|
Records |
Links |
|
Author |
Yi Xiao; Felipe Codevilla; Akhil Gurram; Onay Urfalioglu; Antonio Lopez |
|
|
Title |
Multimodal end-to-end autonomous driving |
Type |
Journal Article |
|
Year |
2020 |
Publication |
IEEE Transactions on Intelligent Transportation Systems |
Abbreviated Journal |
TITS |
|
|
Volume |
|
Issue |
|
Pages |
1-11 |
|
|
Keywords |
|
|
|
Abstract |
A crucial component of an autonomous vehicle (AV) is the artificial intelligence (AI) is able to drive towards a desired destination. Today, there are different paradigms addressing the development of AI drivers. On the one hand, we find modular pipelines, which divide the driving task into sub-tasks such as perception and maneuver planning and control. On the other hand, we find end-to-end driving approaches that try to learn a direct mapping from input raw sensor data to vehicle control signals. The later are relatively less studied, but are gaining popularity since they are less demanding in terms of sensor data annotation. This paper focuses on end-to-end autonomous driving. So far, most proposals relying on this paradigm assume RGB images as input sensor data. However, AVs will not be equipped only with cameras, but also with active sensors providing accurate depth information (e.g., LiDARs). Accordingly, this paper analyses whether combining RGB and depth modalities, i.e. using RGBD data, produces better end-to-end AI drivers than relying on a single modality. We consider multimodality based on early, mid and late fusion schemes, both in multisensory and single-sensor (monocular depth estimation) settings. Using the CARLA simulator and conditional imitation learning (CIL), we show how, indeed, early fusion multimodality outperforms single-modality. |
|
|
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 |
Approved |
no |
|
|
Call Number |
Admin @ si @ XCG2020 |
Serial |
3490 |
|
Permanent link to this record |
|
|
|
|
Author |
Aura Hernandez-Sabate; Meritxell Joanpere; Nuria Gorgorio; Lluis Albarracin |
|
|
Title |
Mathematics learning opportunities when playing a Tower Defense Game |
Type |
Journal |
|
Year |
2015 |
Publication |
International Journal of Serious Games |
Abbreviated Journal |
IJSG |
|
|
Volume |
2 |
Issue |
4 |
Pages |
57-71 |
|
|
Keywords |
Tower Defense game; learning opportunities; mathematics; problem solving; game design |
|
|
Abstract |
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. |
|
|
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; 600.076 |
Approved |
no |
|
|
Call Number |
Admin @ si @ HJG2015 |
Serial |
2730 |
|
Permanent link to this record |
|
|
|
|
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 |
|
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 |
Katerine Diaz; Jesus Martinez del Rincon; Aura Hernandez-Sabate; Debora Gil |
|
|
Title |
Continuous head pose estimation using manifold subspace embedding and multivariate regression |
Type |
Journal Article |
|
Year |
2018 |
Publication |
IEEE Access |
Abbreviated Journal |
ACCESS |
|
|
Volume |
6 |
Issue |
|
Pages |
18325 - 18334 |
|
|
Keywords |
Head Pose estimation; HOG features; Generalized Discriminative Common Vectors; B-splines; Multiple linear regression |
|
|
Abstract |
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. |
|
|
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 |
2169-3536 |
ISBN |
|
Medium |
|
|
|
Area |
|
Expedition |
|
Conference |
|
|
|
Notes |
ADAS; 600.118 |
Approved |
no |
|
|
Call Number |
Admin @ si @ DMH2018b |
Serial |
3091 |
|
Permanent link to this record |
|
|
|
|
Author |
Jiaolong Xu; Liang Xiao; Antonio Lopez |
|
|
Title |
Self-supervised Domain Adaptation for Computer Vision Tasks |
Type |
Journal Article |
|
Year |
2019 |
Publication |
IEEE Access |
Abbreviated Journal |
ACCESS |
|
|
Volume |
7 |
Issue |
|
Pages |
156694 - 156706 |
|
|
Keywords |
|
|
|
Abstract |
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. |
|
|
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 @ XXL2019 |
Serial |
3302 |
|
Permanent link to this record |
|
|
|
|
Author |
Angel Sappa; Fadi Dornaika; Daniel Ponsa; David Geronimo; Antonio Lopez |
|
|
Title |
An Efficient Approach to Onboard Stereo Vision System Pose Estimation |
Type |
Journal Article |
|
Year |
2008 |
Publication |
IEEE Transactions on Intelligent Transportation Systems |
Abbreviated Journal |
TITS |
|
|
Volume |
9 |
Issue |
3 |
Pages |
476–490 |
|
|
Keywords |
Camera extrinsic parameter estimation, ground plane estimation, onboard stereo vision system |
|
|
Abstract |
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. |
|
|
Address |
|
|
|
Corporate Author |
|
Thesis |
|
|
|
Publisher |
IEEE |
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 |
Approved |
no |
|
|
Call Number |
ADAS @ adas @ SDP2008 |
Serial |
1000 |
|
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 |
Antonio Lopez; Joan Serrat; Cristina Cañero; Felipe Lumbreras; T. Graf |
|
|
Title |
Robust lane markings detection and road geometry computation |
Type |
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 |
|
Permanent link to this record |
|
|
|
|
Author |
Jose Manuel Alvarez; Antonio Lopez |
|
|
Title |
Road Detection Based on Illuminant Invariance |
Type |
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. |
|
|
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 |
Approved |
no |
|
|
Call Number |
ADAS @ adas @ AlL2011 |
Serial |
1456 |
|
Permanent link to this record |