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LiDAR View Synthesis for Robust Vehicle Navigation Without Expert Labels

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LiDAR View Synthesis for Robust Vehicle Navigation Without E...

International Conference on Intelligent Transportation

作者： Jonathan Schmidt Qadeer Khan Daniel Cremers Computer Vision Group School of Computation Information and Technology Technical University of Munich Munich Center for Machine Learning (MCML) University of Oxford

Deep learning models for self-driving cars require a diverse training dataset to manage critical driving scenarios on public roads safely. This includes having data from divergent trajectories, such as the oncoming traffic lane or sidewalks. Such data would be too dangerous to collect in the real world. Data augmentation approaches have been proposed to tackle this issue using RGB images. However, solutions based on LiDAR sensors are scarce. Therefore, we propose synthesizing additional LiDAR point clouds from novel viewpoints without physically driving at dangerous positions. The LiDAR view synthesis is done using mesh reconstruction and ray casting. We train a deep learning model, which takes a LiDAR scan as input and predicts the future trajectory as output. A waypoint controller is then applied to this predicted trajectory to determine the throttle and steering labels of the ego-vehicle. Our method neither requires expert driving labels for the original nor the synthesized LiDAR sequence. Instead, we infer labels from LiDAR odometry. We demonstrate the effectiveness of our approach in a comprehensive online evaluation and with a comparison to concurrent work. Our results show the importance of synthesizing additional LiDAR point clouds, particularly in terms of model robustness. Code and supplementary visualizations are available at: https://***/lidar-synthesis/

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Multi Agent Navigation in Unconstrained Environments using a Centralized Attention based Graphical Neural Network Controller

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Multi Agent Navigation in Unconstrained Environments using a...

International Conference on Intelligent Transportation

作者： Yining Ma Qadeer Khan Daniel Cremers Computer Vision Group School of Computation Information and Technology Technical University of Munich Munich Center for Machine Learning (MCML) University of Oxford

In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state without colliding with any other vehicle or obstacle in an unconstrained environment. The model utilizes an attention based Graphical Neural Network paradigm that takes into consideration the state of all the surrounding vehicles to make an informed decision. This allows each vehicle to smoothly reach its destination while also evading collision with the other agents. The data and corresponding labels for training such a network is obtained using an optimization based procedure. Experimental results demonstrate that our model is powerful enough to generalize even to situations with more vehicles than in the training data. Our method also outperforms comparable graphical neural network architectures. Project page which includes the code and supplementary information can be found here: https://***/multi-agent-control/

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CVPR19 Tracking and Detection Challenge: How crowded can it get?

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arXiv 2019年

作者： Dendorfer, Patrick Rezatofighi, Hamid Milan, Anton Shi, Javen Cremers, Daniel Reid, Ian Roth, Stefan Schindler, Konrad Leal-Taixa, Laura Dynamic Vision and Learning Group at Tum Munich Germany Australian Institute for Machine Learning and School of Computer Science at University of Adelaide. Amazon Berlin Germany Photogrammetry and Remote Sensing Group at Eth Zurich Switzerland Computer Vision Group at Tum Munich Germany Department of Computer Science Technische Universität Darmstadt Germany

Standardized benchmarks are crucial for the majority of computer vision applications. Although leaderboards and ranking tables should not be over-claimed, benchmarks often provide the most objective measure of performance and are therefore important guides for research. The benchmark for Multiple Object Tracking, MOTChallenge, was launched with the goal to establish a standardized evaluation of multiple object tracking methods. The challenge focuses on multiple people tracking, since pedestrians are well studied in the tracking community, and precise tracking and detection has high practical relevance. Since the first release, MOT15 [5], MOT16 [8], and MOT17 [8] have tremendously contributed to the community by introducing a clean dataset and precise framework to benchmark multi-object trackers. In this paper, we present our CVPR19 benchmark, consisting of 8 new sequences depicting very crowded challenging scenes. The benchmark will be presented at the 4th BMTT MOT Challenge Workshop at the computer vision and Pattern Recognition Conference (CVPR) 2019, and will evaluate the state-of-the-art in multiple object tracking whend handling extremely crowded scenarios. Copyright © 2019, The Authors. All rights reserved.

关键词： computer vision

MOT20: A benchmark for multi object tracking in crowded scenes

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arXiv 2020年

作者： Dendorfer, Patrick Rezatofighi, Hamid Milan, Anton Shi, Javen Cremers, Daniel Reid, Ian Roth, Stefan Schindler, Konrad Leal-Taixé, Laura Dynamic Vision and Learning Group at TUM Munich Germany Australian Institute for Machine Learning School of Computer Science University of Adelaide Amazon Berlin Germany Photogrammetry and Remote Sensing Group ETH Zurich Switzerland Computer Vision Group at TUM Munich Germany Department of Computer Science Technische Universität Darmstadt Germany

Standardized benchmarks are crucial for the majority of computer vision applications. Although leaderboards and ranking tables should not be over-claimed, benchmarks often provide the most objective measure of performance and are therefore important guides for research. The benchmark for Multiple Object Tracking, MOTChallenge, was launched with the goal to establish a standardized evaluation of multiple object tracking methods. The challenge focuses on multiple people tracking, since pedestrians are well studied in the tracking community, and precise tracking and detection has high practical relevance. Since the first release, MOT15 [5], MOT16 [8], and MOT17 [8] have tremendously contributed to the community by introducing a clean dataset and precise framework to benchmark multi-object trackers. In this paper, we present our MOT20 benchmark, consisting of 8 new sequences depicting very crowded challenging scenes. The benchmark was presented first at the 4th BMTT MOT Challenge Workshop at the computer vision and Pattern Recognition Conference (CVPR) 2019, and gives to chance to evaluate state-of-the-art methods for multiple object tracking when handling extremely crowded scenarios. Copyright © 2020, The Authors. All rights reserved.

关键词： computer vision

MV-Match: Multi-View Matching for Domain-Adaptive Identification of Plant Nutrient Deficiencies

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arXiv 2024年

作者： Yi, Jinhui Luo, Yanan Deichmann, Marion Schaaf, Gabriel Gall, Juergen Computer Vision Group University of Bonn Bonn Germany Plant Nutrition Group University of Bonn Bonn Germany Lamarr Institute for Machine Learning and Artificial Intelligence Germany

An early, non-invasive, and on-site detection of nutrient deficiencies is critical to enable timely actions to prevent major losses of crops caused by lack of nutrients. While acquiring labeled data is very expensive, collecting images from multiple views of a crop is straightforward. Despite its relevance for practical applications, unsupervised domain adaptation where multiple views are available for the labeled source domain as well as the unlabeled target domain is an unexplored research area. In this work, we thus propose an approach that leverages multiple camera views in the source and target domain for unsupervised domain adaptation. We evaluate the proposed approach on two nutrient deficiency datasets. The proposed method achieves state-of-the-art results on both datasets compared to other unsupervised domain adaptation methods. The dataset and source code are available at https://***/jh-yi/MV-Match. Copyright © 2024, The Authors. All rights reserved.

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Brain tumor cell density estimation from multi-modal MR images based on a synthetic tumor growth model

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Brain tumor cell density estimation from multi-modal MR imag...

15th International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2012

作者： Geremia, Ezequiel Menze, Bjoern H. Prastawa, Marcel Weber, M.-A. Criminisi, Antonio Ayache, Nicholas Asclepios Research Project INRIA Sophia-Antipolis France Computer Science and Artificial Intelligence Laboratory MIT United States Computer Vision Laboratory ETH Zurich Switzerland Scientific Computing and Imaging Institute University of Utah United States Diagnostic and Interventional Radiology Heidelberg University Hospital Germany Machine Learning and Perception Group Microsoft Research Cambridge United Kingdom

ISBN: (纸本)9783642366192

This paper proposes to employ a detailed tumor growth model to synthesize labelled images which can then be used to train an efficient data-driven machine learning tumor predictor. Our MR image synthesis step generates images with both healthy tissues as well as various tumoral tissue types. Subsequently, a discriminative algorithm based on random regression forests is trained on the simulated ground truth to predict the continuous latent tumor cell density, and the discrete tissue class associated with each voxel. The presented method makes use of a large synthetic dataset of 740 simulated cases for training and evaluation. A quantitative evaluation on 14 real clinical cases diagnosed with low-grade gliomas demonstrates tissue class accuracy comparable with state of the art, with added benefit in terms of computational efficiency and the ability to estimate tumor cell density as a latent variable underlying the multimodal image observations. The idea of synthesizing training data to train data-driven learning algorithms can be extended to other applications where expert annotation is lacking or expensive. © 2013 Springer-Verlag.

关键词： Tumors

How to Choose a Reinforcement-learning Algorithm

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arXiv 2024年

作者： Bongratz, Fabian Golkov, Vladimir Mautner, Lukas Libera, Luca Della Heetmeyer, Frederik Czaja, Felix Rodemann, Julian Cremers, Daniel Computer Vision Group Technical University of Munich Germany Munich Center for Machine Learning Germany Department of Statistics Ludwig-Maximilians-Universität Munich Germany

The field of reinforcement learning offers a large variety of concepts and methods to tackle sequential decision-making problems. This variety has become so large that choosing an algorithm for a task at hand can be challenging. In this work, we streamline the process of choosing reinforcement-learning algorithms and action-distribution families. We provide a structured overview of existing methods and their properties, as well as guidelines for when to choose which methods. An interactive version of these guidelines is available online at https://***/.MSC Codes 62M45 © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

Deep deterministic uncertainty for semantic segmentation

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arXiv 2021年

作者： Mukhoti, Jishnu van Amersfoort, Joost Torr, Philip H.S. Gal, Yarin Oxford Applied & Theoretical Machine Learning Group Department of Computer Science University of Oxford Oxford United Kingdom Torr Vision Group Department of Engineering Science University of Oxford Oxford United Kingdom

We extend Deep Deterministic Uncertainty (DDU) (Mukhoti et al., 2021), a method for uncertainty estimation using feature space densities, to semantic segmentation. DDU enables quantifying and disentangling epistemic and aleatoric uncertainty in a single forward pass through the model. We study the similarity of feature representations of pixels at different locations for the same class and conclude that it is feasible to apply DDU location independently, which leads to a significant reduction in memory consumption compared to pixel dependent DDU. Using the DeepLab-v3+ architecture on Pascal VOC 2012, we show that DDU improves upon MC Dropout and Deep Ensembles while being significantly faster to compute. Copyright © 2021, The Authors. All rights reserved.

关键词： Pixels

VICE: variational interpretable concept embeddings 22

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VICE: variational interpretable concept embeddings

Proceedings of the 36th International Conference on Neural Information Processing Systems

作者： Lukas Muttenthaler Charles Y. Zheng Patrick McClure Robert A. Vandermeulen Martin N. Hebart Francisco Pereira Machine Learning Group Technische Universität Berlin Berlin Institute for the Foundations of Learning and Data (BIFOLD) Berlin Germany Machine Learning Team FMRI Facility National Institute of Mental Health Bethesda MD Department of Computer Science Naval Postgraduate School Monterey CA Vision and Computational Cognition Group MPI for Human Cognitive and Brain Sciences Leipzig Germany

ISBN: (纸本)9781713871088

A central goal in the cognitive sciences is the development of numerical models for mental representations of object concepts. This paper introduces Variational Interpretable Concept Embeddings (VICE), an approximate Bayesian method for embedding object concepts in a vector space using data collected from humans in a triplet odd-one-out task. VICE uses variational inference to obtain sparse, non-negative representations of object concepts with uncertainty estimates for the embedding values. These estimates are used to automatically select the dimensions that best explain the data. We derive a PAC learning bound for VICE that can be used to estimate generalization performance or determine a sufficient sample size for experimental design. VICE rivals or outperforms its predecessor, SPoSE, at predicting human behavior in the triplet odd-one-out task. Furthermore, VICE's object representations are more reproducible and consistent across random initializations, highlighting the unique advantage of using VICE for deriving interpretable embeddings from human behavior.

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