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Author |
Cristhian A. Aguilera-Carrasco; Angel Sappa; Ricardo Toledo |
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Title |
LGHD: a Feature Descriptor for Matching Across Non-Linear Intensity Variations |
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Conference Article |
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2015 |
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22th IEEE International Conference on Image Processing |
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178 - 181 |
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Quebec; Canada; September 2015 |
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ICIP |
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ADAS; 600.076 |
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no |
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Call Number  |
Admin @ si @ AST2015 |
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2630 |
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Author |
David Aldavert; Ricardo Toledo; Arnau Ramisa; Ramon Lopez de Mantaras |
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Title |
Efficient Object Pixel-Level Categorization using Bag of Features: Advances in Visual Computing |
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Conference Article |
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Year |
2009 |
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5th International Symposium on Visual Computing |
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Volume |
5875 |
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44–55 |
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In this paper we present a pixel-level object categorization method suitable to be applied under real-time constraints. Since pixels are categorized using a bag of features scheme, the major bottleneck of such an approach would be the feature pooling in local histograms of visual words. Therefore, we propose to bypass this time-consuming step and directly obtain the score from a linear Support Vector Machine classifier. This is achieved by creating an integral image of the components of the SVM which can readily obtain the classification score for any image sub-window with only 10 additions and 2 products, regardless of its size. Besides, we evaluated the performance of two efficient feature quantization methods: the Hierarchical K-Means and the Extremely Randomized Forest. All experiments have been done in the Graz02 database, showing comparable, or even better results to related work with a lower computational cost. |
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Las Vegas, USA |
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Springer Berlin Heidelberg |
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0302-9743 |
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978-3-642-10330-8 |
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ISVC |
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ADAS |
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no |
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Call Number |
Admin @ si @ ATR2009a |
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1246 |
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Author |
David Aldavert; Ricardo Toledo; Arnau Ramisa; Ramon Lopez de Mantaras |
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Title |
Visual Registration Method For A Low Cost Robot: Computer Vision Systems |
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Conference Article |
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Year |
2009 |
Publication |
7th International Conference on Computer Vision Systems |
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Volume |
5815 |
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204–214 |
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An autonomous mobile robot must face the correspondence or data association problem in order to carry out tasks like place recognition or unknown environment mapping. In order to put into correspondence two maps, most methods estimate the transformation relating the maps from matches established between low level feature extracted from sensor data. However, finding explicit matches between features is a challenging and computationally expensive task. In this paper, we propose a new method to align obstacle maps without searching explicit matches between features. The maps are obtained from a stereo pair. Then, we use a vocabulary tree approach to identify putative corresponding maps followed by the Newton minimization algorithm to find the transformation that relates both maps. The proposed method is evaluated in a typical office environment showing good performance. |
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Belgica |
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Springer Berlin Heidelberg |
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0302-9743 |
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978-3-642-04666-7 |
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ICVS |
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ADAS |
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no |
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Call Number |
Admin @ si @ ATR2009b |
Serial |
1247 |
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Author |
Fernando Barrera; Felipe Lumbreras; Cristhian Aguilera; Angel Sappa |
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Title |
Planar-Based Multispectral Stereo |
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Conference Article |
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Year |
2012 |
Publication |
11th Quantitative InfraRed Thermography |
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Naples, Italy |
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QIRT |
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ADAS |
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no |
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Admin @ si @ BLA2012 |
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2016 |
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Author |
Vassileios Balntas; Edgar Riba; Daniel Ponsa; Krystian Mikolajczyk |
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Title |
Learning local feature descriptors with triplets and shallow convolutional neural networks |
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Conference Article |
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2016 |
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27th British Machine Vision Conference |
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It has recently been demonstrated that local feature descriptors based on convolutional neural networks (CNN) can significantly improve the matching performance. Previous work on learning such descriptors has focused on exploiting pairs of positive and negative patches to learn discriminative CNN representations. In this work, we propose to utilize triplets of training samples, together with in-triplet mining of hard negatives.
We show that our method achieves state of the art results, without the computational overhead typically associated with mining of negatives and with lower complexity of the network architecture. We compare our approach to recently introduced convolutional local feature descriptors, and demonstrate the advantages of the proposed methods in terms of performance and speed. We also examine different loss functions associated with triplets. |
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York; UK; September 2016 |
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BMVC |
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Notes |
ADAS; 600.086 |
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no |
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Call Number |
Admin @ si @ BRP2016 |
Serial |
2818 |
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Author |
Chris Bahnsen; David Vazquez; Antonio Lopez; Thomas B. Moeslund |
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Title |
Learning to Remove Rain in Traffic Surveillance by Using Synthetic Data |
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Conference Article |
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Year |
2019 |
Publication |
14th International Conference on Computer Vision Theory and Applications |
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123-130 |
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Keywords |
Rain Removal; Traffic Surveillance; Image Denoising |
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Abstract |
Rainfall is a problem in automated traffic surveillance. Rain streaks occlude the road users and degrade the overall visibility which in turn decrease object detection performance. One way of alleviating this is by artificially removing the rain from the images. This requires knowledge of corresponding rainy and rain-free images. Such images are often produced by overlaying synthetic rain on top of rain-free images. However, this method fails to incorporate the fact that rain fall in the entire three-dimensional volume of the scene. To overcome this, we introduce training data from the SYNTHIA virtual world that models rain streaks in the entirety of a scene. We train a conditional Generative Adversarial Network for rain removal and apply it on traffic surveillance images from SYNTHIA and the AAU RainSnow datasets. To measure the applicability of the rain-removed images in a traffic surveillance context, we run the YOLOv2 object detection algorithm on the original and rain-removed frames. The results on SYNTHIA show an 8% increase in detection accuracy compared to the original rain image. Interestingly, we find that high PSNR or SSIM scores do not imply good object detection performance. |
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Praga; Czech Republic; February 2019 |
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VISIGRAPP |
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Notes |
ADAS; 600.118 |
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no |
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Call Number |
Admin @ si @ BVL2019 |
Serial |
3256 |
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Author |
M. Cruz; Cristhian A. Aguilera-Carrasco; Boris X. Vintimilla; Ricardo Toledo; Angel Sappa |
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Title |
Cross-spectral image registration and fusion: an evaluation study |
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Conference Article |
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Year |
2015 |
Publication |
2nd International Conference on Machine Vision and Machine Learning |
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Keywords |
multispectral imaging; image registration; data fusion; infrared and visible spectra |
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This paper presents a preliminary study on the registration and fusion of cross-spectral imaging. The objective is to evaluate the validity of widely used computer vision approaches when they are applied at different
spectral bands. In particular, we are interested in merging images from the infrared (both long wave infrared: LWIR and near infrared: NIR) and visible spectrum (VS). Experimental results with different data sets are presented. |
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Barcelona; July 2015 |
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MVML |
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Notes |
ADAS; 600.076 |
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no |
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Call Number |
Admin @ si @ CAV2015 |
Serial |
2629 |
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Author |
Felipe Codevilla; Antonio Lopez; Vladlen Koltun; Alexey Dosovitskiy |
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Title |
On Offline Evaluation of Vision-based Driving Models |
Type |
Conference Article |
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Year |
2018 |
Publication |
15th European Conference on Computer Vision |
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Volume |
11219 |
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246-262 |
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Autonomous driving; deep learning |
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Abstract |
Autonomous driving models should ideally be evaluated by deploying
them on a fleet of physical vehicles in the real world. Unfortunately, this approach is not practical for the vast majority of researchers. An attractive alternative is to evaluate models offline, on a pre-collected validation dataset with ground truth annotation. In this paper, we investigate the relation between various online and offline metrics for evaluation of autonomous driving models. We find that offline prediction error is not necessarily correlated with driving quality, and two models with identical prediction error can differ dramatically in their driving performance. We show that the correlation of offline evaluation with driving quality can be significantly improved by selecting an appropriate validation dataset and
suitable offline metrics. |
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Munich; September 2018 |
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ECCV |
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ADAS; 600.124; 600.118 |
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no |
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Call Number |
Admin @ si @ CLK2018 |
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3162 |
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Author |
Felipe Codevilla; Matthias Muller; Antonio Lopez; Vladlen Koltun; Alexey Dosovitskiy |
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Title |
End-to-end Driving via Conditional Imitation Learning |
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Conference Article |
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2018 |
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IEEE International Conference on Robotics and Automation |
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4693 - 4700 |
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Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate an expert cannot be guided to take a specific turn at an upcoming intersection. This limits the utility of such systems. We propose to condition imitation learning on high-level command input. At test time, the learned driving policy functions as a chauffeur that handles sensorimotor coordination but continues to respond to navigational commands. We evaluate different architectures for conditional imitation learning in vision-based driving. We conduct experiments in realistic three-dimensional simulations of urban driving and on a 1/5 scale robotic truck that is trained to drive in a residential area. Both systems drive based on visual input yet remain responsive to high-level navigational commands. The supplementary video can be viewed at this https URL |
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Brisbane; Australia; May 2018 |
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ICRA |
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ADAS; 600.116; 600.124; 600.118 |
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Call Number |
Admin @ si @ CML2018 |
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3108 |
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Author |
Diego Cheda; Daniel Ponsa; Antonio Lopez |
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Title |
Monocular Egomotion Estimation based on Image Matching |
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Conference Article |
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2012 |
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1st International Conference on Pattern Recognition Applications and Methods |
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425-430 |
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SLAM |
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Portugal |
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ICPRAM |
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ADAS |
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Admin @ si @ CPL2012a;; ADAS @ adas @ |
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2011 |
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