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Author David Aldavert; Ricardo Toledo edit  openurl
  Title (up) Stereo Vision Local Map Alignment for Robot Environment Mapping Type Book Chapter
  Year 2008 Publication Robot Vision Second International Workshop, RobVis Abbreviated Journal  
  Volume 4931 Issue Pages 111–124  
  Keywords  
  Abstract  
  Address Auckland (New Zealand)  
  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 Admin @ si @ AlT2008 Serial 1100  
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Author David Geronimo; Angel Sappa; Antonio Lopez edit   pdf
url  openurl
  Title (up) Stereo-based Candidate Generation for Pedestrian Protection Systems Type Book Chapter
  Year 2010 Publication Binocular Vision: Development, Depth Perception and Disorders Abbreviated Journal  
  Volume Issue 9 Pages 189–208  
  Keywords Pedestrian Detection  
  Abstract This chapter describes a stereo-based algorithm that provides candidate image windows to a latter 2D classification stage in an on-board pedestrian detection system. The proposed algorithm, which consists of three stages, is based on the use of both stereo imaging and scene prior knowledge (i.e., pedestrians are on the ground) to reduce the candidate searching space. First, a successful road surface fitting algorithm provides estimates on the relative ground-camera pose. This stage directs the search toward the road area thus avoiding irrelevant regions like the sky. Then, three different schemes are used to scan the estimated road surface with pedestrian-sized windows: (a) uniformly distributed through the road surface (3D); (b) uniformly distributed through the image (2D); (c) not uniformly distributed but according to a quadratic function (combined 2D-3D). Finally, the set of candidate windows is reduced by analyzing their 3D content. Experimental results of the proposed algorithm, together with statistics of searching space reduction are provided.  
  Address  
  Corporate Author Thesis  
  Publisher NOVA Publishers 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 @ GSL2010 Serial 1301  
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Author Jose Luis Gomez Zurita edit  openurl
  Title (up) Synth-to-real semi-supervised learning for visual tasks Type Book Whole
  Year 2023 Publication Going beyond Classification Problems for the Continual Learning of Deep Neural Networks Abbreviated Journal  
  Volume Issue Pages  
  Keywords  
  Abstract The curse of data labeling is a costly bottleneck in supervised deep learning, where large amounts of labeled data are needed to train intelligent systems. In onboard perception for autonomous driving, this cost corresponds to the labeling of raw data from sensors such as cameras, LiDARs, RADARs, etc. Therefore, synthetic data with automatically generated ground truth (labels) has aroused as a reliable alternative for training onboard perception models.
However, synthetic data commonly suffers from synth-to-real domain shift, i.e., models trained on the synthetic domain do not show their achievable accuracy when performing in the real world. This shift needs to be addressed by techniques falling in the realm of domain adaptation (DA).
The semi-supervised learning (SSL) paradigm can be followed to address DA. In this case, a model is trained using source data with labels (here synthetic) and leverages minimal knowledge from target data (here the real world) to generate pseudo-labels. These pseudo-labels help the training process to reduce the gap between the source and the target domains. In general, we can assume accessing both, pseudo-labels and a few amounts of human-provided labels for the target-domain data. However, the most interesting and challenging setting consists in assuming that we do not have human-provided labels at all. This setting is known as unsupervised domain adaptation (UDA). This PhD focuses on applying SSL to the UDA setting, for onboard visual tasks related to autonomous driving. We start by addressing the synth-to-real UDA problem on onboard vision-based object detection (pedestrians and cars), a critical task for autonomous driving and driving assistance. In particular, we propose to apply an SSL technique known as co-training, which we adapt to work with deep models that process a multi-modal input. The multi-modality consists of the visual appearance of the images (RGB) and their monocular depth estimation. The synthetic data we use as the source domain contains both, object bounding boxes and depth information. This prior knowledge is the
starting point for the co-training technique, which iteratively labels unlabeled real-world data and uses such pseudolabels (here bounding boxes with an assigned object class) to progressively improve the labeling results. Along this
process, two models collaborate to automatically label the images, in a way that one model compensates for the errors of the other, so avoiding error drift. While this automatic labeling process is done offline, the resulting pseudolabels can be used to train object detection models that must perform in real-time onboard a vehicle. We show that multi-modal co-training improves the labeling results compared to single-modal co-training, remaining competitive compared to human labeling.
Given the success of co-training in the context of object detection, we have also adapted this technique to a more crucial and challenging visual task, namely, onboard semantic segmentation. In fact, providing labels for a single image
can take from 30 to 90 minutes for a human labeler, depending on the content of the image. Thus, developing automatic labeling techniques for this visual task is of great interest to the automotive industry. In particular, the new co-training framework addresses synth-to-real UDA by an initial stage of self-training. Intermediate models arising from this stage are used to start the co-training procedure, for which we have elaborated an accurate collaboration policy between the two models performing the automatic labeling. Moreover, our co-training seamlessly leverages datasets from different synthetic domains. In addition, the co-training procedure is agnostic to the loss function used to train the semantic segmentation models which perform the automatic labeling. We achieve state-of-the-art results on publicly available benchmark datasets, again, remaining competitive compared to human labeling.
Finally, on the ground of our previous experience, we have designed and implemented a new SSL technique for UDA in the context of visual semantic segmentation. In this case, we mimic the labeling methodology followed by human labelers. In particular, rather than labeling full images at a time, categories of semantic classes are defined and only those are labeled in a labeling pass. In fact, different human labelers can become specialists in labeling different categories. Afterward, these per-category-labeled layers are combined to provide fully labeled images. Our technique is inspired by this methodology since we perform synth-to-real UDA per category, using the self-training stage previously developed as part of our co-training framework. The pseudo-labels obtained for each category are finally
fused to obtain fully automatically labeled images. In this context, we have also contributed to the development of a new photo-realistic synthetic dataset based on path-tracing rendering. Our new SSL technique seamlessly leverages publicly available synthetic datasets as well as this new one to obtain state-of-the-art results on synth-to-real UDA for semantic segmentation. We show that the new dataset allows us to reach better labeling accuracy than previously existing datasets, at the same time that it complements well them when combined. Moreover, we also show that the new human-inspired SSL technique outperforms co-training.		  
  Address  
  Corporate Author Thesis Ph.D. thesis  
  Publisher IMPRIMA 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 Medium  
  Area Expedition Conference  
  Notes ADAS Approved no  
  Call Number Admin @ si @ Gom2023 Serial 3961  
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Author Aura Hernandez-Sabate; Debora Gil edit   pdf
url  doi
isbn  openurl
  Title (up) 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 Lluis Pere de las Heras; Ernest Valveny; Gemma Sanchez edit  doi
isbn  openurl
  Title (up) Unsupervised and Notation-Independent Wall Segmentation in Floor Plans Using a Combination of Statistical and Structural Strategies Type Book Chapter
  Year 2014 Publication Graphics Recognition. Current Trends and Challenges Abbreviated Journal  
  Volume 8746 Issue Pages 109-121  
  Keywords Graphics recognition; Floor plan analysis; Object segmentation  
  Abstract 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.  
  Address  
  Corporate Author Thesis  
  Publisher Springer Berlin Heidelberg Place of Publication Editor  
  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title LNCS  
  Series Volume Series Issue Edition  
  ISSN 0302-9743 ISBN 978-3-662-44853-3 Medium  
  Area Expedition Conference  
  Notes DAG; ADAS; 600.076; 600.077 Approved no  
  Call Number Admin @ si @ HVS2014 Serial 2535  
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Author David Geronimo; David Vazquez; Arturo de la Escalera edit  url
openurl 
  Title (up) Vision-Based Advanced Driver Assistance Systems Type Book Chapter
  Year 2017 Publication Computer Vision in Vehicle Technology: Land, Sea, and Air Abbreviated Journal  
  Volume Issue Pages  
  Keywords ADAS; Autonomous Driving  
  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; 600.118 Approved no  
  Call Number ADAS @ adas @ GVE2017 Serial 2881  
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Author David Geronimo; Antonio Lopez edit  doi
isbn  openurl
  Title (up) Vision-based Pedestrian Protection Systems for Intelligent Vehicles Type Book Whole
  Year 2014 Publication SpringerBriefs in Computer Science Abbreviated Journal  
  Volume Issue Pages 1-114  
  Keywords Computer Vision; Driver Assistance Systems; Intelligent Vehicles; Pedestrian Detection; Vulnerable Road Users  
  Abstract Pedestrian Protection Systems (PPSs) are on-board systems aimed at detecting and tracking people in the surroundings of a vehicle in order to avoid potentially dangerous situations. These systems, together with other Advanced Driver Assistance Systems (ADAS) such as lane departure warning or adaptive cruise control, are one of the most promising ways to improve traffic safety. By the use of computer vision, cameras working either in the visible or infra-red spectra have been demonstrated as a reliable sensor to perform this task. Nevertheless, the variability of human’s appearance, not only in terms of clothing and sizes but also as a result of their dynamic shape, makes pedestrians one of the most complex classes even for computer vision. Moreover, the unstructured changing and unpredictable environment in which such on-board systems must work makes detection a difficult task to be carried out with the demanded robustness. In this brief, the state of the art in PPSs is introduced through the review of the most relevant papers of the last decade. A common computational architecture is presented as a framework to organize each method according to its main contribution. More than 300 papers are referenced, most of them addressing pedestrian detection and others corresponding to the descriptors (features), pedestrian models, and learning machines used. In addition, an overview of topics such as real-time aspects, systems benchmarking and future challenges of this research area are presented.  
  Address  
  Corporate Author Thesis  
  Publisher Springer Briefs in Computer Vision Place of Publication Editor  
  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN ISBN 978-1-4614-7986-4 Medium  
  Area Expedition Conference  
  Notes ADAS; 600.076 Approved no  
  Call Number GeL2014 Serial 2325  
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Author German Ros edit  isbn
openurl 
  Title (up) 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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