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Understanding the Robustness of 3D Object Detection with Bird'View Representations in Autonomous Driving

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Understanding the Robustness of 3D Object Detection with Bir...

2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2023

作者： Zhu, Zijian Zhang, Yichi Chen, Hai Dong, Yinpeng Zhao, Shu Ding, Wenbo Zhong, Jiachen Zheng, Shibao Institute of Image Communication and Network Engineering Shanghai Jiao Tong University China Institute for Ai Tsinghua University BNRist Center Thbi Lab Dept. of Comp. Sci. and Tech. China School of Computer Science and Technology Anhui University Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Information Materials and Intelligent Sensing Laboratory of Anhui Province China Saic Motor Ai Lab Zhongguancun Laboratory China

ISBN: (纸本)9798350301298

3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular benchmarks. However, there still lacks a systematic understanding of the robustness of these vision-dependent BEV models, which is closely related to the safety of autonomous driving systems. In this paper, we evaluate the natural and adversarial robustness of various representative models under extensive settings, to fully understand their behaviors influenced by explicit BEV features compared with those without BEV. In addition to the classic settings, we propose a 3D consistent patch attack by applying adversarial patches in the 3D space to guarantee the spatiotemporal consistency, which is more realistic for the scenario of autonomous driving. With substantial experiments, we draw several findings: 1) BEV models tend to be more stable than previous methods under different natural conditions and common corruptions due to the expressive spatial representations;2) BEV models are more vulnerable to adversarial noises, mainly caused by the redundant BEV features;3) Camera-LiDARfusion models have superior performance under different settings with multi-modal inputs, but BEV fusion model is still vulnerable to adversarial noises of both point cloud and image. These findings alert the safety issue in the applications of BEV detectors and could facilitate the development of more robust models. © 2023 IEEE.

关键词： Autonomous driving

Understanding the Robustness of 3D Object Detection with Bird'View Representations in Autonomous Driving

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Understanding the Robustness of 3D Object Detection with Bir...

Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Zijian Zhu Yichi Zhang Hai Chen Yinpeng Dong Shu Zhao Wenbo Ding Jiachen Zhong Shibao Zheng Institute of Image Communication and Network Engineering Shanghai Jiao Tong University Dept. of Comp. Sci. and Tech. THBI Lab Institute for AI Tsinghua University BNRist Center Zhongguancun Laboratory Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Information Materials and Intelligent Sensing Laboratory of Anhui Province School of Computer Science and Technology Anhui University SAIC Motor AI Lab

3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular benchmarks. However, there still lacks a systematic understanding of the robustness of these vision-dependent BEV models, which is closely related to the safety of autonomous driving systems. In this paper, we evaluate the natural and adversarial robustness of various representative models under extensive settings, to fully understand their behaviors influenced by explicit BEV features compared with those without BEV. In addition to the classic settings, we propose a 3D consistent patch attack by applying adversarial patches in the 3D space to guarantee the spatiotemporal consistency, which is more realistic for the scenario of autonomous driving. With substantial experiments, we draw several findings: 1) BEV models tend to be more stable than previous methods under different natural conditions and common corruptions due to the expressive spatial representations; 2) BEV models are more vulnerable to adversarial noises, mainly caused by the redundant BEV features; 3) Camera-LiDARfusion models have superior performance under different settings with multi-modal inputs, but BEV fusion model is still vulnerable to adversarial noises of both point cloud and image. These findings alert the safety issue in the applications of BEV detectors and could facilitate the development of more robust models.

关键词：

Design of three-dimensional gesture recognition and motion tracking human-computer intelligent interaction system based on PAJ7620

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Design of three-dimensional gesture recognition and motion t...

2021 International Conference on Information Technology and Intelligent Control, CITIC 2021

作者： Wang, Jian-Liang Wei, Ye Li, Yang Meng, Yuan Li, Ming-Yu Xu, Jiang-Yan Jiao, Wan-Ming Ban, Lan Liu, Jun-Pei Zhang, Hong-Feng Zhang, Wei Wang, Li-Na Luo, Fu-Chen Wang, Yu-Duo Tianjin College University of Science and Technology Beijing Tianjin China Civil Aviation University of China Tianjin Key Laboratory of Intelligent Signal and Image Processing Tianjin China Tianjin Normal University Tianjin Key Laboratory of Wireless Mobile Communication and Radio Energy Transmission Tianjin China Binhai College Nankai University Tianjin China Tianjin Tianshi College Tianjin China

With the increasing degree of informatization and intelligence in modern society, human-computer interaction technology has become one of the commonly used scientific and technological achievements. "Gesture" can be used as inputing image information, and make more intuitive and convenient for perception of user interface. To a certain extent, it can complete the intelligent interaction function between human and computer. The design is a human-computer intelligent interaction system for 3D gesture recognition and motion tracking based on gesture sensor PAJ7620. STM32 chip is used as the main control unit to recognize accurately, analyze and process different gestures collected by the gesture sensor, and control the OLED screen to display the gesture information. It can further drive the carrier to take corresponding actions and realize the intelligent human-computer interaction recognition of gestures. The experimental test results show that the recognition rate is lose to 100% when the distance is within 10cm. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Gesture recognition

Understanding the Robustness of 3D Object Detection with Bird’s-Eye-View Representations in Autonomous Driving

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arXiv 2023年

作者： Zhu, Zijian Zhang, Yichi Chen, Hai Dong, Yinpeng Zhao, Shu Ding, Wenbo Zhong, Jiachen Zheng, Shibao Institute of Image Communication and Network Engineering Shanghai Jiao Tong University China Dept. of Comp. Sci. and Tech. Institute for AI THBI Lab BNRist Center Tsinghua University China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education School of Computer Science and Technology Anhui University Information Materials and Intelligent Sensing Laboratory of Anhui Province China SAIC Motor AI Lab China Zhongguancun Laboratory China

3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird’s-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular benchmarks. However, there still lacks a systematic understanding of the robustness of these vision-dependent BEV models, which is closely related to the safety of autonomous driving systems. In this paper, we evaluate the natural and adversarial robustness of various representative models under extensive settings, to fully understand their behaviors influenced by explicit BEV features compared with those without BEV. In addition to the classic settings, we propose a 3D consistent patch attack by applying adversarial patches in the 3D space to guarantee the spatiotemporal consistency, which is more realistic for the scenario of autonomous driving. With substantial experiments, we draw several findings: 1) BEV models tend to be more stable than previous methods under different natural conditions and common corruptions due to the expressive spatial representations;2) BEV models are more vulnerable to adversarial noises, mainly caused by the redundant BEV features;3) Camera-LiDAR fusion models have superior performance under different settings with multi-modal inputs, but BEV fusion model is still vulnerable to adversarial noises of both point cloud and image. These findings alert the safety issue in the applications of BEV detectors and could facilitate the development of more robust models. Code available at https: //***/zzj403/BEV_Robust. Copyright © 2023, The Authors. All rights reserved.

关键词： Birds

One to multiple mapping dual learning: Learning multiple sources from one mixed signal

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arXiv 2021年

作者： Liu, Ting Wang, Wenwu Zhang, Xiaofei Yan, Jingwen Guo, Yina The Department of Electronics and Communication Engineering Taiyuan University of Science and Technology Taiyuan030024 China The Centre for Vision Speech and Signal Processing University of Surrey Guildford SurreyGU2 7XH United Kingdom The Guangdong Provincial Key Laboratory of Digital Signal and Image Processing Technology

Single channel blind source separation (SCBSS) refers to separate multiple sources from a mixed signal collected by a single sensor. The existing methods for SCBSS mainly focus on separating two sources and have weak generalization performance. To address these problems, an algorithm is proposed in this paper to separate multiple sources from a mixture by designing a parallel dual generative adversarial Network (PDualGAN) that can build the relationship between a mixture and the corresponding multiple sources to realize one-to-multiple cross-domain mapping. This algorithm can be applied to any mixed model such as linear instantaneous mixed model and convolutional mixed model. Besides, one-to-multiple datasets are created which including the mixtures and corresponding sources for this study. The experiment was carried out on four different datasets and tested with signals mixed in different proportions. Experimental results show that the proposed algorithm can achieve high performance in peak signal-to-noise ratio (PSNR) and correlation, which outperforms state-of-the-art algorithms. © 2021, CC BY.

关键词： Mapping

Minimum initial marking estimation in labeled Petri Nets using simulated annealing 18

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Minimum initial marking estimation in labeled Petri Nets usi...

18th International Conference on New Trends in Intelligent Software Methodologies, Tools and Techniques, SoMeT 2019

作者： Kmimech, Hichem Telmoudi, Achraf Jabeur Sliman, Layth Nabli, Lotfi University of Monastir Research Laboratory of Automatic Signal and Image Processing Tunisia Efrei École D'Ingnieur des Technologies de L'Information et de la Communication France

ISBN: (纸本)9781643680125

Computing the minimum initial marking (MIM) in labeled Petri nets (PN) while considering a sequence of labels constitutes a difficult problem. The existing solutions of such a problem suffer from diverse limitations. In this paper, we proposed a new approach to automatically compute the MIM in labeled PNs in a timely fashion. We adopted a simulated annealing based algorithm to model the MIM problem. The choice of such an algorithm is justified by the nature of the MIM process which belongs to the NP-hard class. We experimentally showed the effectiveness of our approach and empirically studied the initial marking quality in particular. © 2019 The authors and IOS Press. All rights reserved.

关键词： Petri nets

GRASP-Based Approach for Minimum Initial Marking Estimation in Labeled Petri Nets

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GRASP-Based Approach for Minimum Initial Marking Estimation ...

International Conference on Semantics, Knowledge and Grid (SKG)

作者： Kmimech Hichem Layth Sliman Lotfi Nabli University of Monastir EFREI COLE D'INGNIEUR DES TECHNOLOGIES DE L'INFORMATION ET DE LA COMMUNICATION France University of Monastir Research Laboratory of Automatic Signal and Image Processing

ISBN: (数字)9781728158235

ISBN: (纸本)9781728158242

Computing the minimum initial marking (MIM) in labeled Petri nets (PN) while considering a sequence of labels constitutes a difficult problem. The existing solutions of such a problem suffer from diverse limitations. In this paper, weproposed a new approach to automatically compute the MIM in labeled PNs in a timely fashion. We adopted a GRASP (Greedy Randomized Adaptive Search Procedure)-based algorithm to model the MIM problem. The choice of such an algorithm is justified by the nature of the MIM process which belongs to the NP-hard class. We experimentally showed the effectiveness of our approach and empirically studied the initial marking quality in particular.

关键词： Petri nets Estimation Search problems Computational modeling Adaptation models Manufacturing systems NP-hard problem

AIM 2019 challenge on real-world image super-resolution: Methods and results

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arXiv 2019年

作者： Lugmayr, Andreas Danelljan, Martin Timofte, Radu Fritsche, Manuel Gu, Shuhang Purohit, Kuldeep Kandula, Praveen Suin, Maitreya Rajagopalan, A.N. Joon, Nam Hyung Won, Yu Seung Kim, Guisik Kwon, Dokyeong Hsu, Chih-Chung Lin, Chia-Hsiang Huang, Yuanfei Sun, Xiaopeng Lu, Wen Li, Jie Gao, Xinbo Bell-Kligler, Sefi Computer Vision Lab ETH Zurich Indian Institute Of Technology Madras India Image Communication & Signal Processing Laboratory Hanyang University Seoul Korea Republic of CVML Chung-Ang University Department Management Information Systems National Pingtung University of Science and Technology Department of Electrical Engineering National Cheng-Kung University Xidian University Weizmann Institute of Science Israel

This paper reviews the AIM 2019 challenge on real world super-resolution. It focuses on the participating methods and final results. The challenge addresses the real world setting, where paired true high and low-resolution images are unavailable. For training, only one set of source input images is therefore provided in the challenge. In Track 1: Source Domain the aim is to super-resolve such images while preserving the low level image characteristics of the source input domain. In Track 2: Target Domain a set of high-quality images is also provided for training, that defines the output domain and desired quality of the superresolved images. To allow for quantitative evaluation, the source input images in both tracks are constructed using artificial, but realistic, image degradations. The challenge is the first of its kind, aiming to advance the state-of-the-art and provide a standard benchmark for this newly emerging task. In total 7 teams competed in the final testing phase, demonstrating new and innovative solutions to the problem. Copyright © 2019, The Authors. All rights reserved.

关键词： Optical resolving power

NTIRE 2020 Challenge on image and Video Deblurring

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arXiv 2020年

作者： Seungjun, Nah Sanghyun, Son Radu, Timofte Kyoung Mu, Lee Tseng, Yu Xu, Yu-Syuan Chiang, Cheng-Ming Tsai, Yi-Min Brehm, Stephan Scherer, Sebastian Xu, Dejia Chu, Yihao Sun, Qingyan Jiang, Jiaqin Duan, Lunhao Yao, Jian Purohit, Kuldeep Suin, Maitreya Rajagopalan, A.N. Ito, Yuichi Hrishikesh, P.S. Puthussery, Densen Akhil, K.A. Jiji, C.V. Kim, Guisik Deepa, P.L. Xiong, Zhiwei Huang, Jie Liu, Dong Kim, Sangmin Nam, Hyungjoon Kim, Jisu Jeong, Jechang Huang, Shihua Fan, Yuchen Yu, Jiahui Yu, Haichao Huang, Thomas S. Zhou, Ya Li, Xin Liu, Sen Chen, Zhibo Dutta, Saikat Das, Sourya Dipta Garg, Shivam Sprague, Daniel Patel, Bhrij Huck, Thomas Department of ECE ASRI SNU Korea Republic of Computer Vision Lab ETH Zurich Switzerland MediaTek Inc University of Augsburg Chair for Multimedia Computing and Computer Vision Lab Germany Peking University China Beijing University of Posts and Telecommunications China Beijing Jiaotong University China Wuhan University China Indian Institute of Technology Madras India Vermilion College of Engineering Trivandrum India CVML Chung-Ang University Korea Republic of APJ Abdul Kalam Technological University India University of Science and Technology of China China Image Communication Signal Processing Laboratory Hanyang University Korea Republic of Southern University of Science and Technology China University of Illinois at Urbana-Champaign United States CAS Key Laboratory of Technology in Geo-Spatial Information Processing and Application System University of Science and Technology of China China IIT Madra Jadavpur University India University of Texas Austin United States Duke University Computer Science Department United States

Motion blur is one of the most common degradation artifacts in dynamic scene photography. This paper reviews the NTIRE 2020 Challenge on image and Video Deblurring. In this challenge, we present the evaluation results from 3 competition tracks as well as the proposed solutions. Track 1 aims to develop single-image deblurring methods focusing on restoration quality. On Track 2, the image deblurring methods are executed on a mobile platform to find the balance of the running speed and the restoration accuracy. Track 3 targets developing video deblurring methods that exploit the temporal relation between input frames. In each competition, there were 163, 135, and 102 registered participants and in the final testing phase, 9, 4, and 7 teams competed. The winning methods demonstrate the state-of-the-art performance on image and video deblurring tasks. Copyright © 2020, The Authors. All rights reserved.

关键词： image enhancement