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Angel Sappa, Fadi Dornaika, David Geronimo, & Antonio Lopez. (2008). Registration-based Moving Object Detection from a Moving Camera. In IROS2008 2nd Workshop on Perception, Planning and Navigation for Intelligent Vehicles (65–69).
Abstract: This paper presents a robust approach for detecting moving objects from on-board stereo vision systems. It relies on a feature point quaternion-based registration, which avoids common problems that appear when computationally expensive iterative-based algorithms are used on dynamic environments. The proposed approach consists of three stages. Initially, feature points are extracted and tracked through consecutive frames. Then, a RANSAC based approach is used for registering
two 3D point sets with known correspondences by means of the quaternion method. Finally, the computed 3D rigid displacement is used to map two consecutive frames into the same coordinate system. Moving objects correspond to those areas with large registration errors. Experimental results, in different scenarios, show the viability of the proposed approach.
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Angel Sappa, Fadi Dornaika, David Geronimo, & Antonio Lopez. (2007). Efficient On-Board Stereo Vision Pose Estimation. In Computer Aided Systems Theory, Selected paper from (Vol. 4739, 1183–1190). LNCS.
Abstract: This paper presents an efficient technique for real time estimation of on-board stereo vision system pose. The whole process is performed in the Euclidean space and consists of two stages. Initially, a compact representation of the original 3D data points is computed. Then, a RANSAC based least squares approach is used for fitting a plane to the 3D road points. Fast RANSAC fitting is obtained by selecting points according to a probability distribution function that takes into account the density of points at a given depth. Finally, stereo camera position
and orientation—pose—is computed relative to the road plane. The proposed technique is intended to be used on driver assistance systems for applications such as obstacle or pedestrian detection. A real time performance is reached. Experimental results on several environments and comparisons with a previous work are presented.
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Angel Sappa, & George A. Triantafyllid. (2012). Computer Graphics and Imaging.
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Angel Sappa, & Jordi Vitria. (2013). Multimodal Interaction in Image and Video Applications (Vol. 48). Springer Berlin Heidelberg.
Abstract: Book Series Intelligent Systems Reference Library
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Angel Sappa, & M.A. Garcia. (2007). Coarse-to-Fine Approximation of Range Images with Bounded Error Adaptive Triangular Meshes. Journal of Electronic Imaging, 16(2), 023010(11 pages).
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Angel Sappa, & M.A. Garcia. (2007). Incremental Integration of Multiresolution Range Images. The imaging science journal. Vol. 55, No. 3 pp. 127–139.
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Angel Sappa, & M.A. Garcia. (2007). Generating compact representations of static scenes by means of 3D object hierarchies. The Visual Computer, 23(2): 143–154.
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Angel Sappa, & M.A. Garcia. (2007). Aprendiendo a recrear la realidad en 3D. UAB Divulga, Revista de Divulgacion Cientifica.
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Angel Sappa, & M.A. Garcia. (2004). Hierarchical Clustering of 3D Objects and its Application to Minimum Distance Computation. In IEEE International Conference on Robotics & Automation, 5287–5292, New Orleans, LA (USA), ISBN: 0–7803–8232–3.
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Angel Sappa, & Mohammad Rouhani. (2009). Efficient Distance Estimation for Fitting Implicit Quadric Surfaces. In 16th IEEE International Conference on Image Processing (3521–3524).
Abstract: This paper presents a novel approach for estimating the shortest Euclidean distance from a given point to the corresponding implicit quadric fitting surface. It first estimates the orthogonal orientation to the surface from the given point; then the shortest distance is directly estimated by intersecting the implicit surface with a line passing through the given point according to the estimated orthogonal orientation. The proposed orthogonal distance estimation is easily obtained without increasing computational complexity; hence it can be used in error minimization surface fitting frameworks. Comparisons of the proposed metric with previous approaches are provided to show both improvements in CPU time as well as in the accuracy of the obtained results. Surfaces fitted by using the proposed geometric distance estimation and state of the art metrics are presented to show the viability of the proposed approach.
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Angel Sappa, Niki Aifanti, N. Grammalidis, & Sotiris Malassiotis. (2004). Advances in Vision-Based Human Body Modeling. In N. Sarris and M. Strintzis. (Ed.), 3D Modeling & Animation: Systhesis and Analysis Techniques for the Human Body (pp. 1–26).
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Angel Sappa, Niki Aifanti, Sotiris Malassiotis, & Michael G. Strintzis. (2009). Prior Knowledge Based Motion Model Representation. In Horst Bunke, JuanJose Villanueva, & Gemma Sanchez (Eds.), Progress in Computer Vision and Image Analysis (Vol. 16).
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Angel Sappa, Niki Aifanti, Sotiris Malassiotis, & Michael G. Strintzis. (2005). Prior Knowledge Based Motion Model Representation. Electronic Letters on Computer Vision and Image Analysis, Special Issue on Articulated Motion & Deformable Objects, 5(3):55–67 (Electronic Letters: IF: 1.016).
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Angel Sappa, Niki Aifanti, Sotiris Malassiotis, & Michael G. Strintzis. (2004). 3D Human Walking Modelling.
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Angel Sappa, Niki Aifanti, Sotiris Malassiotis, & Michael G. Strintzis. (2004). Unsupervised Motion Classification by means of Efficient Feature Selection and Tracking.
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