| Records |
| Author |
Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias; A. Paulo Moreira |
Title  |
Incremental Scenario Representations for Autonomous Driving using Geometric Polygonal Primitives |
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Journal Article |
| Year |
2016 |
Publication |
Robotics and Autonomous Systems Journal |
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| Volume |
Vol. 83 |
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Pages |
pp. 312-325 |
| Keywords |
Incremental scene reconstructionPoint cloudsAutonomous vehiclesPolygonal primitives |
| Abstract |
When an autonomous vehicle is traveling through some scenario it receives a continuous stream of sensor data. This sensor data arrives in an asynchronous fashion and often contains overlapping or redundant information. Thus, it is not trivial how a representation of the environment observed by the vehicle can be created and updated over time. This paper presents a novel methodology to compute an incremental 3D representation of a scenario from 3D range measurements. We propose to use macro scale polygonal primitives to model the scenario. This means that the representation of the scene is given as a list of large scale polygons that describe the geometric structure of the environment. Furthermore, we propose mechanisms designed to update the geometric polygonal primitives over time whenever fresh sensor data is collected. Results show that the approach is capable of producing accurate descriptions of the scene, and that it is computationally very efficient when compared to other reconstruction techniques. |
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English |
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no |
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cidis @ cidis @ |
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49 |
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| Author |
Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias; A. Paulo Moreira |
| Title |
Incremental Texture Mapping for Autonomous Driving |
Type |
Journal Article |
| Year |
2016 |
Publication |
Robotics and Autonomous Systems Journal |
Abbreviated Journal |
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| Volume |
Vol. 84 |
Issue |
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Pages |
pp. 113-128 |
| Keywords |
Scene reconstruction, Autonomous driving, Texture mapping |
| Abstract |
Autonomous vehicles have a large number of on-board sensors, not only for providing coverage all around the vehicle, but also to ensure multi-modality in the observation of the scene. Because of this, it is not trivial to come up with a single, unique representation that feeds from the data given by all these sensors. We propose an algorithm which is capable of mapping texture collected from vision based sensors onto a geometric description of the scenario constructed from data provided by 3D sensors. The algorithm uses a constrained Delaunay triangulation to produce a mesh which is updated using a specially devised sequence of operations. These enforce a partial configuration of the mesh that avoids bad quality textures and ensures that there are no gaps in the texture. Results show that this algorithm is capable of producing fine quality textures. |
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cidis @ cidis @ |
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50 |
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| Author |
Patricia L. Suarez; Angel D. Sappa; Boris X. Vintimilla |
| Title |
Infrared Image Colorization based on a Triplet DCGAN Architecture. |
Type |
Conference Article |
| Year |
2017 |
Publication |
13th IEEE Workshop on Perception Beyond the Visible Spectrum – In conjunction with CVPR 2017. (This paper has been selected as “Best Paper Award” ) |
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2017-July |
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212-217 |
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cidis @ cidis @ |
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62 |
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| Author |
Cristhian A. Aguilera; Francisco J. Aguilera; Angel D. Sappa; Ricardo Toledo |
| Title |
Learning crossspectral similarity measures with deep convolutional neural networks |
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Conference Article |
| Year |
2016 |
Publication |
IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) Workshops |
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267-275 |
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The simultaneous use of images from different spectra can be helpful to improve the performance of many com- puter vision tasks. The core idea behind the usage of cross- spectral approaches is to take advantage of the strengths of each spectral band providing a richer representation of a scene, which cannot be obtained with just images from one spectral band. In this work we tackle the cross-spectral image similarity problem by using Convolutional Neural Networks (CNNs). We explore three different CNN archi- tectures to compare the similarity of cross-spectral image patches. Specifically, we train each network with images from the visible and the near-infrared spectrum, and then test the result with two public cross-spectral datasets. Ex- perimental results show that CNN approaches outperform the current state-of-art on both cross-spectral datasets. Ad- ditionally, our experiments show that some CNN architec- tures are capable of generalizing between different cross- spectral domains. |
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English |
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no |
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cidis @ cidis @ |
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48 |
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| Author |
Patricia L. Suarez; Angel D. Sappa; Boris X. Vintimilla |
| Title |
Learning Image Vegetation Index through a Conditional Generative Adversarial Network |
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Conference Article |
| Year |
2017 |
Publication |
2nd IEEE Ecuador Tehcnnical Chapters Meeting (ETCM) |
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gtsi @ user @ |
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70 |
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| Author |
Patricia L. Suarez; Angel D. Sappa; Boris X. Vintimilla |
| Title |
Learning to Colorize Infrared Images |
Type |
Conference Article |
| Year |
2017 |
Publication |
15th International Conference on Practical Applications of Agents and Multi-Agent Systems |
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cidis @ cidis @ |
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58 |
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| Author |
Cristhian A. Aguilera; Angel D. Sappa; R. Toledo |
| Title |
LGHD: A feature descriptor for matching across non-linear intensity variations |
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Conference Article |
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2015 |
Publication |
IEEE International Conference on, Quebec City, QC, 2015 |
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178 - 181 |
| Keywords |
Feature descriptor, multi-modal, multispectral, NIR, LWIR |
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This paper presents a new feature descriptor suitable to the task of matching features points between images with nonlinear intensity variations. This includes image pairs with significant illuminations changes, multi-modal image pairs and multi-spectral image pairs. The proposed method describes the neighbourhood of feature points combining frequency and spatial information using multi-scale and multi-oriented Log- Gabor filters. Experimental results show the validity of the proposed approach and also the improvements with respect to the state of the art. |
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IEEE |
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Quebec City, QC, Canada |
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English |
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2015 IEEE International Conference on Image Processing (ICIP) |
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cidis @ cidis @ |
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40 |
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Cristhian A. Aguilera; Cristhian Aguilera; Angel D. Sappa |
| Title |
Melamine faced panels defect classification beyond the visible spectrum. |
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Journal Article |
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2018 |
Publication |
In Sensors 2018 |
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Vol. 11 |
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Issue 11 |
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In this work, we explore the use of images from different spectral bands to classify defects in melamine faced panels, which could appear through the production process. Through experimental evaluation, we evaluate the use of images from the visible (VS), near-infrared (NIR), and long wavelength infrared (LWIR), to classify the defects using a feature descriptor learning approach together with a support vector machine classifier. Two descriptors were evaluated, Extended Local Binary Patterns (E-LBP) and SURF using a Bag of Words (BoW) representation. The evaluation was carried on with an image set obtained during this work, which contained five different defect categories that currently occurs in the industry. Results show that using images from beyond
the visual spectrum helps to improve classification performance in contrast with a single visible spectrum solution. |
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gtsi @ user @ |
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89 |
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| Author |
Angel D. Sappa; Cristhian A. Aguilera; Juan A. Carvajal Ayala; Miguel Oliveira; Dennis Romero; Boris X. Vintimilla; Ricardo Toledo |
| Title |
Monocular visual odometry: a cross-spectral image fusion based approach |
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Journal Article |
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2016 |
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Robotics and Autonomous Systems Journal |
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Vol. 86 |
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pp. 26-36 |
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Monocular visual odometry LWIR-RGB cross-spectral imaging Image fusion |
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This manuscript evaluates the usage of fused cross-spectral images in a monocular visual odometry approach. Fused images are obtained through a Discrete Wavelet Transform (DWT) scheme, where the best setup is em- pirically obtained by means of a mutual information based evaluation met- ric. The objective is to have a exible scheme where fusion parameters are adapted according to the characteristics of the given images. Visual odom- etry is computed from the fused monocular images using an off the shelf approach. Experimental results using data sets obtained with two different platforms are presented. Additionally, comparison with a previous approach as well as with monocular-visible/infrared spectra are also provided showing the advantages of the proposed scheme. |
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cidis @ cidis @ |
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54 |
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| Author |
Rafael E. Rivadeneira, Angel D. Sappa and Boris X. Vintimilla |
| Title |
Multi-Image Super-Resolution for Thermal Images. |
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Conference Article |
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2022 |
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Proceedings of the International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications VISIGRAPP 2022 |
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4 |
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635 - 642 |
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cidis @ cidis @ |
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181 |
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