|
Records |
Links |
|
Author |
German Ros; J. Guerrero; Angel Sappa; Antonio Lopez |
![download PDF file pdf](http://refbase.cvc.uab.es/img/file_PDF.gif)
![find book details (via ISBN) isbn](http://refbase.cvc.uab.es/img/isbn.gif)
|
|
Title |
VSLAM pose initialization via Lie groups and Lie algebras optimization |
Type |
Conference Article |
|
Year |
2013 |
Publication |
Proceedings of IEEE International Conference on Robotics and Automation |
Abbreviated Journal |
|
|
|
Volume |
|
Issue |
|
Pages |
5740 - 5747 |
|
|
Keywords |
SLAM |
|
|
Abstract |
We present a novel technique for estimating initial 3D poses in the context of localization and Visual SLAM problems. The presented approach can deal with noise, outliers and a large amount of input data and still performs in real time in a standard CPU. Our method produces solutions with an accuracy comparable to those produced by RANSAC but can be much faster when the percentage of outliers is high or for large amounts of input data. On the current work we propose to formulate the pose estimation as an optimization problem on Lie groups, considering their manifold structure as well as their associated Lie algebras. This allows us to perform a fast and simple optimization at the same time that conserve all the constraints imposed by the Lie group SE(3). Additionally, we present several key design concepts related with the cost function and its Jacobian; aspects that are critical for the good performance of the algorithm. |
|
|
Address |
Karlsruhe; Germany; May 2013 |
|
|
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 |
1050-4729 |
ISBN |
978-1-4673-5641-1 |
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
ICRA |
|
|
Notes ![sorted by Notes field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
ADAS; 600.054; 600.055; 600.057 |
Approved |
no |
|
|
Call Number |
Admin @ si @ RGS2013a; ADAS @ adas @ |
Serial |
2225 |
|
Permanent link to this record |
|
|
|
|
Author |
Yainuvis Socarras; Sebastian Ramos; David Vazquez; Antonio Lopez; Theo Gevers |
![download PDF file pdf](http://refbase.cvc.uab.es/img/file_PDF.gif)
|
|
Title |
Adapting Pedestrian Detection from Synthetic to Far Infrared Images |
Type |
Conference Article |
|
Year |
2013 |
Publication |
ICCV Workshop on Visual Domain Adaptation and Dataset Bias |
Abbreviated Journal |
|
|
|
Volume |
|
Issue |
|
Pages |
|
|
|
Keywords |
Domain Adaptation; Far Infrared; Pedestrian Detection |
|
|
Abstract |
We present different techniques to adapt a pedestrian classifier trained with synthetic images and the corresponding automatically generated annotations to operate with far infrared (FIR) images. The information contained in this kind of images allow us to develop a robust pedestrian detector invariant to extreme illumination changes. |
|
|
Address |
Sydney; Australia; December 2013 |
|
|
Corporate Author |
|
Thesis |
|
|
|
Publisher |
|
Place of Publication |
Sydney, Australy |
Editor |
|
|
|
Language |
English |
Summary Language |
|
Original Title |
|
|
|
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
|
Series Volume |
|
Series Issue |
|
Edition |
|
|
|
ISSN |
|
ISBN |
|
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
ICCVW-VisDA |
|
|
Notes ![sorted by Notes field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
ADAS; 600.054; 600.055; 600.057; 601.217;ISE |
Approved |
no |
|
|
Call Number |
ADAS @ adas @ SRV2013 |
Serial |
2334 |
|
Permanent link to this record |
|
|
|
|
Author |
Jiaolong Xu; David Vazquez; Antonio Lopez; Javier Marin; Daniel Ponsa |
![download PDF file pdf](http://refbase.cvc.uab.es/img/file_PDF.gif)
![find book details (via ISBN) isbn](http://refbase.cvc.uab.es/img/isbn.gif)
|
|
Title |
Learning a Multiview Part-based Model in Virtual World for Pedestrian Detection |
Type |
Conference Article |
|
Year |
2013 |
Publication |
IEEE Intelligent Vehicles Symposium |
Abbreviated Journal |
|
|
|
Volume |
|
Issue |
|
Pages |
467 - 472 |
|
|
Keywords |
Pedestrian Detection; Virtual World; Part based |
|
|
Abstract |
State-of-the-art deformable part-based models based on latent SVM have shown excellent results on human detection. In this paper, we propose to train a multiview deformable part-based model with automatically generated part examples from virtual-world data. The method is efficient as: (i) the part detectors are trained with precisely extracted virtual examples, thus no latent learning is needed, (ii) the multiview pedestrian detector enhances the performance of the pedestrian root model, (iii) a top-down approach is used for part detection which reduces the searching space. We evaluate our model on Daimler and Karlsruhe Pedestrian Benchmarks with publicly available Caltech pedestrian detection evaluation framework and the result outperforms the state-of-the-art latent SVM V4.0, on both average miss rate and speed (our detector is ten times faster). |
|
|
Address |
Gold Coast; Australia; June 2013 |
|
|
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 |
1931-0587 |
ISBN |
978-1-4673-2754-1 |
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
IV |
|
|
Notes ![sorted by Notes field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
ADAS; 600.054; 600.057 |
Approved |
no |
|
|
Call Number |
XVL2013; ADAS @ adas @ xvl2013a |
Serial |
2214 |
|
Permanent link to this record |
|
|
|
|
Author |
David Vazquez; Jiaolong Xu; Sebastian Ramos; Antonio Lopez; Daniel Ponsa |
![download PDF file pdf](http://refbase.cvc.uab.es/img/file_PDF.gif)
![find record details (via OpenURL) openurl](http://refbase.cvc.uab.es/img/xref.gif)
|
|
Title |
Weakly Supervised Automatic Annotation of Pedestrian Bounding Boxes |
Type |
Conference Article |
|
Year |
2013 |
Publication |
CVPR Workshop on Ground Truth – What is a good dataset? |
Abbreviated Journal |
|
|
|
Volume |
|
Issue |
|
Pages |
706 - 711 |
|
|
Keywords |
Pedestrian Detection; Domain Adaptation |
|
|
Abstract |
Among the components of a pedestrian detector, its trained pedestrian classifier is crucial for achieving the desired performance. The initial task of the training process consists in collecting samples of pedestrians and background, which involves tiresome manual annotation of pedestrian bounding boxes (BBs). Thus, recent works have assessed the use of automatically collected samples from photo-realistic virtual worlds. However, learning from virtual-world samples and testing in real-world images may suffer the dataset shift problem. Accordingly, in this paper we assess an strategy to collect samples from the real world and retrain with them, thus avoiding the dataset shift, but in such a way that no BBs of real-world pedestrians have to be provided. In particular, we train a pedestrian classifier based on virtual-world samples (no human annotation required). Then, using such a classifier we collect pedestrian samples from real-world images by detection. After, a human oracle rejects the false detections efficiently (weak annotation). Finally, a new classifier is trained with the accepted detections. We show that this classifier is competitive with respect to the counterpart trained with samples collected by manually annotating hundreds of pedestrian BBs. |
|
|
Address |
Portland; Oregon; June 2013 |
|
|
Corporate Author |
|
Thesis |
|
|
|
Publisher |
IEEE |
Place of Publication |
|
Editor |
|
|
|
Language |
English |
Summary Language |
English |
Original Title |
|
|
|
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
|
Series Volume |
|
Series Issue |
|
Edition |
|
|
|
ISSN |
|
ISBN |
|
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
CVPRW |
|
|
Notes ![sorted by Notes field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
ADAS; 600.054; 600.057; 601.217 |
Approved |
no |
|
|
Call Number |
ADAS @ adas @ VXR2013a |
Serial |
2219 |
|
Permanent link to this record |
|
|
|
|
Author |
Jiaolong Xu; David Vazquez; Sebastian Ramos; Antonio Lopez; Daniel Ponsa |
![download PDF file pdf](http://refbase.cvc.uab.es/img/file_PDF.gif)
![find record details (via OpenURL) openurl](http://refbase.cvc.uab.es/img/xref.gif)
|
|
Title |
Adapting a Pedestrian Detector by Boosting LDA Exemplar Classifiers |
Type |
Conference Article |
|
Year |
2013 |
Publication |
CVPR Workshop on Ground Truth – What is a good dataset? |
Abbreviated Journal |
|
|
|
Volume |
|
Issue |
|
Pages |
688 - 693 |
|
|
Keywords |
Pedestrian Detection; Domain Adaptation |
|
|
Abstract |
Training vision-based pedestrian detectors using synthetic datasets (virtual world) is a useful technique to collect automatically the training examples with their pixel-wise ground truth. However, as it is often the case, these detectors must operate in real-world images, experiencing a significant drop of their performance. In fact, this effect also occurs among different real-world datasets, i.e. detectors' accuracy drops when the training data (source domain) and the application scenario (target domain) have inherent differences. Therefore, in order to avoid this problem, it is required to adapt the detector trained with synthetic data to operate in the real-world scenario. In this paper, we propose a domain adaptation approach based on boosting LDA exemplar classifiers from both virtual and real worlds. We evaluate our proposal on multiple real-world pedestrian detection datasets. The results show that our method can efficiently adapt the exemplar classifiers from virtual to real world, avoiding drops in average precision over the 15%. |
|
|
Address |
Portland; oregon; June 2013 |
|
|
Corporate Author |
|
Thesis |
|
|
|
Publisher |
|
Place of Publication |
|
Editor |
|
|
|
Language |
English |
Summary Language |
English |
Original Title |
|
|
|
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
|
Series Volume |
|
Series Issue |
|
Edition |
|
|
|
ISSN |
|
ISBN |
|
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
CVPRW |
|
|
Notes ![sorted by Notes field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
ADAS; 600.054; 600.057; 601.217 |
Approved |
yes |
|
|
Call Number |
XVR2013; ADAS @ adas @ xvr2013a |
Serial |
2220 |
|
Permanent link to this record |
|
|
|
|
Author |
Jiaolong Xu; Sebastian Ramos; Xu Hu; David Vazquez; Antonio Lopez |
![download PDF file pdf](http://refbase.cvc.uab.es/img/file_PDF.gif)
|
|
Title |
Multi-task Bilinear Classifiers for Visual Domain Adaptation |
Type |
Conference Article |
|
Year |
2013 |
Publication |
Advances in Neural Information Processing Systems Workshop |
Abbreviated Journal |
|
|
|
Volume |
|
Issue |
|
Pages |
|
|
|
Keywords |
Domain Adaptation; Pedestrian Detection; ADAS |
|
|
Abstract |
We propose a method that aims to lessen the significant accuracy degradation
that a discriminative classifier can suffer when it is trained in a specific domain (source domain) and applied in a different one (target domain). The principal reason for this degradation is the discrepancies in the distribution of the features that feed the classifier in different domains. Therefore, we propose a domain adaptation method that maps the features from the different domains into a common subspace and learns a discriminative domain-invariant classifier within it. Our algorithm combines bilinear classifiers and multi-task learning for domain adaptation.
The bilinear classifier encodes the feature transformation and classification
parameters by a matrix decomposition. In this way, specific feature transformations for multiple domains and a shared classifier are jointly learned in a multi-task learning framework. Focusing on domain adaptation for visual object detection, we apply this method to the state-of-the-art deformable part-based model for cross domain pedestrian detection. Experimental results show that our method significantly avoids the domain drift and improves the accuracy when compared to several baselines. |
|
|
Address |
Lake Tahoe; Nevada; USA; December 2013 |
|
|
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 |
NIPSW |
|
|
Notes ![sorted by Notes field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
ADAS; 600.054; 600.057; 601.217;ISE |
Approved |
no |
|
|
Call Number |
ADAS @ adas @ XRH2013 |
Serial |
2340 |
|
Permanent link to this record |
|
|
|
|
Author |
Andrew Nolan; Daniel Serrano; Aura Hernandez-Sabate; Daniel Ponsa; Antonio Lopez |
![download PDF file pdf](http://refbase.cvc.uab.es/img/file_PDF.gif)
|
|
Title |
Obstacle mapping module for quadrotors on outdoor Search and Rescue operations |
Type |
Conference Article |
|
Year |
2013 |
Publication |
International Micro Air Vehicle Conference and Flight Competition |
Abbreviated Journal |
|
|
|
Volume |
|
Issue |
|
Pages |
|
|
|
Keywords |
UAV |
|
|
Abstract |
Obstacle avoidance remains a challenging task for Micro Aerial Vehicles (MAV), due to their limited payload capacity to carry advanced sensors. Unlike larger vehicles, MAV can only carry light weight sensors, for instance a camera, which is our main assumption in this work. We explore passive monocular depth estimation and propose a novel method Position Aided Depth Estimation
(PADE). We analyse PADE performance and compare it against the extensively used Time To Collision (TTC). We evaluate the accuracy, robustness to noise and speed of three Optical Flow (OF) techniques, combined with both depth estimation methods. Our results show PADE is more accurate than TTC at depths between 0-12 meters and is less sensitive to noise. Our findings highlight the potential application of PADE for MAV to perform safe autonomous navigation in
unknown and unstructured environments. |
|
|
Address |
Toulouse; France; September 2013 |
|
|
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 |
IMAV |
|
|
Notes ![sorted by Notes field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
ADAS; 600.054; 600.057;IAM |
Approved |
no |
|
|
Call Number |
Admin @ si @ NSH2013 |
Serial |
2371 |
|
Permanent link to this record |
|
|
|
|
Author |
Marcelo D. Pistarelli; Angel Sappa; Ricardo Toledo |
![goto web page (via DOI) doi](http://refbase.cvc.uab.es/img/doi.gif)
![find record details (via OpenURL) openurl](http://refbase.cvc.uab.es/img/xref.gif)
|
|
Title |
Multispectral Stereo Image Correspondence |
Type |
Conference Article |
|
Year |
2013 |
Publication |
15th International Conference on Computer Analysis of Images and Patterns |
Abbreviated Journal |
|
|
|
Volume |
8048 |
Issue |
|
Pages |
217-224 |
|
|
Keywords |
|
|
|
Abstract |
This paper presents a novel multispectral stereo image correspondence approach. It is evaluated using a stereo rig constructed with a visible spectrum camera and a long wave infrared spectrum camera. The novelty of the proposed approach lies on the usage of Hough space as a correspondence search domain. In this way it avoids searching for correspondence in the original multispectral image domains, where information is low correlated, and a common domain is used. The proposed approach is intended to be used in outdoor urban scenarios, where images contain large amount of edges. These edges are used as distinctive characteristics for the matching in the Hough space. Experimental results are provided showing the validity of the proposed approach. |
|
|
Address |
York; uk; August 2013 |
|
|
Corporate Author |
|
Thesis |
|
|
|
Publisher |
Springer Berlin Heidelberg |
Place of Publication |
|
Editor |
|
|
|
Language |
|
Summary Language |
|
Original Title |
|
|
|
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
LNCS |
|
|
Series Volume |
|
Series Issue |
|
Edition |
|
|
|
ISSN |
0302-9743 |
ISBN |
978-3-642-40245-6 |
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
CAIP |
|
|
Notes ![sorted by Notes field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
ADAS; 600.055 |
Approved |
no |
|
|
Call Number |
Admin @ si @ PST2013 |
Serial |
2561 |
|
Permanent link to this record |
|
|
|
|
Author |
Gioacchino Vino; Angel Sappa |
![goto web page (via DOI) doi](http://refbase.cvc.uab.es/img/doi.gif)
![find record details (via OpenURL) openurl](http://refbase.cvc.uab.es/img/xref.gif)
|
|
Title |
Revisiting Harris Corner Detector Algorithm: a Gradual Thresholding Approach |
Type |
Conference Article |
|
Year |
2013 |
Publication |
10th International Conference on Image Analysis and Recognition |
Abbreviated Journal |
|
|
|
Volume |
7950 |
Issue |
|
Pages |
354-363 |
|
|
Keywords |
|
|
|
Abstract |
This paper presents an adaptive thresholding approach intended to increase the number of detected corners, while reducing the amount of those ones corresponding to noisy data. The proposed approach works by using the classical Harris corner detector algorithm and overcome the difficulty in finding a general threshold that work well for all the images in a given data set by proposing a novel adaptive thresholding scheme. Initially, two thresholds are used to discern between strong corners and flat regions. Then, a region based criteria is used to discriminate between weak corners and noisy points in the midway interval. Experimental results show that the proposed approach has a better capability to reject false corners and, at the same time, to detect weak ones. Comparisons with the state of the art are provided showing the validity of the proposed approach. |
|
|
Address |
Póvoa de Varzim; Portugal; June 2013 |
|
|
Corporate Author |
|
Thesis |
|
|
|
Publisher |
Springer Berlin Heidelberg |
Place of Publication |
|
Editor |
|
|
|
Language |
|
Summary Language |
|
Original Title |
|
|
|
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
LNCS |
|
|
Series Volume |
|
Series Issue |
|
Edition |
|
|
|
ISSN |
0302-9743 |
ISBN |
978-3-642-39093-7 |
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
ICIAR |
|
|
Notes ![sorted by Notes field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
ADAS; 600.055 |
Approved |
no |
|
|
Call Number |
Admin @ si @ ViS2013 |
Serial |
2562 |
|
Permanent link to this record |
|
|
|
|
Author |
P. Ricaurte; C. Chilan; Cristhian A. Aguilera-Carrasco; Boris X. Vintimilla; Angel Sappa |
![download PDF file pdf](http://refbase.cvc.uab.es/img/file_PDF.gif)
![find record details (via OpenURL) openurl](http://refbase.cvc.uab.es/img/xref.gif)
|
|
Title |
Performance Evaluation of Feature Point Descriptors in the Infrared Domain |
Type |
Conference Article |
|
Year |
2014 |
Publication |
9th International Conference on Computer Vision Theory and Applications |
Abbreviated Journal |
|
|
|
Volume |
1 |
Issue |
|
Pages |
545-550 |
|
|
Keywords |
Infrared Imaging; Feature Point Descriptors |
|
|
Abstract |
This paper presents a comparative evaluation of classical feature point descriptors when they are used in the long-wave infrared spectral band. Robustness to changes in rotation, scaling, blur, and additive noise are evaluated using a state of the art framework. Statistical results using an outdoor image data set are presented together with a discussion about the differences with respect to the results obtained when images from the visible spectrum are considered. |
|
|
Address |
Lisboa; Portugal; January 2014 |
|
|
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 |
VISAPP |
|
|
Notes ![sorted by Notes field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
ADAS; 600.055; 600.076 |
Approved |
no |
|
|
Call Number |
Admin @ si @ RCA2014b |
Serial |
2476 |
|
Permanent link to this record |