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	Author	Jiaolong Xu
	Title	Domain Adaptation of Deformable Part-based Models			Type	Book Whole
	Year	2015	Publication	PhD Thesis, Universitat Autonoma de Barcelona-CVC	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	On-board pedestrian detection is crucial for Advanced Driver Assistance Systems (ADAS). An accurate classication is fundamental for vision-based pedestrian detection. The underlying assumption for learning classiers is that the training set and the deployment environment (testing) follow the same probability distribution regarding the features used by the classiers. However, in practice, there are dierent reasons that can break this constancy assumption. Accordingly, reusing existing classiers by adapting them from the previous training environment (source domain) to the new testing one (target domain) is an approach with increasing acceptance in the computer vision community. In this thesis we focus on the domain adaptation of deformable part-based models (DPMs) for pedestrian detection. As a prof of concept, we use a computer graphic based synthetic dataset, i.e. a virtual world, as the source domain, and adapt the virtual-world trained DPM detector to various real-world dataset. We start by exploiting the maximum detection accuracy of the virtual-world trained DPM. Even though, when operating in various real-world datasets, the virtualworld trained detector still suer from accuracy degradation due to the domain gap of virtual and real worlds. We then focus on domain adaptation of DPM. At the rst step, we consider single source and single target domain adaptation and propose two batch learning methods, namely A-SSVM and SA-SSVM. Later, we further consider leveraging multiple target (sub-)domains for progressive domain adaptation and propose a hierarchical adaptive structured SVM (HA-SSVM) for optimization. Finally, we extend HA-SSVM for the challenging online domain adaptation problem, aiming at making the detector to automatically adapt to the target domain online, without any human intervention. All of the proposed methods in this thesis do not require revisiting source domain data. The evaluations are done on the Caltech pedestrian detection benchmark. Results show that SA-SSVM slightly outperforms A-SSVM and avoids accuracy drops as high as 15 points when comparing with a non-adapted detector. The hierarchical model learned by HA-SSVM further boosts the domain adaptation performance. Finally, the online domain adaptation method has demonstrated that it can achieve comparable accuracy to the batch learned models while not requiring manually label target domain examples. Domain adaptation for pedestrian detection is of paramount importance and a relatively unexplored area. We humbly hope the work in this thesis could provide foundations for future work in this area.
	Address	April 2015
	Corporate Author				Thesis	Ph.D. thesis
	Publisher		Place of Publication		Editor	Antonio Lopez
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN	978-84-943427-1-4	Medium
	Area		Expedition		Conference
	Notes	ADAS; 600.076			Approved	no
	Call Number	Admin @ si @ Xu2015			Serial	2631
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	Author	Alejandro Gonzalez Alzate
	Title	Multi-modal Pedestrian Detection			Type	Book Whole
	Year	2015	Publication	PhD Thesis, Universitat Autonoma de Barcelona-CVC	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	Pedestrian detection continues to be an extremely challenging problem in real scenarios, in which situations like illumination changes, noisy images, unexpected objects, uncontrolled scenarios and variant appearance of objects occur constantly. All these problems force the development of more robust detectors for relevant applications like vision-based autonomous vehicles, intelligent surveillance, and pedestrian tracking for behavior analysis. Most reliable vision-based pedestrian detectors base their decision on features extracted using a single sensor capturing complementary features, e.g., appearance, and texture. These features usually are extracted from the current frame, ignoring temporal information, or including it in a post process step e.g., tracking or temporal coherence. Taking into account these issues we formulate the following question: can we generate more robust pedestrian detectors by introducing new information sources in the feature extraction step? In order to answer this question we develop different approaches for introducing new information sources to well-known pedestrian detectors. We start by the inclusion of temporal information following the Stacked Sequential Learning (SSL) paradigm which suggests that information extracted from the neighboring samples in a sequence can improve the accuracy of a base classifier. We then focus on the inclusion of complementary information from different sensors like 3D point clouds (LIDAR – depth), far infrared images (FIR), or disparity maps (stereo pair cameras). For this end we develop a multi-modal framework in which information from different sensors is used for increasing detection accuracy (by increasing information redundancy). Finally we propose a multi-view pedestrian detector, this multi-view approach splits the detection problem in n sub-problems. Each sub-problem will detect objects in a given specific view reducing in that way the variability problem faced when a single detectors is used for the whole problem. We show that these approaches obtain competitive results with other state-of-the-art methods but instead of design new features, we reuse existing ones boosting their performance.
	Address	November 2015
	Corporate Author				Thesis	Ph.D. thesis
	Publisher	Ediciones Graficas Rey	Place of Publication		Editor	David Vazquez;Antonio Lopez;
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN	978-84-943427-7-6	Medium
	Area		Expedition		Conference
	Notes	ADAS; 600.076			Approved	no
	Call Number	Admin @ si @ Gon2015			Serial	2706
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	Author	German Ros
	Title	Visual Scene Understanding for Autonomous Vehicles: Understanding Where and What			Type	Book Whole
	Year	2016	Publication	PhD Thesis, Universitat Autonoma de Barcelona-CVC	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	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.
	Address
	Corporate Author				Thesis	Ph.D. thesis
	Publisher	Ediciones Graficas Rey	Place of Publication		Editor	Angel Sappa;Julio Guerrero;Antonio Lopez
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN	978-84-945373-1-8	Medium
	Area		Expedition		Conference
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ Ros2016			Serial	2860
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	Author	Cristhian Aguilera
	Title	Local feature description in cross-spectral imagery			Type	Book Whole
	Year	2017	Publication	PhD Thesis, Universitat Autonoma de Barcelona-CVC	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	Over the last few years, the number of consumer computer vision applications has increased dramatically. Today, computer vision solutions can be found in video game consoles, smartphone applications, driving assistance – just to name a few. Ideally, we require the performance of those applications, particularly those that are safety critical to remain constant under any external environment factors, such as changes in illumination or weather conditions. However, this is not always possible or very difficult to obtain by only using visible imagery, due to the inherent limitations of the images from that spectral band. For that reason, the use of images from different or multiple spectral bands is becoming more appealing. The aforementioned possible advantages of using images from multiples spectral bands on various vision applications make multi-spectral image processing a relevant topic for research and development. Like in visible image processing, multi-spectral image processing needs tools and algorithms to handle information from various spectral bands. Furthermore, traditional tools such as local feature detection, which is the basis of many vision tasks such as visual odometry, image registration, or structure from motion, must be adjusted or reformulated to operate under new conditions. Traditional feature detection, description, and matching methods tend to underperform in multi-spectral settings, in comparison to mono-spectral settings, due to the natural differences between each spectral band. The work in this thesis is focused on the local feature description problem when cross-spectral images are considered. In this context, this dissertation has three main contributions. Firstly, the work starts by proposing the usage of a combination of frequency and spatial information, in a multi-scale scheme, as feature description. Evaluations of this proposal, based on classical hand-made feature descriptors, and comparisons with state of the art cross-spectral approaches help to find and understand limitations of such strategy. Secondly, different convolutional neural network (CNN) based architectures are evaluated when used to describe cross-spectral image patches. Results showed that CNN-based methods, designed to work with visible monocular images, could be successfully applied to the description of images from two different spectral bands, with just minor modifications. In this framework, a novel CNN-based network model, specifically intended to describe image patches from two different spectral bands, is proposed. This network, referred to as Q-Net, outperforms state of the art in the cross-spectral domain, including both previous hand-made solutions as well as L2 CNN-based architectures. The third contribution of this dissertation is in the cross-spectral feature description application domain. The multispectral odometry problem is tackled showing a real application of cross-spectral descriptors In addition to the three main contributions mentioned above, in this dissertation, two different multi-spectral datasets are generated and shared with the community to be used as benchmarks for further studies.
	Address	October 2017
	Corporate Author				Thesis	Ph.D. thesis
	Publisher	Ediciones Graficas Rey	Place of Publication		Editor	Angel Sappa
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN	978-84-945373-6-3	Medium
	Area		Expedition		Conference
	Notes	ADAS; 600.118			Approved	no
	Call Number	Admin @ si @ Agu2017			Serial	3020
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	Author	Zhijie Fang
	Title	Behavior understanding of vulnerable road users by 2D pose estimation			Type	Book Whole
	Year	2019	Publication	PhD Thesis, Universitat Autonoma de Barcelona-CVC	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	Anticipating the intentions of vulnerable road users (VRUs) such as pedestrians and cyclists can be critical for performing safe and comfortable driving maneuvers. This is the case for human driving and, therefore, should be taken into account by systems providing any level of driving assistance, i.e. from advanced driver assistant systems (ADAS) to fully autonomous vehicles (AVs). In this PhD work, we show how the latest advances on monocular vision-based human pose estimation, i.e. those relying on deep Convolutional Neural Networks (CNNs), enable to recognize the intentions of such VRUs. In the case of cyclists, we assume that they follow the established traffic codes to indicate future left/right turns and stop maneuvers with arm signals. In the case of pedestrians, no indications can be assumed a priori. Instead, we hypothesize that the walking pattern of a pedestrian can allow us to determine if he/she has the intention of crossing the road in the path of the egovehicle, so that the ego-vehicle must maneuver accordingly (e.g. slowing down or stopping). In this PhD work, we show how the same methodology can be used for recognizing pedestrians and cyclists’ intentions. For pedestrians, we perform experiments on the publicly available Daimler and JAAD datasets. For cyclists, we did not found an analogous dataset, therefore, we created our own one by acquiring and annotating corresponding video-sequences which we aim to share with the research community. Overall, the proposed pipeline provides new state-of-the-art results on the intention recognition of VRUs.
	Address	May 2019
	Corporate Author				Thesis	Ph.D. thesis
	Publisher	Ediciones Graficas Rey	Place of Publication		Editor	Antonio Lopez;David Vazquez
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN	978-84-948531-6-6	Medium
	Area		Expedition		Conference
	Notes	ADAS; 600.118			Approved	no
	Call Number	Admin @ si @ Fan2019			Serial	3388
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	Author	Aura Hernandez-Sabate; Debora Gil
	Title	The Benefits of IVUS Dynamics for Retrieving Stable Models of Arteries			Type	Book Chapter
	Year	2012	Publication	Intravascular Ultrasound	Abbreviated Journal
	Volume		Issue		Pages	185-206
	Keywords
	Abstract
	Address
	Corporate Author				Thesis
	Publisher	Intech	Place of Publication		Editor	Yasuhiro Honda
	Language	English	Summary Language	english	Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN	978-953-307-900-4	Medium
	Area		Expedition		Conference
	Notes	IAM; ADAS			Approved	no
	Call Number	IAM @ iam @ HeG2012			Serial	1684
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	Author	Cristhian Aguilera; M.Ramos; Angel Sappa
	Title	Simulated Annealing: A Novel Application of Image Processing in the Wood Area			Type	Book Chapter
	Year	2012	Publication	Simulated Annealing – Advances, Applications and Hybridizations	Abbreviated Journal
	Volume		Issue		Pages	91-104
	Keywords
	Abstract
	Address
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor	Marcos de Sales Guerra Tsuzuki
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN	978-953-51-0710-1	Medium
	Area		Expedition		Conference
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ ARS2012			Serial	2156
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	Author	Angel Sappa (ed)
	Title	Computer Graphics and Imaging			Type	Book Whole
	Year	2010	Publication	Computer Graphics and Imaging	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract
	Address
	Corporate Author				Thesis
	Publisher		Place of Publication		Editor	Angel Sappa
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN	978–0–88986–836–6	Medium
	Area		Expedition		Conference	CGIM
	Notes	ADAS			Approved	no
	Call Number	ADAS @ adas @ Sap2010			Serial	1468
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