| |
Records |
Links |
|
Author |
Angel Sappa; Fadi Dornaika; David Geronimo; Antonio Lopez |
|
| |
Title |
Efficient On-Board Stereo Vision Pose Estimation |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
Computer Aided Systems Theory, Selected paper from |
Abbreviated Journal |
|
|
| |
Volume |
4739 |
Issue |
|
Pages |
1183–1190 |
|
| |
Keywords  |
|
|
| |
Abstract |
This paper presents an efficient technique for real time estimation of on-board stereo vision system pose. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the 3D road points. Fast RANSAC fitting is obtained by selecting points according to a probability distribution function that takes into account the density of points at a given depth. Finally, stereo camera position
and orientation—pose—is computed relative to the road plane. The proposed technique is intended to be used on driver assistance systems for applications such as obstacle or pedestrian detection. A real time performance is reached. Experimental results on several environments and comparisons with a previous work are presented. |
|
| |
Address |
Las Palmas de Gran Canaria (Spain) |
|
| |
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 |
EUROCAST |
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ SDG2007b |
Serial |
916 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Angel Sappa; Rosa Herrero; Fadi Dornaika; David Geronimo; Antonio Lopez |
|
| |
Title |
Road Approximation in Euclidean and v-Disparity Space: A Comparative Study |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
Computer Aided Systems Theory, |
Abbreviated Journal |
|
|
| |
Volume |
4739 |
Issue |
|
Pages |
1105–1112 |
|
| |
Keywords |
|
|
| |
Abstract |
This paper presents a comparative study between two road approximation techniques—planar surfaces—from stereo vision data. The first approach is carried out in the v-disparity space and is based on a voting scheme, the Hough transform. The second one consists in computing the best fitting plane for the whole 3D road data points, directly in the Euclidean space, by using least squares fitting. The comparative study is initially performed over a set of different synthetic surfaces
(e.g., plane, quadratic surface, cubic surface) digitized by a virtual stereo head; then real data obtained with a commercial stereo head are used. The comparative study is intended to be used as a criterion for fining the best technique according to the road geometry. Additionally, it highlights common problems driven from a wrong assumption about the scene’s prior knowledge. |
|
| |
Address |
Las Palmas de Gran Canaria (Spain) |
|
| |
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 |
EUROCAST |
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ SHD2007b |
Serial |
917 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Jaume Amores; N. Sebe; Petia Radeva |
|
| |
Title |
Class-Specific Binaryy Correlograms for Object Recognition |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
British Machine Vision Conference |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
Warwick (UK) |
|
| |
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’07 |
|
| |
Notes |
ADAS;MILAB |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ ASR2007a |
Serial |
923 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Angel Sappa; Rosa Herrero; Fadi Dornaika; David Geronimo; Antonio Lopez |
|
| |
Title |
Road Approximation in Euclidean and v-Disparity Space: A Comparative Study |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
EUROCAST2007, Workshop on Cybercars and Intelligent Vehicles |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
368–369 |
|
| |
Keywords |
|
|
| |
Abstract |
This paper presents a comparative study between two road approximation techniques—planar surfaces—from stereo vision data. The first approach is carried out in the v-disparity space and is based on a voting scheme, the Hough transform. The second one consists in computing the best fitting plane for the whole 3D road data points, directly in the Euclidean space, by using least squares fitting. The comparative study is initially performed over a set of different synthetic surfaces
(e.g., plane, quadratic surface, cubic surface) digitized by a virtual stereo head; then real data obtained with a commercial stereo head are used. The comparative study is intended to be used as a criterion for fining the best technique according to the road geometry. Additionally, it highlights common problems driven from a wrong assumption about the scene’s prior knowledge. |
|
| |
Address |
Las Palmas de Gran Canaria (Spain) |
|
| |
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 @ SHD2007a |
Serial |
936 |
|
| 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 |
| |
|
| |
|
Author |
Fadi Dornaika; Angel Sappa |
|
| |
Title |
Real Time on Board Stereo Camera Pose through Image Registration |
Type |
Conference Article |
| |
Year |
2008 |
Publication |
IEEE Intelligent Vehicles Symposium, |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
804–809 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
Eindhoven (Netherlands) |
|
| |
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 @ DoS2008a |
Serial |
1015 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat |
|
| |
Title |
Photometric Stereo through and Adapted Alternation Approach |
Type |
Conference Article |
| |
Year |
2008 |
Publication |
IEEE International Conference on Image Processing, |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
1500–1503 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
San Diego; CA; USA |
|
| |
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 @ JSL2008d |
Serial |
1016 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Angel Sappa; Fadi Dornaika; David Geronimo; Antonio Lopez |
|
| |
Title |
Registration-based Moving Object Detection from a Moving Camera |
Type |
Conference Article |
| |
Year |
2008 |
Publication |
IROS2008 2nd Workshop on Perception, Planning and Navigation for Intelligent Vehicles |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
65–69 |
|
| |
Keywords |
|
|
| |
Abstract |
This paper presents a robust approach for detecting moving objects from on-board stereo vision systems. It relies on a feature point quaternion-based registration, which avoids common problems that appear when computationally expensive iterative-based algorithms are used on dynamic environments. The proposed approach consists of three stages. Initially, feature points are extracted and tracked through consecutive frames. Then, a RANSAC based approach is used for registering
two 3D point sets with known correspondences by means of the quaternion method. Finally, the computed 3D rigid displacement is used to map two consecutive frames into the same coordinate system. Moving objects correspond to those areas with large registration errors. Experimental results, in different scenarios, show the viability of the proposed approach. |
|
| |
Address |
Nice (France) |
|
| |
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 @ SDG2008 |
Serial |
1017 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez |
|
| |
Title |
An Adapted Alternation Approach for Recommender Systems |
Type |
Conference Article |
| |
Year |
2008 |
Publication |
IEEE International Conference on e–Business Engineering, |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
128–135 |
|
| |
Keywords |
|
|
| |
Abstract |
This paper presents an adaptation of the alternation technique to tackle the prediction task in recommender systems. These systems are widely considered in electronic commerce to help customers to find products they will probably like or dislike. As the SVD-based approaches, the proposed adapted alternation technique uses all the information stored in the system to find the predictions. The main advantage of this technique with respect to the SVD-based ones is that it can deal with missing data. Furthermore, it has a smaller computational cost. Experimental results with public data sets are provided in order to show the viability of the proposed adapted alternation approach. |
|
| |
Address |
Xi’an (Xina) |
|
| |
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 @ JSL2008e |
Serial |
1044 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Fadi Dornaika; Angel Sappa |
|
| |
Title |
Improving Appearance-Based 3D Face Tracking Using Sparse Stereo Data |
Type |
Conference Article |
| |
Year |
2007 |
Publication |
Advances in Computer Graphics and Computer Vision, |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
354–366 |
|
| |
Keywords |
|
|
| |
Abstract |
|
|
| |
Address |
|
|
| |
Corporate Author |
|
Thesis |
|
|
| |
Publisher |
Springer Verlag |
Place of Publication |
|
Editor |
J. Braz, A. Ranchordas, H. Araujo and J. Jorge, |
|
| |
Language |
|
Summary Language |
|
Original Title |
|
|
| |
Series Editor |
|
Series Title |
|
Abbreviated Series Title |
|
|
| |
Series Volume |
|
Series Issue |
|
Edition |
|
|
| |
ISSN |
|
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
VISAPP |
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ DoS2007d |
Serial |
1046 |
|
| Permanent link to this record |
