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David Geronimo; Joan Serrat; Antonio Lopez; Ramon Baldrich |
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Title |
Traffic sign recognition for computer vision project-based learning |
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2013 |
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IEEE Transactions on Education |
Abbreviated Journal |
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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Author |
Adrien Gaidon; Antonio Lopez; Florent Perronnin |
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Title |
The Reasonable Effectiveness of Synthetic Visual Data |
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2018 |
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International Journal of Computer Vision |
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IJCV |
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126 |
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9 |
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899–901 |
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ADAS; 600.118 |
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Admin @ si @ GLP2018 |
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3180 |
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Author |
Zhijie Fang; David Vazquez; Antonio Lopez |
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Title |
On-Board Detection of Pedestrian Intentions |
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Journal Article |
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2017 |
Publication |
Sensors |
Abbreviated Journal |
SENS |
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17 |
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10 |
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2193 |
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Keywords |
pedestrian intention; ADAS; self-driving |
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Avoiding vehicle-to-pedestrian crashes is a critical requirement for nowadays advanced driver assistant systems (ADAS) and future self-driving vehicles. Accordingly, detecting pedestrians from raw sensor data has a history of more than 15 years of research, with vision playing a central role.
During the last years, deep learning has boosted the accuracy of image-based pedestrian detectors.
However, detection is just the first step towards answering the core question, namely is the vehicle going to crash with a pedestrian provided preventive actions are not taken? Therefore, knowing as soon as possible if a detected pedestrian has the intention of crossing the road ahead of the vehicle is
essential for performing safe and comfortable maneuvers that prevent a crash. However, compared to pedestrian detection, there is relatively little literature on detecting pedestrian intentions. This paper aims to contribute along this line by presenting a new vision-based approach which analyzes the
pose of a pedestrian along several frames to determine if he or she is going to enter the road or not. We present experiments showing 750 ms of anticipation for pedestrians crossing the road, which at a typical urban driving speed of 50 km/h can provide 15 additional meters (compared to a pure pedestrian detector) for vehicle automatic reactions or to warn the driver. Moreover, in contrast with state-of-the-art methods, our approach is monocular, neither requiring stereo nor optical flow information. |
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ADAS; 600.085; 600.076; 601.223; 600.116; 600.118 |
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Admin @ si @ FVL2017 |
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2983 |
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Zhijie Fang; Antonio Lopez |
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Title |
Intention Recognition of Pedestrians and Cyclists by 2D Pose Estimation |
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2019 |
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IEEE Transactions on Intelligent Transportation Systems |
Abbreviated Journal |
TITS |
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21 |
Issue |
11 |
Pages |
4773 - 4783 |
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Anticipating the intentions of vulnerable road users (VRUs) such as pedestrians and cyclists is critical for performing safe and comfortable driving maneuvers. This is the case for human driving and, thus, should be taken into account by systems providing any level of driving assistance, from advanced driver assistant systems (ADAS) to fully autonomous vehicles (AVs). In this paper, we show how the latest advances on monocular vision-based human pose estimation, i.e. those relying on deep Convolutional Neural Networks (CNNs), enable to recognize the intentions of such VRUs. In the case of cyclists, we assume that they follow traffic rules to indicate future maneuvers with arm signals. In the case of pedestrians, no indications can be assumed. Instead, we hypothesize that the walking pattern of a pedestrian allows to determine if he/she has the intention of crossing the road in the path of the ego-vehicle, so that the ego-vehicle must maneuver accordingly (e.g. slowing down or stopping). In this paper, we show how the same methodology can be used for recognizing pedestrians and cyclists' intentions. For pedestrians, we perform experiments on the JAAD dataset. For cyclists, we did not found an analogous dataset, thus, we created our own one by acquiring and annotating videos which we share with the research community. Overall, the proposed pipeline provides new state-of-the-art results on the intention recognition of VRUs. |
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ADAS; 600.118 |
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no |
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Call Number |
Admin @ si @ FaL2019 |
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3305 |
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Author |
Ferran Diego; Joan Serrat; Antonio Lopez |
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Title |
Joint spatio-temporal alignment of sequences |
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Year |
2013 |
Publication |
IEEE Transactions on Multimedia |
Abbreviated Journal |
TMM |
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15 |
Issue |
6 |
Pages |
1377-1387 |
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Keywords |
video alignment |
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Video alignment is important in different areas of computer vision such as wide baseline matching, action recognition, change detection, video copy detection and frame dropping prevention. Current video alignment methods usually deal with a relatively simple case of fixed or rigidly attached cameras or simultaneous acquisition. Therefore, in this paper we propose a joint video alignment for bringing two video sequences into a spatio-temporal alignment. Specifically, the novelty of the paper is to formulate the video alignment to fold the spatial and temporal alignment into a single alignment framework. This simultaneously satisfies a frame-correspondence and frame-alignment similarity; exploiting the knowledge among neighbor frames by a standard pairwise Markov random field (MRF). This new formulation is able to handle the alignment of sequences recorded at different times by independent moving cameras that follows a similar trajectory, and also generalizes the particular cases that of fixed geometric transformation and/or linear temporal mapping. We conduct experiments on different scenarios such as sequences recorded simultaneously or by moving cameras to validate the robustness of the proposed approach. The proposed method provides the highest video alignment accuracy compared to the state-of-the-art methods on sequences recorded from vehicles driving along the same track at different times. |
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1520-9210 |
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ADAS |
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Admin @ si @ DSL2013; ADAS @ adas @ |
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2228 |
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Author |
Katerine Diaz; Jesus Martinez del Rincon; Marçal Rusiñol; Aura Hernandez-Sabate |
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Title |
Feature Extraction by Using Dual-Generalized Discriminative Common Vectors |
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2019 |
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Journal of Mathematical Imaging and Vision |
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JMIV |
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61 |
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3 |
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331-351 |
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Online feature extraction; Generalized discriminative common vectors; Dual learning; Incremental learning; Decremental learning |
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In this paper, a dual online subspace-based learning method called dual-generalized discriminative common vectors (Dual-GDCV) is presented. The method extends incremental GDCV by exploiting simultaneously both the concepts of incremental and decremental learning for supervised feature extraction and classification. Our methodology is able to update the feature representation space without recalculating the full projection or accessing the previously processed training data. It allows both adding information and removing unnecessary data from a knowledge base in an efficient way, while retaining the previously acquired knowledge. The proposed method has been theoretically proved and empirically validated in six standard face recognition and classification datasets, under two scenarios: (1) removing and adding samples of existent classes, and (2) removing and adding new classes to a classification problem. Results show a considerable computational gain without compromising the accuracy of the model in comparison with both batch methodologies and other state-of-art adaptive methods. |
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DAG; ADAS; 600.084; 600.118; 600.121; 600.129 |
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Admin @ si @ DRR2019 |
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3172 |
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Author |
Katerine Diaz; Jesus Martinez del Rincon; Aura Hernandez-Sabate; Debora Gil |
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Title |
Continuous head pose estimation using manifold subspace embedding and multivariate regression |
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2018 |
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IEEE Access |
Abbreviated Journal |
ACCESS |
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6 |
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18325 - 18334 |
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Head Pose estimation; HOG features; Generalized Discriminative Common Vectors; B-splines; Multiple linear regression |
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In this paper, a continuous head pose estimation system is proposed to estimate yaw and pitch head angles from raw facial images. Our approach is based on manifold learningbased methods, due to their promising generalization properties shown for face modelling from images. The method combines histograms of oriented gradients, generalized discriminative common vectors and continuous local regression to achieve successful performance. Our proposal was tested on multiple standard face datasets, as well as in a realistic scenario. Results show a considerable performance improvement and a higher consistence of our model in comparison with other state-of-art methods, with angular errors varying between 9 and 17 degrees. |
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ADAS; 600.118 |
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Admin @ si @ DMH2018b |
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3091 |
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Katerine Diaz; Jesus Martinez del Rincon; Aura Hernandez-Sabate; Marçal Rusiñol; Francesc J. Ferri |
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Title |
Fast Kernel Generalized Discriminative Common Vectors for Feature Extraction |
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2018 |
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Journal of Mathematical Imaging and Vision |
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JMIV |
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60 |
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4 |
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512-524 |
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This paper presents a supervised subspace learning method called Kernel Generalized Discriminative Common Vectors (KGDCV), as a novel extension of the known Discriminative Common Vectors method with Kernels. Our method combines the advantages of kernel methods to model complex data and solve nonlinear
problems with moderate computational complexity, with the better generalization properties of generalized approaches for large dimensional data. These attractive combination makes KGDCV specially suited for feature extraction and classification in computer vision, image processing and pattern recognition applications. Two different approaches to this generalization are proposed, a first one based on the kernel trick (KT) and a second one based on the nonlinear projection trick (NPT) for even higher efficiency. Both methodologies
have been validated on four different image datasets containing faces, objects and handwritten digits, and compared against well known non-linear state-of-art methods. Results show better discriminant properties than other generalized approaches both linear or kernel. In addition, the KGDCV-NPT approach presents a considerable computational gain, without compromising the accuracy of the model. |
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DAG; ADAS; 600.086; 600.130; 600.121; 600.118; 600.129 |
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Admin @ si @ DMH2018a |
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3062 |
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Katerine Diaz; Jesus Martinez del Rincon; Aura Hernandez-Sabate |
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Decremental generalized discriminative common vectors applied to images classification |
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2017 |
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Knowledge-Based Systems |
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KBS |
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131 |
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46-57 |
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Decremental learning; Generalized Discriminative Common Vectors; Feature extraction; Linear subspace methods; Classification |
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In this paper, a novel decremental subspace-based learning method called Decremental Generalized Discriminative Common Vectors method (DGDCV) is presented. The method makes use of the concept of decremental learning, which we introduce in the field of supervised feature extraction and classification. By efficiently removing unnecessary data and/or classes for a knowledge base, our methodology is able to update the model without recalculating the full projection or accessing to the previously processed training data, while retaining the previously acquired knowledge. The proposed method has been validated in 6 standard face recognition datasets, showing a considerable computational gain without compromising the accuracy of the model. |
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ADAS; 600.118; 600.121 |
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Admin @ si @ DMH2017a |
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3003 |
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Katerine Diaz; Aura Hernandez-Sabate; Antonio Lopez |
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A reduced feature set for driver head pose estimation |
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2016 |
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Applied Soft Computing |
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ASOC |
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45 |
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98-107 |
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Head pose estimation; driving performance evaluation; subspace based methods; linear regression |
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Evaluation of driving performance is of utmost importance in order to reduce road accident rate. Since driving ability includes visual-spatial and operational attention, among others, head pose estimation of the driver is a crucial indicator of driving performance. This paper proposes a new automatic method for coarse and fine head's yaw angle estimation of the driver. We rely on a set of geometric features computed from just three representative facial keypoints, namely the center of the eyes and the nose tip. With these geometric features, our method combines two manifold embedding methods and a linear regression one. In addition, the method has a confidence mechanism to decide if the classification of a sample is not reliable. The approach has been tested using the CMU-PIE dataset and our own driver dataset. Despite the very few facial keypoints required, the results are comparable to the state-of-the-art techniques. The low computational cost of the method and its robustness makes feasible to integrate it in massive consume devices as a real time application. |
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ADAS; 600.085; 600.076; |
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Admin @ si @ DHL2016 |
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2760 |
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