Nr.

Title
Road surface and curbstones estimation using conditional random fields
1

Grid-based free space estimation in traffic scenes

2

Surface normals detection and application to stereo and LIDAR data

4 Integrating LIDAR into Stereo for Fast and Improved Disparity Computation

Dense stereo matching based on support points

6 Stereo reconstruction for sparse points

Iterative SGM implementation

8 Barrier detection from stereo

9 Terrain classification – lawn, grass, gravel

Segmentation methods for stereo\range images

10
11 Pedestrian detection based on codebook features(bag of words) and boosting

12 Object detection and classification using active contour models

13 Combining superpixels and stereo

14 Combining superpixels and optical flow

15 Superpixel based object segmentation

16 Probabilistic models for stixels generation

Object flow for traffic scenes

17

18 Wather detection from stereo

18 Wather detection from stereo

Shape descriptors and matching

19

Active contours/Snakes

20

21 Dense optical flow. Variational techniques

22 Sparse optical flow using hash tables

Refferences
http://liu.diva-portal.org/smash/get/diva2:532767/FULLTEXT01.pdf
http://www.ipb.uni-bonn.de/uploads/tx_ikgpublication/IV2011_final.pdf

http://www.lelaps.de/papers/badino_wdv2007.pdf
http://www.cv.utcluj.ro/tl_files/cv/publications/ProcessingDenseStereoUsingElevationMaps.pdf

http://www.lelaps.de/papers/badino_icra11.pdf

http://www.lelaps.de/papers/badino_3dimpvt11.pdf

http://www.cvlibs.net/publications/Geiger2010ACCV.pdf

http://ieeexplore-1ieee-1org-1ieee.rb-han.de.bosch.com/stamp/stamp.jsp?tp=&arnumber=6385492&tag=1

http://www.mi.auckland.ac.nz/tech-reports/12_SHRK_ACCV.pdf

http://ieeexplore-1ieee-1org-1ieee.rb-han.de.bosch.com/stamp/stamp.jsp?tp=&arnumber=5284778

http://users.soe.ucsc.edu/~manduchi/papers/IVS00.pdf
http://users.soe.ucsc.edu/~manduchi/papers/AutRobots.pdf
http://www.cogsys.cs.uni-tuebingen.de/publikationen/2011/khan2011civts.pdf
http://www-robotics.jpl.nasa.gov/publications/Arturo_Rankin/spie2009-rankin-7332-32-final.pdf

(none)
http://ieeexplore-1ieee-1org-1ieee.rb-han.de.bosch.com/stamp/stamp.jsp?tp=&arnumber=6646092&tag=1

http://ieeexplore-1ieee-1org-1ieee.rb-han.de.bosch.com/stamp/stamp.jsp?arnumber=05284804

http://rd.springer.com.springer.rb-han.de.bosch.com/chapter/10.1007%2F11556985_70

http://infoscience.epfl.ch/record/177415/files/Superpixel_PAMI2011-2.pdf
http://www.gcpr2013.uni-saarland.de/material/urtasun_flow.pdf
http://ttic.uchicago.edu/~rurtasun/publications/yamaguchi_et_al_cvpr13.pdf
http://ieeexplore-1ieee-1org-1ieee.rb-han.de.bosch.com/stamp/stamp.jsp?tp=&arnumber=6163004

http://infoscience.epfl.ch/record/177415/files/Superpixel_PAMI2011-2.pdf
http://www.gcpr2013.uni-saarland.de/material/urtasun_flow.pdf
http://ttic.uchicago.edu/~rurtasun/publications/yamaguchi_et_al_cvpr13.pdf
http://ieeexplore-1ieee-1org-1ieee.rb-han.de.bosch.com/stamp/stamp.jsp?tp=&arnumber=6163004

http://infoscience.epfl.ch/record/177415/files/Superpixel_PAMI2011-2.pdf
http://www.quyanyun.com/files/icpr/icpr/media/files/2592.pdf
http://ieeexplore-1ieee-1org-1ieee.rb-han.de.bosch.com/stamp/stamp.jsp?tp=&arnumber=6163004

http://www.6d-vision.de/9-literatur/pfeiffer_bmvc11

http://www.cvlibs.net/publications/Lenz2011IV.pdf

http://www-robotics.jpl.nasa.gov/publications/Arturo_Rankin/asc2006-rankin-water-detection-final.pdf
http://www-robotics.jpl.nasa.gov/publications/Arturo_Rankin/asc2008-rankin-mud-detection-final.pdf

http://ieeexplore-1ieee-1org-1ieee.rb-han.de.bosch.com/stamp/stamp.jsp?arnumber=06356185

http://klewel.com/conferences/epfl-computer-vision/index.php?talkID=7

http://lmb.informatik.uni-freiburg.de/Publications/2011/Bro11a/
http://cv.utcluj.ro/optical-flow.html
http://www.6d-vision.de/9-literatur/mueller_cvpr11
http://vision.middlebury.edu/flow/
http://www.cvlibs.net/datasets/kitti/eval_stereo_flow.php?benchmark=flow

http://www.6d-vision.de/9-literatur/stein_dagm04
Difficulty Comments
hard

medium

An application can be done

based on the result. Ex: speed
easy bumps detection, segmentation,
3D edge detection etc.

Data fusion betwee Velodyne

medium and stereo data

medium Alternative stereo method

easy Sparse stereo method

Alternative stereo method. Work

can start with SGM
hard implementation then iSgm
optimisations.

medium

hard

Region growing, split & merge,

graph based etc. Can be a
medium segmentation method that
combines stereo/disparity and
image information.
 Generally, we are interested in
any good pedestrian
hard detection\classification methods
even uif they don’t run in
realtime.

hard

hard

hard

medium

Stixel = vertical feature

hard containing pixels with
approximately the same depth

easy

Because of reflections the wather

medium will show different disparities
than the ones on the road plane.
This can be an indication for
wather detction.
 Because of reflections the wather
medium will show different disparities
than the ones on the road plane.
This can be an indication for
wather detction.

Applications can be: pedestrian

medium classification based on contours,
Kinnect gestures recognition etc.

See slide 17 in the indicated

presentation. Active contours are
medium based on partial differential
equations.

hard

easy
Step by Step approach

1. From the disparity image compute the 3D points.

2. Visualisation method for 3D points (ex: PCL)
3. Compute normal vectors by plane fiting for a set of neighbouring points (optional)
4. Compute the range image range(fi, teta).
5. Range image filtering (optional).
6. Computer normals from range image.
7. Visualisation for surgace normals.

0. Start with rectiffied images.

1. Compute support points (ex. Harris corners or edge points on scanlines)
2. Compute disparity for support points.
3. Delaunay triangulation.
4. Generate interpolated disparity values based in support point disparities.
5. Final implementation - reduce disparity search space based on the disparity of the support points.
See also: http://www.cvlibs.net/datasets/kitti/eval_stereo_flow.php?benchmark=stereo and
http://vision.middlebury.edu/stereo/eval/

Note: this has a generic formulation. The goal is to segment objects from stereo + image data by modifying standard
segmentation algorithms.
Can use http://www.cvlibs.net/datasets/kitti/eval_object.php as database/ground truth.
Good reference for segmentation methods in general: http://www.klewel.com/conferences/epfl-computer-vision/
0. K-means implementation
1. Standard superpixel method (ex: SLIC based on colour / graylevel and position) - use K-Means
2. Compute an initial disparity estimation (KTTI (http://www.cvlibs.net/datasets/kitti/eval_stereo_flow.php?
benchmark=stereo) or student implements a dense local method).
5. Joint segmentation (superpixels) and stereo estimation (see energy to be minimised in the paper for guideline) -
See MotionSLIC
Note: this is easier than the flow estimation using the same method - see next topic for flow

0. K-means implementation
1. Standard superpixel method (ex: SLIC based on colour / graylevel and position) - use K-Means
2. Compensate rotation using odometry.
3. Encode flow (epipolar flow) with a single parameter (VZ-index) and make the initial estimation via SGM.
4. Joint segmentation (superpixels) and flow estimation (see energy to be minimised in the paper for guideline).

0. K-Means implementation.
1. Standard superpixel method (ex: SLIC based on colour / graylevel and position) - use K-Means
2. Dense optical flow (ue existing public algorithms (http://www.cvlibs.net/datasets/kitti/eval_stereo_flow.php?
benchmark=flow) or student implements one)
3. Dense stereo (can be used an open source like the KTTI one).
4. Include in the metric info about the stereo and flow as in the reffered paper.
5. Group superpixels into objects (ex. use graph cuts, split and merge based on a superpixel descriptor etc.)

1. Compute interest points and corespondences between them in successive frames.

2. Find the 3D reconstruction fo the interest points and find keypoint 3D speed by interpolating 5 consecutive
frames.
3. Delaunay triangulation on the keypoints
4. Remove edges where we have big difference in speed estimation for the keypoints it connects (fixed threshold,
mahalanobis distance vs. variable threhold and euclidean distance).
5. DFS on the remaining graph graph to detect connected components (representing independent objects).
6. Remove clutter objects removed based on size and position relative to the road surface.