| |
Records |
Links |
|
Author |
Daniel Hernandez; Alejandro Chacon; Antonio Espinosa; David Vazquez; Juan Carlos Moure; Antonio Lopez |
|
| |
Title |
Embedded real-time stereo estimation via Semi-Global Matching on the GPU |
Type |
Conference Article |
| |
Year |
2016 |
Publication |
16th International Conference on Computational Science |
Abbreviated Journal |
|
|
| |
Volume |
80 |
Issue |
|
Pages |
143-153 |
|
| |
Keywords |
Autonomous Driving; Stereo; CUDA; 3d reconstruction |
|
| |
Abstract |
Dense, robust and real-time computation of depth information from stereo-camera systems is a computationally demanding requirement for robotics, advanced driver assistance systems (ADAS) and autonomous vehicles. Semi-Global Matching (SGM) is a widely used algorithm that propagates consistency constraints along several paths across the image. This work presents a real-time system producing reliable disparity estimation results on the new embedded energy-efficient GPU devices. Our design runs on a Tegra X1 at 41 frames per second for an image size of 640x480, 128 disparity levels, and using 4 path directions for the SGM method. |
|
| |
Address |
San Diego; CA; USA; June 2016 |
|
| |
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 |
ICCS |
|
| |
Notes |
ADAS; 600.085; 600.082; 600.076 |
Approved |
no |
|
| |
Call Number  |
ADAS @ adas @ HCE2016a |
Serial |
2740 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan Carlos Moure |
|
| |
Title |
Embedded Real-time Stixel Computation |
Type |
Conference Article |
| |
Year |
2017 |
Publication |
GPU Technology Conference |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
GPU; CUDA; Stixels; Autonomous Driving |
|
| |
Abstract |
|
|
| |
Address |
Silicon Valley; USA; May 2017 |
|
| |
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 |
GTC |
|
| |
Notes |
ADAS; 600.118 |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ HEV2017a |
Serial |
2879 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan Carlos Moure |
|
| |
Title |
GPU-accelerated real-time stixel computation |
Type |
Conference Article |
| |
Year |
2017 |
Publication |
IEEE Winter Conference on Applications of Computer Vision |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
1054-1062 |
|
| |
Keywords |
Autonomous Driving; GPU; Stixel |
|
| |
Abstract |
The Stixel World is a medium-level, compact representation of road scenes that abstracts millions of disparity pixels into hundreds or thousands of stixels. The goal of this work is to implement and evaluate a complete multi-stixel estimation pipeline on an embedded, energyefficient, GPU-accelerated device. This work presents a full GPU-accelerated implementation of stixel estimation that produces reliable results at 26 frames per second (real-time) on the Tegra X1 for disparity images of 1024×440 pixels and stixel widths of 5 pixels, and achieves more than 400 frames per second on a high-end Titan X GPU card. |
|
| |
Address |
Santa Rosa; CA; USA; March 2017 |
|
| |
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 |
WACV |
|
| |
Notes |
ADAS; 600.118 |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ HEV2017b |
Serial |
2812 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Daniel Hernandez; Juan Carlos Moure; Toni Espinosa; Alejandro Chacon; David Vazquez; Antonio Lopez |
|
| |
Title |
Real-time 3D Reconstruction for Autonomous Driving via Semi-Global Matching |
Type |
Conference Article |
| |
Year |
2016 |
Publication |
GPU Technology Conference |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
Stereo; Autonomous Driving; GPU; 3d reconstruction |
|
| |
Abstract |
Robust and dense computation of depth information from stereo-camera systems is a computationally demanding requirement for real-time autonomous driving. Semi-Global Matching (SGM) [1] approximates heavy-computation global algorithms results but with lower computational complexity, therefore it is a good candidate for a real-time implementation. SGM minimizes energy along several 1D paths across the image. The aim of this work is to provide a real-time system producing reliable results on energy-efficient hardware. Our design runs on a NVIDIA Titan X GPU at 104.62 FPS and on a NVIDIA Drive PX at 6.7 FPS, promising for real-time platforms |
|
| |
Address |
Silicon Valley; San Francisco; USA; April 2016 |
|
| |
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 |
GTC |
|
| |
Notes |
ADAS; 600.085; 600.082; 600.076 |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ HME2016 |
Serial |
2738 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Daniel Hernandez; Lukas Schneider; Antonio Espinosa; David Vazquez; Antonio Lopez; Uwe Franke; Marc Pollefeys; Juan C. Moure |
|
| |
Title |
Slanted Stixels: Representing San Francisco's Steepest Streets} |
Type |
Conference Article |
| |
Year |
2017 |
Publication |
28th British Machine Vision Conference |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
|
|
| |
Abstract |
In this work we present a novel compact scene representation based on Stixels that infers geometric and semantic information. Our approach overcomes the previous rather restrictive geometric assumptions for Stixels by introducing a novel depth model to account for non-flat roads and slanted objects. Both semantic and depth cues are used jointly to infer the scene representation in a sound global energy minimization formulation. Furthermore, a novel approximation scheme is introduced that uses an extremely efficient over-segmentation. In doing so, the computational complexity of the Stixel inference algorithm is reduced significantly, achieving real-time computation capabilities with only a slight drop in accuracy. We evaluate the proposed approach in terms of semantic and geometric accuracy as well as run-time on four publicly available benchmark datasets. Our approach maintains accuracy on flat road scene datasets while improving substantially on a novel non-flat road dataset. |
|
| |
Address |
London; uk; September 2017 |
|
| |
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 |
BMVC |
|
| |
Notes |
ADAS; 600.118 |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ HSE2017a |
Serial |
2945 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Simon Jégou; Michal Drozdzal; David Vazquez; Adriana Romero; Yoshua Bengio |
|
| |
Title |
The One Hundred Layers Tiramisu: Fully Convolutional DenseNets for Semantic Segmentation |
Type |
Conference Article |
| |
Year |
2017 |
Publication |
IEEE Conference on Computer Vision and Pattern Recognition Workshops |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
Semantic Segmentation |
|
| |
Abstract |
State-of-the-art approaches for semantic image segmentation are built on Convolutional Neural Networks (CNNs). The typical segmentation architecture is composed of (a) a downsampling path responsible for extracting coarse semantic features, followed by (b) an upsampling path trained to recover the input image resolution at the output of the model and, optionally, (c) a post-processing module (e.g. Conditional Random Fields) to refine the model predictions.
Recently, a new CNN architecture, Densely Connected Convolutional Networks (DenseNets), has shown excellent results on image classification tasks. The idea of DenseNets is based on the observation that if each layer is directly connected to every other layer in a feed-forward fashion then the network will be more accurate and easier to train.
In this paper, we extend DenseNets to deal with the problem of semantic segmentation. We achieve state-of-the-art results on urban scene benchmark datasets such as CamVid and Gatech, without any further post-processing module nor pretraining. Moreover, due to smart construction of the model, our approach has much less parameters than currently published best entries for these datasets. |
|
| |
Address |
Honolulu; USA; July 2017 |
|
| |
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 |
CVPRW |
|
| |
Notes |
MILAB; ADAS; 600.076; 600.085; 601.281 |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ JDV2016 |
Serial |
2866 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez |
|
| |
Title |
Factorization with Missing and Noisy Data |
Type |
Conference Article |
| |
Year |
2006 |
Publication |
6th International Conference on Computational Science |
Abbreviated Journal |
ICCS´06 |
|
| |
Volume |
LNCS 3991 |
Issue |
|
Pages |
555–562 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
Reading (United Kingdom) |
|
| |
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 |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ JSL2006b |
Serial |
653 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez |
|
| |
Title |
An Iterative Multiresolution Scheme for SFM |
Type |
Conference Article |
| |
Year |
2006 |
Publication |
International Conference on Image Analysis and Recognition |
Abbreviated Journal |
ICIAR 2006 |
|
| |
Volume |
LNCS 4141 |
Issue |
1 |
Pages |
804–815 |
|
| |
Keywords |
|
|
| |
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 |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ JSL2006c |
Serial |
704 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez |
|
| |
Title |
Motion Segmentation from Feature Trajectories with Missing Data |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
3rd. Iberian Conference on Pattern Recognition and Image Analysis |
Abbreviated Journal |
IbPRIA 2007 |
|
| |
Volume |
LNCS 4477 |
Issue |
|
Pages |
483–490 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
Girona (Spain) |
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
|
Place of Publication |
|
Editor |
J. Marti et al. (Eds.) |
|
| |
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 @ JSL2007a |
Serial |
814 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Carme Julia; Angel Sappa; Felipe Lumbreras; Antonio Lopez |
|
| |
Title |
Recovery of Surface Normals and Reflectance from Different Lighting Conditions |
Type |
Conference Article |
| |
Year |
2008 |
Publication |
5th International Conference on Image Analysis and Recognition |
Abbreviated Journal |
|
|
| |
Volume |
5112 |
Issue |
|
Pages |
315–325 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
|
|
| |
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 |
ADAS @ adas @ JSL2008c |
Serial |
1014 |
|
| Permanent link to this record |
