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	Author	Yi Xiao; Felipe Codevilla; Diego Porres; Antonio Lopez
	Title	Scaling Vision-Based End-to-End Autonomous Driving with Multi-View Attention Learning			Type	Conference Article
	Year	2023	Publication	International Conference on Intelligent Robots and Systems	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	On end-to-end driving, human driving demonstrations are used to train perception-based driving models by imitation learning. This process is supervised on vehicle signals (e.g., steering angle, acceleration) but does not require extra costly supervision (human labeling of sensor data). As a representative of such vision-based end-to-end driving models, CILRS is commonly used as a baseline to compare with new driving models. So far, some latest models achieve better performance than CILRS by using expensive sensor suites and/or by using large amounts of human-labeled data for training. Given the difference in performance, one may think that it is not worth pursuing vision-based pure end-to-end driving. However, we argue that this approach still has great value and potential considering cost and maintenance. In this paper, we present CIL++, which improves on CILRS by both processing higher-resolution images using a human-inspired HFOV as an inductive bias and incorporating a proper attention mechanism. CIL++ achieves competitive performance compared to models which are more costly to develop. We propose to replace CILRS with CIL++ as a strong vision-based pure end-to-end driving baseline supervised by only vehicle signals and trained by conditional imitation learning.
	Address	Detroit; USA; October 2023
	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	IROS
	Notes	ADAS			Approved	no
	Call Number	Admin @ si @ XCP2023			Serial	3930
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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	Idoia Ruiz; Lorenzo Porzi; Samuel Rota Bulo; Peter Kontschieder; Joan Serrat
	Title	Weakly Supervised Multi-Object Tracking and Segmentation			Type	Conference Article
	Year	2021	Publication	IEEE Winter Conference on Applications of Computer Vision Workshops	Abbreviated Journal
	Volume		Issue		Pages	125-133
	Keywords
	Abstract	We introduce the problem of weakly supervised MultiObject Tracking and Segmentation, i.e. joint weakly supervised instance segmentation and multi-object tracking, in which we do not provide any kind of mask annotation. To address it, we design a novel synergistic training strategy by taking advantage of multi-task learning, i.e. classification and tracking tasks guide the training of the unsupervised instance segmentation. For that purpose, we extract weak foreground localization information, provided by Grad-CAM heatmaps, to generate a partial ground truth to learn from. Additionally, RGB image level information is employed to refine the mask prediction at the edges of the objects. We evaluate our method on KITTI MOTS, the most representative benchmark for this task, reducing the performance gap on the MOTSP metric between the fully supervised and weakly supervised approach to just 12% and 12.7 % for cars and pedestrians, respectively.
	Address	Virtual; January 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	WACVW
	Notes	ADAS; 600.118; 600.124			Approved	no
	Call Number	Admin @ si @ RPR2021			Serial	3548
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	Author	Idoia Ruiz; Joan Serrat
	Title	Rank-based ordinal classification			Type	Conference Article
	Year	2020	Publication	25th International Conference on Pattern Recognition	Abbreviated Journal
	Volume		Issue		Pages	8069-8076
	Keywords
	Abstract	Differently from the regular classification task, in ordinal classification there is an order in the classes. As a consequence not all classification errors matter the same: a predicted class close to the groundtruth one is better than predicting a farther away class. To account for this, most previous works employ loss functions based on the absolute difference between the predicted and groundtruth class labels. We argue that there are many cases in ordinal classification where label values are arbitrary (for instance 1. . . C, being C the number of classes) and thus such loss functions may not be the best choice. We instead propose a network architecture that produces not a single class prediction but an ordered vector, or ranking, of all the possible classes from most to least likely. This is thanks to a loss function that compares groundtruth and predicted rankings of these class labels, not the labels themselves. Another advantage of this new formulation is that we can enforce consistency in the predictions, namely, predicted rankings come from some unimodal vector of scores with mode at the groundtruth class. We compare with the state of the art ordinal classification methods, showing that ours attains equal or better performance, as measured by common ordinal classification metrics, on three benchmark datasets. Furthermore, it is also suitable for a new task on image aesthetics assessment, i.e. most voted score prediction. Finally, we also apply it to building damage assessment from satellite images, providing an analysis of its performance depending on the degree of imbalance of the dataset.
	Address	Virtual; January 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	ICPR
	Notes	ADAS; 600.118; 600.124			Approved	no
	Call Number	Admin @ si @ RuS2020			Serial	3549
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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	Yi Xiao; Felipe Codevilla; Christopher Pal; Antonio Lopez
	Title	Action-Based Representation Learning for Autonomous Driving			Type	Conference Article
	Year	2020	Publication	Conference on Robot Learning	Abbreviated Journal
	Volume		Issue		Pages
	Keywords
	Abstract	Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly into driving actions are problematic in terms of interpretability, and typically have significant difficulty dealing with spurious correlations. Alternatively, we propose to use this kind of action-based driving data for learning representations. Our experiments show that an affordance-based driving model pre-trained with this approach can leverage a relatively small amount of weakly annotated imagery and outperform pure end-to-end driving models, while being more interpretable. Further, we demonstrate how this strategy outperforms previous methods based on learning inverse dynamics models as well as other methods based on heavy human supervision (ImageNet).
	Address	virtual; November 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	CORL
	Notes	ADAS; 600.118			Approved	no
	Call Number	Admin @ si @ XCP2020			Serial	3487
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	Author	Chris Bahnsen; David Vazquez; Antonio Lopez; Thomas B. Moeslund
	Title	Learning to Remove Rain in Traffic Surveillance by Using Synthetic Data			Type	Conference Article
	Year	2019	Publication	14th International Conference on Computer Vision Theory and Applications	Abbreviated Journal
	Volume		Issue		Pages	123-130
	Keywords	Rain Removal; Traffic Surveillance; Image Denoising
	Abstract	Rainfall is a problem in automated traffic surveillance. Rain streaks occlude the road users and degrade the overall visibility which in turn decrease object detection performance. One way of alleviating this is by artificially removing the rain from the images. This requires knowledge of corresponding rainy and rain-free images. Such images are often produced by overlaying synthetic rain on top of rain-free images. However, this method fails to incorporate the fact that rain fall in the entire three-dimensional volume of the scene. To overcome this, we introduce training data from the SYNTHIA virtual world that models rain streaks in the entirety of a scene. We train a conditional Generative Adversarial Network for rain removal and apply it on traffic surveillance images from SYNTHIA and the AAU RainSnow datasets. To measure the applicability of the rain-removed images in a traffic surveillance context, we run the YOLOv2 object detection algorithm on the original and rain-removed frames. The results on SYNTHIA show an 8% increase in detection accuracy compared to the original rain image. Interestingly, we find that high PSNR or SSIM scores do not imply good object detection performance.
	Address	Praga; Czech Republic; February 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	VISIGRAPP
	Notes	ADAS; 600.118			Approved	no
	Call Number	Admin @ si @ BVL2019			Serial	3256
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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	Gemma Rotger; Francesc Moreno-Noguer; Felipe Lumbreras; Antonio Agudo
	Title	Single view facial hair 3D reconstruction			Type	Conference Article
	Year	2019	Publication	9th Iberian Conference on Pattern Recognition and Image Analysis	Abbreviated Journal
	Volume	11867	Issue		Pages	423-436
	Keywords	3D Vision; Shape Reconstruction; Facial Hair Modeling
	Abstract	n this work, we introduce a novel energy-based framework that addresses the challenging problem of 3D reconstruction of facial hair from a single RGB image. To this end, we identify hair pixels over the image via texture analysis and then determine individual hair fibers that are modeled by means of a parametric hair model based on 3D helixes. We propose to minimize an energy composed of several terms, in order to adapt the hair parameters that better fit the image detections. The final hairs respond to the resulting fibers after a post-processing step where we encourage further realism. The resulting approach generates realistic facial hair fibers from solely an RGB image without assuming any training data nor user interaction. We provide an experimental evaluation on real-world pictures where several facial hair styles and image conditions are observed, showing consistent results and establishing a comparison with respect to competing approaches.
	Address	Madrid; July 2019
	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	IbPRIA
	Notes	ADAS; 600.086; 600.130; 600.122			Approved	no
	Call Number	Admin @ si @			Serial	3707
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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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