| |
Records |
Links |
|
Author |
Akhil Gurram; Onay Urfalioglu; Ibrahim Halfaoui; Fahd Bouzaraa; Antonio Lopez |
|
| |
Title |
Semantic Monocular Depth Estimation Based on Artificial Intelligence |
Type |
Journal Article |
| |
Year |
2020 |
Publication  |
IEEE Intelligent Transportation Systems Magazine |
Abbreviated Journal |
ITSM |
|
| |
Volume |
13 |
Issue |
4 |
Pages |
99-103 |
|
| |
Keywords |
|
|
| |
Abstract |
Depth estimation provides essential information to perform autonomous driving and driver assistance. A promising line of work consists of introducing additional semantic information about the traffic scene when training CNNs for depth estimation. In practice, this means that the depth data used for CNN training is complemented with images having pixel-wise semantic labels where the same raw training data is associated with both types of ground truth, i.e., depth and semantic labels. The main contribution of this paper is to show that this hard constraint can be circumvented, i.e., that we can train CNNs for depth estimation by leveraging the depth and semantic information coming from heterogeneous datasets. In order to illustrate the benefits of our approach, we combine KITTI depth and Cityscapes semantic segmentation datasets, outperforming state-of-the-art results on monocular depth estimation. |
|
| |
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; 600.124; 600.118 |
Approved |
no |
|
| |
Call Number |
Admin @ si @ GUH2019 |
Serial |
3306 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Fernando Barrera; Felipe Lumbreras; Angel Sappa |
|
| |
Title |
Multimodal Stereo Vision System: 3D Data Extraction and Algorithm Evaluation |
Type |
Journal Article |
| |
Year |
2012 |
Publication |
IEEE Journal of Selected Topics in Signal Processing |
Abbreviated Journal |
J-STSP |
|
| |
Volume |
6 |
Issue |
5 |
Pages |
437-446 |
|
| |
Keywords |
|
|
| |
Abstract |
This paper proposes an imaging system for computing sparse depth maps from multispectral images. A special stereo head consisting of an infrared and a color camera defines the proposed multimodal acquisition system. The cameras are rigidly attached so that their image planes are parallel. Details about the calibration and image rectification procedure are provided. Sparse disparity maps are obtained by the combined use of mutual information enriched with gradient information. The proposed approach is evaluated using a Receiver Operating Characteristics curve. Furthermore, a multispectral dataset, color and infrared images, together with their corresponding ground truth disparity maps, is generated and used as a test bed. Experimental results in real outdoor scenarios are provided showing its viability and that the proposed approach is not restricted to a specific domain. |
|
| |
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 |
1932-4553 |
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
Admin @ si @ BLS2012b |
Serial |
2155 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
M. Altillawi; S. Li; S.M. Prakhya; Z. Liu; Joan Serrat |
|
| |
Title |
Implicit Learning of Scene Geometry From Poses for Global Localization |
Type |
Journal Article |
| |
Year |
2024 |
Publication |
IEEE Robotics and Automation Letters |
Abbreviated Journal |
ROBOTAUTOMLET |
|
| |
Volume |
9 |
Issue |
2 |
Pages |
955-962 |
|
| |
Keywords |
Localization; Localization and mapping; Deep learning for visual perception; Visual learning |
|
| |
Abstract |
Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by latest advances in deep learning, many existing approaches directly learn and regress 6 DoF pose from an input image. However, these methods do not fully utilize the underlying scene geometry for pose regression. The challenge in monocular relocalization is the minimal availability of supervised training data, which is just the corresponding 6 DoF poses of the images. In this letter, we propose to utilize these minimal available labels (i.e., poses) to learn the underlying 3D geometry of the scene and use the geometry to estimate the 6 DoF camera pose. We present a learning method that uses these pose labels and rigid alignment to learn two 3D geometric representations ( X, Y, Z coordinates ) of the scene, one in camera coordinate frame and the other in global coordinate frame. Given a single image, it estimates these two 3D scene representations, which are then aligned to estimate a pose that matches the pose label. This formulation allows for the active inclusion of additional learning constraints to minimize 3D alignment errors between the two 3D scene representations, and 2D re-projection errors between the 3D global scene representation and 2D image pixels, resulting in improved localization accuracy. During inference, our model estimates the 3D scene geometry in camera and global frames and aligns them rigidly to obtain pose in real-time. We evaluate our work on three common visual localization datasets, conduct ablation studies, and show that our method exceeds state-of-the-art regression methods' pose accuracy on all datasets. |
|
| |
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 |
2377-3766 |
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
Admin @ si @ |
Serial |
3857 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Fei Yang; Luis Herranz; Joost Van de Weijer; Jose Antonio Iglesias; Antonio Lopez; Mikhail Mozerov |
|
| |
Title |
Variable Rate Deep Image Compression with Modulated Autoencoder |
Type |
Journal Article |
| |
Year |
2020 |
Publication |
IEEE Signal Processing Letters |
Abbreviated Journal |
SPL |
|
| |
Volume |
27 |
Issue |
|
Pages |
331-335 |
|
| |
Keywords |
|
|
| |
Abstract |
Variable rate is a requirement for flexible and adaptable image and video compression. However, deep image compression methods (DIC) are optimized for a single fixed rate-distortion (R-D) tradeoff. While this can be addressed by training multiple models for different tradeoffs, the memory requirements increase proportionally to the number of models. Scaling the bottleneck representation of a shared autoencoder can provide variable rate compression with a single shared autoencoder. However, the R-D performance using this simple mechanism degrades in low bitrates, and also shrinks the effective range of bitrates. To address these limitations, we formulate the problem of variable R-D optimization for DIC, and propose modulated autoencoders (MAEs), where the representations of a shared autoencoder are adapted to the specific R-D tradeoff via a modulation network. Jointly training this modulated autoencoder and the modulation network provides an effective way to navigate the R-D operational curve. Our experiments show that the proposed method can achieve almost the same R-D performance of independent models with significantly fewer parameters. |
|
| |
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 |
LAMP; ADAS; 600.141; 600.120; 600.118 |
Approved |
no |
|
| |
Call Number |
Admin @ si @ YHW2020 |
Serial |
3346 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Yu Jie; Jaume Amores; N. Sebe; Petia Radeva; Tian Qi |
|
| |
Title |
Distance Learning for Similarity Estimation |
Type |
Journal |
| |
Year |
2008 |
Publication |
IEEE Trans. on Pattern Analysis and Machine Intelligence, vol.30(3):451–462 |
Abbreviated Journal |
|
|
| |
Volume |
|
Issue |
|
Pages |
|
|
| |
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 |
ADAS;MILAB |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ JAS2008 |
Serial |
961 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
David Geronimo; Antonio Lopez; Angel Sappa; Thorsten Graf |
|
| |
Title |
Survey on Pedestrian Detection for Advanced Driver Assistance Systems |
Type |
Journal Article |
| |
Year |
2010 |
Publication |
IEEE Transaction on Pattern Analysis and Machine Intelligence |
Abbreviated Journal |
TPAMI |
|
| |
Volume |
32 |
Issue |
7 |
Pages |
1239–1258 |
|
| |
Keywords |
ADAS, pedestrian detection, on-board vision, survey |
|
| |
Abstract |
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. |
|
| |
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 |
0162-8828 |
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
ADAS @ adas @ GLS2010 |
Serial |
1340 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Alejandro Gonzalez Alzate; David Vazquez; Antonio Lopez; Jaume Amores |
|
| |
Title |
On-Board Object Detection: Multicue, Multimodal, and Multiview Random Forest of Local Experts |
Type |
Journal Article |
| |
Year |
2017 |
Publication |
IEEE Transactions on cybernetics |
Abbreviated Journal |
Cyber |
|
| |
Volume |
47 |
Issue |
11 |
Pages |
3980 - 3990 |
|
| |
Keywords |
Multicue; multimodal; multiview; object detection |
|
| |
Abstract |
Despite recent significant advances, object detection continues to be an extremely challenging problem in real scenarios. In order to develop a detector that successfully operates under these conditions, it becomes critical to leverage upon multiple cues, multiple imaging modalities, and a strong multiview (MV) classifier that accounts for different object views and poses. In this paper, we provide an extensive evaluation that gives insight into how each of these aspects (multicue, multimodality, and strong MV classifier) affect accuracy both individually and when integrated together. In the multimodality component, we explore the fusion of RGB and depth maps obtained by high-definition light detection and ranging, a type of modality that is starting to receive increasing attention. As our analysis reveals, although all the aforementioned aspects significantly help in improving the accuracy, the fusion of visible spectrum and depth information allows to boost the accuracy by a much larger margin. The resulting detector not only ranks among the top best performers in the challenging KITTI benchmark, but it is built upon very simple blocks that are easy to implement and computationally efficient. |
|
| |
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 |
2168-2267 |
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
ADAS; 600.085; 600.082; 600.076; 600.118 |
Approved |
no |
|
| |
Call Number |
Admin @ si @ |
Serial |
2810 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
David Geronimo; Joan Serrat; Antonio Lopez; Ramon Baldrich |
|
| |
Title |
Traffic sign recognition for computer vision project-based learning |
Type |
Journal Article |
| |
Year |
2013 |
Publication |
IEEE Transactions on Education |
Abbreviated Journal |
T-EDUC |
|
| |
Volume |
56 |
Issue |
3 |
Pages |
364-371 |
|
| |
Keywords |
traffic signs |
|
| |
Abstract |
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. |
|
| |
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 |
0018-9359 |
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
ADAS; CIC |
Approved |
no |
|
| |
Call Number |
Admin @ si @ GSL2013; ADAS @ adas @ |
Serial |
2160 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Ferran Diego; Daniel Ponsa; Joan Serrat; Antonio Lopez |
|
| |
Title |
Video Alignment for Change Detection |
Type |
Journal Article |
| |
Year |
2011 |
Publication |
IEEE Transactions on Image Processing |
Abbreviated Journal |
TIP |
|
| |
Volume |
20 |
Issue |
7 |
Pages |
1858-1869 |
|
| |
Keywords |
video alignment |
|
| |
Abstract |
In this work, we address the problem of aligning two video sequences. Such alignment refers to synchronization, i.e., the establishment of temporal correspondence between frames of the first and second video, followed by spatial registration of all the temporally corresponding frames. Video synchronization and alignment have been attempted before, but most often in the relatively simple cases of fixed or rigidly attached cameras and simultaneous acquisition. In addition, restrictive assumptions have been applied, including linear time correspondence or the knowledge of the complete trajectories of corresponding scene points; to some extent, these assumptions limit the practical applicability of any solutions developed. We intend to solve the more general problem of aligning video sequences recorded by independently moving cameras that follow similar trajectories, based only on the fusion of image intensity and GPS information. The novelty of our approach is to pose the synchronization as a MAP inference problem on a Bayesian network including the observations from these two sensor types, which have been proved complementary. Alignment results are presented in the context of videos recorded from vehicles driving along the same track at different times, for different road types. In addition, we explore two applications of the proposed video alignment method, both based on change detection between aligned videos. One is the detection of vehicles, which could be of use in ADAS. The other is online difference spotting videos of surveillance rounds. |
|
| |
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; IF |
Approved |
no |
|
| |
Call Number |
DPS 2011; ADAS @ adas @ dps2011 |
Serial |
1705 |
|
| Permanent link to this record |
| |
|
| |
|
Author |
Mohammad Rouhani; Angel Sappa |
|
| |
Title |
Implicit Polynomial Representation through a Fast Fitting Error Estimation |
Type |
Journal Article |
| |
Year |
2012 |
Publication |
IEEE Transactions on Image Processing |
Abbreviated Journal |
TIP |
|
| |
Volume |
21 |
Issue |
4 |
Pages |
2089-2098 |
|
| |
Keywords |
|
|
| |
Abstract |
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. |
|
| |
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 |
1057-7149 |
ISBN |
|
Medium |
|
|
| |
Area |
|
Expedition |
|
Conference |
|
|
| |
Notes |
ADAS |
Approved |
no |
|
| |
Call Number |
Admin @ si @ RoS2012b; ADAS @ adas @ |
Serial |
1937 |
|
| Permanent link to this record |
