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Author |
Hamed H. Aghdam; Abel Gonzalez-Garcia; Joost Van de Weijer; Antonio Lopez |
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Title |
Active Learning for Deep Detection Neural Networks |
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Conference Article |
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Year |
2019 |
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18th IEEE International Conference on Computer Vision |
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3672-3680 |
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The cost of drawing object bounding boxes (ie labeling) for millions of images is prohibitively high. For instance, labeling pedestrians in a regular urban image could take 35 seconds on average. Active learning aims to reduce the cost of labeling by selecting only those images that are informative to improve the detection network accuracy. In this paper, we propose a method to perform active learning of object detectors based on convolutional neural networks. We propose a new image-level scoring process to rank unlabeled images for their automatic selection, which clearly outperforms classical scores. The proposed method can be applied to videos and sets of still images. In the former case, temporal selection rules can complement our scoring process. As a relevant use case, we extensively study the performance of our method on the task of pedestrian detection. Overall, the experiments show that the proposed method performs better than random selection. |
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Seul; Korea; October 2019 |
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ICCV |
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ADAS; LAMP; 600.124; 600.109; 600.141; 600.120; 600.118 |
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Call Number |
Admin @ si @ AGW2019 |
Serial |
3321 |
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Author |
Felipe Codevilla; Eder Santana; Antonio Lopez; Adrien Gaidon |
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Title |
Exploring the Limitations of Behavior Cloning for Autonomous Driving |
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Conference Article |
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Year |
2019 |
Publication |
18th IEEE International Conference on Computer Vision |
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9328-9337 |
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Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of human-driven cars. Behavior cloning in particular has been successfully used to learn simple visuomotor policies end-to-end, but scaling to the full spectrum of driving behaviors remains an unsolved problem. In this paper, we propose a new benchmark to experimentally investigate the scalability and limitations of behavior cloning. We show that behavior cloning leads to state-of-the-art results, executing complex lateral and longitudinal maneuvers, even in unseen environments, without being explicitly programmed to do so. However, we confirm some limitations of the behavior cloning approach: some well-known limitations (eg, dataset bias and overfitting), new generalization issues (eg, dynamic objects and the lack of a causal modeling), and training instabilities, all requiring further research before behavior cloning can graduate to real-world driving. The code, dataset, benchmark, and agent studied in this paper can be found at github. |
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Seul; Korea; October 2019 |
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ADAS; 600.124; 600.118 |
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Admin @ si @ CSL2019 |
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3322 |
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Author |
Patricia Marquez; H. Kause; A. Fuster; Aura Hernandez-Sabate; L. Florack; Debora Gil; Hans van Assen |
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Title |
Factors Affecting Optical Flow Performance in Tagging Magnetic Resonance Imaging |
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Conference Article |
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Year |
2014 |
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17th International Conference on Medical Image Computing and Computer Assisted Intervention |
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8896 |
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231-238 |
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Optical flow; Performance Evaluation; Synthetic Database; ANOVA; Tagging Magnetic Resonance Imaging |
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Changes in cardiac deformation patterns are correlated with cardiac pathologies. Deformation can be extracted from tagging Magnetic Resonance Imaging (tMRI) using Optical Flow (OF) techniques. For applications of OF in a clinical setting it is important to assess to what extent the performance of a particular OF method is stable across di erent clinical acquisition artifacts. This paper presents a statistical validation framework, based on ANOVA, to assess the motion and appearance factors that have the largest in uence on OF accuracy drop.
In order to validate this framework, we created a database of simulated tMRI data including the most common artifacts of MRI and test three di erent OF methods, including HARP. |
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Boston; USA; September 2014 |
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Springer International Publishing |
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0302-9743 |
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978-3-319-14677-5 |
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STACOM |
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IAM; ADAS; 600.060; 601.145; 600.076; 600.075 |
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Call Number |
Admin @ si @ MKF2014 |
Serial |
2495 |
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Author |
Fernando Barrera; Felipe Lumbreras; Angel Sappa |
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Title |
Multimodal Template Matching based on Gradient and Mutual Information using Scale-Space |
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Conference Article |
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Year |
2010 |
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17th IEEE International Conference on Image Processing |
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2749–2752 |
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This paper presents the combined use of gradient and mutual information for infrared and intensity templates matching. We propose to joint: (i) feature matching in a multiresolution context and (ii) information propagation through scale-space representations. Our method consists in combining mutual information with a shape descriptor based on gradient, and propagate them following a coarse-to-fine strategy. The main contributions of this work are: to offer a theoretical formulation towards a multimodal stereo matching; to show that gradient and mutual information can be reinforced while they are propagated between consecutive levels; and to show that they are valid cost functions in multimodal template matchings. Comparisons are presented showing the improvements and viability of the proposed approach. |
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Hong-Kong |
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1522-4880 |
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978-1-4244-7992-4 |
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ICIP |
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ADAS |
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ADAS @ adas @ BLS2010 |
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1358 |
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Author |
Mohammad Rouhani; Angel Sappa |
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Title |
A Fast accurate Implicit Polynomial Fitting Approach |
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Conference Article |
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Year |
2010 |
Publication |
17th IEEE International Conference on Image Processing |
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Pages |
1429–1432 |
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This paper presents a novel hybrid approach that combines state of the art fitting algorithms: algebraic-based and geometric-based. It consists of two steps; first, the 3L algorithm is used as an initialization and then, the obtained result, is improved through a geometric approach. The adopted geometric approach is based on a distance estimation that avoids costly search for the real orthogonal distance. Experimental results are presented as well as quantitative comparisons. |
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Hong-Kong |
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1522-4880 |
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978-1-4244-7992-4 |
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ICIP |
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ADAS |
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ADAS @ adas @ RoS2010b |
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1359 |
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Author |
Daniel Hernandez; Alejandro Chacon; Antonio Espinosa; David Vazquez; Juan Carlos Moure; Antonio Lopez |
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Title |
Embedded real-time stereo estimation via Semi-Global Matching on the GPU |
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Conference Article |
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Year |
2016 |
Publication |
16th International Conference on Computational Science |
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80 |
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143-153 |
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Keywords |
Autonomous Driving; Stereo; CUDA; 3d reconstruction |
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Dense, robust and real-time computation of depth information from stereo-camera systems is a computationally demanding requirement for robotics, advanced driver assistance systems (ADAS) and autonomous vehicles. Semi-Global Matching (SGM) is a widely used algorithm that propagates consistency constraints along several paths across the image. This work presents a real-time system producing reliable disparity estimation results on the new embedded energy-efficient GPU devices. Our design runs on a Tegra X1 at 41 frames per second for an image size of 640x480, 128 disparity levels, and using 4 path directions for the SGM method. |
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San Diego; CA; USA; June 2016 |
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ADAS; 600.085; 600.082; 600.076 |
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Call Number |
ADAS @ adas @ HCE2016a |
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2740 |
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Author |
Victor Campmany; Sergio Silva; Antonio Espinosa; Juan Carlos Moure; David Vazquez; Antonio Lopez |
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Title |
GPU-based pedestrian detection for autonomous driving |
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Conference Article |
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2016 |
Publication |
16th International Conference on Computational Science |
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80 |
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2377-2381 |
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Pedestrian detection; Autonomous Driving; CUDA |
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We propose a real-time pedestrian detection system for the embedded Nvidia Tegra X1 GPU-CPU hybrid platform. The pipeline is composed by the following state-of-the-art algorithms: Histogram of Local Binary Patterns (LBP) and Histograms of Oriented Gradients (HOG) features extracted from the input image; Pyramidal Sliding Window technique for foreground segmentation; and Support Vector Machine (SVM) for classification. Results show a 8x speedup in the target Tegra X1 platform and a better performance/watt ratio than desktop CUDA platforms in study. |
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San Diego; CA; USA; June 2016 |
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ADAS; 600.085; 600.082; 600.076 |
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ADAS @ adas @ CSE2016 |
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2741 |
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Author |
Jose Manuel Alvarez; Ferran Diego; Joan Serrat; Antonio Lopez |
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Title |
Automatic Ground-truthing using video registration for on-board detection algorithms |
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Conference Article |
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2009 |
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16th IEEE International Conference on Image Processing |
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4389 - 4392 |
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Ground-truth data is essential for the objective evaluation of object detection methods in computer vision. Many works claim their method is robust but they support it with experiments which are not quantitatively assessed with regard some ground-truth. This is one of the main obstacles to properly evaluate and compare such methods. One of the main reasons is that creating an extensive and representative ground-truth is very time consuming, specially in the case of video sequences, where thousands of frames have to be labelled. Could such a ground-truth be generated, at least in part, automatically? Though it may seem a contradictory question, we show that this is possible for the case of video sequences recorded from a moving camera. The key idea is transferring existing frame segmentations from a reference sequence into another video sequence recorded at a different time on the same track, possibly under a different ambient lighting. We have carried out experiments on several video sequence pairs and quantitatively assessed the precision of the transformed ground-truth, which prove that our approach is not only feasible but also quite accurate. |
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Cairo, Egypt |
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1522-4880 |
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978-1-4244-5653-6 |
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ICIP |
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ADAS |
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ADAS @ adas @ ADS2009 |
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1201 |
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Author |
Angel Sappa; Mohammad Rouhani |
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Title |
Efficient Distance Estimation for Fitting Implicit Quadric Surfaces |
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Conference Article |
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2009 |
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16th IEEE International Conference on Image Processing |
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3521–3524 |
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This paper presents a novel approach for estimating the shortest Euclidean distance from a given point to the corresponding implicit quadric fitting surface. It first estimates the orthogonal orientation to the surface from the given point; then the shortest distance is directly estimated by intersecting the implicit surface with a line passing through the given point according to the estimated orthogonal orientation. The proposed orthogonal distance estimation is easily obtained without increasing computational complexity; hence it can be used in error minimization surface fitting frameworks. Comparisons of the proposed metric with previous approaches are provided to show both improvements in CPU time as well as in the accuracy of the obtained results. Surfaces fitted by using the proposed geometric distance estimation and state of the art metrics are presented to show the viability of the proposed approach. |
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Cairo, Egypt |
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1522-4880 |
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978-1-4244-5653-6 |
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ADAS |
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ADAS @ adas @ SaR2009 |
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1232 |
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Author |
Cristhian Aguilera; Xavier Soria; Angel Sappa; Ricardo Toledo |
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Title |
RGBN Multispectral Images: a Novel Color Restoration Approach |
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Conference Article |
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2017 |
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15th International Conference on Practical Applications of Agents and Multi-Agent System |
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Multispectral Imaging; Free Sensor Model; Neural Network |
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This paper describes a color restoration technique used to remove NIR information from single sensor cameras where color and near-infrared images are simultaneously acquired|referred to in the literature as RGBN images. The proposed approach is based on a neural network architecture that learns the NIR information contained in the RGBN images. The proposed approach is evaluated on real images obtained by using a pair of RGBN cameras. Additionally, qualitative comparisons with a nave color correction technique based on mean square
error minimization are provided. |
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Porto; Portugal; June 2017 |
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PAAMS |
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ADAS; MSIAU; 600.118; 600.122 |
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Admin @ si @ ASS2017 |
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2918 |
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