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Author |
Jose Manuel Alvarez |
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Title |
On-Board Road Surface Segmentation |
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2007 |
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CVC Technical Report #108 |
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Admin @ si @ Alv2007 |
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820 |
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Author |
Jose Manuel Alvarez; Antonio Lopez; Ramon Baldrich |
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Title |
Shadow Resistant Road Segmentation from a Mobile Monocular System |
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2007 |
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3rd Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA 2007), J. Marti et al. (Eds.) LNCS 4477:9–16 |
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road detection |
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Gerona (Spain) |
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ADAS;CIC |
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ADAS @ adas @ ALB2007 |
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943 |
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Author |
Jose Manuel Alvarez; Antonio Lopez; Ramon Baldrich |
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Title |
Illuminant Invariant Model-Based Road Segmentation |
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Conference Article |
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2008 |
Publication |
IEEE Intelligent Vehicles Symposium, |
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1155–1180 |
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road detection |
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Eindhoven (The Netherlands) |
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ADAS;CIC |
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ADAS @ adas @ ALB2008 |
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1045 |
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Author |
Jose Manuel Alvarez; Antonio Lopez |
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Title |
Novel Index for Objective Evaluation of Road Detection Algorithms |
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Conference Article |
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2008 |
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Intelligent Transportation Systems. 11th International IEEE Conference on, |
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815–820 |
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road detection |
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Beijing (Xina) |
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ITSC |
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ADAS |
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ADAS @ adas @ AlL2008 |
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1074 |
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Author |
Jose Manuel Alvarez; Antonio Lopez |
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Title |
Model-based road detection using shadowless features and on-line learning |
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Miscellaneous |
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2009 |
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BMVA one–day technical meeting on vision for automotive applications |
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road detection |
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London, UK |
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ADAS |
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ADAS @ adas @ AlA2009 |
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1272 |
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Author |
Sebastian Ramos |
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Title |
Vision-based Detection of Road Hazards for Autonomous Driving |
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2014 |
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CVC Technical Report |
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UAB; September 2014 |
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Master's thesis |
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ADAS; 600.076 |
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Admin @ si @ Ram2014 |
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2580 |
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Author |
Zhijie Fang |
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Title |
Behavior understanding of vulnerable road users by 2D pose estimation |
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2019 |
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PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Anticipating the intentions of vulnerable road users (VRUs) such as pedestrians
and cyclists can be critical for performing safe and comfortable driving maneuvers. This is the case for human driving and, therefore, should be taken into account by systems providing any level of driving assistance, i.e. from advanced driver assistant systems (ADAS) to fully autonomous vehicles (AVs). In this PhD work, we show how the latest advances on monocular vision-based human pose estimation, i.e. those relying on deep Convolutional Neural Networks (CNNs), enable to recognize the intentions of such VRUs. In the case of cyclists, we assume that they follow the established traffic codes to indicate future left/right turns and stop maneuvers with arm signals. In the case of pedestrians, no indications can be assumed a priori. Instead, we hypothesize that the walking pattern of a pedestrian can allow us to determine if he/she has the intention of crossing the road in the path of the egovehicle, so that the ego-vehicle must maneuver accordingly (e.g. slowing down or stopping). In this PhD work, we show how the same methodology can be used for recognizing pedestrians and cyclists’ intentions. For pedestrians, we perform experiments on the publicly available Daimler and JAAD datasets. For cyclists, we did not found an analogous dataset, therefore, we created our own one by acquiring
and annotating corresponding video-sequences which we aim to share with the
research community. Overall, the proposed pipeline provides new state-of-the-art results on the intention recognition of VRUs. |
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May 2019 |
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Ph.D. thesis |
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Ediciones Graficas Rey |
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Antonio Lopez;David Vazquez |
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978-84-948531-6-6 |
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ADAS; 600.118 |
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Call Number |
Admin @ si @ Fan2019 |
Serial |
3388 |
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| Permanent link to this record |
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Author |
Jose Manuel Alvarez; Antonio Lopez |
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Title |
Road Detection Based on Illuminant Invariance |
Type |
Journal Article |
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Year |
2011 |
Publication |
IEEE Transactions on Intelligent Transportation Systems |
Abbreviated Journal |
TITS |
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12 |
Issue |
1 |
Pages |
184-193 |
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Keywords |
road detection |
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Abstract |
By using an onboard camera, it is possible to detect the free road surface ahead of the ego-vehicle. Road detection is of high relevance for autonomous driving, road departure warning, and supporting driver-assistance systems such as vehicle and pedestrian detection. The key for vision-based road detection is the ability to classify image pixels as belonging or not to the road surface. Identifying road pixels is a major challenge due to the intraclass variability caused by lighting conditions. A particularly difficult scenario appears when the road surface has both shadowed and nonshadowed areas. Accordingly, we propose a novel approach to vision-based road detection that is robust to shadows. The novelty of our approach relies on using a shadow-invariant feature space combined with a model-based classifier. The model is built online to improve the adaptability of the algorithm to the current lighting and the presence of other vehicles in the scene. The proposed algorithm works in still images and does not depend on either road shape or temporal restrictions. Quantitative and qualitative experiments on real-world road sequences with heavy traffic and shadows show that the method is robust to shadows and lighting variations. Moreover, the proposed method provides the highest performance when compared with hue-saturation-intensity (HSI)-based algorithms. |
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ADAS |
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ADAS @ adas @ AlL2011 |
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1456 |
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| Permanent link to this record |
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Author |
Jose Manuel Alvarez; Antonio Lopez; Theo Gevers; Felipe Lumbreras |
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Title |
Combining Priors, Appearance and Context for Road Detection |
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Journal Article |
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Year |
2014 |
Publication |
IEEE Transactions on Intelligent Transportation Systems |
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TITS |
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15 |
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3 |
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1168-1178 |
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Illuminant invariance; lane markings; road detection; road prior; road scene understanding; vanishing point; 3-D scene layout |
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Detecting the free road surface ahead of a moving vehicle is an important research topic in different areas of computer vision, such as autonomous driving or car collision warning.
Current vision-based road detection methods are usually based solely on low-level features. Furthermore, they generally assume structured roads, road homogeneity, and uniform lighting conditions, constraining their applicability in real-world scenarios. In this paper, road priors and contextual information are introduced for road detection. First, we propose an algorithm to estimate road priors online using geographical information, providing relevant initial information about the road location. Then, contextual cues, including horizon lines, vanishing points, lane markings, 3-D scene layout, and road geometry, are used in addition to low-level cues derived from the appearance of roads. Finally, a generative model is used to combine these cues and priors, leading to a road detection method that is, to a large degree, robust to varying imaging conditions, road types, and scenarios. |
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IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
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1524-9050 |
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ADAS; 600.076;ISE |
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Admin @ si @ ALG2014 |
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2501 |
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Author |
Jose Manuel Alvarez; Theo Gevers; Antonio Lopez |
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Title |
Evaluating Color Representation for Online Road Detection |
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Conference Article |
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2013 |
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ICCV Workshop on Computer Vision in Vehicle Technology: From Earth to Mars |
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594-595 |
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Detecting traversable road areas ahead a moving vehicle is a key process for modern autonomous driving systems. Most existing algorithms use color to classify pixels as road or background. These algorithms reduce the effect of lighting variations and weather conditions by exploiting the discriminant/invariant properties of different color representations. However, up to date, no comparison between these representations have been conducted. Therefore, in this paper, we perform an evaluation of existing color representations for road detection. More specifically, we focus on color planes derived from RGB data and their most com-
mon combinations. The evaluation is done on a set of 7000 road images acquired
using an on-board camera in different real-driving situations. |
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CVVT:E2M |
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ADAS;ISE |
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Admin @ si @ AGL2013 |
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2794 |
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