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Jose Manuel Alvarez and Antonio Lopez. 2008. Novel Index for Objective Evaluation of Road Detection Algorithms. Intelligent Transportation Systems. 11th International IEEE Conference on,.815–820.
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Antonio Lopez, J. Hilgenstock, A. Busse, Ramon Baldrich, Felipe Lumbreras and Joan Serrat. 2008. Nightime Vehicle Detecion for Intelligent Headlight Control. Advanced Concepts for Intelligent Vision Systems, 10th International Conference, Proceedings,.113–124. (LNCS.)
Keywords: Intelligent Headlights; vehicle detection
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Arnau Ramisa, Adriana Tapus, Ramon Lopez de Mantaras and Ricardo Toledo. 2008. Mobile Robot Localization using Panoramic Vision and Combination of Feature Region Detectors. IEEE International Conference on Robotics and Automation,.538–543.
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Jose Manuel Alvarez, Theo Gevers and Antonio Lopez. 2009. Learning Photometric Invariance from Diversified Color Model Ensembles. 22nd IEEE Conference on Computer Vision and Pattern Recognition.565–572.
Abstract: Color is a powerful visual cue for many computer vision applications such as image segmentation and object recognition. However, most of the existing color models depend on the imaging conditions affecting negatively the performance of the task at hand. Often, a reflection model (e.g., Lambertian or dichromatic reflectance) is used to derive color invariant models. However, those reflection models might be too restricted to model real-world scenes in which different reflectance mechanisms may hold simultaneously. Therefore, in this paper, we aim to derive color invariance by learning from color models to obtain diversified color invariant ensembles. First, a photometrical orthogonal and non-redundant color model set is taken on input composed of both color variants and invariants. Then, the proposed method combines and weights these color models to arrive at a diversified color ensemble yielding a proper balance between invariance (repeatability) and discriminative power (distinctiveness). To achieve this, the fusion method uses a multi-view approach to minimize the estimation error. In this way, the method is robust to data uncertainty and produces properly diversified color invariant ensembles. Experiments are conducted on three different image datasets to validate the method. From the theoretical and experimental results, it is concluded that the method is robust against severe variations in imaging conditions. The method is not restricted to a certain reflection model or parameter tuning. Further, the method outperforms state-of- the-art detection techniques in the field of object, skin and road recognition.
Keywords: road detection
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Mohammad Rouhani and Angel Sappa. 2009. A Novel Approach to Geometric Fitting of Implicit Quadrics. 8th International Conference on Advanced Concepts for Intelligent Vision Systems. Springer Berlin Heidelberg, 121–132. (LNCS.)
Abstract: This paper presents a novel approach for estimating the geometric distance from a given point to the corresponding implicit quadric curve/surface. The proposed estimation is based on the height of a tetrahedron, which is used as a coarse but reliable estimation of the real distance. The estimated distance is then used for finding the best set of quadric parameters, by means of the Levenberg-Marquardt algorithm, which is a common framework in other geometric fitting approaches. Comparisons of the proposed approach with previous ones are provided to show both improvements in CPU time as well as in the accuracy of the obtained results.
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Jose Manuel Alvarez, Ferran Diego, Joan Serrat and Antonio Lopez. 2009. Automatic Ground-truthing using video registration for on-board detection algorithms. 16th IEEE International Conference on Image Processing.4389–4392.
Abstract: 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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Angel Sappa and Mohammad Rouhani. 2009. Efficient Distance Estimation for Fitting Implicit Quadric Surfaces. 16th IEEE International Conference on Image Processing.3521–3524.
Abstract: 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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David Aldavert, Ricardo Toledo, Arnau Ramisa and Ramon Lopez de Mantaras. 2009. Efficient Object Pixel-Level Categorization using Bag of Features: Advances in Visual Computing. 5th International Symposium on Visual Computing. Springer Berlin Heidelberg, 44–55.
Abstract: 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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David Aldavert, Ricardo Toledo, Arnau Ramisa and Ramon Lopez de Mantaras. 2009. Visual Registration Method For A Low Cost Robot: Computer Vision Systems. 7th International Conference on Computer Vision Systems. Springer Berlin Heidelberg, 204–214. (LNCS.)
Abstract: 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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Arnau Ramisa, Shrihari Vasudevan, David Aldavert, Ricardo Toledo and Ramon Lopez de Mantaras. 2009. Evaluation of the SIFT Object Recognition Method in Mobile Robots: Frontiers in Artificial Intelligence and Applications. 12th International Conference of the Catalan Association for Artificial Intelligence.9–18.
Abstract: General object recognition in mobile robots is of primary importance in order to enhance the representation of the environment that robots will use for their reasoning processes. Therefore, we contribute reduce this gap by evaluating the SIFT Object Recognition method in a challenging dataset, focusing on issues relevant to mobile robotics. Resistance of the method to the robotics working conditions was found, but it was limited mainly to well-textured objects.
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