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Miguel Realpe; Boris X. Vintimilla; L. Vlacic |
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Towards Fault Tolerant Perception for autonomous vehicles: Local Fusion. |
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2015 |
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IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Siem Reap, 2015. |
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253-258 |
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Many robust sensor fusion strategies have been developed in order to reliably detect the surrounding environments of an autonomous vehicle. However, in real situations there is always the possibility that sensors or other components may fail. Thus, internal modules and sensors need to be monitored to ensure their proper function. This paper introduces a general view of a perception architecture designed to detect and classify obstacles in an autonomous vehicle's environment using a fault tolerant framework, whereas elaborates the object detection and local fusion modules proposed in order to achieve the modularity and real-time process required by the system. |
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cidis @ cidis @ |
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37 |
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Jorge L. Charco; Angel D. Sappa; Boris X. Vintimilla; Henry O. Velesaca |
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Title |
Transfer Learning from Synthetic Data in the Camera Pose Estimation Problem |
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Conference Article |
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2020 |
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The 15th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2020); Valletta, Malta; 27-29 Febrero 2020 |
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4 |
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498-505 |
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Relative Camera Pose Estimation, Siamese Architecture, Synthetic Data, Deep Learning, Multi-View Environments, Extrinsic Camera Parameters. |
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This paper presents a novel Siamese network architecture, as a variant of Resnet-50, to estimate the relative camera pose on multi-view environments. In order to improve the performance of the proposed model
a transfer learning strategy, based on synthetic images obtained from a virtual-world, is considered. The
transfer learning consist of first training the network using pairs of images from the virtual-world scenario
considering different conditions (i.e., weather, illumination, objects, buildings, etc.); then, the learned weight
of the network are transferred to the real case, where images from real-world scenarios are considered. Experimental results and comparisons with the state of the art show both, improvements on the relative pose
estimation accuracy using the proposed model, as well as further improvements when the transfer learning
strategy (synthetic-world data – transfer learning – real-world data) is considered to tackle the limitation on
the training due to the reduced number of pairs of real-images on most of the public data sets. |
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978-989758402-2 |
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120 |
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Patricia L. Suarez; Angel D. Sappa; Boris X. Vintimilla |
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Title |
Vegetation Index Estimation from Monospectral Images |
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2018 |
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15th International Conference, Image Analysis and Recognition (ICIAR 2018), Póvoa de Varzim, Portugal. Lecture Notes in Computer Science |
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10882 |
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353-362 |
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This paper proposes a novel approach to estimate Normalized
Difference Vegetation Index (NDVI) from just the red channel of
a RGB image. The NDVI index is defined as the ratio of the difference
of the red and infrared radiances over their sum. In other words, information
from the red channel of a RGB image and the corresponding
infrared spectral band are required for its computation. In the current
work the NDVI index is estimated just from the red channel by training a
Conditional Generative Adversarial Network (CGAN). The architecture
proposed for the generative network consists of a single level structure,
which combines at the final layer results from convolutional operations
together with the given red channel with Gaussian noise to enhance
details, resulting in a sharp NDVI image. Then, the discriminative model
estimates the probability that the NDVI generated index came from the
training dataset, rather than the index automatically generated. Experimental
results with a large set of real images are provided showing that
a Conditional GAN single level model represents an acceptable approach
to estimate NDVI index. |
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82 |
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Author |
Angel D. Sappa; Juan A. Carvajal; Cristhian A. Aguilera; Miguel Oliveira; Dennis G. Romero; Boris X. Vintimilla |
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Title |
Wavelet-Based Visible and Infrared Image Fusion: A Comparative Study |
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2016 |
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Sensors Journal |
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Vol. 16 |
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pp. 1-15 |
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image fusion; fusion evaluation metrics; visible and infrared imaging; discrete wavelet transform |
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This paper evaluates different wavelet-based cross-spectral image fusion strategies adopted to merge visible and infrared images. The objective is to find the best setup independently of the evaluation metric used to measure the performance. Quantitative performance results are obtained with state of the art approaches together with adaptations proposed in the current work. The options evaluated in the current work result from the combination of different setups in the wavelet image decomposition stage together with different fusion strategies for the final merging stage that generates the resulting representation. Most of the approaches evaluate results according to the application for which they are intended for. Sometimes a human observer is selected to judge the quality of the obtained results. In the current work, quantitative values are considered in order to find correlations between setups and performance of obtained results; these correlations can be used to define a criteria for selecting the best fusion strategy for a given pair of cross-spectral images. The whole procedure is evaluated with a large set of correctly registered visible and infrared image pairs, including both Near InfraRed (NIR) and LongWave InfraRed (LWIR). |
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cidis @ cidis @ |
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47 |
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