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Eugenio Alcala; Laura Sellart; Vicenc Puig; Joseba Quevedo; Jordi Saludes; David Vazquez; Antonio Lopez |
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Title |
Comparison of two non-linear model-based control strategies for autonomous vehicles |
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Conference Article |
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2016 |
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24th Mediterranean Conference on Control and Automation |
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846-851 |
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Autonomous Driving; Control |
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This paper presents the comparison of two nonlinear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using this approach, the error dynamics model is developed. Both controllers receive as input the longitudinal, lateral and orientation errors generating as control outputs the steering angle and the velocity of the vehicle. The first control approach is based on a non-linear control law that is designed by means of the Lyapunov direct approach. The second approach is based on a sliding mode-control that defines a set of sliding surfaces over which the error trajectories will converge. The main advantage of the sliding-control technique is the robustness against non-linearities and parametric uncertainties in the model. However, the main drawback of first order sliding mode is the chattering, so it has been implemented a high order sliding mode control. To test and compare the proposed control strategies, different path following scenarios are used in simulation. |
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Athens; Greece; June 2016 |
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ADAS; 600.085; 600.082; 600.076 |
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ADAS @ adas @ ASP2016 |
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2750 |
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Author |
Jaume Amores; N. Sebe; Petia Radeva; Theo Gevers; A. Smeulders |
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Title |
Boosting Contextual Information in Content-based Image Retrieval |
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Miscellaneous |
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2004 |
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6th ACM SIGMM International Workshop on Multimedia Information Retrieval |
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New York, USA |
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MILAB;ISE |
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ADAS @ adas @ ASR2004 |
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466 |
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Jaume Amores; N. Sebe; Petia Radeva |
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Title |
Fast Spatial Pattern Discovery Integrating Boosting with Constellations of Contextual Descriptors |
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Miscellaneous |
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2005 |
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IEEE Computer Society, International Conference on Computer Vision and Pattern Recognition (CVPR’05), 2(2):769–774 |
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San Diego, CA (USA) |
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MILAB |
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ADAS @ adas @ ASR2005a |
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541 |
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Jaume Amores; N. Sebe; Petia Radeva |
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Title |
Efficient Object-Class Recognition by Boosting Contextual Information |
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2005 |
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Pattern Recognition and Image Analysis, IbPRIA 2005, LNCS 3522:28–35 |
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Estoril (Portugal) |
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ADAS;MILAB |
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ADAS @ adas @ ASR2005b |
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554 |
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Jaume Amores; N. Sebe; Petia Radeva |
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Title |
Boosting the distance estimation: Application to the K-Nearest Neighbor Classifier |
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2006 |
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Pattern Recognition Letters |
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PRL |
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27 |
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3 |
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201–209 |
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ADAS;MILAB |
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ADAS @ adas @ ASR2006 |
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643 |
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Author |
Jaume Amores; N. Sebe; Petia Radeva |
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Title |
Class-Specific Binaryy Correlograms for Object Recognition |
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2007 |
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British Machine Vision Conference |
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Warwick (UK) |
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BMVC’07 |
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ADAS;MILAB |
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ADAS @ adas @ ASR2007a |
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923 |
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Author |
Jaume Amores; N. Sebe; Petia Radeva |
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Title |
Context-Based Object-Class Recognition and Retrieval by Generalized Correlograms |
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2007 |
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IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 29(10):1818–1833, (ISI 3,81) |
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ADAS;MILAB |
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ADAS @ adas @ ASR2007b |
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922 |
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Author |
Jorge Bernal; David Vazquez (eds) |
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Title |
Computer vision Trends and Challenges |
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2013 |
Publication |
Computer vision Trends and Challenges |
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CVCRD; Computer Vision |
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This book contains the papers presented at the Eighth CVC Workshop on Computer Vision Trends and Challenges (CVCR&D'2013). The workshop was held at the Computer Vision Center (Universitat Autònoma de Barcelona), the October 25th, 2013. The CVC workshops provide an excellent opportunity for young researchers and project engineers to share new ideas and knowledge about the progress of their work, and also, to discuss about challenges and future perspectives. In addition, the workshop is the welcome event for new people that recently have joined the institute.
The program of CVCR&D is organized in a single-track single-day workshop. It comprises several sessions dedicated to specific topics. For each session, a doctor working on the topic introduces the general research lines. The PhD students expose their specific research. A poster session will be held for open questions. Session topics cover the current research lines and development projects of the CVC: Medical Imaging, Medical Imaging, Color & Texture Analysis, Object Recognition, Image Sequence Evaluation, Advanced Driver Assistance Systems, Machine Vision, Document Analysis, Pattern Recognition and Applications. We want to thank all paper authors and Program Committee members. Their contribution shows that the CVC has a dynamic, active, and promising scientific community.
We hope you all enjoy this Eighth workshop and we are looking forward to meeting you and new people next year in the Ninth CVCR&D. |
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Jorge Bernal; David Vazquez |
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978-84-940902-2-6 |
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ADAS @ adas @ BeV2013 |
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2339 |
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Author |
Xavier Boix; Josep M. Gonfaus; Fahad Shahbaz Khan; Joost Van de Weijer; Andrew Bagdanov; Marco Pedersoli; Jordi Gonzalez; Joan Serrat |
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Combining local and global bag-of-word representations for semantic segmentation |
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2009 |
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Workshop on The PASCAL Visual Object Classes Challenge |
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Kyoto (Japan) |
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ICCV |
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ADAS;ISE |
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ADAS @ adas @ BGS2009 |
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1273 |
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Fernando Barrera; Felipe Lumbreras; Angel Sappa |
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Multimodal Template Matching based on Gradient and Mutual Information using Scale-Space |
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2010 |
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17th IEEE International Conference on Image Processing |
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2749–2752 |
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This paper presents the combined use of gradient and mutual information for infrared and intensity templates matching. We propose to joint: (i) feature matching in a multiresolution context and (ii) information propagation through scale-space representations. Our method consists in combining mutual information with a shape descriptor based on gradient, and propagate them following a coarse-to-fine strategy. The main contributions of this work are: to offer a theoretical formulation towards a multimodal stereo matching; to show that gradient and mutual information can be reinforced while they are propagated between consecutive levels; and to show that they are valid cost functions in multimodal template matchings. Comparisons are presented showing the improvements and viability of the proposed approach. |
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Hong-Kong |
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1522-4880 |
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978-1-4244-7992-4 |
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ICIP |
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ADAS @ adas @ BLS2010 |
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1358 |
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