic descriptions from pixel values. In essence, the trajectories of human agents are obtained to generate textual interpretations of their motion, and also to infer the conceptual relationships of each agent w.r.t. its environment. For this purpose, a human behaviour model based on Situation Graph Trees (SGTs) is considered, which permits both bottom-up (hypothesis generation) and top-down (hypothesis refinement) analysis of dynamic scenes. The resulting system prototype interprets different kinds of behaviour and reports textual descriptions in multiple languages.
	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			Approved	no
	Call Number	ISE @ ise @ GRV2009			Serial	1211
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	Author	Arnau Ramisa; Adriana Tapus; David Aldavert; Ricardo Toledo; Ramon Lopez de Mantaras
	Title	Robust Vision-Based Localization using Combinations of Local Feature Regions Detectors			Type	Journal Article
	Year	2009	Publication	Autonomous Robots	Abbreviated Journal	AR
	Volume	27	Issue	4	Pages	373-385
	Keywords
	Abstract	This paper presents a vision-based approach for mobile robot localization. The model of the environment is topological. The new approach characterizes a place using a signature. This signature consists of a constellation of descriptors computed over different types of local affine covariant regions extracted from an omnidirectional image acquired rotating a standard camera with a pan-tilt unit. This type of representation permits a reliable and distinctive environment modelling. Our objectives were to validate the proposed method in indoor environments and, also, to find out if the combination of complementary local feature region detectors improves the localization versus using a single region detector. Our experimental results show that if false matches are effectively rejected, the combination of different covariant affine region detectors increases notably the performance of the approach by combining the different strengths of the individual detectors. In order to reduce the localization time, two strategies are evaluated: re-ranking the map nodes using a global similarity measure and using standard perspective view field of 45°. In order to systematically test topological localization methods, another contribution proposed in this work is a novel method to see the degradation in localization performance as the robot moves away from the point where the original signature was acquired. This allows to know the robustness of the proposed signature. In order for this to be effective, it must be done in several, variated, environments that test all the possible situations in which the robot may have to perform localization.
	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	0929-5593	ISBN		Medium
	Area		Expedition		Conference
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ RTA2009			Serial	1245
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	Author	Aura Hernandez-Sabate; Debora Gil;Eduard Fernandez-Nofrerias;Petia Radeva; Enric Marti
	Title	Approaching Artery Rigid Dynamics in IVUS			Type	Journal Article
	Year	2009	Publication	IEEE Transactions on Medical Imaging	Abbreviated Journal	TMI
	Volume	28	Issue	11	Pages	1670-1680
	Keywords	Fourier analysis; intravascular ultrasound (IVUS) dynamics; longitudinal motion; quality measures; tissue deformation.
	Abstract	Tissue biomechanical properties (like strain and stress) are playing an increasing role in diagnosis and long-term treatment of intravascular coronary diseases. Their assessment strongly relies on estimation of vessel wall deformation. Since intravascular ultrasound (IVUS) sequences allow visualizing vessel morphology and reflect its dynamics, this technique represents a useful tool for evaluation of tissue mechanical properties. Image misalignment introduced by vessel-catheter motion is a major artifact for a proper tracking of tissue deformation. In this work, we focus on compensating and assessing IVUS rigid in-plane motion due to heart beating. Motion parameters are computed by considering both the vessel geometry and its appearance in the image. Continuum mechanics laws serve to introduce a novel score measuring motion reduction in in vivo sequences. Synthetic experiments validate the proposed score as measure of motion parameters accuracy; whereas results in in vivo pullbacks show the reliability of the presented methodologies in clinical cases.
	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	0278-0062	ISBN		Medium
	Area		Expedition		Conference
	Notes	IAM; MILAB			Approved	no
	Call Number	IAM @ iam @ HGF2009			Serial	1545
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	Author	Miquel Ferrer; Ernest Valveny; F. Serratosa
	Title	Median graph: A new exact algorithm using a distance based on the maximum common subgraph			Type	Journal Article
	Year	2009	Publication	Pattern Recognition Letters	Abbreviated Journal	PRL
	Volume	30	Issue	5	Pages	579–588
	Keywords
	Abstract	Median graphs have been presented as a useful tool for capturing the essential information of a set of graphs. Nevertheless, computation of optimal solutions is a very hard problem. In this work we present a new and more efficient optimal algorithm for the median graph computation. With the use of a particular cost function that permits the definition of the graph edit distance in terms of the maximum common subgraph, and a prediction function in the backtracking algorithm, we reduce the size of the search space, avoiding the evaluation of a great amount of states and still obtaining the exact median. We present a set of experiments comparing our new algorithm against the previous existing exact algorithm using synthetic data. In addition, we present the first application of the exact median graph computation to real data and we compare the results against an approximate algorithm based on genetic search. These experimental results show that our algorithm outperforms the previous existing exact algorithm and in addition show the potential applicability of the exact solutions to real problems.
	Address
	Corporate Author				Thesis
	Publisher	Elsevier Science Inc.	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	0167-8655	ISBN		Medium
	Area		Expedition		Conference
	Notes	DAG			Approved	no
	Call Number	DAG @ dag @ FVS2009a			Serial	1114
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	Author	Fadi Dornaika; Angel Sappa
	Title	Instantaneous 3D motion from image derivatives using the Least Trimmed Square Regression			Type	Journal Article
	Year	2009	Publication	Pattern Recognition Letters	Abbreviated Journal	PRL
	Volume	30	Issue	5	Pages	535–543
	Keywords
	Abstract	This paper presents a new technique to the instantaneous 3D motion estimation. The main contributions are as follows. First, we show that the 3D camera or scene velocity can be retrieved from image derivatives only assuming that the scene contains a dominant plane. Second, we propose a new robust algorithm that simultaneously provides the Least Trimmed Square solution and the percentage of inliers-the non-contaminated data. Experiments on both synthetic and real image sequences demonstrated the effectiveness of the developed method. Those experiments show that the new robust approach can outperform classical robust schemes.
	Address
	Corporate Author				Thesis
	Publisher	Elsevier Science Inc.	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	0167-8655	ISBN		Medium
	Area		Expedition		Conference
	Notes	ADAS			Approved	no
	Call Number	ADAS @ adas @ DoS2009a			Serial	1115
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	Author	Sergio Escalera; Oriol Pujol; Petia Radeva
	Title	Separability of Ternary Codes for Sparse Designs of Error-Correcting Output Codes			Type	Journal Article
	Year	2009	Publication	Pattern Recognition Letters	Abbreviated Journal	PRL
	Volume	30	Issue	3	Pages	285–297
	Keywords
	Abstract	Error Correcting Output Codes (ECOC) represent a successful framework to deal with multi-class categorization problems based on combining binary classiﬁers. In this paper, we present a new formulation of the ternary ECOC distance and the error-correcting capabilities in the ternary ECOC framework. Based on the new measure, we stress on how to design coding matrices preventing codiﬁcation ambiguity and propose a new Sparse Random coding matrix with ternary distance maximization. The results on the UCI Repository and in a real speed trafﬁc categorization problem show that when the coding design satisﬁes the new ternary measures, signiﬁcant performance improvement is obtained independently of the decoding strategy applied.
	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;HuPBA			Approved	no
	Call Number	BCNPCL @ bcnpcl @ EPR2009a			Serial	1153
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	Author	Sergio Escalera; Alicia Fornes; O. Pujol; Petia Radeva; Gemma Sanchez; Josep Llados
	Title	Blurred Shape Model for Binary and Grey-level Symbol Recognition			Type	Journal Article
	Year	2009	Publication	Pattern Recognition Letters	Abbreviated Journal	PRL
	Volume	30	Issue	15	Pages	1424–1433
	Keywords
	Abstract	Many symbol recognition problems require the use of robust descriptors in order to obtain rich information of the data. However, the research of a good descriptor is still an open issue due to the high variability of symbols appearance. Rotation, partial occlusions, elastic deformations, intra-class and inter-class variations, or high variability among symbols due to different writing styles, are just a few problems. In this paper, we introduce a symbol shape description to deal with the changes in appearance that these types of symbols suffer. The shape of the symbol is aligned based on principal components to make the recognition invariant to rotation and reflection. Then, we present the Blurred Shape Model descriptor (BSM), where new features encode the probability of appearance of each pixel that outlines the symbols shape. Moreover, we include the new descriptor in a system to deal with multi-class symbol categorization problems. Adaboost is used to train the binary classifiers, learning the BSM features that better split symbol classes. Then, the binary problems are embedded in an Error-Correcting Output Codes framework (ECOC) to deal with the multi-class case. The methodology is evaluated on different synthetic and real data sets. State-of-the-art descriptors and classifiers are compared, showing the robustness and better performance of the present scheme to classify symbols with high variability of appearance.
	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; DAG; MILAB			Approved	no
	Call Number	BCNPCL @ bcnpcl @ EFP2009a			Serial	1180
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	Author	Oriol Ramos Terrades; Ernest Valveny; Salvatore Tabbone
	Title	Optimal Classifier Fusion in a Non-Bayesian Probabilistic Framework			Type	Journal Article
	Year	2009	Publication	IEEE Transactions on Pattern Analysis and Machine Intelligence	Abbreviated Journal	TPAMI
	Volume	31	Issue	9	Pages	1630–1644
	Keywords
	Abstract	The combination of the output of classifiers has been one of the strategies used to improve classification rates in general purpose classification systems. Some of the most common approaches can be explained using the Bayes' formula. In this paper, we tackle the problem of the combination of classifiers using a non-Bayesian probabilistic framework. This approach permits us to derive two linear combination rules that minimize misclassification rates under some constraints on the distribution of classifiers. In order to show the validity of this approach we have compared it with other popular combination rules from a theoretical viewpoint using a synthetic data set, and experimentally using two standard databases: the MNIST handwritten digit database and the GREC symbol database. Results on the synthetic data set show the validity of the theoretical approach. Indeed, results on real data show that the proposed methods outperform other common combination schemes.
	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	0162-8828	ISBN		Medium
	Area		Expedition		Conference
	Notes	DAG			Approved	no
	Call Number	DAG @ dag @ RVT2009			Serial	1220
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	Author	Oriol Pujol; David Masip
	Title	Geometry-Based Ensembles: Toward a Structural Characterization of the Classification Boundary			Type	Journal Article
	Year	2009	Publication	IEEE Transactions on Pattern Analysis and Machine Intelligence	Abbreviated Journal	TPAMI
	Volume	31	Issue	6	Pages	1140–1146
	Keywords
	Abstract	This article introduces a novel binary discriminative learning technique based on the approximation of the non-linear decision boundary by a piece-wise linear smooth additive model. The decision border is geometrically defined by means of the characterizing boundary points – points that belong to the optimal boundary under a certain notion of robustness. Based on these points, a set of locally robust linear classifiers is defined and assembled by means of a Tikhonov regularized optimization procedure in an additive model to create a final lambda-smooth decision rule. As a result, a very simple and robust classifier with a strong geometrical meaning and non-linear behavior is obtained. The simplicity of the method allows its extension to cope with some of nowadays machine learning challenges, such as online learning, large scale learning or parallelization, with linear computational complexity. We validate our approach on the UCI database. Finally, we apply our technique in online and large scale scenarios, and in six real life computer vision and pattern recognition problems: gender recognition, intravascular ultrasound tissue classification, speed traffic sign detection, Chagas' disease severity detection, clef classification and action recognition using a 3D accelerometer data. The results are promising and this paper opens a line of research that deserves further attention
	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	OR;HuPBA;MV			Approved	no
	Call Number	BCNPCL @ bcnpcl @ PuM2009			Serial	1252
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	Author	Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez
	Title	An iterative multiresolution scheme for SFM with missing data			Type	Journal Article
	Year	2009	Publication	Journal of Mathematical Imaging and Vision	Abbreviated Journal	JMIV
	Volume	34	Issue	3	Pages	240–258
	Keywords
	Abstract	Several techniques have been proposed for tackling the Structure from Motion problem through factorization in the case of missing data. However, when the percentage of unknown data is high, most of them may not perform as well as expected. Focussing on this problem, an iterative multiresolution scheme, which aims at recovering missing entries in the originally given input matrix, is proposed. Information recovered following a coarse-to-fine strategy is used for filling in the missing entries. The objective is to recover, as much as possible, missing data in the given matrix. Thus, when a factorization technique is applied to the partially or totally filled in matrix, instead of to the originally given input one, better results will be obtained. An evaluation study about the robustness to missing and noisy data is reported. Experimental results obtained with synthetic and real video sequences are presented to show the viability of the proposed approach.
	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			Approved	no
	Call Number	ADAS @ adas @ JSL2009a			Serial	1163
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	Author	C. Alejandro Parraga; Javier Vazquez; Maria Vanrell
	Title	A new cone activation-based natural images dataset			Type	Journal Article
	Year	2009	Publication	Perception	Abbreviated Journal	PER
	Volume	36	Issue		Pages	180
	Keywords
	Abstract	We generated a new dataset of digital natural images where each colour plane corresponds to the human LMS (long-, medium-, short-wavelength) cone activations. The images were chosen to represent five different visual environments (eg forest, seaside, mountain snow, urban, motorways) and were taken under natural illumination at different times of day. At the bottom-left corner of each picture there was a matte grey ball of approximately constant spectral reflectance (across the camera's response spectrum,) and nearly Lambertian reflective properties, which allows to compute (and remove, if necessary) the illuminant's colour and intensity. The camera (Sigma Foveon SD10) was calibrated by measuring its sensor's spectral responses using a set of 31 spectrally narrowband interference filters. This allowed conversion of the final camera-dependent RGB colour space into the Smith and Pokorny (1975) cone activation space by means of a polynomial transformation, optimised for a set of 1269 Munsell chip reflectances. This new method is an improvement over the usual 3 × 3 matrix transformation which is only accurate for spectrally-narrowband colours. The camera-to-LMS transformation can be recalculated to consider other non-human visual systems. The dataset is available to download from our website.
	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			Approved	no
	Call Number	CAT @ cat @ PVV2009			Serial	1193
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	Author	Javier Vazquez; C. Alejandro Parraga; Maria Vanrell
	Title	Ordinal pairwise method for natural images comparison			Type	Journal Article
	Year	2009	Publication	Perception	Abbreviated Journal	PER
	Volume	38	Issue		Pages	180
	Keywords
	Abstract	38(Suppl.)ECVP Abstract Supplement We developed a new psychophysical method to compare different colour appearance models when applied to natural scenes. The method was as follows: two images (processed by different algorithms) were displayed on a CRT monitor and observers were asked to select the most natural of them. The original images were gathered by means of a calibrated trichromatic digital camera and presented one on top of the other on a calibrated screen. The selection was made by pressing on a 6-button IR box, which allowed observers to consider not only the most natural but to rate their selection. The rating system allowed observers to register how much more natural was their chosen image (eg, much more, definitely more, slightly more), which gave us valuable extra information on the selection process. The results were analysed considering both the selection as a binary choice (using Thurstone's law of comparative judgement) and using Bradley-Terry method for ordinal comparison. Our results show a significant difference in the rating scales obtained. Although this method has been used in colour constancy algorithm comparisons, its uses are much wider, eg to compare algorithms of image compression, rendering, recolouring, etc.
	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			Approved	no
	Call Number	CAT @ cat @ VPV2009b			Serial	1191
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	Author	Robert Benavente; C. Alejandro Parraga; Maria Vanrell
	Title	Colour categories boundaries are better defined in contextual conditions			Type	Journal Article
	Year	2009	Publication	Perception	Abbreviated Journal	PER
	Volume	38	Issue		Pages	36
	Keywords
	Abstract	In a previous experiment [Parraga et al, 2009 Journal of Imaging Science and Technology 53(3)] the boundaries between basic colour categories were measured by asking subjects to categorize colour samples presented in isolation (ie on a dark background) using a YES/NO paradigm. Results showed that some boundaries (eg green – blue) were very diffuse and the subjects' answers presented bimodal distributions, which were attributed to the emergence of non-basic categories in those regions (eg turquoise). To confirm these results we performed a new experiment focussed on the boundaries where bimodal distributions were more evident. In this new experiment rectangular colour samples were presented surrounded by random colour patches to simulate contextual conditions on a calibrated CRT monitor. The names of two neighbouring colours were shown at the bottom of the screen and subjects selected the boundary between these colours by controlling the chromaticity of the central patch, sliding it across these categories' frontier. Results show that in this new experimental paradigm, the formerly uncertain inter-colour category boundaries are better defined and the dispersions (ie the bimodal distributions) that occurred in the previous experiment disappear. These results may provide further support to Berlin and Kay's basic colour terms theory.
	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			Approved	no
	Call Number	CAT @ cat @ BPV2009			Serial	1192
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	Author	David Masip; Agata Lapedriza; Jordi Vitria
	Title	Boosted Online Learning for Face Recognition			Type	Journal Article
	Year	2009	Publication	IEEE Transactions on Systems, Man and Cybernetics part B	Abbreviated Journal	TSMCB
	Volume	39	Issue	2	Pages	530–538
	Keywords
	Abstract	Face recognition applications commonly suffer from three main drawbacks: a reduced training set, information lying in high-dimensional subspaces, and the need to incorporate new people to recognize. In the recent literature, the extension of a face classifier in order to include new people in the model has been solved using online feature extraction techniques. The most successful approaches of those are the extensions of the principal component analysis or the linear discriminant analysis. In the current paper, a new online boosting algorithm is introduced: a face recognition method that extends a boosting-based classifier by adding new classes while avoiding the need of retraining the classifier each time a new person joins the system. The classifier is learned using the multitask learning principle where multiple verification tasks are trained together sharing the same feature space. The new classes are added taking advantage of the structure learned previously, being the addition of new classes not computationally demanding. The present proposal has been (experimentally) validated with two different facial data sets by comparing our approach with the current state-of-the-art techniques. The results show that the proposed online boosting algorithm fares better in terms of final accuracy. In addition, the global performance does not decrease drastically even when the number of classes of the base problem is multiplied by eight.
	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	1083–4419	ISBN		Medium
	Area		Expedition		Conference
	Notes	OR;MV			Approved	no
	Call Number	BCNPCL @ bcnpcl @ MLV2009			Serial	1155
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