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Miguel Oliveira; Victor Santos; Angel Sappa; P. Dias; A. Moreira |
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Title |
Incremental texture mapping for autonomous driving |
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Journal Article |
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2016 |
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Robotics and Autonomous Systems |
Abbreviated Journal |
RAS |
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84 |
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113-128 |
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Scene reconstruction; Autonomous driving; Texture mapping |
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Autonomous vehicles have a large number of on-board sensors, not only for providing coverage all around the vehicle, but also to ensure multi-modality in the observation of the scene. Because of this, it is not trivial to come up with a single, unique representation that feeds from the data given by all these sensors. We propose an algorithm which is capable of mapping texture collected from vision based sensors onto a geometric description of the scenario constructed from data provided by 3D sensors. The algorithm uses a constrained Delaunay triangulation to produce a mesh which is updated using a specially devised sequence of operations. These enforce a partial configuration of the mesh that avoids bad quality textures and ensures that there are no gaps in the texture. Results show that this algorithm is capable of producing fine quality textures. |
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Admin @ si @ OSS2016b |
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2912 |
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Monica Piñol; Angel Sappa; Ricardo Toledo |
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Title |
Adaptive Feature Descriptor Selection based on a Multi-Table Reinforcement Learning Strategy |
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Journal Article |
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2015 |
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Neurocomputing |
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NEUCOM |
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150 |
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A |
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106–115 |
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Reinforcement learning; Q-learning; Bag of features; Descriptors |
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This paper presents and evaluates a framework to improve the performance of visual object classification methods, which are based on the usage of image feature descriptors as inputs. The goal of the proposed framework is to learn the best descriptor for each image in a given database. This goal is reached by means of a reinforcement learning process using the minimum information. The visual classification system used to demonstrate the proposed framework is based on a bag of features scheme, and the reinforcement learning technique is implemented through the Q-learning approach. The behavior of the reinforcement learning with different state definitions is evaluated. Additionally, a method that combines all these states is formulated in order to select the optimal state. Finally, the chosen actions are obtained from the best set of image descriptors in the literature: PHOW, SIFT, C-SIFT, SURF and Spin. Experimental results using two public databases (ETH and COIL) are provided showing both the validity of the proposed approach and comparisons with state of the art. In all the cases the best results are obtained with the proposed approach. |
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ADAS; 600.055; 600.076 |
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Admin @ si @ PST2015 |
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2473 |
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Marçal Rusiñol; David Aldavert; Ricardo Toledo; Josep Llados |
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Title |
Efficient segmentation-free keyword spotting in historical document collections |
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Journal Article |
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2015 |
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Pattern Recognition |
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PR |
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48 |
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2 |
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545–555 |
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Historical documents; Keyword spotting; Segmentation-free; Dense SIFT features; Latent semantic analysis; Product quantization |
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In this paper we present an efficient segmentation-free word spotting method, applied in the context of historical document collections, that follows the query-by-example paradigm. We use a patch-based framework where local patches are described by a bag-of-visual-words model powered by SIFT descriptors. By projecting the patch descriptors to a topic space with the latent semantic analysis technique and compressing the descriptors with the product quantization method, we are able to efficiently index the document information both in terms of memory and time. The proposed method is evaluated using four different collections of historical documents achieving good performances on both handwritten and typewritten scenarios. The yielded performances outperform the recent state-of-the-art keyword spotting approaches. |
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DAG; ADAS; 600.076; 600.077; 600.061; 601.223; 602.006; 600.055 |
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no |
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Call Number ![sorted by Call Number field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
Admin @ si @ RAT2015a |
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2544 |
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Arnau Ramisa; David Aldavert; Shrihari Vasudevan; Ricardo Toledo; Ramon Lopez de Mantaras |
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Title |
Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot |
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Journal Article |
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2012 |
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Journal of Intelligent and Robotic Systems |
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JIRC |
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68 |
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2 |
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185-208 |
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This paper addresses visual object perception applied to mobile robotics. Being able to perceive household objects in unstructured environments is a key capability in order to make robots suitable to perform complex tasks in home environments. However, finding a solution for this task is daunting: it requires the ability to handle the variability in image formation in a moving camera with tight time constraints. The paper brings to attention some of the issues with applying three state of the art object recognition and detection methods in a mobile robotics scenario, and proposes methods to deal with windowing/segmentation. Thus, this work aims at evaluating the state-of-the-art in object perception in an attempt to develop a lightweight solution for mobile robotics use/research in typical indoor settings. |
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Springer Netherlands |
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0921-0296 |
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ADAS |
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no |
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Call Number ![sorted by Call Number field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
Admin @ si @ RAV2012 |
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2150 |
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P. Ricaurte ; C. Chilan; Cristhian A. Aguilera-Carrasco; Boris X. Vintimilla; Angel Sappa |
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Title |
Feature Point Descriptors: Infrared and Visible Spectra |
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Journal Article |
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2014 |
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Sensors |
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SENS |
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14 |
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2 |
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3690-3701 |
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This manuscript evaluates the behavior of classical feature point descriptors when they are used in images from long-wave infrared spectral band and compare them with the results obtained in the visible spectrum. Robustness to changes in rotation, scaling, blur, and additive noise are analyzed using a state of the art framework. Experimental results using a cross-spectral outdoor image data set are presented and conclusions from these experiments are given. |
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ADAS;600.055; 600.076 |
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no |
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Call Number ![sorted by Call Number field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
Admin @ si @ RCA2014a |
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2474 |
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Marçal Rusiñol; J. Chazalon; Katerine Diaz |
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Title |
Augmented Songbook: an Augmented Reality Educational Application for Raising Music Awareness |
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Journal Article |
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2018 |
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Multimedia Tools and Applications |
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MTAP |
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77 |
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11 |
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13773-13798 |
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Augmented reality; Document image matching; Educational applications |
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This paper presents the development of an Augmented Reality mobile application which aims at sensibilizing young children to abstract concepts of music. Such concepts are, for instance, the musical notation or the idea of rhythm. Recent studies in Augmented Reality for education suggest that such technologies have multiple benefits for students, including younger ones. As mobile document image acquisition and processing gains maturity on mobile platforms, we explore how it is possible to build a markerless and real-time application to augment the physical documents with didactic animations and interactive virtual content. Given a standard image processing pipeline, we compare the performance of different local descriptors at two key stages of the process. Results suggest alternatives to the SIFT local descriptors, regarding result quality and computational efficiency, both for document model identification and perspective transform estimation. All experiments are performed on an original and public dataset we introduce here. |
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DAG; ADAS; 600.084; 600.121; 600.118; 600.129 |
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Call Number ![sorted by Call Number field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
Admin @ si @ RCD2018 |
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2996 |
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Arnau Ramisa; Alex Goldhoorn; David Aldavert; Ricardo Toledo; Ramon Lopez de Mantaras |
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Title |
Combining Invariant Features and the ALV Homing Method for Autonomous Robot Navigation Based on Panoramas |
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2011 |
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Journal of Intelligent and Robotic Systems |
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JIRC |
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64 |
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3-4 |
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625-649 |
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Biologically inspired homing methods, such as the Average Landmark Vector, are an interesting solution for local navigation due to its simplicity. However, usually they require a modification of the environment by placing artificial landmarks in order to work reliably. In this paper we combine the Average Landmark Vector with invariant feature points automatically detected in panoramic images to overcome this limitation. The proposed approach has been evaluated first in simulation and, as promising results are found, also in two data sets of panoramas from real world environments. |
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Springer Netherlands |
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0921-0296 |
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RV;ADAS |
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no |
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Call Number ![sorted by Call Number field, ascending order (up)](http://refbase.cvc.uab.es/img/sort_asc.gif) |
Admin @ si @ RGA2011 |
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1728 |
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Jose Carlos Rubio; Joan Serrat; Antonio Lopez; Daniel Ponsa |
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Title |
Multiple target tracking for intelligent headlights control |
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Journal Article |
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2012 |
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IEEE Transactions on Intelligent Transportation Systems |
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TITS |
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13 |
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2 |
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594-605 |
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Intelligent Headlights |
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Intelligent vehicle lighting systems aim at automatically regulating the headlights' beam to illuminate as much of the road ahead as possible while avoiding dazzling other drivers. A key component of such a system is computer vision software that is able to distinguish blobs due to vehicles' headlights and rear lights from those due to road lamps and reflective elements such as poles and traffic signs. In a previous work, we have devised a set of specialized supervised classifiers to make such decisions based on blob features related to its intensity and shape. Despite the overall good performance, there remain challenging that have yet to be solved: notably, faint and tiny blobs corresponding to quite distant vehicles. In fact, for such distant blobs, classification decisions can be taken after observing them during a few frames. Hence, incorporating tracking could improve the overall lighting system performance by enforcing the temporal consistency of the classifier decision. Accordingly, this paper focuses on the problem of constructing blob tracks, which is actually one of multiple-target tracking (MTT), but under two special conditions: We have to deal with frequent occlusions, as well as blob splits and merges. We approach it in a novel way by formulating the problem as a maximum a posteriori inference on a Markov random field. The qualitative (in video form) and quantitative evaluation of our new MTT method shows good tracking results. In addition, we will also see that the classification performance of the problematic blobs improves due to the proposed MTT algorithm. |
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1524-9050 |
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Admin @ si @ RLP2012; ADAS @ adas @ rsl2012g |
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1877 |
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Mohammad Rouhani; Angel Sappa |
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Title |
Implicit Polynomial Representation through a Fast Fitting Error Estimation |
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2012 |
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IEEE Transactions on Image Processing |
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TIP |
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21 |
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4 |
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2089-2098 |
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Impact Factor
This paper presents a simple distance estimation for implicit polynomial fitting. It is computed as the height of a simplex built between the point and the surface (i.e., a triangle in 2-D or a tetrahedron in 3-D), which is used as a coarse but reliable estimation of the orthogonal distance. The proposed distance can be described as a function of the coefficients of the implicit polynomial. Moreover, it is differentiable and has a smooth behavior . Hence, it can be used in any gradient-based optimization. In this paper, its use in a Levenberg-Marquardt framework is shown, which is particularly devoted for nonlinear least squares problems. The proposed estimation is a generalization of the gradient-based distance estimation, which is widely used in the literature. Experimental results, both in 2-D and 3-D data sets, are provided. Comparisons with state-of-the-art techniques are presented, showing the advantages of the proposed approach. |
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Admin @ si @ RoS2012b; ADAS @ adas @ |
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1937 |
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Mohammad Rouhani; Angel Sappa |
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The Richer Representation the Better Registration |
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2013 |
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IEEE Transactions on Image Processing |
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TIP |
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22 |
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12 |
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5036-5049 |
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In this paper, the registration problem is formulated as a point to model distance minimization. Unlike most of the existing works, which are based on minimizing a point-wise correspondence term, this formulation avoids the correspondence search that is time-consuming. In the first stage, the target set is described through an implicit function by employing a linear least squares fitting. This function can be either an implicit polynomial or an implicit B-spline from a coarse to fine representation. In the second stage, we show how the obtained implicit representation is used as an interface to convert point-to-point registration into point-to-implicit problem. Furthermore, we show that this registration distance is smooth and can be minimized through the Levengberg-Marquardt algorithm. All the formulations presented for both stages are compact and easy to implement. In addition, we show that our registration method can be handled using any implicit representation though some are coarse and others provide finer representations; hence, a tradeoff between speed and accuracy can be set by employing the right implicit function. Experimental results and comparisons in 2D and 3D show the robustness and the speed of convergence of the proposed approach. |
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Admin @ si @ RoS2013 |
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2665 |
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