Department of Industrial, Electronic and Mechanical Engineering, Roma Tre University
Via Vito Volterra 62, 00146, Rome, Italy
michele.brizzi@uniroma3.it
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Biography
Michele Brizzi received the Laurea (B.Sc.) in Electronic Engineering, the Laurea Magistrale (M.Sc) in Information and Communication Technology Engineering, and his Ph.D. in Applied Electronics from Roma Tre University in 2016, 2018, and 2022, respectively. He is now a post-doc researcher at the Department of Industrial, Electronic and Mechanical Engineering, Roma Tre University.
He is an IEEE member (Student ’18; Member ’22) and a member of The Institute of Navigation (2023-present).
He is an IEEE member (Student ’18; Member ’22) and a member of The Institute of Navigation (2023-present).
Research
His main research interests are in the area of multimedia signal processing and positioning applications for autonomous vehicles.
Courses
A.A. 2023/2024
A.A. 2022/2023
Publications
Journal papers
2025
Brizzi, Michele; Neri, Alessandro
A High Integrity Framework for GNSS/INS Train Positioning Journal Article
In: IEEE Transactions on Aerospace and Electronic Systems, 2025.
@article{Brizzi_TAES_2025,
title = {A High Integrity Framework for GNSS/INS Train Positioning},
author = {Michele Brizzi and Alessandro Neri},
url = {https://ieeexplore.ieee.org/document/11250672},
doi = {10.1109/TAES.2025.3633221},
year = {2025},
date = {2025-11-17},
urldate = {2025-11-17},
journal = {IEEE Transactions on Aerospace and Electronic Systems},
abstract = {Multipath is one of the most prominent sources of accuracy degradation in satellite-based navigation systems. Managing local threats in the diverse environments where trains operate- stations, urban areas, or mountainous regions-is one of the more demanding aspects of developing a GNSS-based Advanced Safe Train Positioning (ASTP) system for safety-critical applications such as train signaling. To meet the stringent integrity requirements relevant to automated rail operations, this work proposes a comprehensive framework for the apportionment of railway safety targets and the harmonization of Fault Detection and Exclusion (FDE) performance in the measurement and position domains. Specifically, FDE mechanisms in the forms of detectors designed to identify and mitigate multipath feared events within the measurements, and position-domain Solution Separation are included to address both the impact of multipath and satellite faults. These are combined with a track-constrained positioning technique tailored for railway navigation employing a loosely coupled integration of GNSS and Inertial Navigation Systems to provide safety-related position and speed to the in-cab signaling system. The experimental analysis and comparison with the state-of-the-art confirm the validity of the proposed framework in enhancing the reliability of the train positioning system. This improvement is critical for the deployment of GNSS-enabled train location determination systems in automated rail operations, where high accuracy and integrity are paramount. © IEEE.},
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Multipath is one of the most prominent sources of accuracy degradation in satellite-based navigation systems. Managing local threats in the diverse environments where trains operate- stations, urban areas, or mountainous regions-is one of the more demanding aspects of developing a GNSS-based Advanced Safe Train Positioning (ASTP) system for safety-critical applications such as train signaling. To meet the stringent integrity requirements relevant to automated rail operations, this work proposes a comprehensive framework for the apportionment of railway safety targets and the harmonization of Fault Detection and Exclusion (FDE) performance in the measurement and position domains. Specifically, FDE mechanisms in the forms of detectors designed to identify and mitigate multipath feared events within the measurements, and position-domain Solution Separation are included to address both the impact of multipath and satellite faults. These are combined with a track-constrained positioning technique tailored for railway navigation employing a loosely coupled integration of GNSS and Inertial Navigation Systems to provide safety-related position and speed to the in-cab signaling system. The experimental analysis and comparison with the state-of-the-art confirm the validity of the proposed framework in enhancing the reliability of the train positioning system. This improvement is critical for the deployment of GNSS-enabled train location determination systems in automated rail operations, where high accuracy and integrity are paramount. © IEEE.
2024
Sosa, Angel Luis Zuriarrain; Ioannucci, Valeria; Pratesi, Marco; Alesii, Roberto; Albanese, Carlo; Valentini, Francesco; Cinque, Elena; Martinelli, Alessio; Brizzi, Michele
OBU for Accurate Navigation through Sensor Fusion in the Framework of the EMERGE Project Journal Article
In: Applied Sciences, vol. 14, no. 11, 2024, ISSN: 2076-3417.
@article{app14114401,
title = {OBU for Accurate Navigation through Sensor Fusion in the Framework of the EMERGE Project},
author = {Angel Luis Zuriarrain Sosa and Valeria Ioannucci and Marco Pratesi and Roberto Alesii and Carlo Albanese and Francesco Valentini and Elena Cinque and Alessio Martinelli and Michele Brizzi},
url = {https://www.mdpi.com/2076-3417/14/11/4401},
doi = {10.3390/app14114401},
issn = {2076-3417},
year = {2024},
date = {2024-05-22},
journal = {Applied Sciences},
volume = {14},
number = {11},
abstract = {With the development of advanced driver assistance systems (ADAS) and autonomous vehicles (AV), recent years have seen an increasing evolution of onboard sensors and communication interfaces capable of interacting with available infrastructures, including satellite constellations, road structures, modern and heterogeneous network systems (e.g., 5G and beyond) and even adjacent vehicles. Consequently, it is essential to develop architectures that cover data fusion (multi–sensor approach), communication, power management, and system monitoring to ensure accurate and reliable perception in several navigation scenarios. Motivated by the EMERGE project, this paper describes the definition and implementation of an On Board Unit (OBU) dedicated to the navigation process. The OBU is equipped with the Xsens MTi–630 AHRS inertial sensor, a multi–constellation/multi–frequency Global Navigation Satellite System (GNSS) receiver with the u–blox ZED–F9P module and communication interfaces that afford access to the PointPerfect augmentation service. Experimental results show that GNSS, with corrections provided by augmentation, affords centimetre accuracy, with a Time To First Fix (TTFF) of about 30 s. During the on–road tests, we also collect: the output of fusion with inertial sensor data, monitoring information that assess correct operation of the module, and the OBU power consumption, that remains under 5 W even in high–power operating mode.},
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With the development of advanced driver assistance systems (ADAS) and autonomous vehicles (AV), recent years have seen an increasing evolution of onboard sensors and communication interfaces capable of interacting with available infrastructures, including satellite constellations, road structures, modern and heterogeneous network systems (e.g., 5G and beyond) and even adjacent vehicles. Consequently, it is essential to develop architectures that cover data fusion (multi–sensor approach), communication, power management, and system monitoring to ensure accurate and reliable perception in several navigation scenarios. Motivated by the EMERGE project, this paper describes the definition and implementation of an On Board Unit (OBU) dedicated to the navigation process. The OBU is equipped with the Xsens MTi–630 AHRS inertial sensor, a multi–constellation/multi–frequency Global Navigation Satellite System (GNSS) receiver with the u–blox ZED–F9P module and communication interfaces that afford access to the PointPerfect augmentation service. Experimental results show that GNSS, with corrections provided by augmentation, affords centimetre accuracy, with a Time To First Fix (TTFF) of about 30 s. During the on–road tests, we also collect: the output of fusion with inertial sensor data, monitoring information that assess correct operation of the module, and the OBU power consumption, that remains under 5 W even in high–power operating mode.
Yan, Penggao; Xia, Xiao; Brizzi, Michele; Wen, Weisong; Hsu, Li-Ta
Subspace-based Adaptive GMM Error Modeling for Fault-Aware Pseudorange-based Positioning in Urban Canyons Journal Article
In: IEEE Transactions on Intelligent Vehicles, pp. 1-16, 2024.
@article{10648803,
title = {Subspace-based Adaptive GMM Error Modeling for Fault-Aware Pseudorange-based Positioning in Urban Canyons},
author = {Penggao Yan and Xiao Xia and Michele Brizzi and Weisong Wen and Li-Ta Hsu},
doi = {10.1109/TIV.2024.3450198},
year = {2024},
date = {2024-01-01},
journal = {IEEE Transactions on Intelligent Vehicles},
pages = {1-16},
keywords = {},
pubstate = {published},
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2023
Brizzi, Michele; Battisti, Federica; Carli, Marco; Neri, Alessandro
Selective video enhancement in the Laguerre-Gauss domain Journal Article
In: Signal Processing: Image Communication, vol. 110, 2023, ISSN: 0923-5965.
@article{Brizzi_SPIC_2023,
title = {Selective video enhancement in the Laguerre-Gauss domain},
author = {Michele Brizzi and Federica Battisti and Marco Carli and Alessandro Neri},
url = {https://www.sciencedirect.com/science/article/pii/S0923596522001552},
doi = {https://doi.org/10.1016/j.image.2022.116876},
issn = {0923-5965},
year = {2023},
date = {2023-01-01},
urldate = {2023-01-01},
journal = {Signal Processing: Image Communication},
volume = {110},
abstract = {Traditional image and video enhancement techniques do not consider the subjective preferences of the user, who might be interested in modifying or highlighting specific elements of a scene. In fact, most image or video post-processing techniques are applied to the entire image or frame. In this work, a framework for selective video enhancement is presented. It is based on an adaptive multi-resolution edge enhancement technique performed in the Laguerre-Gauss complex wavelet domain. In the proposed scheme, edges are selectively enhanced or attenuated according to the inputs of the user, taking into account the characteristics of the content, the response of the human visual system, and the masking effects induced by textured background. Two scenarios have been implemented and tested: (i) an interactive video editing system, where the user selects the objects to enhance through a graphical interface and the system automatically propagates the selection through the following video frames belonging to the same shot, (ii) a perceptually-driven technique to improve the quality of RGB plus Depth videos, which uses depth maps as additional features to guide the enhancement.},
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Traditional image and video enhancement techniques do not consider the subjective preferences of the user, who might be interested in modifying or highlighting specific elements of a scene. In fact, most image or video post-processing techniques are applied to the entire image or frame. In this work, a framework for selective video enhancement is presented. It is based on an adaptive multi-resolution edge enhancement technique performed in the Laguerre-Gauss complex wavelet domain. In the proposed scheme, edges are selectively enhanced or attenuated according to the inputs of the user, taking into account the characteristics of the content, the response of the human visual system, and the masking effects induced by textured background. Two scenarios have been implemented and tested: (i) an interactive video editing system, where the user selects the objects to enhance through a graphical interface and the system automatically propagates the selection through the following video frames belonging to the same shot, (ii) a perceptually-driven technique to improve the quality of RGB plus Depth videos, which uses depth maps as additional features to guide the enhancement.
2022
Arif, Syed Muhammad Umair; Brizzi, Michele; Carli, Marco; Battisti, Federica
Human reaction time in a mixed reality environment Journal Article
In: Frontiers in Neuroscience, 2022.
@article{Arif_FrontNeuro_2022,
title = {Human reaction time in a mixed reality environment},
author = {Syed Muhammad Umair Arif and Michele Brizzi and Marco Carli and Federica Battisti},
doi = {10.3389/fnins.2022.897240},
year = {2022},
date = {2022-08-19},
urldate = {2022-08-19},
journal = {Frontiers in Neuroscience},
keywords = {},
pubstate = {published},
tppubtype = {article}
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Baldoni, Sara; Battisti, Federica; Brizzi, Michele; Neri, Alessandro
GNSS-Imaging Data Fusion for Integrity Enhancement in Autonomous Vehicles Journal Article
In: IEEE Transactions on Aerospace and Electronic Systems, vol. 58, no. 5, pp. 4690-4704, 2022.
@article{Baldoni_TAES_2022,
title = {GNSS-Imaging Data Fusion for Integrity Enhancement in Autonomous Vehicles},
author = {Sara Baldoni and Federica Battisti and Michele Brizzi and Alessandro Neri},
url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9754275&isnumber=9915531},
doi = {10.1109/TAES.2022.3165771},
year = {2022},
date = {2022-04-08},
urldate = {2022-01-01},
journal = {IEEE Transactions on Aerospace and Electronic Systems},
volume = {58},
number = {5},
pages = {4690-4704},
abstract = {The transport sector is experiencing a fast and revolutionary development, moving toward the deployment of autonomous vehicles. Thus, the accuracy of the position information and the integrity of the navigation system have become key factors. In this article, we address the problem of the enhancement of the integrity of the position provided by a global navigation satellite system receiver by exploiting sensor fusion. To this aim, we estimate the lateral offset and heading of the vehicle with respect to a georeferenced roadway centerline from the images supplied by an on-board camera. Moreover, we perform integrity monitoring based on the implementation of the solution separation in the parity space. The numerical results indicate that the use of sensor fusion and digital map allows us to attain a longitudinal protection level reduction with respect to the case in which sensor fusion is not exploited. More specifically, a decrease of about 70% is achieved when a single constellation is used, while reduction is less relevant, about 15%, when two constellations are employed.},
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The transport sector is experiencing a fast and revolutionary development, moving toward the deployment of autonomous vehicles. Thus, the accuracy of the position information and the integrity of the navigation system have become key factors. In this article, we address the problem of the enhancement of the integrity of the position provided by a global navigation satellite system receiver by exploiting sensor fusion. To this aim, we estimate the lateral offset and heading of the vehicle with respect to a georeferenced roadway centerline from the images supplied by an on-board camera. Moreover, we perform integrity monitoring based on the implementation of the solution separation in the parity space. The numerical results indicate that the use of sensor fusion and digital map allows us to attain a longitudinal protection level reduction with respect to the case in which sensor fusion is not exploited. More specifically, a decrease of about 70% is achieved when a single constellation is used, while reduction is less relevant, about 15%, when two constellations are employed.
2018
Battisti, Federica; Baldoni, Sara; Brizzi, Michele; Carli, Marco
A feature-based approach for saliency estimation of omni-directional images Journal Article
In: Signal Processing: Image Communication, vol. 69, pp. 53-59, 2018, (cited By 33).
@article{Battisti_SPIC_2018,
title = {A feature-based approach for saliency estimation of omni-directional images},
author = {Federica Battisti and Sara Baldoni and Michele Brizzi and Marco Carli},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85044536288&doi=10.1016%2fj.image.2018.03.008&partnerID=40&md5=b94843104e2f63e09d05eb6dc7a4553a},
doi = {10.1016/j.image.2018.03.008},
year = {2018},
date = {2018-01-01},
urldate = {2018-01-01},
journal = {Signal Processing: Image Communication},
volume = {69},
pages = {53-59},
note = {cited By 33},
keywords = {},
pubstate = {published},
tppubtype = {article}
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Conference papers
2025
Ferrarotti, Anna; Brizzi, Michele; Rocchi, Erica; Fabrizio, Alessia; Carnevale, Arianna; Longo, Umile Giuseppe
5GVIREH: a 5G-enabled Virtual Reality based solution for telerehabilitation Proceedings Article
In: Proceedings of the 17th International Conference on Quality of Multimedia Experience (QoMEX), IEEE, 2025.
@inproceedings{Ferrarotti_QOMEX_2025,
title = {5GVIREH: a 5G-enabled Virtual Reality based solution for telerehabilitation},
author = {Anna Ferrarotti and Michele Brizzi and Erica Rocchi and Alessia Fabrizio and Arianna Carnevale and Umile Giuseppe Longo},
doi = {10.1109/QoMEX65720.2025.11219930},
year = {2025},
date = {2025-11-03},
urldate = {2025-11-03},
booktitle = {Proceedings of the 17th International Conference on Quality of Multimedia Experience (QoMEX)},
publisher = {IEEE},
abstract = {Integrating 5G technology with Virtual Reality creates an advanced human-machine interface applicable to various fields. With its high-speed, stable connection, 5G enables seamless real-time user communication. Virtual Reality enhances personalized interaction and allows continuous monitoring without complex additional equipment. This study presents a use case where a clinician, connected through a PC, interacts with a patient using a Virtual Reality headset during physiotherapy sessions. The goal is to showcase the potential of 5G and Virtual Reality in enhancing telerehabilitation. While initial tests focused on patients recovering from rotator cuff surgery, the system can be easily adapted to support a wide range of treatment and rehabilitation protocols.},
keywords = {},
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Integrating 5G technology with Virtual Reality creates an advanced human-machine interface applicable to various fields. With its high-speed, stable connection, 5G enables seamless real-time user communication. Virtual Reality enhances personalized interaction and allows continuous monitoring without complex additional equipment. This study presents a use case where a clinician, connected through a PC, interacts with a patient using a Virtual Reality headset during physiotherapy sessions. The goal is to showcase the potential of 5G and Virtual Reality in enhancing telerehabilitation. While initial tests focused on patients recovering from rotator cuff surgery, the system can be easily adapted to support a wide range of treatment and rehabilitation protocols.
Brizzi, Michele; Ruggeri, Agostino; Vennarini, Alessia; Neri, Alessandro
Fault Detection and Exclusion for LIDAR-Camera Fusion in Railway Positioning: Enhancing Localization in Adverse Environments Proceedings Article
In: Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025), pp. 1784 – 1799, The Institute of Navigation, 2025.
@inproceedings{Brizzi_GNSS_2025,
title = {Fault Detection and Exclusion for LIDAR-Camera Fusion in Railway Positioning: Enhancing Localization in Adverse Environments},
author = {Michele Brizzi and Agostino Ruggeri and Alessia Vennarini and Alessandro Neri },
url = {https://www.ion.org/publications/abstract.cfm?articleID=20383},
doi = {10.33012/2025.20383},
year = {2025},
date = {2025-10-01},
urldate = {2025-10-01},
booktitle = {Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025)},
pages = {1784 - 1799},
publisher = {The Institute of Navigation},
abstract = {Accurate and reliable environment perception is crucial for the safe operation of future automated train control systems. The objective of this work is to design and validate a two-stage integrity architecture for railway positioning, focusing on Fault Detection and Exclusion (FDE) methods applied to camera and LiDAR data. At the raw-data level, camera integrity is assessed using no-reference image quality metrics (MAD, PIQE, BRISQUE, NIQE) to identify and discard degraded frames, while LiDAR integrity is ensured through statistical, range-based, and density-based outlier removal techniques. At the fusion stage, stereo-camera and LiDAR point clouds are temporally aligned and registered via Iterative Closest Point (ICP), with FDE applied to the merged dataset to exclude anomalous measurements. Experimental results on real railway scenarios, including traffic lights, power line poles, and speed profile markers, demonstrate that the proposed pipeline effectively reduces outliers and enhances the integrity of the fused point cloud, supporting high-accuracy and high-integrity train positioning. © 2025 ION.},
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Accurate and reliable environment perception is crucial for the safe operation of future automated train control systems. The objective of this work is to design and validate a two-stage integrity architecture for railway positioning, focusing on Fault Detection and Exclusion (FDE) methods applied to camera and LiDAR data. At the raw-data level, camera integrity is assessed using no-reference image quality metrics (MAD, PIQE, BRISQUE, NIQE) to identify and discard degraded frames, while LiDAR integrity is ensured through statistical, range-based, and density-based outlier removal techniques. At the fusion stage, stereo-camera and LiDAR point clouds are temporally aligned and registered via Iterative Closest Point (ICP), with FDE applied to the merged dataset to exclude anomalous measurements. Experimental results on real railway scenarios, including traffic lights, power line poles, and speed profile markers, demonstrate that the proposed pipeline effectively reduces outliers and enhances the integrity of the fused point cloud, supporting high-accuracy and high-integrity train positioning. © 2025 ION.
Brizzi, Michele; Neri, Alessandro
Conditional Path Planning for Collaborative GNSS Positioning Proceedings Article
In: Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025), pp. 393 – 403, The Institute of Navigation, 2025.
@inproceedings{Brizzi_GNSS_2025,
title = {Conditional Path Planning for Collaborative GNSS Positioning},
author = {Michele Brizzi and Alessandro Neri},
url = {https://www.ion.org/publications/abstract.cfm?articleID=20353},
doi = {10.33012/2025.20353},
year = {2025},
date = {2025-10-01},
urldate = {2025-10-01},
booktitle = {Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025)},
pages = {393 - 403},
publisher = {The Institute of Navigation},
abstract = {This work explores how cooperative GNSS positioning can be embedded into path planning so that navigation decisions also account for positioning quality. This method operates by formulating an optimization problem where the objective function not only includes traditional parameters–such as distance and time–but also incorporates a metric for cooperative positioning benefits. This dual objective enables the algorithm to dynamically adapt to the conditions of the environment and the status of the Global Navigation Satellite System (GNSS) signals, ensuring that the selected path meets both navigational and cooperative positioning goals. Simulations in urban canyons, tunnels, and random cluttered environments show that the method lowers positioning errors. © 2025 ION.},
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This work explores how cooperative GNSS positioning can be embedded into path planning so that navigation decisions also account for positioning quality. This method operates by formulating an optimization problem where the objective function not only includes traditional parameters–such as distance and time–but also incorporates a metric for cooperative positioning benefits. This dual objective enables the algorithm to dynamically adapt to the conditions of the environment and the status of the Global Navigation Satellite System (GNSS) signals, ensuring that the selected path meets both navigational and cooperative positioning goals. Simulations in urban canyons, tunnels, and random cluttered environments show that the method lowers positioning errors. © 2025 ION.
2024
Brizzi, Michele; Neri, Alessandro
Collaborative RTK Integrity Monitoring Proceedings Article
In: Proceedings of the ION 2024 Pacific PNT Meeting, pp. 106 – 115, The Institute of Navigation ION, 2024, ISBN: 978-0-936406-38-1.
@inproceedings{Brizzi_CoRTKIM_PNT_2024,
title = {Collaborative RTK Integrity Monitoring},
author = {Michele Brizzi and Alessandro Neri},
url = {https://www.ion.org/publications/abstract.cfm?articleID=19626},
doi = {10.33012/2024.19626},
isbn = {978-0-936406-38-1},
year = {2024},
date = {2024-05-09},
urldate = {2024-04-17},
booktitle = {Proceedings of the ION 2024 Pacific PNT Meeting},
pages = {106 - 115},
publisher = {ION},
organization = {The Institute of Navigation},
abstract = {This paper explores the use of Global Navigation Satellite System (GNSS) integrity monitoring techniques into Collaborative RTK systems. Collaborative RTK (C-RTK) leverages the data from multiple GNSS receivers to improve the accuracy and robustness of positioning solutions. By enhancing this collaborative approach with integrity monitoring, we aim to mitigate the impact of errors and anomalies in the GNSS signals, thus enhancing the reliability and safety of applications that depend on high-precision positioning in urban scenarios.},
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This paper explores the use of Global Navigation Satellite System (GNSS) integrity monitoring techniques into Collaborative RTK systems. Collaborative RTK (C-RTK) leverages the data from multiple GNSS receivers to improve the accuracy and robustness of positioning solutions. By enhancing this collaborative approach with integrity monitoring, we aim to mitigate the impact of errors and anomalies in the GNSS signals, thus enhancing the reliability and safety of applications that depend on high-precision positioning in urban scenarios.
Brizzi, Michele; Neri, Alessandro
A Virtual Track Velocity Constraint for Integrity Enhancement in Automated Driving Systems Proceedings Article
In: Proceedings of the ION 2024 Pacific PNT Meeting, pp. 444 – 454, The Institute of Navigation ION, 2024, ISBN: 978-0-936406-38-1.
@inproceedings{Brizzi_VVT_PNT_2024,
title = {A Virtual Track Velocity Constraint for Integrity Enhancement in Automated Driving Systems},
author = {Michele Brizzi and Alessandro Neri},
url = {https://www.ion.org/publications/abstract.cfm?articleID=19657},
doi = {10.33012/2024.19657},
isbn = {978-0-936406-38-1},
year = {2024},
date = {2024-05-09},
urldate = {2024-04-18},
booktitle = {Proceedings of the ION 2024 Pacific PNT Meeting},
pages = {444 - 454},
publisher = {ION},
organization = {The Institute of Navigation},
abstract = {The integrity of the positioning information provided to Intelligent Transport Systems and Automated Driving Systems is crucial, as significant solution errors could escalate the risk of accidents. In fact, meeting Automotive Safety Integrity Level-D (ASIL-D) specifications demands decimeter-level accuracy and stringent Tolerable Hazard Rate criteria. However, the integrity of the velocity solution, often overlooked, must also be considered when Advances Driving Assistance Systems and other automated functions rely on Global Navigation Satellite Systems (GNSSs). Building on prior research, this work proposes to enhance the reliability of GNSS-derived velocity estimates thanks to the application of virtual track constraints. These constraints, originally applied in the railway domain, are adapted for automotive scenarios. The proposed system thus integrates GNSS with on-board sensors to align velocity estimates with the expected trajectory provided by a Digital Map of the road. Based on the track-constrained solution, we perform integrity monitoring by implementing the Solution Separation method in the parity space. The study demonstrates a reduction in the horizontal protection levels, emphasizing the effectiveness of virtual track constraints in mitigating errors on the estimated velocity.},
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The integrity of the positioning information provided to Intelligent Transport Systems and Automated Driving Systems is crucial, as significant solution errors could escalate the risk of accidents. In fact, meeting Automotive Safety Integrity Level-D (ASIL-D) specifications demands decimeter-level accuracy and stringent Tolerable Hazard Rate criteria. However, the integrity of the velocity solution, often overlooked, must also be considered when Advances Driving Assistance Systems and other automated functions rely on Global Navigation Satellite Systems (GNSSs). Building on prior research, this work proposes to enhance the reliability of GNSS-derived velocity estimates thanks to the application of virtual track constraints. These constraints, originally applied in the railway domain, are adapted for automotive scenarios. The proposed system thus integrates GNSS with on-board sensors to align velocity estimates with the expected trajectory provided by a Digital Map of the road. Based on the track-constrained solution, we perform integrity monitoring by implementing the Solution Separation method in the parity space. The study demonstrates a reduction in the horizontal protection levels, emphasizing the effectiveness of virtual track constraints in mitigating errors on the estimated velocity.
Neri, Alessandro; Pascucci, Federica; Brizzi, Michele; Rispoli, Francesco; Ruggeri, Agostino; Cervicato, Cosimo
Use of a GNSS Digital Beamforming Platform for an Assisted Berthing System Proceedings Article
In: Proceedings of the ION 2024 Pacific PNT Meeting, pp. 417 – 429, The Institute of Navigation ION, 2024, ISBN: 978-0-936406-38-1.
@inproceedings{Neri_DBP_PNT_2024,
title = {Use of a GNSS Digital Beamforming Platform for an Assisted Berthing System},
author = {Alessandro Neri and Federica Pascucci and Michele Brizzi and Francesco Rispoli and Agostino Ruggeri and Cosimo Cervicato},
url = {https://www.ion.org/publications/abstract.cfm?articleID=19655},
doi = {10.33012/2024.19655},
isbn = {978-0-936406-38-1},
year = {2024},
date = {2024-05-09},
urldate = {2024-04-18},
booktitle = {Proceedings of the ION 2024 Pacific PNT Meeting},
pages = {417 - 429},
publisher = {ION},
organization = {The Institute of Navigation},
abstract = {The COVID pandemic in 2020 caused an unpredictable disruption to maritime transportation, affecting the smooth operating of the global supply chains. To make this transport sector more resilient a key enabling factor is the introduction of novel smart systems both on port and ship side. This contribution addresses this topic. Specifically, it introduces a GNSS Digital Beamforming Platform (DBP) for an Assisted Berthing System that exploits satellite signals to support officers during docking and undocking manoeuvre. In addition to Position, Velocity and Timing (PVT), the DBP provides a direct estimate of the ship attitude. In fact, in addition to PVT, attitude plays an important role in innovative digital systems for navigation in port waters and for the assisted berthing operations of large cargo RORO Ships. In addition to PVT and Attitude estimation, the proposed DBF offers high resilience against jammers and miconing and spoofing attacks. In this paper we focus our attention on the use of a four array elements, fully coherent DBP for estimation of heading, pitch, and roll and on the evaluation of the achievable performance. Knowledge of the array geometry is fully exploited by means of a constrained least square estimation procedure. Integrity evaluation in terms of protection levels with reference to the estimated distance to the quay side. DBP Performance assessed by means of tests performed with a DBP Proof of Concept and by means of simulations is reported.},
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The COVID pandemic in 2020 caused an unpredictable disruption to maritime transportation, affecting the smooth operating of the global supply chains. To make this transport sector more resilient a key enabling factor is the introduction of novel smart systems both on port and ship side. This contribution addresses this topic. Specifically, it introduces a GNSS Digital Beamforming Platform (DBP) for an Assisted Berthing System that exploits satellite signals to support officers during docking and undocking manoeuvre. In addition to Position, Velocity and Timing (PVT), the DBP provides a direct estimate of the ship attitude. In fact, in addition to PVT, attitude plays an important role in innovative digital systems for navigation in port waters and for the assisted berthing operations of large cargo RORO Ships. In addition to PVT and Attitude estimation, the proposed DBF offers high resilience against jammers and miconing and spoofing attacks. In this paper we focus our attention on the use of a four array elements, fully coherent DBP for estimation of heading, pitch, and roll and on the evaluation of the achievable performance. Knowledge of the array geometry is fully exploited by means of a constrained least square estimation procedure. Integrity evaluation in terms of protection levels with reference to the estimated distance to the quay side. DBP Performance assessed by means of tests performed with a DBP Proof of Concept and by means of simulations is reported.
Neri, Alessandro; Brizzi, Michele; Vennarini, Alessia; Rispoli, Francesco
On the Integrity of GNSS-IMU Train Positioning Exploiting the Track Constraint Proceedings Article
In: Proceedings of the ION 2024 Pacific PNT Meeting, pp. 463 – 476, The Institute of Navigation ION, 2024, ISBN: 978-0-936406-38-1.
@inproceedings{Neri_IMU_PNT_2024,
title = {On the Integrity of GNSS-IMU Train Positioning Exploiting the Track Constraint},
author = {Alessandro Neri and Michele Brizzi and Alessia Vennarini and Francesco Rispoli},
url = {https://www.ion.org/publications/abstract.cfm?articleID=19659},
doi = {10.33012/2024.19659},
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pages = {463 - 476},
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2023
Brizzi, Michele; Neri, Alessandro; Rispoli, Francesco
A Solution Separation Algorithm for Velocity Estimation in Rail and Road Applications Proceedings Article
In: Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023), pp. 3020-3034, 2023.
@inproceedings{Brizzi_GNSS_2023,
title = {A Solution Separation Algorithm for Velocity Estimation in Rail and Road Applications},
author = {Michele Brizzi and Alessandro Neri and Francesco Rispoli},
url = {https://www.ion.org/publications/abstract.cfm?articleID=19362},
doi = {10.33012/2023.19362},
year = {2023},
date = {2023-10-08},
urldate = {2023-10-08},
booktitle = {Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023)},
pages = {3020-3034},
abstract = {In this work, we propose the use of velocity directly derived from Global Navigation Satellite System observables in safety-critical applications. In particular, we extend the Solution Separation method originally introduced for positioning to velocity estimated starting from carrier phases. Exploiting carrier phases temporal differences as done here removes the need for ambiguity fixing, but the hazards caused by cycle slips remain. Therefore, specific barriers (cycle slip detectors) and robust methods like Solution Separation one, providing also confidence Interval / Protection Levels have to be adopted. Experimental results show that the proposed method can achieve performance comparable with those exhibited by Real Time Kinematic and Precise Point Positioning based solutions, without the need of fixing phase ambiguities. Thus it is faster, less computationally complex, and less expensive than them.},
keywords = {},
pubstate = {published},
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In this work, we propose the use of velocity directly derived from Global Navigation Satellite System observables in safety-critical applications. In particular, we extend the Solution Separation method originally introduced for positioning to velocity estimated starting from carrier phases. Exploiting carrier phases temporal differences as done here removes the need for ambiguity fixing, but the hazards caused by cycle slips remain. Therefore, specific barriers (cycle slip detectors) and robust methods like Solution Separation one, providing also confidence Interval / Protection Levels have to be adopted. Experimental results show that the proposed method can achieve performance comparable with those exhibited by Real Time Kinematic and Precise Point Positioning based solutions, without the need of fixing phase ambiguities. Thus it is faster, less computationally complex, and less expensive than them.
Gutiérrez, Jesús; Dandyyeva, Gulzhanat; Magro, Matteo Dal; Cortés, Carlos; Brizzi, Michele; Carli, Marco; Battisti, Federica
Subjective evaluation of dynamic point clouds: Impact of compression and exploration behavior Proceedings Article
In: Proceedings of the 31st European Signal Processing Conference (EUSIPCO 2023), 2023.
@inproceedings{nokey,
title = {Subjective evaluation of dynamic point clouds: Impact of compression and exploration behavior},
author = {Jesús Gutiérrez and Gulzhanat Dandyyeva and Matteo Dal Magro and Carlos Cortés and Michele Brizzi and Marco Carli and Federica Battisti},
year = {2023},
date = {2023-10-08},
booktitle = {Proceedings of the 31st European Signal Processing Conference (EUSIPCO 2023)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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Brizzi, Michele; Neri, Alessandro
Multi-ride Fusion for Rail Digital Map Construction Proceedings Article
In: 2023 IEEE/ION Position Location and Navigation Symposium (PLANS), The Institute of Navigation Monterey, CA, 2023.
@inproceedings{Brizzi_PLANS_2023,
title = {Multi-ride Fusion for Rail Digital Map Construction},
author = {Michele Brizzi and Alessandro Neri},
year = {2023},
date = {2023-04-25},
urldate = {2023-04-25},
booktitle = {2023 IEEE/ION Position Location and Navigation Symposium (PLANS)},
address = {Monterey, CA},
organization = {The Institute of Navigation},
abstract = {A novel technique for building a detailed Digital Map of the rail environment has been implemented and tested. It is based on the fusion of multiple rides acquired by means of on-board GNSS receivers, IMUs and visual sensors from trains in commercial operation. More in detail, an efficient incremental procedure for processing the collected data to reduce the computational complexity and storage requirements has been proposed. We demonstrate that the proposed system is able to obtain accurate track geometry and trackside objects position information while being robust to signal degradations typical of the rail environment.},
keywords = {},
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A novel technique for building a detailed Digital Map of the rail environment has been implemented and tested. It is based on the fusion of multiple rides acquired by means of on-board GNSS receivers, IMUs and visual sensors from trains in commercial operation. More in detail, an efficient incremental procedure for processing the collected data to reduce the computational complexity and storage requirements has been proposed. We demonstrate that the proposed system is able to obtain accurate track geometry and trackside objects position information while being robust to signal degradations typical of the rail environment.
Brizzi, Michele; D’Orazio, Francesca; Neri, Alessandro
Rail Digital Map Construction on GNSS Denied Areas Proceedings Article
In: Proceedings of the 2023 International Technical Meeting of The Institute of Navigation, pp. 1143-1153, ION Long Beach, California, 2023.
@inproceedings{Brizzi_ITM_2023,
title = {Rail Digital Map Construction on GNSS Denied Areas},
author = {Michele Brizzi and Francesca D'Orazio and Alessandro Neri},
doi = {10.33012/2023.18643},
year = {2023},
date = {2023-01-26},
urldate = {2023-01-26},
booktitle = {Proceedings of the 2023 International Technical Meeting of The Institute of Navigation},
pages = {1143-1153},
address = {Long Beach, California},
organization = {ION},
abstract = {A Digital Map of the rail infrastructure in a key element to support the adoption of GNSS in railway signalling and satisfy the strict accuracy and integrity requirements even in the presence of feared events that may hinder the positioning solution. In this work, we tackle the issue of providing an accurate rail Digital Map for localization purposes, bridging the gaps produced by the loss of GNSS coverage using forward and backward post-processing of inertial navigation. Experimental results show that the proposed method is able to increase the accuracy of the resulting Digital Map.},
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A Digital Map of the rail infrastructure in a key element to support the adoption of GNSS in railway signalling and satisfy the strict accuracy and integrity requirements even in the presence of feared events that may hinder the positioning solution. In this work, we tackle the issue of providing an accurate rail Digital Map for localization purposes, bridging the gaps produced by the loss of GNSS coverage using forward and backward post-processing of inertial navigation. Experimental results show that the proposed method is able to increase the accuracy of the resulting Digital Map.
Brizzi, Michele; Chiocchio, Sandro; Persia, Arianna; Neri, Alessandro
On the Performance of a Cascade of Barriers of Multipath Feared Events for High Accuracy High Integrity Train Positioning Proceedings Article
In: Proceedings of the 2023 International Technical Meeting of The Institute of Navigation, pp. 454 – 468, ION Long Beach, California, 2023.
@inproceedings{Brizzi_Barriers_ITM_2023,
title = {On the Performance of a Cascade of Barriers of Multipath Feared Events for High Accuracy High Integrity Train Positioning},
author = {Michele Brizzi and Sandro Chiocchio and Arianna Persia and Alessandro Neri},
doi = {10.33012/2023.18604},
year = {2023},
date = {2023-01-25},
urldate = {2023-01-25},
booktitle = {Proceedings of the 2023 International Technical Meeting of The Institute of Navigation},
pages = {454 - 468},
address = {Long Beach, California},
organization = {ION},
abstract = {Detection of multipath feared events is a fundamental capability of current and future High Accuracy High Integrity positioning systems for rail transport based on Global Navigation Satellite Systems. In this work, a method based on a cascade of barriers is proposed for Signal In Space measurement selection and integrity monitoring. To this aim, a mathematical framework for the analytic assessment of the achievable performance of Fault Detection and Exclusion algorithms based on Solution Separation is defined, accounting for the impact that exclusion of a Signal In Space observable has on the PVT accuracy and integrity. An adaptive logic based on Gaussian Mixtures models is also introduced for the computation of the exclusion thresholds in order to assure a constant False Exclusion probability.},
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Detection of multipath feared events is a fundamental capability of current and future High Accuracy High Integrity positioning systems for rail transport based on Global Navigation Satellite Systems. In this work, a method based on a cascade of barriers is proposed for Signal In Space measurement selection and integrity monitoring. To this aim, a mathematical framework for the analytic assessment of the achievable performance of Fault Detection and Exclusion algorithms based on Solution Separation is defined, accounting for the impact that exclusion of a Signal In Space observable has on the PVT accuracy and integrity. An adaptive logic based on Gaussian Mixtures models is also introduced for the computation of the exclusion thresholds in order to assure a constant False Exclusion probability.
2022
Baldoni, Sara; Battisti, Federica; Brizzi, Michele; Neri, Michael; Neri, Alessandro
A Semantic Segmentation-based Approach for Train Positioning Proceedings Article
In: ITM/PTTI Institute Of Navigation (ION), pp. 1380-1391, 2022.
@inproceedings{ion2022_baldoni,
title = {A Semantic Segmentation-based Approach for Train Positioning },
author = {Sara Baldoni and Federica Battisti and Michele Brizzi and Michael Neri and Alessandro Neri},
doi = {10.33012/2022.18164},
year = {2022},
date = {2022-01-25},
urldate = {2022-01-01},
booktitle = {ITM/PTTI Institute Of Navigation (ION)},
pages = {1380-1391},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Baldoni, Sara; Battisti, Federica; Brizzi, Michele; Emmanuele, Giusy; Neri, Alessandro; Pallotta, Luca; Ruggeri, Agostino; Vennarini, Alessia
On the Design of High Accuracy Rail Digital Maps based on Sensor Fusion Proceedings Article
In: Proceedings of the 2022 International Technical Meeting of The Institute of Navigation, pp. 1420-1431, 2022.
@inproceedings{Baldoni_ION_2022,
title = {On the Design of High Accuracy Rail Digital Maps based on Sensor Fusion},
author = {Sara Baldoni and Federica Battisti and Michele Brizzi and Giusy Emmanuele and Alessandro Neri and Luca Pallotta and Agostino Ruggeri and Alessia Vennarini},
doi = {10.33012/2022.18188},
year = {2022},
date = {2022-01-01},
urldate = {2022-01-01},
booktitle = {Proceedings of the 2022 International Technical Meeting of The Institute of Navigation},
pages = {1420-1431},
keywords = {},
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2021
Neri, Alessandro; Battisti, Federica; Baldoni, Sara; Brizzi, Michele; Pallotta, Luca; Ruggeri, Agostino; Lauro, Gianluigi
High Accuracy High Integrity Train Positioning Based on GNSS and Image Processing Integration Proceedings Article
In: Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+), 2021.
@inproceedings{Neri_GNSS2021_voliera,
title = {High Accuracy High Integrity Train Positioning Based on GNSS and Image Processing Integration},
author = {Alessandro Neri and Federica Battisti and Sara Baldoni and Michele Brizzi and Luca Pallotta and Agostino Ruggeri and Gianluigi Lauro},
year = {2021},
date = {2021-01-01},
booktitle = {Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2020
Baldoni, Sara; Battisti, Federica; Brizzi, Michele; Neri, Alessandro
Virtual Track: A Vision-based Integrity Enhancement Proceedings Article
In: IEEE/ION Position, Location and Navigation Symposium (PLANS), 2020.
@inproceedings{Baldoni_Plans_2020_Virtual,
title = {Virtual Track: A Vision-based Integrity Enhancement},
author = {Sara Baldoni and Federica Battisti and Michele Brizzi and Alessandro Neri},
doi = {10.1109/PLANS46316.2020.9110219},
year = {2020},
date = {2020-01-01},
booktitle = {IEEE/ION Position, Location and Navigation Symposium (PLANS)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Baldoni, Sara; Battisti, Federica; Brizzi, Michele; Neri, Alessandro
A Hybrid Position Estimation Framework based on GNSS and Visual Sensor Fusion Proceedings Article
In: IEEE/ION Position, Location and Navigation Symposium (PLANS), 2020.
@inproceedings{Baldoni_Plans_2020_hybrid,
title = {A Hybrid Position Estimation Framework based on GNSS and Visual Sensor Fusion},
author = {Sara Baldoni and Federica Battisti and Michele Brizzi and Alessandro Neri},
doi = {10.1109/PLANS46316.2020.9110123},
year = {2020},
date = {2020-01-01},
booktitle = {IEEE/ION Position, Location and Navigation Symposium (PLANS)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
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2019
Brizzi, Michele; Battisti, Federica; Neri, Alessandro
A feature-based approach for light field video enhancement Proceedings Article
In: pp. 1204-1209, 2019, (cited By 1).
@inproceedings{Brizzi20191204,
title = {A feature-based approach for light field video enhancement},
author = {Michele Brizzi and Federica Battisti and Alessandro Neri},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85071045335&doi=10.1109%2fICME.2019.00210&partnerID=40&md5=3015d8ab17420bc4ce5520e9e9e74326},
doi = {10.1109/ICME.2019.00210},
year = {2019},
date = {2019-01-01},
urldate = {2019-01-01},
journal = {Proceedings - IEEE International Conference on Multimedia and Expo},
volume = {2019-July},
pages = {1204-1209},
note = {cited By 1},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Baldoni, Sara; Brizzi, Michele; Carli, Marco; Neri, Alessandro
A watermarking model for omni-directional digital images Proceedings Article
In: 11th International Symposium on Image and Signal Processing and Analysis (ISPA), pp. 240-245, 2019, (cited By 2).
@inproceedings{Baldoni_ISPA_2019,
title = {A watermarking model for omni-directional digital images},
author = {Sara Baldoni and Michele Brizzi and Marco Carli and Alessandro Neri},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85074424567&doi=10.1109%2fISPA.2019.8868789&partnerID=40&md5=73ef40cc0bcc8caf00c5088cdee1c893},
doi = {10.1109/ISPA.2019.8868789},
year = {2019},
date = {2019-01-01},
urldate = {2019-01-01},
booktitle = {11th International Symposium on Image and Signal Processing and Analysis (ISPA)},
volume = {2019-September},
pages = {240-245},
note = {cited By 2},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Brizzi, Michele; Battisti, Federica; Neri, Alessandro
Light Field Depth-of-Field Expansion and Enhancement Based on Multifocus Fusion Proceedings Article
In: 2019 8th European Workshop on Visual Information Processing (EUVIP), pp. 146-151, IEEE, 2019, (cited By 0).
@inproceedings{Brizzi2019146,
title = {Light Field Depth-of-Field Expansion and Enhancement Based on Multifocus Fusion},
author = {Michele Brizzi and Federica Battisti and Alessandro Neri},
url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8946218&isnumber=8946122},
doi = {10.1109/EUVIP47703.2019.8946218},
year = {2019},
date = {2019-01-01},
urldate = {2019-01-01},
booktitle = {2019 8th European Workshop on Visual Information Processing (EUVIP)},
journal = {Proceedings - European Workshop on Visual Information Processing, EUVIP},
volume = {2019-October},
pages = {146-151},
publisher = {IEEE},
abstract = {Light Field imaging systems allow capturing a larger amount of information of a scene with respect to conventional cameras. In fact, light field cameras record, in a single shot, multiple instances of the same scene taken from slightly different points of view. This enables new applications, like digital refocusing and free-viewpoint content creation. The main drawback of this hardware is in the trade-off between spatial and angular resolution, which has an impact on the depth of field of the refocused images. In this paper we propose a technique for increasing the depth of field by means of mul-tifocus fusion and, at the same time, for enhancing the quality of the content. The available views are processed in the Laguerre Gauss transform domain to perform a selective enhancement that sharpens the selected depth layer and blurs the others. The performed experiments prove the effectiveness of the proposed approach.},
note = {cited By 0},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Light Field imaging systems allow capturing a larger amount of information of a scene with respect to conventional cameras. In fact, light field cameras record, in a single shot, multiple instances of the same scene taken from slightly different points of view. This enables new applications, like digital refocusing and free-viewpoint content creation. The main drawback of this hardware is in the trade-off between spatial and angular resolution, which has an impact on the depth of field of the refocused images. In this paper we propose a technique for increasing the depth of field by means of mul-tifocus fusion and, at the same time, for enhancing the quality of the content. The available views are processed in the Laguerre Gauss transform domain to perform a selective enhancement that sharpens the selected depth layer and blurs the others. The performed experiments prove the effectiveness of the proposed approach.
2017
Johannsen, O.; Honauer, K.; Goldluecke, B.; Alperovich, A.; Battisti, Federica; Bok, Y.; Brizzi, Michele; Carli, Marco; Choe, G.; Diebold, M.; Gutsche, M.; Jeon, H. -G.; Kweon, I. S.; Park, J.; Park, J.; Schilling, H.; Sheng, H.; Si, L.; Strecke, M.; Sulc, A.; Tai, Y. -W.; Wang, Q.; Wang, T. -C.; Wanner, S.; Xiong, Z.; Yu, J.; Zhang, S.; Zhu, H.
A Taxonomy and Evaluation of Dense Light Field Depth Estimation Algorithms Proceedings Article
In: IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, pp. 1795-1812, 2017, (cited By 85).
@inproceedings{Johannsen20171795,
title = {A Taxonomy and Evaluation of Dense Light Field Depth Estimation Algorithms},
author = {O. Johannsen and K. Honauer and B. Goldluecke and A. Alperovich and Federica Battisti and Y. Bok and Michele Brizzi and Marco Carli and G. Choe and M. Diebold and M. Gutsche and H. -G. Jeon and I. S. Kweon and J. Park and J. Park and H. Schilling and H. Sheng and L. Si and M. Strecke and A. Sulc and Y. -W. Tai and Q. Wang and T. -C. Wang and S. Wanner and Z. Xiong and J. Yu and S. Zhang and H. Zhu},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85030266612&doi=10.1109%2fCVPRW.2017.226&partnerID=40&md5=a40f124ba07f8fab7ce808d066663722},
doi = {10.1109/CVPRW.2017.226},
year = {2017},
date = {2017-01-01},
urldate = {2017-01-01},
booktitle = {IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops},
volume = {2017-July},
pages = {1795-1812},
note = {cited By 85},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}