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	Author	Hamed H. Aghdam; Abel Gonzalez-Garcia; Joost Van de Weijer; Antonio Lopez
	Title	Active Learning for Deep Detection Neural Networks			Type	Conference Article
	Year	2019	Publication	18th IEEE International Conference on Computer Vision	Abbreviated Journal
	Volume		Issue		Pages	3672-3680
	Keywords
	Abstract	The cost of drawing object bounding boxes (ie labeling) for millions of images is prohibitively high. For instance, labeling pedestrians in a regular urban image could take 35 seconds on average. Active learning aims to reduce the cost of labeling by selecting only those images that are informative to improve the detection network accuracy. In this paper, we propose a method to perform active learning of object detectors based on convolutional neural networks. We propose a new image-level scoring process to rank unlabeled images for their automatic selection, which clearly outperforms classical scores. The proposed method can be applied to videos and sets of still images. In the former case, temporal selection rules can complement our scoring process. As a relevant use case, we extensively study the performance of our method on the task of pedestrian detection. Overall, the experiments show that the proposed method performs better than random selection.
	Address	Seul; Korea; October 2019
	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	ICCV
	Notes	ADAS; LAMP; 600.124; 600.109; 600.141; 600.120; 600.118			Approved	no
	Call Number	Admin @ si @ AGW2019			Serial	3321
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	Author	Ariel Amato; Angel Sappa; Alicia Fornes; Felipe Lumbreras; Josep Llados
	Title	Divide and Conquer: Atomizing and Parallelizing A Task in A Mobile Crowdsourcing Platform			Type	Conference Article
	Year	2013	Publication	2nd International ACM Workshop on Crowdsourcing for Multimedia	Abbreviated Journal
	Volume		Issue		Pages	21-22
	Keywords
	Abstract	In this paper we present some conclusions about the advantages of having an efficient task formulation when a crowdsourcing platform is used. In particular we show how the task atomization and distribution can help to obtain results in an efficient way. Our proposal is based on a recursive splitting of the original task into a set of smaller and simpler tasks. As a result both more accurate and faster solutions are obtained. Our evaluation is performed on a set of ancient documents that need to be digitized.
	Address	Barcelona; October 2013
	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	978-1-4503-2396-3	Medium
	Area		Expedition		Conference	CrowdMM
	Notes	ADAS; ISE; DAG; 600.054; 600.055; 600.045; 600.061; 602.006			Approved	no
	Call Number	Admin @ si @ SLA2013			Serial	2335
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	Author	Fahad Shahbaz Khan; Muhammad Anwer Rao; Joost Van de Weijer; Andrew Bagdanov; Maria Vanrell; Antonio Lopez
	Title	Color Attributes for Object Detection			Type	Conference Article
	Year	2012	Publication	25th IEEE Conference on Computer Vision and Pattern Recognition	Abbreviated Journal
	Volume		Issue		Pages	3306-3313
	Keywords	pedestrian detection
	Abstract	State-of-the-art object detectors typically use shape information as a low level feature representation to capture the local structure of an object. This paper shows that early fusion of shape and color, as is popular in image classification, leads to a significant drop in performance for object detection. Moreover, such approaches also yields suboptimal results for object categories with varying importance of color and shape. In this paper we propose the use of color attributes as an explicit color representation for object detection. Color attributes are compact, computationally efficient, and when combined with traditional shape features provide state-ofthe- art results for object detection. Our method is tested on the PASCAL VOC 2007 and 2009 datasets and results clearly show that our method improves over state-of-the-art techniques despite its simplicity. We also introduce a new dataset consisting of cartoon character images in which color plays a pivotal role. On this dataset, our approach yields a significant gain of 14% in mean AP over conventional state-of-the-art methods.
	Address	Providence; Rhode Island; USA;
	Corporate Author				Thesis
	Publisher	IEEE Xplore	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	1063-6919	ISBN	978-1-4673-1226-4	Medium
	Area		Expedition		Conference	CVPR
	Notes	ADAS; CIC;			Approved	no
	Call Number	Admin @ si @ KRW2012			Serial	1935
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	Author	Diego Porres
	Title	Discriminator Synthesis: On reusing the other half of Generative Adversarial Networks			Type	Conference Article
	Year	2021	Publication	Machine Learning for Creativity and Design, Neurips Workshop	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	Generative Adversarial Networks have long since revolutionized the world of computer vision and, tied to it, the world of art. Arduous efforts have gone into fully utilizing and stabilizing training so that outputs of the Generator network have the highest possible fidelity, but little has gone into using the Discriminator after training is complete. In this work, we propose to use the latter and show a way to use the features it has learned from the training dataset to both alter an image and generate one from scratch. We name this method Discriminator Dreaming, and the full code can be found at this https URL.
	Address	Virtual; December 2021
	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	NEURIPSW
	Notes	ADAS; 601.365			Approved	no
	Call Number	Admin @ si @ Por2021			Serial	3597
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	Author	Felipe Codevilla; Antonio Lopez; Vladlen Koltun; Alexey Dosovitskiy
	Title	On Offline Evaluation of Vision-based Driving Models			Type	Conference Article
	Year	2018	Publication	15th European Conference on Computer Vision	Abbreviated Journal
	Volume	11219	Issue		Pages	246-262
	Keywords	Autonomous driving; deep learning
	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.
	Address	Munich; September 2018
	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	ECCV
	Notes	ADAS; 600.124; 600.118			Approved	no
	Call Number	Admin @ si @ CLK2018			Serial	3162
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	Author	Felipe Codevilla; Eder Santana; Antonio Lopez; Adrien Gaidon
	Title	Exploring the Limitations of Behavior Cloning for Autonomous Driving			Type	Conference Article
	Year	2019	Publication	18th IEEE International Conference on Computer Vision	Abbreviated Journal
	Volume		Issue		Pages	9328-9337
	Keywords
	Abstract	Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of human-driven cars. Behavior cloning in particular has been successfully used to learn simple visuomotor policies end-to-end, but scaling to the full spectrum of driving behaviors remains an unsolved problem. In this paper, we propose a new benchmark to experimentally investigate the scalability and limitations of behavior cloning. We show that behavior cloning leads to state-of-the-art results, executing complex lateral and longitudinal maneuvers, even in unseen environments, without being explicitly programmed to do so. However, we confirm some limitations of the behavior cloning approach: some well-known limitations (eg, dataset bias and overfitting), new generalization issues (eg, dynamic objects and the lack of a causal modeling), and training instabilities, all requiring further research before behavior cloning can graduate to real-world driving. The code, dataset, benchmark, and agent studied in this paper can be found at github.
	Address	Seul; Korea; October 2019
	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	ICCV
	Notes	ADAS; 600.124; 600.118			Approved	no
	Call Number	Admin @ si @ CSL2019			Serial	3322
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	Author	Lorenzo Porzi; Markus Hofinger; Idoia Ruiz; Joan Serrat; Samuel Rota Bulo; Peter Kontschieder
	Title	Learning Multi-Object Tracking and Segmentation from Automatic Annotations			Type	Conference Article
	Year	2020	Publication	33rd IEEE Conference on Computer Vision and Pattern Recognition	Abbreviated Journal
	Volume		Issue		Pages	6845-6854
	Keywords
	Abstract	In this work we contribute a novel pipeline to automatically generate training data, and to improve over state-of-the-art multi-object tracking and segmentation (MOTS) methods. Our proposed track mining algorithm turns raw street-level videos into high-fidelity MOTS training data, is scalable and overcomes the need of expensive and time-consuming manual annotation approaches. We leverage state-of-the-art instance segmentation results in combination with optical flow predictions, also trained on automatically harvested training data. Our second major contribution is MOTSNet – a deep learning, tracking-by-detection architecture for MOTS – deploying a novel mask-pooling layer for improved object association over time. Training MOTSNet with our automatically extracted data leads to significantly improved sMOTSA scores on the novel KITTI MOTS dataset (+1.9%/+7.5% on cars/pedestrians), and MOTSNet improves by +4.1% over previously best methods on the MOTSChallenge dataset. Our most impressive finding is that we can improve over previous best-performing works, even in complete absence of manually annotated MOTS training data.
	Address	virtual; June 2020
	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	CVPR
	Notes	ADAS; 600.124; 600.118			Approved	no
	Call Number	Admin @ si @ PHR2020			Serial	3402
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	Author	Zhijie Fang; Antonio Lopez
	Title	Is the Pedestrian going to Cross? Answering by 2D Pose Estimation			Type	Conference Article
	Year	2018	Publication	IEEE Intelligent Vehicles Symposium	Abbreviated Journal
	Volume		Issue		Pages	1271 - 1276
	Keywords
	Abstract	Our recent work suggests that, thanks to nowadays powerful CNNs, image-based 2D pose estimation is a promising cue for determining pedestrian intentions such as crossing the road in the path of the ego-vehicle, stopping before entering the road, and starting to walk or bending towards the road. This statement is based on the results obtained on non-naturalistic sequences (Daimler dataset), i.e. in sequences choreographed specifically for performing the study. Fortunately, a new publicly available dataset (JAAD) has appeared recently to allow developing methods for detecting pedestrian intentions in naturalistic driving conditions; more specifically, for addressing the relevant question is the pedestrian going to cross? Accordingly, in this paper we use JAAD to assess the usefulness of 2D pose estimation for answering such a question. We combine CNN-based pedestrian detection, tracking and pose estimation to predict the crossing action from monocular images. Overall, the proposed pipeline provides new state-ofthe-art results.
	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	IV
	Notes	ADAS; 600.124; 600.116; 600.118			Approved	no
	Call Number	Admin @ si @ FaL2018			Serial	3181
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	Author	Jiaolong Xu; Peng Wang; Heng Yang; Antonio Lopez
	Title	Training a Binary Weight Object Detector by Knowledge Transfer for Autonomous Driving			Type	Conference Article
	Year	2019	Publication	IEEE International Conference on Robotics and Automation	Abbreviated Journal
	Volume		Issue		Pages	2379-2384
	Keywords
	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.
	Address	Montreal; Canada; May 2019
	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	ICRA
	Notes	ADAS; 600.124; 600.116; 600.118			Approved	no
	Call Number	Admin @ si @ XWY2018			Serial	3182
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	Author	Akhil Gurram; Onay Urfalioglu; Ibrahim Halfaoui; Fahd Bouzaraa; Antonio Lopez
	Title	Monocular Depth Estimation by Learning from Heterogeneous Datasets			Type	Conference Article
	Year	2018	Publication	IEEE Intelligent Vehicles Symposium	Abbreviated Journal
	Volume		Issue		Pages	2176 - 2181
	Keywords
	Abstract	Depth estimation provides essential information to perform autonomous driving and driver assistance. Especially, Monocular Depth Estimation is interesting from a practical point of view, since using a single camera is cheaper than many other options and avoids the need for continuous calibration strategies as required by stereo-vision approaches. State-of-the-art methods for Monocular Depth Estimation are based on Convolutional Neural Networks (CNNs). A promising line of work consists of introducing additional semantic information about the traffic scene when training CNNs for depth estimation. In practice, this means that the depth data used for CNN training is complemented with images having pixel-wise semantic labels, which usually are difficult to annotate (eg crowded urban images). Moreover, so far it is common practice to assume that the same raw training data is associated with both types of ground truth, ie, depth and semantic labels. The main contribution of this paper is to show that this hard constraint can be circumvented, ie, that we can train CNNs for depth estimation by leveraging the depth and semantic information coming from heterogeneous datasets. In order to illustrate the benefits of our approach, we combine KITTI depth and Cityscapes semantic segmentation datasets, outperforming state-of-the-art results on Monocular Depth Estimation.
	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	IV
	Notes	ADAS; 600.124; 600.116; 600.118			Approved	no
	Call Number	Admin @ si @ GUH2018			Serial	3183
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