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Author |
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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no |
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ADAS @ adas @ SDP2008 |
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1000 |
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Author |
M. Altillawi; S. Li; S.M. Prakhya; Z. Liu; Joan Serrat |
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Title |
Implicit Learning of Scene Geometry From Poses for Global Localization |
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Year |
2024 |
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IEEE Robotics and Automation Letters |
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ROBOTAUTOMLET |
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9 |
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2 |
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955-962 |
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Localization; Localization and mapping; Deep learning for visual perception; Visual learning |
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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. |
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2377-3766 |
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Admin @ si @ |
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3857 |
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Author |
Jiaolong Xu; Liang Xiao; Antonio Lopez |
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Title |
Self-supervised Domain Adaptation for Computer Vision Tasks |
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2019 |
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IEEE Access |
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ACCESS |
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7 |
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156694 - 156706 |
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Recent progress of self-supervised visual representation learning has achieved remarkable success on many challenging computer vision benchmarks. However, whether these techniques can be used for domain adaptation has not been explored. In this work, we propose a generic method for self-supervised domain adaptation, using object recognition and semantic segmentation of urban scenes as use cases. Focusing on simple pretext/auxiliary tasks (e.g. image rotation prediction), we assess different learning strategies to improve domain adaptation effectiveness by self-supervision. Additionally, we propose two complementary strategies to further boost the domain adaptation accuracy on semantic segmentation within our method, consisting of prediction layer alignment and batch normalization calibration. The experimental results show adaptation levels comparable to most studied domain adaptation methods, thus, bringing self-supervision as a new alternative for reaching domain adaptation. The code is available at this link. https://github.com/Jiaolong/self-supervised-da. |
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ADAS; 600.118 |
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no |
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Admin @ si @ XXL2019 |
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3302 |
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Author |
Fernando Barrera; Felipe Lumbreras; Angel Sappa |
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Title |
Multimodal Stereo Vision System: 3D Data Extraction and Algorithm Evaluation |
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2012 |
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IEEE Journal of Selected Topics in Signal Processing |
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J-STSP |
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6 |
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5 |
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437-446 |
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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. |
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1932-4553 |
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ADAS |
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no |
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Admin @ si @ BLS2012b |
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2155 |
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Author |
Katerine Diaz; Jesus Martinez del Rincon; Aura Hernandez-Sabate; Debora Gil |
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Title |
Continuous head pose estimation using manifold subspace embedding and multivariate regression |
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Journal Article |
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2018 |
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IEEE Access |
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ACCESS |
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6 |
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18325 - 18334 |
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Keywords |
Head Pose estimation; HOG features; Generalized Discriminative Common Vectors; B-splines; Multiple linear regression |
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In this paper, a continuous head pose estimation system is proposed to estimate yaw and pitch head angles from raw facial images. Our approach is based on manifold learningbased methods, due to their promising generalization properties shown for face modelling from images. The method combines histograms of oriented gradients, generalized discriminative common vectors and continuous local regression to achieve successful performance. Our proposal was tested on multiple standard face datasets, as well as in a realistic scenario. Results show a considerable performance improvement and a higher consistence of our model in comparison with other state-of-art methods, with angular errors varying between 9 and 17 degrees. |
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2169-3536 |
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ADAS; 600.118;IAM |
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Admin @ si @ DMH2018b |
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3091 |
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Enric Marti; J.Roncaries; Debora Gil; Aura Hernandez-Sabate; Antoni Gurgui; Ferran Poveda |
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PBL On Line: A proposal for the organization, part-time monitoring and assessment of PBL group activities |
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2015 |
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Journal of Technology and Science Education |
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JOTSE |
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5 |
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2 |
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87-96 |
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IAM; ADAS; 600.076; 600.075 |
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Admin @ si @ MRG2015 |
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2608 |
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Aura Hernandez-Sabate; Meritxell Joanpere; Nuria Gorgorio; Lluis Albarracin |
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Title |
Mathematics learning opportunities when playing a Tower Defense Game |
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2015 |
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International Journal of Serious Games |
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IJSG |
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2 |
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4 |
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57-71 |
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Tower Defense game; learning opportunities; mathematics; problem solving; game design |
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A qualitative research study is presented herein with the purpose of identifying mathematics learning opportunities in students between 10 and 12 years old while playing a commercial version of a Tower Defense game. These learning opportunities are understood as mathematicisable moments of the game and involve the establishment of relationships between the game and mathematical problem solving. Based on the analysis of these mathematicisable moments, we conclude that the game can promote problem-solving processes and learning opportunities that can be associated with different mathematical contents that appears in mathematics curricula, thought it seems that teacher or new game elements might be needed to facilitate the processes. |
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ADAS; 600.076;IAM |
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Admin @ si @ HJG2015 |
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2730 |
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Author |
A.F. Sole; Antonio Lopez; G. Sapiro |
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Title |
Crease Enhancement Diffusion |
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2001 |
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Computer Vision and Image Understanding, 84(2): 241–248 (IF: 1.298) |
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New York; USA |
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ADAS @ adas @ SLS2001 |
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485 |
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A. Restrepo; Angel Sappa; M. Devy |
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Edge registration versus triangular mesh registration, a comparative study |
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2005 |
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Signal Processing: Image Communication 20: 853–868 (IF: 1.264) |
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ADAS @ adas @ RSD2005 |
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567 |
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Jaume Amores; Petia Radeva |
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Retrieval of IVUS Images Using Contextual Information and Elastic Matching |
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2005 |
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International Journal on Intelligent Systems, 20(5):541–560 (IF: 0.657) |
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ADAS;MILAB |
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ADAS @ adas @ AmR2005a |
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593 |
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