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Author Angel Sappa; Fadi Dornaika; Daniel Ponsa; David Geronimo; Antonio Lopez edit   pdf
url  openurl
  Title An Efficient Approach to Onboard Stereo Vision System Pose Estimation Type Journal Article
  Year (down) 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.  
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  Publisher IEEE Place of Publication Editor  
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  Call Number ADAS @ adas @ SDP2008 Serial 1000  
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Author Fadi Dornaika; Angel Sappa edit  openurl
  Title Evaluation of an Appearance-based 3D Face Tracker using Dense 3D Data Type Journal
  Year (down) 2008 Publication Machine Vision and Applications Abbreviated Journal  
  Volume 19 Issue 5-6 Pages 427–441  
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  Call Number ADAS @ adas @ DoS2008b Serial 1018  
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Author Hugo Berti; Angel Sappa; Osvaldo Agamennoni edit  openurl
  Title Improved Dynamic Window Approach by Using Lyapunov Stability Criteria Type Journal
  Year (down) 2008 Publication Latin American Applied Research Abbreviated Journal  
  Volume 38 Issue 4 Pages 289–298  
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  Call Number ADAS @ adas @ BSA2008 Serial 1056  
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Author Joan Serrat; Ferran Diego; Felipe Lumbreras edit  openurl
  Title Los faros delanteros a traves del objetivo Type Journal
  Year (down) 2008 Publication UAB Divulga, Revista de divulgacion cientifica Abbreviated Journal  
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  Notes ADAS Approved no  
  Call Number ADAS @ adas @ SDL2008b Serial 1471  
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Author Carme Julia; Angel Sappa; Felipe Lumbreras edit  openurl
  Title Aprendiendo a recrear la realidad en 3D Type Journal
  Year (down) 2008 Publication UAB Divulga, Revista de divulgacion cientifica Abbreviated Journal  
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  Notes spreading;ADAS Approved no  
  Call Number ADAS @ adas @ JSL2008b Serial 1472  
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Author Angel Sappa; M.A. Garcia edit  openurl
  Title Generating compact representations of static scenes by means of 3D object hierarchies Type Journal
  Year (down) 2007 Publication The Visual Computer, 23(2): 143–154 Abbreviated Journal  
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  Call Number ADAS @ adas @ SaG2007a Serial 798  
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Author Angel Sappa; M.A. Garcia edit  openurl
  Title Coarse-to-Fine Approximation of Range Images with Bounded Error Adaptive Triangular Meshes Type Journal
  Year (down) 2007 Publication Journal of Electronic Imaging, 16(2), 023010(11 pages) Abbreviated Journal  
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  Call Number ADAS @ adas @ SaG2007b Serial 802  
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Author Angel Sappa; Boris Vintimilla edit  openurl
  Title Cost-Based Closed Contour Representations Type Journal
  Year (down) 2007 Publication Journal of Electronic Imaging, 16(2), 023009 (9 pages) Abbreviated Journal  
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  Call Number ADAS @ adas @ SaV2007 Serial 803  
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Author Angel Sappa; M.A. Garcia edit  openurl
  Title Incremental Integration of Multiresolution Range Images Type Journal
  Year (down) 2007 Publication The imaging science journal. Vol. 55, No. 3 pp. 127–139 Abbreviated Journal  
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  Call Number ADAS @ adas @ SaG2007d Serial 812  
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Author Fadi Dornaika; Angel Sappa edit  doi
openurl 
  Title Rigid and Non-rigid Face Motion Tracking by Aligning Texture Maps and Stereo 3D Models Type Journal Article
  Year (down) 2007 Publication Pattern Recognition Letters Abbreviated Journal PRL  
  Volume 28 Issue 15 Pages 2116-2126  
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  Notes ADAS Approved no  
  Call Number ADAS @ adas @ DoS2007c Serial 877  
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