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Lidar Positioning for Indoor Precision Navigation

Lidar Positioning for Indoor Precision Navigation

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Holmberg, Max Karlsson, Oskar Tulldahl, Michael Swedish Def Res Agcy FOI Linkoping Sweden

ISBN: (数字)9781665487399

ISBN: (纸本)9781665487399

Lidar based simultaneous localization and mapping methods can be adapted for deployment on small autonomous vehicles operating in unmapped indoor environments. For this purpose, we propose a method which combines inertial data, low-drift lidar odometry, planar primitives, and loop closing in a graph-based structure. The accuracy of our method is experimentally evaluated, using a high-resolution lidar, and compared to the state-of-the-art methods LIO-SAM and Cartographer. We specifically address the lateral positioning accuracy when passing through narrow openings, where high accuracy is a prerequisite for safe operation of autonomous vehicles. The test cases include doorways, slightly wider reference passages, and a larger corridor environment. We observe a reduced lateral accuracy for all three methods when passing through the narrow openings compared to operation in larger spaces. Compared to state-of-the-art, our method shows better results in the narrow passages, and comparable results in the other environments with reasonably low usage of CPU and memory resources.

关键词： computer vision Laser radar Simultaneous localization and mapping Navigation conferences Random access memory pattern recognition

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Dual Contrastive Learning for Unsupervised Image-to-Image Translation

Dual Contrastive Learning for Unsupervised Image-to-Image Tr...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Han, Junlin Shoeiby, Mehrdad Petersson, Lars Armin, Mohammad Ali DATA61 CSIRO Canberra ACT Australia Australian Natl Univ Canberra ACT Australia

ISBN: (纸本)9781665448994

Unsupervised image-to-image translation tasks aim to find a mapping between a source domain X and a target domain Y from unpaired training data. Contrastive learning for Unpaired image-to-image Translation (CUT) yields state-of-the-art results in modeling unsupervised image-to-image translation by maximizing mutual information between input and output patches using only one encoder for both domains. In this paper, we propose a novel method based on contrastive learning and a dual learning setting (exploiting two encoders) to infer an efficient mapping between unpaired data. Additionally, while CUT suffers from mode collapse, a variant of our method efficiently addresses this issue. We further demonstrate the advantage of our approach through extensive ablation studies demonstrating superior performance comparing to recent approaches in multiple challenging image translation tasks. Lastly, we demonstrate that the gap between unsupervised methods and supervised methods can be efficiently closed.

关键词： computer vision conferences Training data pattern recognition Task analysis Mutual information

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A Simple Baseline for Fast and Accurate Depth Estimation on Mobile Devices

A Simple Baseline for Fast and Accurate Depth Estimation on ...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Zhang, Ziyu Wang, Yicheng Huang, Zilong Luo, Guozhong Yu, Gang Fu, Bin Tencent GY Lab Shenzhen Peoples R China

ISBN: (纸本)9781665448994

In this paper, we propose a simple but effective encoder-decoder based network for fast and accurate depth estimation on mobile devices. Unlike other depth estimation methods using heavy context modeling modules, the encoder with a fast downsampling strategy is employed to obtain sufficient receptive field and contexts at a faster rate. To obtain dense prediction, a light decoder is adopted to recover back to the original resolution. Additionally, to improve the representative ability of the light network, we introduce a teacher-student strategy. It relies on a distillation process ensuring that the student (the proposed light network) learns from the teacher. The proposed method achieves a good trade-off between latency and accuracy. We evaluated the proposed algorithm on the MAI 2021 Monocular Depth Estimation Challenge and achieved a score of 129.41, ranked the first place, which wins the second by a large margin (129.41 v.s. 14.51). More specifically, the proposed method achieves a si-RMSE score of 0.28 with 97 ms on the Raspberry Pi 4.

关键词： Performance evaluation computer vision conferences Estimation Feature extraction Mobile handsets pattern recognition

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Improving Multi-Target Multi-Camera Tracking by Track Refinement and Completion

Improving Multi-Target Multi-Camera Tracking by Track Refine...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Specker, Andreas Florin, Lucas Cormier, Mickael Beyerer, Juergen Karlsruhe Inst Technol Karlsruhe Germany Fraunhofer IOSB Karlsruhe Germany Fraunhofer Ctr Machine Learning St Augustin Germany

ISBN: (纸本)9781665487399

Multi-camera tracking of vehicles on a city-wide level is a core component of modern traffic monitoring systems. For this task, single-camera tracking failures are the most common causes of errors concerning automatic multi-target multi-camera tracking systems. To address these problems, we propose several modules that aim at improving single-camera tracklets, e.g., appearance-based tracklet splitting, single-camera clustering, and track completion. After these track refinement steps, hierarchical clustering is used to associate the enhanced single-camera tracklets. During this stage, we leverage vehicle re-identification features as well as prior knowledge about the scene's topology. Last, the proposed track completion strategy is adopted for the cross-camera association task to obtain the final multi-camera tracks. Our method proves itself competitive: With it, we achieved 4th place in track 1 of the 2022 AI City Challenge.

关键词： computer vision conferences Urban areas Topology pattern recognition Task analysis Artificial intelligence

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Analysis of efficient CNN design techniques for semantic segmentation 31

Analysis of efficient CNN design techniques for semantic seg...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Briot, Alexandre Viswanath, Prashanth Yogamani, Senthil Valeo Creteil GEEDS AI Paris France Valeo Vis Syst Galway Ireland

ISBN: (数字)9781538661000

ISBN: (纸本)9781538661000

Majority of CNN architecture design is aimed at achieving high accuracy in public benchmarks by increasing the complexity. Typically, they are over-specified by a large margin and can be optimized by a factor of 10-100x with only a small reduction in accuracy. In spite of the increase in computational power of embedded systems, these networks are still not suitable for embedded deployment. There is a large need to optimize for hardware and reduce the size of the network by orders of magnitude for computer vision applications. This has led to a growing community which is focused on designing efficient networks. However, CNN architectures are evolving rapidly and efficient architectures seem to lag behind. There is also a gap in understanding the hardware architecture details and incorporating it into the network design. The motivation of this paper is to systematically summarize efficient design techniques and provide guidelines for an application developer. We also perform a case study by benchmarking various semantic segmentation algorithms for autonomous driving.

关键词： Convolution computer architecture Semantics Hardware Quantization (signal) Kernel Computational modeling

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Self Supervised Scanpath Prediction Framework for Painting Images

Self Supervised Scanpath Prediction Framework for Painting I...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Tliba, Marouane Kerkouri, Mohamed Amine Chetouani, Aladine Bruno, Alessandro Univ Orleans Orleans France Bournemouth Univ Poole Dorset England

ISBN: (数字)9781665487399

ISBN: (纸本)9781665487399

In our paper, we propose a novel strategy to learn distortion invariant latent representation from painting pictures for visual attention modelling downstream task. In further detail, we design an unsupervised framework that jointly maximises the mutual information over different painting styles. To show the effectiveness of our approach, we firstly propose a lightweight scanpath baseline model and compare its performance to some state-of-the-art methods. Secondly, we train the encoder of our baseline model on large-scale painting images to study the efficiency of the proposed self-supervised strategy. The lightweight decoder proves effective in learning from the self-supervised pre-trained encoder with better performances than the end-to-end fine-tuned supervised baseline on two painting datasets, including a proposed new visual attention modelling dataset.

关键词： Visualization Self-supervised learning Predictive models Observers Quality assessment pattern recognition Task analysis

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Ground Truth For Pedestrian Analysis and Application to Camera Calibration

Ground Truth For Pedestrian Analysis and Application to Came...

引用

26th IEEE conference on computer vision and pattern recognition (CVPR)

作者： Creusot, Clement Courty, Nicolas Toshiba R&D Ctr Kawasaki Kanagawa Japan UBS IRISA Vannes France

ISBN: (纸本)9780769549903

This paper investigates the use of synthetic 3D scenes to generate ground truth of pedestrian segmentation in 2D crowd video data. Manual segmentation of objects in videos is indeed one of the most time-consuming type of assisted labeling. A big gap in computer vision research can not be filled due to this lack of temporally dense and precise segmentation ground truth on large video samples. Such data is indeed essential to introduce machine learning techniques for automatic pedestrian segmentation, as well as many other applications involving occluded people. We present a new dataset of 1.8 million pedestrian silhouettes presenting human-to-human occlusion patterns likely to be seen in real crowd video data. To our knowledge, it is the first publicly available large dataset of pedestrian in crowd silhouettes. Solutions to generate and represent this data are detailed. We discuss ideas of how this ground truth can be used for a large number of computer vision applications and demonstrate it on a camera calibration toy problem.

关键词： calibration cameras computer vision image segmentation learning (artificial intelligence) video signal processing

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Improved Noise2Noise Denoising with Limited Data

Improved Noise2Noise Denoising with Limited Data

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Calvarons, Adria Font Tech Univ Munich Munich Germany

ISBN: (纸本)9781665448994

Deep learning methods have proven to be very effective for the task of image denoising even when clean reference images are not available. In particular, Noise2Noise, which requires pairs of noisy images during the training phase, has been shown to yield results as good as approaches using pairs of noisy and clean images (Noise2Clean). However, the performance of Noise2Noise drops when the amount of training data is reduced, limiting its capability in practical scenarios. In this work, an analysis of the Noise2Noise learning strategy is done using real noise and synthetic datasets. This paper demonstrates, using diverse network architectures and loss functions, that the duplicity of information in the noisy pairs can be exploited to reach increased denoising performance of Noise2Noise. Additionally, the issue of overfitting in Noise2Noise is analyzed, given its relevance when training with limited data, and an interpretable early termination criterion is proposed.

关键词： Training Limiting Image color analysis Noise reduction Training data Network architecture pattern recognition

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Alleviating Representational Shift for Continual Fine-tuning

Alleviating Representational Shift for Continual Fine-tuning

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Jie, Shibo Deng, Zhi-Hong Li, Ziheng Peking Univ Sch Artificial Intelligence Beijing Peoples R China

ISBN: (数字)9781665487399

ISBN: (纸本)9781665487399

We study a practical setting of continual learning: fine-tuning on a pre-trained model continually. Previous work has found that, when training on new tasks, the features (penultimate layer representations) of previous data will change, called representational shift. Besides the shift of features, we reveal that the intermediate layers' representational shift (IRS) also matters since it disrupts batch normalization, which is another crucial cause of catastrophic forgetting. Motivated by this, we propose ConFiT, a fine-tuning method incorporating two components, cross-convolution batch normalization (Xconv BN) and hierarchical fine-tuning. Xconv BN maintains pre-convolution running means instead of post-convolution, and recovers post-convolution ones before testing, which corrects the inaccurate estimates of means under IRS. Hierarchical fine-tuning leverages a multi-stage strategy to fine-tune the pre-trained network, preventing massive changes in Conv layers and thus alleviating IRS. Experimental results on four datasets show that our method remarkably outperforms several state-of-the-art methods with lower storage overhead.

关键词： Training computer vision conferences pattern recognition Task analysis Testing

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An Effective Temporal Localization Method with Multi-View 3D Action recognition for Untrimmed Naturalistic Driving Videos

An Effective Temporal Localization Method with Multi-View 3D...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Manh Tung Tran Minh Quan Vu Ngoc Duong Hoang Khac-Hoai Nam Bui Viettel Grp Viettel Cyperspace Ctr Hanoi Vietnam

ISBN: (数字)9781665487399

ISBN: (纸本)9781665487399

Naturalistic driving studies with computer vision techniques have become an emergent research issue. The objective is to classify the distracted behavior actions by drivers. Specifically, this issue is regarded as temporal action localization (TAL) of untrimmed videos, which is a challenging task in the research field of video analysis. Particularly, TAL remains as one of the most challenging unsolved problems in computer vision that requires not only the recognition of action but the localization of the start and end times of each action. Most state-of-the-art approaches adopt complex architectures, which are expensive training and inefficient inference time. In this study, we propose a new framework for untrimmed naturalistic driving videos by utilizing the results from 3D action recognition with video clip classification for short temporal and spatial correlation. Then, simple post-processing based on data-driven is presented for long temporal correlation in untrimmed videos. The proposed method is evaluated on the AI City Challenge 2022 dataset for Naturalistic Driving Action recognition. Accordingly, our method achieves the top 1 on the public leaderboard of the challenge.

关键词： Location awareness Training computer vision Solid modeling Correlation Urban areas X3D

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