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Fadi Dornaika; Angel Sappa |
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Title |
Instantaneous 3D motion from image derivatives using the Least Trimmed Square Regression |
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Year |
2009 |
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Pattern Recognition Letters |
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PRL |
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30 |
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5 |
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535–543 |
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This paper presents a new technique to the instantaneous 3D motion estimation. The main contributions are as follows. First, we show that the 3D camera or scene velocity can be retrieved from image derivatives only assuming that the scene contains a dominant plane. Second, we propose a new robust algorithm that simultaneously provides the Least Trimmed Square solution and the percentage of inliers-the non-contaminated data. Experiments on both synthetic and real image sequences demonstrated the effectiveness of the developed method. Those experiments show that the new robust approach can outperform classical robust schemes. |
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Elsevier Science Inc. |
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0167-8655 |
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ADAS |
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ADAS @ adas @ DoS2009a |
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1115 |
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Author |
Fadi Dornaika; Angel Sappa |
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Title |
A Featureless and Stochastic Approach to On-board Stereo Vision System Pose |
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2009 |
Publication |
Image and Vision Computing |
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IMAVIS |
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27 |
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9 |
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1382–1393 |
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On-board stereo vision system; Pose estimation; Featureless approach; Particle filtering; Image warping |
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This paper presents a direct and stochastic technique for real-time estimation of on-board stereo head’s position and orientation. Unlike existing works which rely on feature extraction either in the image domain or in 3D space, our proposed approach directly estimates the unknown parameters from the stream of stereo pairs’ brightness. The pose parameters are tracked using the particle filtering framework which implicitly enforces the smoothness constraints on the estimated parameters. The proposed technique can be used with a driver assistance applications as well as with augmented reality applications. Extended experiments on urban environments with different road geometries are presented. Comparisons with a 3D data-based approach are presented. Moreover, we provide a performance study aiming at evaluating the accuracy of the proposed approach. |
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ADAS |
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ADAS @ adas @ DoS2009b |
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1152 |
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Author |
Enrique Cabello; Cristina Conde; Angel Serrano; Licesio Rodriguez; David Vazquez |
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Title |
Empleo de sistemas biométricos para el reconocimiento de personas en aeropuertos |
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2006 |
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Instituto Universitario de Investigación sobre Seguridad Interior (IUSI 2006) |
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Surveillance; Face detection; Face recognition |
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El presente proyecto se desarrolló a lo largo del año 2005, probando un prototipo de un sistema de verificación facial con imágenes extraídas de las cámaras de video vigilancia del aeropuerto de Barajas. Se diseñaron varios experimentos, agrupados en dos clases. En el primer tipo, el sistema es entrenado con imágenes obtenidas en condiciones de laboratorio y luego probado con imágenes extraídas de las cámaras de video vigilancia del aeropuerto de Barajas. En el segundo caso, tanto las imágenes de entrenamiento como las de prueba corresponden a imágenes extraídas de Barajas. Se ha desarrollado un sistema completo, que incluye adquisición y digitalización de las imágenes, localización y recorte de las caras en escena, verificación de sujetos y obtención de resultados. Los resultados muestran, que, en general, un sistema de verificación facial basado en imágenes puede ser una ayuda a un operario que deba estar vigilando amplias zonas. |
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invisible;ADAS |
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ADAS @ adas @ CCS2006a |
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1672 |
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Enric Marti; J.Roncaries; Debora Gil; Aura Hernandez-Sabate; Antoni Gurgui; Ferran Poveda |
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PBL On Line: A proposal for the organization, part-time monitoring and assessment of PBL group activities |
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2015 |
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Journal of Technology and Science Education |
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JOTSE |
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5 |
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2 |
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87-96 |
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IAM; ADAS; 600.076; 600.075 |
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Admin @ si @ MRG2015 |
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2608 |
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Author |
Enric Marti; Carme Julia; Debora Gil |
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A PBL Experience in the Teaching of Computer Graphics |
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Journal Article |
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Year |
2006 |
Publication |
Computer Graphics Forum |
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CGF |
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25 |
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1 |
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95-103 |
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Project-Based Learning (PBL) is an educational strategy to improve student’s learning capability that, in recent years, has had a progressive acceptance in undergraduate studies. This methodology is based on solving a problem or project in a student working group. In this way, PBL focuses on learning the necessary tools to correctly find a solution to given problems. Since the learning initiative is transferred to the student, the PBL method promotes students own abilities. This allows a better assessment of the true workload that carries out the student in the subject. It follows that the methodology conforms to the guidelines of the Bologna document, which quantifies the student workload in a subject by means of the European credit transfer system (ECTS). PBL is currently applied in undergraduate studies needing strong practical training such as medicine, nursing or law sciences. Although this is also the case in engineering studies, amazingly, few experiences have been reported. In this paper we propose to use PBL in the educational organization of the Computer Graphics subjects in the Computer Science degree. Our PBL project focuses in the development of a C++ graphical environment based on the OpenGL libraries for visualization and handling of different graphical objects. The starting point is a basic skeleton that already includes lighting functions, perspective projection with mouse interaction to change the point of view and three predefined objects. Students have to complete this skeleton by adding their own functions to solve the project. A total number of 10 projects have been proposed and successfully solved. The exercises range from human face rendering to articulated objects, such as robot arms or puppets. In the present paper we extensively report the statement and educational objectives for two of the projects: solar system visualization and a chess game. We report our earlier educational experience based on the standard classroom theoretical, problem and practice sessions and the reasons that motivated searching for other learning methods. We have mainly chosen PBL because it improves the student learning initiative. We have applied the PBL educational model since the beginning of the second semester. The student’s feedback increases in his interest for the subject. We present a comparative study of the teachers’ and students’ workload between PBL and the classic teaching approach, which suggests that the workload increase in PBL is not as high as it seems. |
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Computer Graphics Forum |
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Computer Vision CenterComputer Science Department Escola Tcnica Superior d’Enginyeria (UAB), Edifi |
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IAM;ADAS; |
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IAM @ iam @ MJG2006a |
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1607 |
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Debora Gil; Aura Hernandez-Sabate; Mireia Brunat;Steven Jansen; Jordi Martinez-Vilalta |
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Title |
Structure-preserving smoothing of biomedical images |
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Journal Article |
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Year |
2011 |
Publication |
Pattern Recognition |
Abbreviated Journal |
PR |
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44 |
Issue |
9 |
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1842-1851 |
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Non-linear smoothing; Differential geometry; Anatomical structures; segmentation; Cardiac magnetic resonance; Computerized tomography |
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Smoothing of biomedical images should preserve gray-level transitions between adjacent tissues, while restoring contours consistent with anatomical structures. Anisotropic diffusion operators are based on image appearance discontinuities (either local or contextual) and might fail at weak inter-tissue transitions. Meanwhile, the output of block-wise and morphological operations is prone to present a block structure due to the shape and size of the considered pixel neighborhood. In this contribution, we use differential geometry concepts to define a diffusion operator that restricts to image consistent level-sets. In this manner, the final state is a non-uniform intensity image presenting homogeneous inter-tissue transitions along anatomical structures, while smoothing intra-structure texture. Experiments on different types of medical images (magnetic resonance, computerized tomography) illustrate its benefit on a further process (such as segmentation) of images. |
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0031-3203 |
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IAM; ADAS |
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IAM @ iam @ GHB2011 |
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1526 |
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David Vazquez; Jorge Bernal; F. Javier Sanchez; Gloria Fernandez Esparrach; Antonio Lopez; Adriana Romero; Michal Drozdzal; Aaron Courville |
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A Benchmark for Endoluminal Scene Segmentation of Colonoscopy Images |
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2017 |
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Journal of Healthcare Engineering |
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JHCE |
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2040-2295 |
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Colonoscopy images; Deep Learning; Semantic Segmentation |
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Colorectal cancer (CRC) is the third cause of cancer death world-wide. Currently, the standard approach to reduce CRC-related mortality is to perform regular screening in search for polyps and colonoscopy is the screening tool of choice. The main limitations of this screening procedure are polyp miss- rate and inability to perform visual assessment of polyp malignancy. These drawbacks can be reduced by designing Decision Support Systems (DSS) aim- ing to help clinicians in the different stages of the procedure by providing endoluminal scene segmentation. Thus, in this paper, we introduce an extended benchmark of colonoscopy image segmentation, with the hope of establishing a new strong benchmark for colonoscopy image analysis research. The proposed dataset consists of 4 relevant classes to inspect the endolumninal scene, tar- geting different clinical needs. Together with the dataset and taking advantage of advances in semantic segmentation literature, we provide new baselines by training standard fully convolutional networks (FCN). We perform a compar- ative study to show that FCN significantly outperform, without any further post-processing, prior results in endoluminal scene segmentation, especially with respect to polyp segmentation and localization. |
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ADAS; MV; 600.075; 600.085; 600.076; 601.281; 600.118 |
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VBS2017b |
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2940 |
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David Vazquez; Javier Marin; Antonio Lopez; Daniel Ponsa; David Geronimo |
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Title |
Virtual and Real World Adaptation for Pedestrian Detection |
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2014 |
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IEEE Transactions on Pattern Analysis and Machine Intelligence |
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TPAMI |
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36 |
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4 |
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797-809 |
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Domain Adaptation; Pedestrian Detection |
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Pedestrian detection is of paramount interest for many applications. Most promising detectors rely on discriminatively learnt classifiers, i.e., trained with annotated samples. However, the annotation step is a human intensive and subjective task worth to be minimized. By using virtual worlds we can automatically obtain precise and rich annotations. Thus, we face the question: can a pedestrian appearance model learnt in realistic virtual worlds work successfully for pedestrian detection in realworld images?. Conducted experiments show that virtual-world based training can provide excellent testing accuracy in real world, but it can also suffer the dataset shift problem as real-world based training does. Accordingly, we have designed a domain adaptation framework, V-AYLA, in which we have tested different techniques to collect a few pedestrian samples from the target domain (real world) and combine them with the many examples of the source domain (virtual world) in order to train a domain adapted pedestrian classifier that will operate in the target domain. V-AYLA reports the same detection accuracy than when training with many human-provided pedestrian annotations and testing with real-world images of the same domain. To the best of our knowledge, this is the first work demonstrating adaptation of virtual and real worlds for developing an object detector. |
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0162-8828 |
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ADAS; 600.057; 600.054; 600.076 |
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ADAS @ adas @ VML2014 |
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2275 |
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David Geronimo; Joan Serrat; Antonio Lopez; Ramon Baldrich |
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Traffic sign recognition for computer vision project-based learning |
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2013 |
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IEEE Transactions on Education |
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T-EDUC |
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56 |
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3 |
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364-371 |
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traffic signs |
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This paper presents a graduate course project on computer vision. The aim of the project is to detect and recognize traffic signs in video sequences recorded by an on-board vehicle camera. This is a demanding problem, given that traffic sign recognition is one of the most challenging problems for driving assistance systems. Equally, it is motivating for the students given that it is a real-life problem. Furthermore, it gives them the opportunity to appreciate the difficulty of real-world vision problems and to assess the extent to which this problem can be solved by modern computer vision and pattern classification techniques taught in the classroom. The learning objectives of the course are introduced, as are the constraints imposed on its design, such as the diversity of students' background and the amount of time they and their instructors dedicate to the course. The paper also describes the course contents, schedule, and how the project-based learning approach is applied. The outcomes of the course are discussed, including both the students' marks and their personal feedback. |
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0018-9359 |
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ADAS; CIC |
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Admin @ si @ GSL2013; ADAS @ adas @ |
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2160 |
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David Geronimo; Antonio Lopez; Angel Sappa; Thorsten Graf |
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Survey on Pedestrian Detection for Advanced Driver Assistance Systems |
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2010 |
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IEEE Transaction on Pattern Analysis and Machine Intelligence |
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TPAMI |
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32 |
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7 |
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1239–1258 |
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ADAS, pedestrian detection, on-board vision, survey |
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Advanced driver assistance systems (ADASs), and particularly pedestrian protection systems (PPSs), have become an active research area aimed at improving traffic safety. The major challenge of PPSs is the development of reliable on-board pedestrian detection systems. Due to the varying appearance of pedestrians (e.g., different clothes, changing size, aspect ratio, and dynamic shape) and the unstructured environment, it is very difficult to cope with the demanded robustness of this kind of system. Two problems arising in this research area are the lack of public benchmarks and the difficulty in reproducing many of the proposed methods, which makes it difficult to compare the approaches. As a result, surveying the literature by enumerating the proposals one-after-another is not the most useful way to provide a comparative point of view. Accordingly, we present a more convenient strategy to survey the different approaches. We divide the problem of detecting pedestrians from images into different processing steps, each with attached responsibilities. Then, the different proposed methods are analyzed and classified with respect to each processing stage, favoring a comparative viewpoint. Finally, discussion of the important topics is presented, putting special emphasis on the future needs and challenges. |
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ADAS @ adas @ GLS2010 |
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