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Author |
Alejandro Gonzalez Alzate; Sebastian Ramos; David Vazquez; Antonio Lopez; Jaume Amores |
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Title |
Spatiotemporal Stacked Sequential Learning for Pedestrian Detection |
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Conference Article |
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Year |
2015 |
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Pattern Recognition and Image Analysis, Proceedings of 7th Iberian Conference , ibPRIA 2015 |
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3-12 |
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SSL; Pedestrian Detection |
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Pedestrian classifiers decide which image windows contain a pedestrian. In practice, such classifiers provide a relatively high response at neighbor windows overlapping a pedestrian, while the responses around potential false positives are expected to be lower. An analogous reasoning applies for image sequences. If there is a pedestrian located within a frame, the same pedestrian is expected to appear close to the same location in neighbor frames. Therefore, such a location has chances of receiving high classification scores during several frames, while false positives are expected to be more spurious. In this paper we propose to exploit such correlations for improving the accuracy of base pedestrian classifiers. In particular, we propose to use two-stage classifiers which not only rely on the image descriptors required by the base classifiers but also on the response of such base classifiers in a given spatiotemporal neighborhood. More specifically, we train pedestrian classifiers using a stacked sequential learning (SSL) paradigm. We use a new pedestrian dataset we have acquired from a car to evaluate our proposal at different frame rates. We also test on a well known dataset: Caltech. The obtained results show that our SSL proposal boosts detection accuracy significantly with a minimal impact on the computational cost. Interestingly, SSL improves more the accuracy at the most dangerous situations, i.e. when a pedestrian is close to the camera. |
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Santiago de Compostela; España; June 2015 |
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IbPRIA |
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ADAS; 600.057; 600.054; 600.076 |
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GRV2015; ADAS @ adas @ GRV2015 |
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2454 |
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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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2015 |
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IEEE Winter Conference on Applications of Computer Vision |
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231 - 238 |
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Autonomous Driving; Scene Understanding; SLAM; Semantic Segmentation |
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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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ADAS; 600.076 |
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ADAS @ adas @ RRG2015 |
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2499 |
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Alejandro Gonzalez Alzate; Gabriel Villalonga; Jiaolong Xu; David Vazquez; Jaume Amores; Antonio Lopez |
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Title |
Multiview Random Forest of Local Experts Combining RGB and LIDAR data for Pedestrian Detection |
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2015 |
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IEEE Intelligent Vehicles Symposium IV2015 |
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356-361 |
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Pedestrian Detection |
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Despite recent significant advances, pedestrian detection continues to be an extremely challenging problem in real scenarios. In order to develop a detector that successfully operates under these conditions, it becomes critical to leverage upon multiple cues, multiple imaging modalities and a strong multi-view classifier that accounts for different pedestrian views and poses. In this paper we provide an extensive evaluation that gives insight into how each of these aspects (multi-cue, multimodality and strong multi-view classifier) affect performance both individually and when integrated together. In the multimodality component we explore the fusion of RGB and depth maps obtained by high-definition LIDAR, a type of modality that is only recently starting to receive attention. As our analysis reveals, although all the aforementioned aspects significantly help in improving the performance, the fusion of visible spectrum and depth information allows to boost the accuracy by a much larger margin. The resulting detector not only ranks among the top best performers in the challenging KITTI benchmark, but it is built upon very simple blocks that are easy to implement and computationally efficient. These simple blocks can be easily replaced with more sophisticated ones recently proposed, such as the use of convolutional neural networks for feature representation, to further improve the accuracy. |
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Seoul; Corea; June 2015 |
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IV |
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ADAS; 600.076; 600.057; 600.054 |
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ADAS @ adas @ GVX2015 |
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2625 |
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Author |
Alejandro Gonzalez Alzate; Gabriel Villalonga; German Ros; David Vazquez; Antonio Lopez |
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Title |
3D-Guided Multiscale Sliding Window for Pedestrian Detection |
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Conference Article |
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2015 |
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Pattern Recognition and Image Analysis, Proceedings of 7th Iberian Conference , ibPRIA 2015 |
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9117 |
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560-568 |
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Pedestrian Detection |
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The most relevant modules of a pedestrian detector are the candidate generation and the candidate classification. The former aims at presenting image windows to the latter so that they are classified as containing a pedestrian or not. Much attention has being paid to the classification module, while candidate generation has mainly relied on (multiscale) sliding window pyramid. However, candidate generation is critical for achieving real-time. In this paper we assume a context of autonomous driving based on stereo vision. Accordingly, we evaluate the effect of taking into account the 3D information (derived from the stereo) in order to prune the hundred of thousands windows per image generated by classical pyramidal sliding window. For our study we use a multimodal (RGB, disparity) and multi-descriptor (HOG, LBP, HOG+LBP) holistic ensemble based on linear SVM. Evaluation on data from the challenging KITTI benchmark suite shows the effectiveness of using 3D information to dramatically reduce the number of candidate windows, even improving the overall pedestrian detection accuracy. |
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Santiago de Compostela; España; June 2015 |
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IbPRIA |
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ADAS; 600.076; 600.057; 600.054 |
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ADAS @ adas @ GVR2015 |
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2585 |
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Author |
Felipe Lumbreras; Xavier Roca; Daniel Ponsa; Robert Benavente; J. Martinez; Silvia Sanchez; Coen Antens; Juan J. Villanueva |
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Title |
Visual Inspection of Safety Belts |
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2001 |
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International Conference on Quality Control by Artificial Vision |
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2 |
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526–531 |
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France |
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ADAS;ISE;CIC |
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ADAS @ adas @ LRP2001 |
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122 |
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Petia Radeva; Joan Serrat |
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Title |
Rubber Snake: Implementation on Signed Distance Potential. |
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1993 |
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Vision Conference |
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187-194 |
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Zurich, Switzerland. |
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ADAS;MILAB |
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ADAS @ adas @ RaS1993 |
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170 |
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Author |
M.J. Yzuel; J. Pladellorens; Joan Serrat; A. Dupuy |
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Title |
Application restauration and edge detection techniques in the calculation of left ventricular volumes. |
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1993 |
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Optics in Medicine, Biology and Environmental Research : Selected contributions to the first International Conference on Optics within Life Sciences (OWLS I) |
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374-375 |
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ADAS @ adas @ YPS1993 |
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244 |
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Joan Serrat; J. Argemi; Juan J. Villanueva |
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Title |
Automatization of TW2 method using a knowledge-based image analysis system. |
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1991 |
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VIth International Congress of Auxology. |
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Madrid |
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ADAS @ adas @ SAV1991 |
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259 |
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A. Dupuy; Joan Serrat; Jordi Vitria; J. Pladellorens |
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Title |
Analysis of gammagraphic images by mathematical morphology. |
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1991 |
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Pattern Recognition and image Analysis: IV Spanish Symposium of Pattern Recognition and image Analysis, World Scientific Pub. |
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ADAS;OR;MV |
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ADAS @ adas @ DSV1991 |
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262 |
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Joan Serrat; Jordi Vitria; J. Pladellorens |
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Title |
Morphological Segmentation of Heart Scintigraphic image Sequences. |
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1991 |
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Computer Assisted Radiology. |
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Berlin |
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ADAS;OR;MV |
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ADAS @ adas @ SVP1991 |
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263 |
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