Towards Full Automated Drive in Urban Environments: A Demonstration in GoMentum Station, California

Each year, millions of motor vehicle traffic accidents all over the world cause a large number of fatalities, injuries and significant material loss. Automated Driving (AD) has potential to drastically reduce such accidents. In this work, we focus on the technical challenges that arise from AD in urban environments. We present the overall architecture of an AD system and describe in detail the perception and planning modules. The AD system, built on a modified Acura RLX, was demonstrated in a course in GoMentum Station in California. We demonstrated autonomous handling of 4 scenarios: traffic lights, cross-traffic at intersections, construction zones and pedestrians. The AD vehicle displayed safe behavior and performed consistently in repeated demonstrations with slight variations in conditions. Overall, we completed 44 runs, encompassing 110km of automated driving with only 3 cases where the driver intervened the control of the vehicle, mostly due to error in GPS positioning. Our demonstration showed that robust and consistent behavior in urban scenarios is possible, yet more investigation is necessary for full scale roll-out on public roads.Comment: Accepted to Intelligent Vehicles Conference (IV 2017

Deep Interactive Region Segmentation and Captioning

With recent innovations in dense image captioning, it is now possible to describe every object of the scene with a caption while objects are determined by bounding boxes. However, interpretation of such an output is not trivial due to the existence of many overlapping bounding boxes. Furthermore, in current captioning frameworks, the user is not able to involve personal preferences to exclude out of interest areas. In this paper, we propose a novel hybrid deep learning architecture for interactive region segmentation and captioning where the user is able to specify an arbitrary region of the image that should be processed. To this end, a dedicated Fully Convolutional Network (FCN) named Lyncean FCN (LFCN) is trained using our special training data to isolate the User Intention Region (UIR) as the output of an efficient segmentation. In parallel, a dense image captioning model is utilized to provide a wide variety of captions for that region. Then, the UIR will be explained with the caption of the best match bounding box. To the best of our knowledge, this is the first work that provides such a comprehensive output. Our experiments show the superiority of the proposed approach over state-of-the-art interactive segmentation methods on several well-known datasets. In addition, replacement of the bounding boxes with the result of the interactive segmentation leads to a better understanding of the dense image captioning output as well as accuracy enhancement for the object detection in terms of Intersection over Union (IoU).Comment: 17, pages, 9 figure

A Multi-cut Formulation for Joint Segmentation and Tracking of Multiple Objects

Recently, Minimum Cost Multicut Formulations have been proposed and proven to be successful in both motion trajectory segmentation and multi-target tracking scenarios. Both tasks benefit from decomposing a graphical model into an optimal number of connected components based on attractive and repulsive pairwise terms. The two tasks are formulated on different levels of granularity and, accordingly, leverage mostly local information for motion segmentation and mostly high-level information for multi-target tracking. In this paper we argue that point trajectories and their local relationships can contribute to the high-level task of multi-target tracking and also argue that high-level cues from object detection and tracking are helpful to solve motion segmentation. We propose a joint graphical model for point trajectories and object detections whose Multicuts are solutions to motion segmentation {\it and} multi-target tracking problems at once. Results on the FBMS59 motion segmentation benchmark as well as on pedestrian tracking sequences from the 2D MOT 2015 benchmark demonstrate the promise of this joint approach

Scatteract: Automated extraction of data from scatter plots

Charts are an excellent way to convey patterns and trends in data, but they do not facilitate further modeling of the data or close inspection of individual data points. We present a fully automated system for extracting the numerical values of data points from images of scatter plots. We use deep learning techniques to identify the key components of the chart, and optical character recognition together with robust regression to map from pixels to the coordinate system of the chart. We focus on scatter plots with linear scales, which already have several interesting challenges. Previous work has done fully automatic extraction for other types of charts, but to our knowledge this is the first approach that is fully automatic for scatter plots. Our method performs well, achieving successful data extraction on 89% of the plots in our test set.Comment: Submitted to ECML PKDD 2017 proceedings, 16 page