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Author |
Jaume Amores; N. Sebe; Petia Radeva |
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Context-Based Object-Class Recognition and Retrieval by Generalized Correlograms |
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2007 |
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IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 29(10):1818–1833, (ISI 3,81) |
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ADAS;MILAB |
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ADAS @ adas @ ASR2007b |
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922 |
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Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez |
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Title |
Rank Estimation in 3D Multibody Motion Segmentation |
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2008 |
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Electronic Letters |
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44 |
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4 |
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279-280 |
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A novel technique for rank estimation in 3D multibody motion segmentation is proposed. It is based on the study of the frequency spectra of moving rigid objects and does not use or assume a prior knowledge of the objects contained in the scene (i.e. number of objects and motion). The significance of rank estimation on multibody motion segmentation results is shown by using two motion segmentation algorithms over both synthetic and real data. |
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ADAS @ adas @ JSL2008a |
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939 |
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Joan Serrat; Ferran Diego; Felipe Lumbreras; Jose Manuel Alvarez; Antonio Lopez; C. Elvira |
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Dynamic Comparison of Headlights |
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2008 |
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Journal of Automobile Engineering |
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222 |
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5 |
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643–656 |
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video alignment |
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ADAS @ adas @ SDL2008a |
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958 |
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Yu Jie; Jaume Amores; N. Sebe; Petia Radeva; Tian Qi |
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Distance Learning for Similarity Estimation |
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2008 |
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IEEE Trans. on Pattern Analysis and Machine Intelligence, vol.30(3):451–462 |
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ADAS;MILAB |
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ADAS @ adas @ JAS2008 |
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961 |
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Angel Sappa; Fadi Dornaika; Daniel Ponsa; David Geronimo; Antonio Lopez |
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Title |
An Efficient Approach to Onboard Stereo Vision System Pose Estimation |
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2008 |
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IEEE Transactions on Intelligent Transportation Systems |
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TITS |
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9 |
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3 |
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476–490 |
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Camera extrinsic parameter estimation, ground plane estimation, onboard stereo vision system |
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This paper presents an efficient technique for estimating the pose of an onboard stereo vision system relative to the environment’s dominant surface area, which is supposed to be the road surface. Unlike previous approaches, it can be used either for urban or highway scenarios since it is not based on a specific visual traffic feature extraction but on 3-D raw data points. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact 2-D representation of the original 3-D data points is computed. Then, a RANdom SAmple Consensus (RANSAC) based least-squares approach is used to fit a plane to the road. Fast RANSAC fitting is obtained by selecting points according to a probability function that takes into account the density of points at a given depth. Finally, stereo camera height and pitch angle are computed related to the fitted road plane. The proposed technique is intended to be used in driverassistance systems for applications such as vehicle or pedestrian detection. Experimental results on urban environments, which are the most challenging scenarios (i.e., flat/uphill/downhill driving, speed bumps, and car’s accelerations), are presented. These results are validated with manually annotated ground truth. Additionally, comparisons with previous works are presented to show the improvements in the central processing unit processing time, as well as in the accuracy of the obtained results. |
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IEEE |
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ADAS @ adas @ SDP2008 |
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1000 |
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Fadi Dornaika; Angel Sappa |
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Title |
Evaluation of an Appearance-based 3D Face Tracker using Dense 3D Data |
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2008 |
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Machine Vision and Applications |
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19 |
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5-6 |
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427–441 |
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ADAS @ adas @ DoS2008b |
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1018 |
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Author |
Hugo Berti; Angel Sappa; Osvaldo Agamennoni |
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Improved Dynamic Window Approach by Using Lyapunov Stability Criteria |
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2008 |
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Latin American Applied Research |
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38 |
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4 |
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289–298 |
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ADAS @ adas @ BSA2008 |
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1056 |
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Author |
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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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 @ adas @ DoS2009a |
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1115 |
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Fadi Dornaika; Angel Sappa |
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A Featureless and Stochastic Approach to On-board Stereo Vision System Pose |
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2009 |
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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 @ adas @ DoS2009b |
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1152 |
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Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez |
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An iterative multiresolution scheme for SFM with missing data |
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2009 |
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Journal of Mathematical Imaging and Vision |
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JMIV |
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34 |
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3 |
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240–258 |
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Several techniques have been proposed for tackling the Structure from Motion problem through factorization in the case of missing data. However, when the percentage of unknown data is high, most of them may not perform as well as expected. Focussing on this problem, an iterative multiresolution scheme, which aims at recovering missing entries in the originally given input matrix, is proposed. Information recovered following a coarse-to-fine strategy is used for filling in the missing entries. The objective is to recover, as much as possible, missing data in the given matrix.
Thus, when a factorization technique is applied to the partially or totally filled in matrix, instead of to the originally given input one, better results will be obtained. An evaluation study about the robustness to missing and noisy data is reported.
Experimental results obtained with synthetic and real video sequences are presented to show the viability of the proposed approach. |
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ADAS @ adas @ JSL2009a |
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1163 |
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