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Author Arnau Ramisa; Adriana Tapus; David Aldavert; Ricardo Toledo; Ramon Lopez de Mantaras edit  doi
openurl 
  Title Robust Vision-Based Localization using Combinations of Local Feature Regions Detectors Type (up) Journal Article
  Year 2009 Publication Autonomous Robots Abbreviated Journal AR  
  Volume 27 Issue 4 Pages 373-385  
  Keywords  
  Abstract This paper presents a vision-based approach for mobile robot localization. The model of the environment is topological. The new approach characterizes a place using a signature. This signature consists of a constellation of descriptors computed over different types of local affine covariant regions extracted from an omnidirectional image acquired rotating a standard camera with a pan-tilt unit. This type of representation permits a reliable and distinctive environment modelling. Our objectives were to validate the proposed method in indoor environments and, also, to find out if the combination of complementary local feature region detectors improves the localization versus using a single region detector. Our experimental results show that if false matches are effectively rejected, the combination of different covariant affine region detectors increases notably the performance of the approach by combining the different strengths of the individual detectors. In order to reduce the localization time, two strategies are evaluated: re-ranking the map nodes using a global similarity measure and using standard perspective view field of 45°.
In order to systematically test topological localization methods, another contribution proposed in this work is a novel method to see the degradation in localization performance as the robot moves away from the point where the original signature was acquired. This allows to know the robustness of the proposed signature. In order for this to be effective, it must be done in several, variated, environments that test all the possible situations in which the robot may have to perform localization.
 
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  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 0929-5593 ISBN Medium  
  Area Expedition Conference  
  Notes ADAS Approved no  
  Call Number Admin @ si @ RTA2009 Serial 1245  
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Author Carme Julia; Angel Sappa; Felipe Lumbreras; Joan Serrat; Antonio Lopez edit   pdf
doi  openurl
  Title An Iterative Multiresolution Scheme for SFM with Missing Data: single and multiple object scenes Type (up) Journal Article
  Year 2010 Publication Image and Vision Computing Abbreviated Journal IMAVIS  
  Volume 28 Issue 1 Pages 164-176  
  Keywords  
  Abstract Most of the techniques proposed for tackling the Structure from Motion problem (SFM) cannot deal with high percentages of missing data in the matrix of trajectories. Furthermore, an additional problem should be faced up when working with multiple object scenes: the rank of the matrix of trajectories should be estimated. This paper presents an iterative multiresolution scheme for SFM with missing data to be used in both the single and multiple object cases. The proposed scheme aims at recovering missing entries in the original input matrix. The objective is to improve the results by applying a factorization technique to the partially or totally filled in matrix instead of to the original input one. Experimental results obtained with synthetic and real data sequences, containing single and multiple objects, are presented to show the viability of the proposed approach.  
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  Publisher Place of Publication Editor  
  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 0262-8856 ISBN Medium  
  Area Expedition Conference  
  Notes ADAS Approved no  
  Call Number ADAS @ adas @ JSL2010 Serial 1278  
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Author Antonio Lopez; Joan Serrat; Cristina Cañero; Felipe Lumbreras; T. Graf edit   pdf
doi  openurl
  Title Robust lane markings detection and road geometry computation Type (up) Journal Article
  Year 2010 Publication International Journal of Automotive Technology Abbreviated Journal IJAT  
  Volume 11 Issue 3 Pages 395–407  
  Keywords lane markings  
  Abstract Detection of lane markings based on a camera sensor can be a low-cost solution to lane departure and curve-over-speed warnings. A number of methods and implementations have been reported in the literature. However, reliable detection is still an issue because of cast shadows, worn and occluded markings, variable ambient lighting conditions, for example. We focus on increasing detection reliability in two ways. First, we employed an image feature other than the commonly used edges: ridges, which we claim addresses this problem better. Second, we adapted RANSAC, a generic robust estimation method, to fit a parametric model of a pair of lane lines to the image features, based on both ridgeness and ridge orientation. In addition, the model was fitted for the left and right lane lines simultaneously to enforce a consistent result. Four measures of interest for driver assistance applications were directly computed from the fitted parametric model at each frame: lane width, lane curvature, and vehicle yaw angle and lateral offset with regard the lane medial axis. We qualitatively assessed our method in video sequences captured on several road types and under very different lighting conditions. We also quantitatively assessed it on synthetic but realistic video sequences for which road geometry and vehicle trajectory ground truth are known.  
  Address  
  Corporate Author Thesis  
  Publisher The Korean Society of Automotive Engineers Place of Publication Editor  
  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 1229-9138 ISBN Medium  
  Area Expedition Conference  
  Notes ADAS Approved no  
  Call Number ADAS @ adas @ LSC2010 Serial 1300  
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Author David Geronimo; Antonio Lopez; Angel Sappa; Thorsten Graf edit   pdf
url  doi
openurl 
  Title Survey on Pedestrian Detection for Advanced Driver Assistance Systems Type (up) 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.  
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  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  
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Author David Geronimo; Angel Sappa; Daniel Ponsa; Antonio Lopez edit   pdf
url  doi
openurl 
  Title 2D-3D based on-board pedestrian detection system Type (up) Journal Article
  Year 2010 Publication Computer Vision and Image Understanding Abbreviated Journal CVIU  
  Volume 114 Issue 5 Pages 583–595  
  Keywords Pedestrian detection; Advanced Driver Assistance Systems; Horizon line; Haar wavelets; Edge orientation histograms  
  Abstract During the next decade, on-board pedestrian detection systems will play a key role in the challenge of increasing traffic safety. The main target of these systems, to detect pedestrians in urban scenarios, implies overcoming difficulties like processing outdoor scenes from a mobile platform and searching for aspect-changing objects in cluttered environments. This makes such systems combine techniques in the state-of-the-art Computer Vision. In this paper we present a three module system based on both 2D and 3D cues. The first module uses 3D information to estimate the road plane parameters and thus select a coherent set of regions of interest (ROIs) to be further analyzed. The second module uses Real AdaBoost and a combined set of Haar wavelets and edge orientation histograms to classify the incoming ROIs as pedestrian or non-pedestrian. The final module loops again with the 3D cue in order to verify the classified ROIs and with the 2D in order to refine the final results. According to the results, the integration of the proposed techniques gives rise to a promising system.  
  Address Computer Vision and Image Understanding (Special Issue on Intelligent Vision Systems), Vol. 114(5):583-595  
  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 1077-3142 ISBN Medium  
  Area Expedition Conference  
  Notes ADAS Approved no  
  Call Number ADAS @ adas @ GSP2010 Serial 1341  
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Author Daniel Ponsa; Joan Serrat; Antonio Lopez edit   pdf
doi  openurl
  Title On-board image-based vehicle detection and tracking Type (up) Journal Article
  Year 2011 Publication Transactions of the Institute of Measurement and Control Abbreviated Journal TIM  
  Volume 33 Issue 7 Pages 783-805  
  Keywords vehicle detection  
  Abstract In this paper we present a computer vision system for daytime vehicle detection and localization, an essential step in the development of several types of advanced driver assistance systems. It has a reduced processing time and high accuracy thanks to the combination of vehicle detection with lane-markings estimation and temporal tracking of both vehicles and lane markings. Concerning vehicle detection, our main contribution is a frame scanning process that inspects images according to the geometry of image formation, and with an Adaboost-based detector that is robust to the variability in the different vehicle types (car, van, truck) and lighting conditions. In addition, we propose a new method to estimate the most likely three-dimensional locations of vehicles on the road ahead. With regards to the lane-markings estimation component, we have two main contributions. First, we employ a different image feature to the other commonly used edges: we use ridges, which are better suited to this problem. Second, we adapt RANSAC, a generic robust estimation method, to fit a parametric model of a pair of lane markings to the image features. We qualitatively assess our vehicle detection system in sequences captured on several road types and under very different lighting conditions. The processed videos are available on a web page associated with this paper. A quantitative evaluation of the system has shown quite accurate results (a low number of false positives and negatives) at a reasonable computation time.  
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  Publisher Place of Publication Editor  
  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
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  Area Expedition Conference  
  Notes ADAS Approved no  
  Call Number ADAS @ adas @ PSL2011 Serial 1413  
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Author Jose Manuel Alvarez; Theo Gevers; Antonio Lopez edit   pdf
doi  openurl
  Title Learning photometric invariance for object detection Type (up) Journal Article
  Year 2010 Publication International Journal of Computer Vision Abbreviated Journal IJCV  
  Volume 90 Issue 1 Pages 45-61  
  Keywords road detection  
  Abstract Impact factor: 3.508 (the last available from JCR2009SCI). Position 4/103 in the category Computer Science, Artificial Intelligence. Quartile
Color is a powerful visual cue in many computer vision applications such as image segmentation and object recognition. However, most of the existing color models depend on the imaging conditions that negatively affect the performance of the task at hand. Often, a reflection model (e.g., Lambertian or dichromatic reflectance) is used to derive color invariant models. However, this approach may be too restricted to model real-world scenes in which different reflectance mechanisms can hold simultaneously.
Therefore, in this paper, we aim to derive color invariance by learning from color models to obtain diversified color invariant ensembles. First, a photometrical orthogonal and non-redundant color model set is computed composed of both color variants and invariants. Then, the proposed method combines these color models to arrive at a diversified color ensemble yielding a proper balance between invariance (repeatability) and discriminative power (distinctiveness). To achieve this, our fusion method uses a multi-view approach to minimize the estimation error. In this way, the proposed method is robust to data uncertainty and produces properly diversified color invariant ensembles. Further, the proposed method is extended to deal with temporal data by predicting the evolution of observations over time.
Experiments are conducted on three different image datasets to validate the proposed method. Both the theoretical and experimental results show that the method is robust against severe variations in imaging conditions. The method is not restricted to a certain reflection model or parameter tuning, and outperforms state-of-the-art detection techniques in the field of object, skin and road recognition. Considering sequential data, the proposed method (extended to deal with future observations) outperforms the other methods
 
  Address  
  Corporate Author Thesis  
  Publisher Springer US 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 ADAS;ISE Approved no  
  Call Number ADAS @ adas @ AGL2010c Serial 1451  
Permanent link to this record
 

 
Author Jose Manuel Alvarez; Antonio Lopez edit   pdf
openurl 
  Title Road Detection Based on Illuminant Invariance Type (up) Journal Article
  Year 2011 Publication IEEE Transactions on Intelligent Transportation Systems Abbreviated Journal TITS  
  Volume 12 Issue 1 Pages 184-193  
  Keywords road detection  
  Abstract By using an onboard camera, it is possible to detect the free road surface ahead of the ego-vehicle. Road detection is of high relevance for autonomous driving, road departure warning, and supporting driver-assistance systems such as vehicle and pedestrian detection. The key for vision-based road detection is the ability to classify image pixels as belonging or not to the road surface. Identifying road pixels is a major challenge due to the intraclass variability caused by lighting conditions. A particularly difficult scenario appears when the road surface has both shadowed and nonshadowed areas. Accordingly, we propose a novel approach to vision-based road detection that is robust to shadows. The novelty of our approach relies on using a shadow-invariant feature space combined with a model-based classifier. The model is built online to improve the adaptability of the algorithm to the current lighting and the presence of other vehicles in the scene. The proposed algorithm works in still images and does not depend on either road shape or temporal restrictions. Quantitative and qualitative experiments on real-world road sequences with heavy traffic and shadows show that the method is robust to shadows and lighting variations. Moreover, the proposed method provides the highest performance when compared with hue-saturation-intensity (HSI)-based algorithms.  
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  Language Summary Language Original Title  
  Series Editor Series Title Abbreviated Series Title  
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  Area Expedition Conference  
  Notes ADAS Approved no  
  Call Number ADAS @ adas @ AlL2011 Serial 1456  
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Author Enrique Cabello; Cristina Conde; Angel Serrano; Licesio Rodriguez; David Vazquez edit   pdf
openurl 
  Title Empleo de sistemas biométricos para el reconocimiento de personas en aeropuertos Type (up) Journal Article
  Year 2006 Publication Instituto Universitario de Investigación sobre Seguridad Interior (IUSI 2006) Abbreviated Journal  
  Volume Issue Pages  
  Keywords Surveillance; Face detection; Face recognition  
  Abstract El presente proyecto se desarrolló a lo largo del año 2005, probando un prototipo de un sistema de verificación facial con imágenes extraídas de las cámaras de video vigilancia del aeropuerto de Barajas. Se diseñaron varios experimentos, agrupados en dos clases. En el primer tipo, el sistema es entrenado con imágenes obtenidas en condiciones de laboratorio y luego probado con imágenes extraídas de las cámaras de video vigilancia del aeropuerto de Barajas. En el segundo caso, tanto las imágenes de entrenamiento como las de prueba corresponden a imágenes extraídas de Barajas. Se ha desarrollado un sistema completo, que incluye adquisición y digitalización de las imágenes, localización y recorte de las caras en escena, verificación de sujetos y obtención de resultados. Los resultados muestran, que, en general, un sistema de verificación facial basado en imágenes puede ser una ayuda a un operario que deba estar vigilando amplias zonas.  
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  Notes invisible;ADAS Approved no  
  Call Number ADAS @ adas @ CCS2006a Serial 1672  
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Author Debora Gil; Aura Hernandez-Sabate; Mireia Brunat;Steven Jansen; Jordi Martinez-Vilalta edit   pdf
doi  openurl
  Title Structure-preserving smoothing of biomedical images Type (up) Journal Article
  Year 2011 Publication Pattern Recognition Abbreviated Journal PR  
  Volume 44 Issue 9 Pages 1842-1851  
  Keywords Non-linear smoothing; Differential geometry; Anatomical structures; segmentation; Cardiac magnetic resonance; Computerized tomography  
  Abstract Smoothing of biomedical images should preserve gray-level transitions between adjacent tissues, while restoring contours consistent with anatomical structures. Anisotropic diffusion operators are based on image appearance discontinuities (either local or contextual) and might fail at weak inter-tissue transitions. Meanwhile, the output of block-wise and morphological operations is prone to present a block structure due to the shape and size of the considered pixel neighborhood. In this contribution, we use differential geometry concepts to define a diffusion operator that restricts to image consistent level-sets. In this manner, the final state is a non-uniform intensity image presenting homogeneous inter-tissue transitions along anatomical structures, while smoothing intra-structure texture. Experiments on different types of medical images (magnetic resonance, computerized tomography) illustrate its benefit on a further process (such as segmentation) of images.  
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  Series Editor Series Title Abbreviated Series Title  
  Series Volume Series Issue Edition  
  ISSN 0031-3203 ISBN Medium  
  Area Expedition Conference  
  Notes IAM; ADAS Approved no  
  Call Number IAM @ iam @ GHB2011 Serial 1526  
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