| |
Records |
Links |
|
Author |
Miguel Oliveira; Victor Santos; Angel Sappa; P. Dias |
|
| |
Title |
Scene Representations for Autonomous Driving: an approach based on polygonal primitives |
Type |
Conference Article |
| |
Year |
2015 |
Publication |
2nd Iberian Robotics Conference ROBOT2015 |
Abbreviated Journal |
|
|
| |
Volume  |
417 |
Issue |
|
Pages |
503-515 |
|
| |
Keywords |
Scene reconstruction; Point cloud; Autonomous vehicles |
|
| |
Abstract |
In this paper, we present a novel methodology to compute a 3D scene
representation. The algorithm uses macro scale polygonal primitives to model the scene. This means that the representation of the scene is given as a list of large scale polygons that describe the geometric structure of the environment. Results show that the approach is capable of producing accurate descriptions of the scene. In addition, the algorithm is very efficient when compared to other techniques. |
|
| |
Address |
Lisboa; Portugal; November 2015 |
|
| |
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 |
ROBOT |
|
| |
Notes |
ADAS; 600.076; 600.086 |
Approved |
no |
|
| |
Call Number |
Admin @ si @ OSS2015a |
Serial |
2662 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
J.Poujol; Cristhian A. Aguilera-Carrasco; E.Danos; Boris X. Vintimilla; Ricardo Toledo; Angel Sappa |
|
| |
Title |
Visible-Thermal Fusion based Monocular Visual Odometry |
Type |
Conference Article |
| |
Year |
2015 |
Publication |
2nd Iberian Robotics Conference ROBOT2015 |
Abbreviated Journal |
|
|
| |
Volume |
417 |
Issue |
|
Pages |
517-528 |
|
| |
Keywords |
Monocular Visual Odometry; LWIR-RGB cross-spectral Imaging; Image Fusion. |
|
| |
Abstract |
The manuscript evaluates the performance of a monocular visual odometry approach when images from different spectra are considered, both independently and fused. The objective behind this evaluation is to analyze if classical approaches can be improved when the given images, which are from different spectra, are fused and represented in new domains. The images in these new domains should have some of the following properties: i) more robust to noisy data; ii) less sensitive to changes (e.g., lighting); iii) more rich in descriptive information, among other. In particular in the current work two different image fusion strategies are considered. Firstly, images from the visible and thermal spectrum are fused using a Discrete Wavelet Transform (DWT) approach. Secondly, a monochrome threshold strategy is considered. The obtained
representations are evaluated under a visual odometry framework, highlighting
their advantages and disadvantages, using different urban and semi-urban scenarios. Comparisons with both monocular-visible spectrum and monocular-infrared spectrum, are also provided showing the validity of the proposed approach. |
|
| |
Address |
Lisboa; Portugal; November 2015 |
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
Springer International Publishing |
Place of Publication |
|
Editor |
|
|
| |
Language |
|
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
2194-5357 |
ISBN |
978-3-319-27145-3 |
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
ROBOT |
|
| |
Notes |
ADAS; 600.076; 600.086 |
Approved |
no |
|
| |
Call Number |
Admin @ si @ PAD2015 |
Serial |
2663 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez |
|
| |
Title |
Factorization with Missing and Noisy Data |
Type |
Conference Article |
| |
Year |
2006 |
Publication |
6th International Conference on Computational Science |
Abbreviated Journal |
ICCS´06 |
|
| |
Volume |
LNCS 3991 |
Issue |
|
Pages |
555–562 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
Reading (United Kingdom) |
|
| |
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 @ JSL2006b |
Serial |
653 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez |
|
| |
Title |
An Iterative Multiresolution Scheme for SFM |
Type |
Conference Article |
| |
Year |
2006 |
Publication |
International Conference on Image Analysis and Recognition |
Abbreviated Journal |
ICIAR 2006 |
|
| |
Volume |
LNCS 4141 |
Issue |
1 |
Pages |
804–815 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
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 @ JSL2006c |
Serial |
704 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez |
|
| |
Title |
Motion Segmentation from Feature Trajectories with Missing Data |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
3rd. Iberian Conference on Pattern Recognition and Image Analysis |
Abbreviated Journal |
IbPRIA 2007 |
|
| |
Volume |
LNCS 4477 |
Issue |
|
Pages |
483–490 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
Girona (Spain) |
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
J. Marti et al. (Eds.) |
|
| |
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 @ JSL2007a |
Serial |
814 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Joan Serrat; Ferran Diego; Felipe Lumbreras; Jose Manuel Alvarez |
|
| |
Title |
Synchronization of Video Sequences from Free-moving Cameras |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
3rd Iberian Conference on Pattern Recognition and Image Analysis |
Abbreviated Journal |
|
|
| |
Volume |
4477 |
Issue |
|
Pages |
620–627 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
Girona (Spain) |
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
J. Marti et al. |
|
| |
Language |
|
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
LNCS |
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
IbPRIA |
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ SDL2007 |
Serial |
880 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Antonio Lopez; Joan Serrat; Cristina Cañero; Felipe Lumbreras |
|
| |
Title |
Robust Lane Lines Detection and Quantitative Assessment |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
3rd Iberian Conference on Pattern Recognition and Image Analysis |
Abbreviated Journal |
|
|
| |
Volume |
4477 |
Issue |
|
Pages |
274–281 |
|
| |
Keywords |
lane markings |
|
| |
Abstract |
|
|
| |
Address |
Girona (Spain) |
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
J. Marti et al |
|
| |
Language |
|
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
LNCS |
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
IbPRIA |
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ LSC2007 |
Serial |
881 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Fadi Dornaika; Angel Sappa |
|
| |
Title |
Real-time Vehicle Ego-Motion using Stereo Pairs and Particle Filters |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
Int. Conf. on Image Analysis and Recognition, |
Abbreviated Journal |
|
|
| |
Volume |
4633 |
Issue |
|
Pages |
469–480 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
Montreal (Canada) |
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
|
|
| |
Language |
|
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
LNCS |
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ DoS2007a |
Serial |
813 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Angel Sappa; Fadi Dornaika; David Geronimo; Antonio Lopez |
|
| |
Title |
Efficient On-Board Stereo Vision Pose Estimation |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
Computer Aided Systems Theory, Selected paper from |
Abbreviated Journal |
|
|
| |
Volume |
4739 |
Issue |
|
Pages |
1183–1190 |
|
| |
Keywords |
|
|
| |
Abstract |
This paper presents an efficient technique for real time estimation of on-board stereo vision system pose. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the 3D road points. Fast RANSAC fitting is obtained by selecting points according to a probability distribution function that takes into account the density of points at a given depth. Finally, stereo camera position
and orientation—pose—is computed relative to the road plane. The proposed technique is intended to be used on driver assistance systems for applications such as obstacle or pedestrian detection. A real time performance is reached. Experimental results on several environments and comparisons with a previous work are presented. |
|
| |
Address |
Las Palmas de Gran Canaria (Spain) |
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
|
|
| |
Language |
|
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
LNCS |
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
EUROCAST |
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ SDG2007b |
Serial |
916 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Angel Sappa; Rosa Herrero; Fadi Dornaika; David Geronimo; Antonio Lopez |
|
| |
Title |
Road Approximation in Euclidean and v-Disparity Space: A Comparative Study |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
Computer Aided Systems Theory, |
Abbreviated Journal |
|
|
| |
Volume |
4739 |
Issue |
|
Pages |
1105–1112 |
|
| |
Keywords |
|
|
| |
Abstract |
This paper presents a comparative study between two road approximation techniques—planar surfaces—from stereo vision data. The first approach is carried out in the v-disparity space and is based on a voting scheme, the Hough transform. The second one consists in computing the best fitting plane for the whole 3D road data points, directly in the Euclidean space, by using least squares fitting. The comparative study is initially performed over a set of different synthetic surfaces
(e.g., plane, quadratic surface, cubic surface) digitized by a virtual stereo head; then real data obtained with a commercial stereo head are used. The comparative study is intended to be used as a criterion for fining the best technique according to the road geometry. Additionally, it highlights common problems driven from a wrong assumption about the scene’s prior knowledge. |
|
| |
Address |
Las Palmas de Gran Canaria (Spain) |
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
|
|
| |
Language |
|
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
LNCS |
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
EUROCAST |
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ SHD2007b |
Serial |
917 |
|
| Permanent link to this record |
