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	Author	Miguel Oliveira; Victor Santos; Angel Sappa; P. Dias; A. Moreira
	Title	Incremental texture mapping for autonomous driving			Type	Journal Article
	Year	2016	Publication	Robotics and Autonomous Systems	Abbreviated Journal	RAS
	Volume	84	Issue		Pages	113-128
	Keywords	Scene reconstruction; Autonomous driving; Texture mapping
	Abstract	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.
	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
	Notes	ADAS; 600.086			Approved	no
	Call Number	Admin @ si @ OSS2016b			Serial	2912
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	Author	Miguel Oliveira; Victor Santos; Angel Sappa
	Title	Multimodal Inverse Perspective Mapping			Type	Journal Article
	Year	2015	Publication	Information Fusion	Abbreviated Journal	IF
	Volume	24	Issue		Pages	108–121
	Keywords	Inverse perspective mapping; Multimodal sensor fusion; Intelligent vehicles
	Abstract	Over the past years, inverse perspective mapping has been successfully applied to several problems in the field of Intelligent Transportation Systems. In brief, the method consists of mapping images to a new coordinate system where perspective effects are removed. The removal of perspective associated effects facilitates road and obstacle detection and also assists in free space estimation. There is, however, a significant limitation in the inverse perspective mapping: the presence of obstacles on the road disrupts the effectiveness of the mapping. The current paper proposes a robust solution based on the use of multimodal sensor fusion. Data from a laser range finder is fused with images from the cameras, so that the mapping is not computed in the regions where obstacles are present. As shown in the results, this considerably improves the effectiveness of the algorithm and reduces computation time when compared with the classical inverse perspective mapping. Furthermore, the proposed approach is also able to cope with several cameras with different lenses or image resolutions, as well as dynamic viewpoints.
	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
	Notes	ADAS; 600.055; 600.076			Approved	no
	Call Number	Admin @ si @ OSS2015c			Serial	2532
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	Author	Monica Piñol; Angel Sappa; Ricardo Toledo
	Title	Adaptive Feature Descriptor Selection based on a Multi-Table Reinforcement Learning Strategy			Type	Journal Article
	Year	2015	Publication	Neurocomputing	Abbreviated Journal	NEUCOM
	Volume	150	Issue	A	Pages	106–115
	Keywords	Reinforcement learning; Q-learning; Bag of features; Descriptors
	Abstract	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.
	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
	Notes	ADAS; 600.055; 600.076			Approved	no
	Call Number	Admin @ si @ PST2015			Serial	2473
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	Author	Antonio Lopez; Gabriel Villalonga; Laura Sellart; German Ros; David Vazquez; Jiaolong Xu; Javier Marin; Azadeh S. Mozafari
	Title	Training my car to see using virtual worlds			Type	Journal Article
	Year	2017	Publication	Image and Vision Computing	Abbreviated Journal	IMAVIS
	Volume	38	Issue		Pages	102-118
	Keywords
	Abstract	Computer vision technologies are at the core of different advanced driver assistance systems (ADAS) and will play a key role in oncoming autonomous vehicles too. One of the main challenges for such technologies is to perceive the driving environment, i.e. to detect and track relevant driving information in a reliable manner (e.g. pedestrians in the vehicle route, free space to drive through). Nowadays it is clear that machine learning techniques are essential for developing such a visual perception for driving. In particular, the standard working pipeline consists of collecting data (i.e. on-board images), manually annotating the data (e.g. drawing bounding boxes around pedestrians), learning a discriminative data representation taking advantage of such annotations (e.g. a deformable part-based model, a deep convolutional neural network), and then assessing the reliability of such representation with the acquired data. In the last two decades most of the research efforts focused on representation learning (first, designing descriptors and learning classifiers; later doing it end-to-end). Hence, collecting data and, especially, annotating it, is essential for learning good representations. While this has been the case from the very beginning, only after the disruptive appearance of deep convolutional neural networks that it became a serious issue due to their data hungry nature. In this context, the problem is that manual data annotation is a tiresome work prone to errors. Accordingly, in the late 00’s we initiated a research line consisting of training visual models using photo-realistic computer graphics, especially focusing on assisted and autonomous driving. In this paper, we summarize such a work and show how it has become a new tendency with increasing acceptance.
	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
	Notes	ADAS; 600.118			Approved	no
	Call Number	Admin @ si @ LVS2017			Serial	2985
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	Author	Katerine Diaz; Aura Hernandez-Sabate; Antonio Lopez
	Title	A reduced feature set for driver head pose estimation			Type	Journal Article
	Year	2016	Publication	Applied Soft Computing	Abbreviated Journal	ASOC
	Volume	45	Issue		Pages	98-107
	Keywords	Head pose estimation; driving performance evaluation; subspace based methods; linear regression
	Abstract	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.
	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
	Notes	ADAS; 600.085; 600.076;			Approved	no
	Call Number	Admin @ si @ DHL2016			Serial	2760
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	Author	Enric Marti; Carme Julia; Debora Gil
	Title	A PBL Experience in the Teaching of Computer Graphics			Type	Journal Article
	Year	2006	Publication	Computer Graphics Forum	Abbreviated Journal	CGF
	Volume	25	Issue	1	Pages	95-103
	Keywords
	Abstract	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.
	Address
	Corporate Author				Thesis
	Publisher	Computer Graphics Forum	Place of Publication	Computer Vision CenterComputer Science Department Escola Tcnica Superior d’Enginyeria (UAB), Edifi	Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN		ISBN		Medium
	Area		Expedition		Conference
	Notes	IAM;ADAS;			Approved	no
	Call Number	IAM @ iam @ MJG2006a			Serial	1607
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	Author	Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez
	Title	Predicting Missing Ratings in Recommender Systems: Adapted Factorization Approach			Type	Journal Article
	Year	2009	Publication	International Journal of Electronic Commerce	Abbreviated Journal
	Volume	14	Issue	1	Pages	89-108
	Keywords
	Abstract	The paper presents a factorization-based approach to make predictions in recommender systems. These systems are widely used in electronic commerce to help customers find products according to their preferences. Taking into account the customer's ratings of some products available in the system, the recommender system tries to predict the ratings the customer would give to other products in the system. The proposed factorization-based approach uses all the information provided to compute the predicted ratings, in the same way as approaches based on Singular Value Decomposition (SVD). The main advantage of this technique versus SVD-based approaches is that it can deal with missing data. It also has a smaller computational cost. Experimental results with public data sets are provided to show that the proposed adapted factorization approach gives better predicted ratings than a widely used SVD-based approach.
	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	1086-4415	ISBN		Medium
	Area		Expedition		Conference
	Notes	ADAS			Approved	no
	Call Number	ADAS @ adas @ JSL2009b			Serial	1237
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	Author	Enric Marti; J.Roncaries; Debora Gil; Aura Hernandez-Sabate; Antoni Gurgui; Ferran Poveda
	Title	PBL On Line: A proposal for the organization, part-time monitoring and assessment of PBL group activities			Type	Journal
	Year	2015	Publication	Journal of Technology and Science Education	Abbreviated Journal	JOTSE
	Volume	5	Issue	2	Pages	87-96
	Keywords
	Abstract
	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
	Notes	IAM; ADAS; 600.076; 600.075			Approved	no
	Call Number	Admin @ si @ MRG2015			Serial	2608
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	Author	Xavier Boix; Josep M. Gonfaus; Joost van de Weijer; Andrew Bagdanov; Joan Serrat; Jordi Gonzalez
	Title	Harmony Potentials: Fusing Global and Local Scale for Semantic Image Segmentation			Type	Journal Article
	Year	2012	Publication	International Journal of Computer Vision	Abbreviated Journal	IJCV
	Volume	96	Issue	1	Pages	83-102
	Keywords
	Abstract	The Hierarchical Conditional Random Field(HCRF) model have been successfully applied to a number of image labeling problems, including image segmentation. However, existing HCRF models of image segmentation do not allow multiple classes to be assigned to a single region, which limits their ability to incorporate contextual information across multiple scales. At higher scales in the image, this representation yields an oversimplied model since multiple classes can be reasonably expected to appear within large regions. This simplied model particularly limits the impact of information at higher scales. Since class-label information at these scales is usually more reliable than at lower, noisier scales, neglecting this information is undesirable. To address these issues, we propose a new consistency potential for image labeling problems, which we call the harmony potential. It can encode any possible combi- nation of labels, penalizing only unlikely combinations of classes. We also propose an eective sampling strategy over this expanded label set that renders tractable the underlying optimization problem. Our approach obtains state-of-the-art results on two challenging, standard benchmark datasets for semantic image segmentation: PASCAL VOC 2010, and MSRC-21.
	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	0920-5691	ISBN		Medium
	Area		Expedition		Conference
	Notes	CAT;ISE;CIC;ADAS			Approved	no
	Call Number	Admin @ si @ BGW2012			Serial	1718
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	Author	Jaume Amores
	Title	Multiple Instance Classification: review, taxonomy and comparative study			Type	Journal Article
	Year	2013	Publication	Artificial Intelligence	Abbreviated Journal	AI
	Volume	201	Issue		Pages	81-105
	Keywords	Multi-instance learning; Codebook; Bag-of-Words
	Abstract	Multiple Instance Learning (MIL) has become an important topic in the pattern recognition community, and many solutions to this problemhave been proposed until now. Despite this fact, there is a lack of comparative studies that shed light into the characteristics and behavior of the different methods. In this work we provide such an analysis focused on the classification task (i.e.,leaving out other learning tasks such as regression). In order to perform our study, we implemented fourteen methods grouped into three different families. We analyze the performance of the approaches across a variety of well-known databases, and we also study their behavior in synthetic scenarios in order to highlight their characteristics. As a result of this analysis, we conclude that methods that extract global bag-level information show a clearly superior performance in general. In this sense, the analysis permits us to understand why some types of methods are more successful than others, and it permits us to establish guidelines in the design of new MIL methods.
	Address
	Corporate Author				Thesis
	Publisher	Elsevier Science Publishers Ltd. Essex, UK	Place of Publication		Editor
	Language		Summary Language		Original Title
	Series Editor		Series Title		Abbreviated Series Title
	Series Volume		Series Issue		Edition
	ISSN	0004-3702	ISBN		Medium
	Area		Expedition		Conference
	Notes	ADAS; 601.042; 600.057			Approved	no
	Call Number	Admin @ si @ Amo2013			Serial	2273
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