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Author |
Lluis Pere de las Heras; Ernest Valveny; Gemma Sanchez |
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Title |
Unsupervised and Notation-Independent Wall Segmentation in Floor Plans Using a Combination of Statistical and Structural Strategies |
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Year |
2014 |
Publication |
Graphics Recognition. Current Trends and Challenges |
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8746 |
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109-121 |
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Graphics recognition; Floor plan analysis; Object segmentation |
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In this paper we present a wall segmentation approach in floor plans that is able to work independently to the graphical notation, does not need any pre-annotated data for learning, and is able to segment multiple-shaped walls such as beams and curved-walls. This method results from the combination of the wall segmentation approaches [3, 5] presented recently by the authors. Firstly, potential straight wall segments are extracted in an unsupervised way similar to [3], but restricting even more the wall candidates considered in the original approach. Then, based on [5], these segments are used to learn the texture pattern of walls and spot the lost instances. The presented combination of both methods has been tested on 4 available datasets with different notations and compared qualitatively and quantitatively to the state-of-the-art applied on these collections. Additionally, some qualitative results on floor plans directly downloaded from the Internet are reported in the paper. The overall performance of the method demonstrates either its adaptability to different wall notations and shapes, and to document qualities and resolutions. |
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Springer Berlin Heidelberg |
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0302-9743 |
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978-3-662-44853-3 |
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DAG; ADAS; 600.076; 600.077 |
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Admin @ si @ HVS2014 |
Serial |
2535 |
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Author |
Lluis Pere de las Heras; David Fernandez; Alicia Fornes; Ernest Valveny; Gemma Sanchez; Josep Llados |
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Title |
Runlength Histogram Image Signature for Perceptual Retrieval of Architectural Floor Plans |
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Book Chapter |
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Year |
2014 |
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Graphics Recognition. Current Trends and Challenges |
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8746 |
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135-146 |
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Graphics recognition; Graphics retrieval; Image classification |
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This paper proposes a runlength histogram signature as a perceptual descriptor of architectural plans in a retrieval scenario. The style of an architectural drawing is characterized by the perception of lines, shapes and texture. Such visual stimuli are the basis for defining semantic concepts as space properties, symmetry, density, etc. We propose runlength histograms extracted in vertical, horizontal and diagonal directions as a characterization of line and space properties in floorplans, so it can be roughly associated to a description of walls and room structure. A retrieval application illustrates the performance of the proposed approach, where given a plan as a query, similar ones are obtained from a database. A ground truth based on human observation has been constructed to validate the hypothesis. Additional retrieval results on sketched building’s facades are reported qualitatively in this paper. Its good description and its adaptability to two different sketch drawings despite its simplicity shows the interest of the proposed approach and opens a challenging research line in graphics recognition. |
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Springer Berlin Heidelberg |
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0302-9743 |
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978-3-662-44853-3 |
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DAG; ADAS; 600.045; 600.056; 600.061; 600.076; 600.077 |
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Admin @ si @ HFF2014 |
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2536 |
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Author |
German Ros |
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Title |
Visual Scene Understanding for Autonomous Vehicles: Understanding Where and What |
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2016 |
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PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Making Ground Autonomous Vehicles (GAVs) a reality as a service for the society is one of the major scientific and technological challenges of this century. The potential benefits of autonomous vehicles include reducing accidents, improving traffic congestion and better usage of road infrastructures, among others. These vehicles must operate in our cities, towns and highways, dealing with many different types of situations while respecting traffic rules and protecting human lives. GAVs are expected to deal with all types of scenarios and situations, coping with an uncertain and chaotic world.
Therefore, in order to fulfill these demanding requirements GAVs need to be endowed with the capability of understanding their surrounding at many different levels, by means of affordable sensors and artificial intelligence. This capacity to understand the surroundings and the current situation that the vehicle is involved in is called scene understanding. In this work we investigate novel techniques to bring scene understanding to autonomous vehicles by combining the use of cameras as the main source of information—due to their versatility and affordability—and algorithms based on computer vision and machine learning. We investigate different degrees of understanding of the scene, starting from basic geometric knowledge about where is the vehicle within the scene. A robust and efficient estimation of the vehicle location and pose with respect to a map is one of the most fundamental steps towards autonomous driving. We study this problem from the point of view of robustness and computational efficiency, proposing key insights to improve current solutions. Then we advance to higher levels of abstraction to discover what is in the scene, by recognizing and parsing all the elements present on a driving scene, such as roads, sidewalks, pedestrians, etc. We investigate this problem known as semantic segmentation, proposing new approaches to improve recognition accuracy and computational efficiency. We cover these points by focusing on key aspects such as: (i) how to leverage computation moving semantics to an offline process, (ii) how to train compact architectures based on deconvolutional networks to achieve their maximum potential, (iii) how to use virtual worlds in combination with domain adaptation to produce accurate models in a cost-effective fashion, and (iv) how to use transfer learning techniques to prepare models to new situations. We finally extend the previous level of knowledge enabling systems to reasoning about what has change in a scene with respect to a previous visit, which in return allows for efficient and cost-effective map updating. |
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Ph.D. thesis |
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Ediciones Graficas Rey |
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Angel Sappa;Julio Guerrero;Antonio Lopez |
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978-84-945373-1-8 |
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ADAS |
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Admin @ si @ Ros2016 |
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2860 |
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Author |
Antonio Lopez; Jiaolong Xu; Jose L. Gomez; David Vazquez; German Ros |
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Title |
From Virtual to Real World Visual Perception using Domain Adaptation -- The DPM as Example |
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2017 |
Publication |
Domain Adaptation in Computer Vision Applications |
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13 |
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243-258 |
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Domain Adaptation |
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Supervised learning tends to produce more accurate classifiers than unsupervised learning in general. This implies that training data is preferred with annotations. When addressing visual perception challenges, such as localizing certain object classes within an image, the learning of the involved classifiers turns out to be a practical bottleneck. The reason is that, at least, we have to frame object examples with bounding boxes in thousands of images. A priori, the more complex the model is regarding its number of parameters, the more annotated examples are required. This annotation task is performed by human oracles, which ends up in inaccuracies and errors in the annotations (aka ground truth) since the task is inherently very cumbersome and sometimes ambiguous. As an alternative we have pioneered the use of virtual worlds for collecting such annotations automatically and with high precision. However, since the models learned with virtual data must operate in the real world, we still need to perform domain adaptation (DA). In this chapter we revisit the DA of a deformable part-based model (DPM) as an exemplifying case of virtual- to-real-world DA. As a use case, we address the challenge of vehicle detection for driver assistance, using different publicly available virtual-world data. While doing so, we investigate questions such as: how does the domain gap behave due to virtual-vs-real data with respect to dominant object appearance per domain, as well as the role of photo-realism in the virtual world. |
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Springer |
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Gabriela Csurka |
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ADAS; 600.085; 601.223; 600.076; 600.118 |
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ADAS @ adas @ LXG2017 |
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2872 |
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Author |
David Geronimo; David Vazquez; Arturo de la Escalera |
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Title |
Vision-Based Advanced Driver Assistance Systems |
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2017 |
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Computer Vision in Vehicle Technology: Land, Sea, and Air |
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ADAS; Autonomous Driving |
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ADAS; 600.118 |
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ADAS @ adas @ GVE2017 |
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2881 |
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Author |
German Ros; Laura Sellart; Gabriel Villalonga; Elias Maidanik; Francisco Molero; Marc Garcia; Adriana Cedeño; Francisco Perez; Didier Ramirez; Eduardo Escobar; Jose Luis Gomez; David Vazquez; Antonio Lopez |
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Title |
Semantic Segmentation of Urban Scenes via Domain Adaptation of SYNTHIA |
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Book Chapter |
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Year |
2017 |
Publication |
Domain Adaptation in Computer Vision Applications |
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12 |
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227-241 |
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Keywords |
SYNTHIA; Virtual worlds; Autonomous Driving |
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Vision-based semantic segmentation in urban scenarios is a key functionality for autonomous driving. Recent revolutionary results of deep convolutional neural networks (DCNNs) foreshadow the advent of reliable classifiers to perform such visual tasks. However, DCNNs require learning of many parameters from raw images; thus, having a sufficient amount of diverse images with class annotations is needed. These annotations are obtained via cumbersome, human labour which is particularly challenging for semantic segmentation since pixel-level annotations are required. In this chapter, we propose to use a combination of a virtual world to automatically generate realistic synthetic images with pixel-level annotations, and domain adaptation to transfer the models learnt to correctly operate in real scenarios. We address the question of how useful synthetic data can be for semantic segmentation – in particular, when using a DCNN paradigm. In order to answer this question we have generated a synthetic collection of diverse urban images, named SYNTHIA, with automatically generated class annotations and object identifiers. We use SYNTHIA in combination with publicly available real-world urban images with manually provided annotations. Then, we conduct experiments with DCNNs that show that combining SYNTHIA with simple domain adaptation techniques in the training stage significantly improves performance on semantic segmentation. |
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Springer |
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Gabriela Csurka |
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ADAS; 600.085; 600.082; 600.076; 600.118 |
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ADAS @ adas @ RSV2017 |
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2882 |
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Author |
Antonio Lopez; Atsushi Imiya; Tomas Pajdla; Jose Manuel Alvarez |
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Title |
Computer Vision in Vehicle Technology: Land, Sea & Air |
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2017 |
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161-163 |
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Summary This chapter examines different vision-based commercial solutions for real-live problems related to vehicles. It is worth mentioning the recent astonishing performance of deep convolutional neural networks (DCNNs) in difficult visual tasks such as image classification, object recognition/localization/detection, and semantic segmentation. In fact,
different DCNN architectures are already being explored for low-level tasks such as optical flow and disparity computation, and higher level ones such as place recognition. |
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John Wiley & Sons, Ltd |
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978-1-118-86807-2 |
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ADAS; 600.118 |
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Admin @ si @ LIP2017a |
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2937 |
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Author |
Jose M. Armingol; Jorge Alfonso; Nourdine Aliane; Miguel Clavijo; Sergio Campos-Cordobes; Arturo de la Escalera; Javier del Ser; Javier Fernandez; Fernando Garcia; Felipe Jimenez; Antonio Lopez; Mario Mata |
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Title |
Environmental Perception for Intelligent Vehicles |
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2018 |
Publication |
Intelligent Vehicles. Enabling Technologies and Future Developments |
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23–101 |
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Computer vision; laser techniques; data fusion; advanced driver assistance systems; traffic monitoring systems; intelligent vehicles |
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Environmental perception represents, because of its complexity, a challenge for Intelligent Transport Systems due to the great variety of situations and different elements that can happen in road environments and that must be faced by these systems. In connection with this, so far there are a variety of solutions as regards sensors and methods, so the results of precision, complexity, cost, or computational load obtained by these works are different. In this chapter some systems based on computer vision and laser techniques are presented. Fusion methods are also introduced in order to provide advanced and reliable perception systems. |
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ADAS; 600.118 |
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Admin @ si @AAA2018 |
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3046 |
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Author |
Antonio Lopez; David Vazquez; Gabriel Villalonga |
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Title |
Data for Training Models, Domain Adaptation |
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2018 |
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Intelligent Vehicles. Enabling Technologies and Future Developments |
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395–436 |
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Driving simulator; hardware; software; interface; traffic simulation; macroscopic simulation; microscopic simulation; virtual data; training data |
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Simulation can enable several developments in the field of intelligent vehicles. This chapter is divided into three main subsections. The first one deals with driving simulators. The continuous improvement of hardware performance is a well-known fact that is allowing the development of more complex driving simulators. The immersion in the simulation scene is increased by high fidelity feedback to the driver. In the second subsection, traffic simulation is explained as well as how it can be used for intelligent transport systems. Finally, it is rather clear that sensor-based perception and action must be based on data-driven algorithms. Simulation could provide data to train and test algorithms that are afterwards implemented in vehicles. These tools are explained in the third subsection. |
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ADAS; 600.118 |
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Admin @ si @ LVV2018 |
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3047 |
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Antonio Lopez |
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Pedestrian Detection Systems |
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2018 |
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Wiley Encyclopedia of Electrical and Electronics Engineering |
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Pedestrian detection is a highly relevant topic for both advanced driver assistance systems (ADAS) and autonomous driving. In this entry, we review the ideas behind pedestrian detection systems from the point of view of perception based on computer vision and machine learning. |
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ADAS; 600.118 |
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Admin @ si @ Lop2018 |
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3230 |
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