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Author |
Jiaolong Xu; Peng Wang; Heng Yang; Antonio Lopez |
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Title |
Training a Binary Weight Object Detector by Knowledge Transfer for Autonomous Driving |
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Conference Article |
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Year |
2019 |
Publication |
IEEE International Conference on Robotics and Automation |
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2379-2384 |
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Abstract  |
Autonomous driving has harsh requirements of small model size and energy efficiency, in order to enable the embedded system to achieve real-time on-board object detection. Recent deep convolutional neural network based object detectors have achieved state-of-the-art accuracy. However, such models are trained with numerous parameters and their high computational costs and large storage prohibit the deployment to memory and computation resource limited systems. Low-precision neural networks are popular techniques for reducing the computation requirements and memory footprint. Among them, binary weight neural network (BWN) is the extreme case which quantizes the float-point into just bit. BWNs are difficult to train and suffer from accuracy deprecation due to the extreme low-bit representation. To address this problem, we propose a knowledge transfer (KT) method to aid the training of BWN using a full-precision teacher network. We built DarkNet-and MobileNet-based binary weight YOLO-v2 detectors and conduct experiments on KITTI benchmark for car, pedestrian and cyclist detection. The experimental results show that the proposed method maintains high detection accuracy while reducing the model size of DarkNet-YOLO from 257 MB to 8.8 MB and MobileNet-YOLO from 193 MB to 7.9 MB. |
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Montreal; Canada; May 2019 |
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ICRA |
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ADAS; 600.124; 600.116; 600.118 |
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no |
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Call Number |
Admin @ si @ XWY2018 |
Serial |
3182 |
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Author |
German Ros; Sebastian Ramos; Manuel Granados; Amir Bakhtiary; David Vazquez; Antonio Lopez |
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Title |
Vision-based Offline-Online Perception Paradigm for Autonomous Driving |
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Conference Article |
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Year |
2015 |
Publication |
IEEE Winter Conference on Applications of Computer Vision |
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231 - 238 |
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Keywords |
Autonomous Driving; Scene Understanding; SLAM; Semantic Segmentation |
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Abstract |
Autonomous driving is a key factor for future mobility. Properly perceiving the environment of the vehicles is essential for a safe driving, which requires computing accurate geometric and semantic information in real-time. In this paper, we challenge state-of-the-art computer vision algorithms for building a perception system for autonomous driving. An inherent drawback in the computation of visual semantics is the trade-off between accuracy and computational cost. We propose to circumvent this problem by following an offline-online strategy. During the offline stage dense 3D semantic maps are created. In the online stage the current driving area is recognized in the maps via a re-localization process, which allows to retrieve the pre-computed accurate semantics and 3D geometry in realtime. Then, detecting the dynamic obstacles we obtain a rich understanding of the current scene. We evaluate quantitatively our proposal in the KITTI dataset and discuss the related open challenges for the computer vision community. |
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Hawaii; January 2015 |
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ACDC |
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WACV |
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ADAS; 600.076 |
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no |
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Call Number |
ADAS @ adas @ RRG2015 |
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2499 |
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Author |
Felipe Codevilla; Antonio Lopez; Vladlen Koltun; Alexey Dosovitskiy |
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Title |
On Offline Evaluation of Vision-based Driving Models |
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Conference Article |
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Year |
2018 |
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15th European Conference on Computer Vision |
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Volume |
11219 |
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Pages |
246-262 |
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Keywords |
Autonomous driving; deep learning |
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Abstract |
Autonomous driving models should ideally be evaluated by deploying
them on a fleet of physical vehicles in the real world. Unfortunately, this approach is not practical for the vast majority of researchers. An attractive alternative is to evaluate models offline, on a pre-collected validation dataset with ground truth annotation. In this paper, we investigate the relation between various online and offline metrics for evaluation of autonomous driving models. We find that offline prediction error is not necessarily correlated with driving quality, and two models with identical prediction error can differ dramatically in their driving performance. We show that the correlation of offline evaluation with driving quality can be significantly improved by selecting an appropriate validation dataset and
suitable offline metrics. |
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Munich; September 2018 |
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LNCS |
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ECCV |
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ADAS; 600.124; 600.118 |
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no |
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Call Number |
Admin @ si @ CLK2018 |
Serial |
3162 |
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Author |
Javad Zolfaghari Bengar; Abel Gonzalez-Garcia; Gabriel Villalonga; Bogdan Raducanu; Hamed H. Aghdam; Mikhail Mozerov; Antonio Lopez; Joost Van de Weijer |
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Title |
Temporal Coherence for Active Learning in Videos |
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Conference Article |
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Year |
2019 |
Publication |
IEEE International Conference on Computer Vision Workshops |
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Pages |
914-923 |
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Abstract |
Autonomous driving systems require huge amounts of data to train. Manual annotation of this data is time-consuming and prohibitively expensive since it involves human resources. Therefore, active learning emerged as an alternative to ease this effort and to make data annotation more manageable. In this paper, we introduce a novel active learning approach for object detection in videos by exploiting temporal coherence. Our active learning criterion is based on the estimated number of errors in terms of false positives and false negatives. The detections obtained by the object detector are used to define the nodes of a graph and tracked forward and backward to temporally link the nodes. Minimizing an energy function defined on this graphical model provides estimates of both false positives and false negatives. Additionally, we introduce a synthetic video dataset, called SYNTHIA-AL, specially designed to evaluate active learning for video object detection in road scenes. Finally, we show that our approach outperforms active learning baselines tested on two datasets. |
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Seul; Corea; October 2019 |
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ICCVW |
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Notes |
LAMP; ADAS; 600.124; 602.200; 600.118; 600.120; 600.141 |
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no |
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Call Number |
Admin @ si @ ZGV2019 |
Serial |
3294 |
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Author |
Diego Alejandro Cheda; Daniel Ponsa; Antonio Lopez |
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Title |
Camera Egomotion Estimation in the ADAS Context |
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Conference Article |
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Year |
2010 |
Publication |
13th International IEEE Annual Conference on Intelligent Transportation Systems |
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Pages |
1415–1420 |
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Abstract |
Camera-based Advanced Driver Assistance Systems (ADAS) have concentrated many research efforts in the last decades. Proposals based on monocular cameras require the knowledge of the camera pose with respect to the environment, in order to reach an efficient and robust performance. A common assumption in such systems is considering the road as planar, and the camera pose with respect to it as approximately known. However, in real situations, the camera pose varies along time due to the vehicle movement, the road slope, and irregularities on the road surface. Thus, the changes in the camera position and orientation (i.e., the egomotion) are critical information that must be estimated at every frame to avoid poor performances. This work focuses on egomotion estimation from a monocular camera under the ADAS context. We review and compare egomotion methods with simulated and real ADAS-like sequences. Basing on the results of our experiments, we show which of the considered nonlinear and linear algorithms have the best performance in this domain. |
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Madeira Island (Portugal) |
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2153-0009 |
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978-1-4244-7657-2 |
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ITSC |
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ADAS |
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no |
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Call Number |
ADAS @ adas @ CPL2010 |
Serial |
1425 |
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Author |
Muhammad Anwer Rao; David Vazquez; Antonio Lopez |
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Title |
Color Contribution to Part-Based Person Detection in Different Types of Scenarios |
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Conference Article |
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Year |
2011 |
Publication |
14th International Conference on Computer Analysis of Images and Patterns |
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Volume |
6855 |
Issue |
II |
Pages |
463-470 |
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Keywords |
Pedestrian Detection; Color |
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Abstract |
Camera-based person detection is of paramount interest due to its potential applications. The task is diffcult because the great variety of backgrounds (scenarios, illumination) in which persons are present, as well as their intra-class variability (pose, clothe, occlusion). In fact, the class person is one of the included in the popular PASCAL visual object classes (VOC) challenge. A breakthrough for this challenge, regarding person detection, is due to Felzenszwalb et al. These authors proposed a part-based detector that relies on histograms of oriented gradients (HOG) and latent support vector machines (LatSVM) to learn a model of the whole human body and its constitutive parts, as well as their relative position. Since the approach of Felzenszwalb et al. appeared new variants have been proposed, usually giving rise to more complex models. In this paper, we focus on an issue that has not attracted suficient interest up to now. In particular, we refer to the fact that HOG is usually computed from RGB color space, but other possibilities exist and deserve the corresponding investigation. In this paper we challenge RGB space with the opponent color space (OPP), which is inspired in the human vision system.We will compute the HOG on top of OPP, then we train and test the part-based human classifer by Felzenszwalb et al. using PASCAL VOC challenge protocols and person database. Our experiments demonstrate that OPP outperforms RGB. We also investigate possible differences among types of scenarios: indoor, urban and countryside. Interestingly, our experiments suggest that the beneficts of OPP with respect to RGB mainly come for indoor and countryside scenarios, those in which the human visual system was designed by evolution. |
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Seville, Spain |
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Springer |
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Berlin Heidelberg |
Editor |
P. Real, D. Diaz, H. Molina, A. Berciano, W. Kropatsch |
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English |
Summary Language |
english |
Original Title |
Color Contribution to Part-Based Person Detection in Different Types of Scenarios |
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0302-9743 |
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978-3-642-23677-8 |
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CAIP |
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ADAS |
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no |
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Call Number |
ADAS @ adas @ RVL2011b |
Serial |
1665 |
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Author |
Patricia Marquez; H. Kause; A. Fuster; Aura Hernandez-Sabate; L. Florack; Debora Gil; Hans van Assen |
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Title |
Factors Affecting Optical Flow Performance in Tagging Magnetic Resonance Imaging |
Type |
Conference Article |
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Year |
2014 |
Publication |
17th International Conference on Medical Image Computing and Computer Assisted Intervention |
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Volume |
8896 |
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231-238 |
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Optical flow; Performance Evaluation; Synthetic Database; ANOVA; Tagging Magnetic Resonance Imaging |
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Abstract |
Changes in cardiac deformation patterns are correlated with cardiac pathologies. Deformation can be extracted from tagging Magnetic Resonance Imaging (tMRI) using Optical Flow (OF) techniques. For applications of OF in a clinical setting it is important to assess to what extent the performance of a particular OF method is stable across di erent clinical acquisition artifacts. This paper presents a statistical validation framework, based on ANOVA, to assess the motion and appearance factors that have the largest in uence on OF accuracy drop.
In order to validate this framework, we created a database of simulated tMRI data including the most common artifacts of MRI and test three di erent OF methods, including HARP. |
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Boston; USA; September 2014 |
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Springer International Publishing |
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0302-9743 |
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978-3-319-14677-5 |
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STACOM |
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IAM; ADAS; 600.060; 601.145; 600.076; 600.075 |
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no |
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Call Number |
Admin @ si @ MKF2014 |
Serial |
2495 |
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Author |
Jose Carlos Rubio; Joan Serrat; Antonio Lopez |
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Title |
Unsupervised co-segmentation through region matching |
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Conference Article |
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2012 |
Publication |
25th IEEE Conference on Computer Vision and Pattern Recognition |
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749-756 |
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Co-segmentation is defined as jointly partitioning multiple images depicting the same or similar object, into foreground and background. Our method consists of a multiple-scale multiple-image generative model, which jointly estimates the foreground and background appearance distributions from several images, in a non-supervised manner. In contrast to other co-segmentation methods, our approach does not require the images to have similar foregrounds and different backgrounds to function properly. Region matching is applied to exploit inter-image information by establishing correspondences between the common objects that appear in the scene. Moreover, computing many-to-many associations of regions allow further applications, like recognition of object parts across images. We report results on iCoseg, a challenging dataset that presents extreme variability in camera viewpoint, illumination and object deformations and poses. We also show that our method is robust against large intra-class variability in the MSRC database. |
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Providence, Rhode Island |
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IEEE Xplore |
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1063-6919 |
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978-1-4673-1226-4 |
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CVPR |
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ADAS |
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no |
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Admin @ si @ RSL2012b; ADAS @ adas @ |
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2033 |
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Author |
Jose Manuel Alvarez; Theo Gevers; Antonio Lopez |
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Title |
Learning Photometric Invariance from Diversified Color Model Ensembles |
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Conference Article |
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2009 |
Publication |
22nd IEEE Conference on Computer Vision and Pattern Recognition |
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565–572 |
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road detection |
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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. |
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Miami (USA) |
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1063-6919 |
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978-1-4244-3992-8 |
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CVPR |
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ADAS;ISE |
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ADAS @ adas @ AGL2009 |
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1169 |
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David Vazquez; Jorge Bernal; F. Javier Sanchez; Gloria Fernandez Esparrach; Antonio Lopez; Adriana Romero; Michal Drozdzal; Aaron Courville |
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Title |
A Benchmark for Endoluminal Scene Segmentation of Colonoscopy Images |
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Conference Article |
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2017 |
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31st International Congress and Exhibition on Computer Assisted Radiology and Surgery |
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Deep Learning; Medical Imaging |
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Colorectal cancer (CRC) is the third cause of cancer death worldwide. Currently, the standard approach to reduce CRC-related mortality is to perform regular screening in search for polyps and colonoscopy is the screening tool of choice. The main limitations of this screening procedure are polyp miss-rate and inability to perform visual assessment of polyp malignancy. These drawbacks can be reduced by designing Decision Support Systems (DSS) aiming to help clinicians in the different stages of the procedure by providing endoluminal scene segmentation. Thus, in this paper, we introduce an extended benchmark of colonoscopy image, with the hope of establishing a new strong benchmark for colonoscopy image analysis research. We provide new baselines on this dataset by training standard fully convolutional networks (FCN) for semantic segmentation and significantly outperforming, without any further post-processing, prior results in endoluminal scene segmentation. |
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CARS |
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ADAS; MV; 600.075; 600.085; 600.076; 601.281; 600.118 |
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ADAS @ adas @ VBS2017a |
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2880 |
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