Analysis of the Influence of Training Data on Road User Detection

In this paper, we discuss the relevance of training data on modern object detectors used on onboard applications. Whereas modern deep learning techniques require large amounts of data, datasets with typical scenarios for autonomous vehicles are scarce and have a reduced number of samples. We conduct a comprehensive set of experiments to understand the effect of using a combination of two relatively small datasets to train an end-to-end object detector, based on the popular Faster R-CNN and enhanced with orientation estimation capabilities. We also test the adequacy of training models using partially available ground-truth labels, as a consequence of combining datasets aimed at different applications. Data augmentation is also introduced into the training pipeline. Results show a significant performance improvement in our exemplary case as a result of the higher variability of the training samples, thus opening a new way to improve the detection performance independently from the detector architecture.This work was supported by the Spanish Government through the CICYT projects TRA2015-63708-R and TRA2016-78886-C3-1-R, and the Comunidad de Madrid through SEGVAUTO-TRIES (S2013/MIT-2713).Publicad

Explainable and Advisable Learning for Self-driving Vehicles

Deep neural perception and control networks are likely to be a key component of self-driving vehicles. These models need to be explainable - they should provide easy-to-interpret rationales for their behavior - so that passengers, insurance companies, law enforcement, developers, etc., can understand what triggered a particular behavior. Explanations may be triggered by the neural controller, namely introspective explanations, or informed by the neural controller's output, namely rationalizations. Our work has focused on the challenge of generating introspective explanations of deep models for self-driving vehicles. In Chapter 3, we begin by exploring the use of visual explanations. These explanations take the form of real-time highlighted regions of an image that causally influence the network's output (steering control). In the first stage, we use a visual attention model to train a convolution network end-to-end from images to steering angle. The attention model highlights image regions that potentially influence the network's output. Some of these are true influences, but some are spurious. We then apply a causal filtering step to determine which input regions actually influence the output. This produces more succinct visual explanations and more accurately exposes the network's behavior. In Chapter 4, we add an attention-based video-to-text model to produce textual explanations of model actions, e.g. "the car slows down because the road is wet". The attention maps of controller and explanation model are aligned so that explanations are grounded in the parts of the scene that mattered to the controller. We explore two approaches to attention alignment, strong- and weak-alignment. These explainable systems represent an externalization of tacit knowledge. The network's opaque reasoning is simplified to a situation-specific dependence on a visible object in the image. This makes them brittle and potentially unsafe in situations that do not match training data. In Chapter 5, we propose to address this issue by augmenting training data with natural language advice from a human. Advice includes guidance about what to do and where to attend. We present the first step toward advice-giving, where we train an end-to-end vehicle controller that accepts advice. The controller adapts the way it attends to the scene (visual attention) and the control (steering and speed). Further, in Chapter 6, we propose a new approach that learns vehicle control with the help of long-term (global) human advice. Specifically, our system learns to summarize its visual observations in natural language, predict an appropriate action response (e.g. "I see a pedestrian crossing, so I stop"), and predict the controls, accordingly

Radar-based Road User Classification and Novelty Detection with Recurrent Neural Network Ensembles

Radar-based road user classification is an important yet still challenging task towards autonomous driving applications. The resolution of conventional automotive radar sensors results in a sparse data representation which is tough to recover by subsequent signal processing. In this article, classifier ensembles originating from a one-vs-one binarization paradigm are enriched by one-vs-all correction classifiers. They are utilized to efficiently classify individual traffic participants and also identify hidden object classes which have not been presented to the classifiers during training. For each classifier of the ensemble an individual feature set is determined from a total set of 98 features. Thereby, the overall classification performance can be improved when compared to previous methods and, additionally, novel classes can be identified much more accurately. Furthermore, the proposed structure allows to give new insights in the importance of features for the recognition of individual classes which is crucial for the development of new algorithms and sensor requirements.Comment: 8 pages, 9 figures, accepted paper for 2019 IEEE Intelligent Vehicles Symposium (IV), Paris, France, June 201

Traffic event detection framework using social media

This is an accepted manuscript of an article published by IEEE in 2017 IEEE International Conference on Smart Grid and Smart Cities (ICSGSC) on 18/09/2017, available online: https://ieeexplore.ieee.org/document/8038595 The accepted version of the publication may differ from the final published version.© 2017 IEEE. Traffic incidents are one of the leading causes of non-recurrent traffic congestions. By detecting these incidents on time, traffic management agencies can activate strategies to ease congestion and travelers can plan their trip by taking into consideration these factors. In recent years, there has been an increasing interest in Twitter because of the real-time nature of its data. Twitter has been used as a way of predicting revenues, accidents, natural disasters, and traffic. This paper proposes a framework for the real-time detection of traffic events using Twitter data. The methodology consists of a text classification algorithm to identify traffic related tweets. These traffic messages are then geolocated and further classified into positive, negative, or neutral class using sentiment analysis. In addition, stress and relaxation strength detection is performed, with the purpose of further analyzing user emotions within the tweet. Future work will be carried out to implement the proposed framework in the West Midlands area, United Kingdom.Published versio

The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systems

Scenario-based testing for the safety validation of highly automated vehicles is a promising approach that is being examined in research and industry. This approach heavily relies on data from real-world scenarios to derive the necessary scenario information for testing. Measurement data should be collected at a reasonable effort, contain naturalistic behavior of road users and include all data relevant for a description of the identified scenarios in sufficient quality. However, the current measurement methods fail to meet at least one of the requirements. Thus, we propose a novel method to measure data from an aerial perspective for scenario-based validation fulfilling the mentioned requirements. Furthermore, we provide a large-scale naturalistic vehicle trajectory dataset from German highways called highD. We evaluate the data in terms of quantity, variety and contained scenarios. Our dataset consists of 16.5 hours of measurements from six locations with 110 000 vehicles, a total driven distance of 45 000 km and 5600 recorded complete lane changes. The highD dataset is available online at: http://www.highD-dataset.comComment: IEEE International Conference on Intelligent Transportation Systems (ITSC) 201

Deep Thermal Imaging: Proximate Material Type Recognition in the Wild through Deep Learning of Spatial Surface Temperature Patterns

We introduce Deep Thermal Imaging, a new approach for close-range automatic recognition of materials to enhance the understanding of people and ubiquitous technologies of their proximal environment. Our approach uses a low-cost mobile thermal camera integrated into a smartphone to capture thermal textures. A deep neural network classifies these textures into material types. This approach works effectively without the need for ambient light sources or direct contact with materials. Furthermore, the use of a deep learning network removes the need to handcraft the set of features for different materials. We evaluated the performance of the system by training it to recognise 32 material types in both indoor and outdoor environments. Our approach produced recognition accuracies above 98% in 14,860 images of 15 indoor materials and above 89% in 26,584 images of 17 outdoor materials. We conclude by discussing its potentials for real-time use in HCI applications and future directions.Comment: Proceedings of the 2018 CHI Conference on Human Factors in Computing System

VIENA2: A Driving Anticipation Dataset

Action anticipation is critical in scenarios where one needs to react before the action is finalized. This is, for instance, the case in automated driving, where a car needs to, e.g., avoid hitting pedestrians and respect traffic lights. While solutions have been proposed to tackle subsets of the driving anticipation tasks, by making use of diverse, task-specific sensors, there is no single dataset or framework that addresses them all in a consistent manner. In this paper, we therefore introduce a new, large-scale dataset, called VIENA2, covering 5 generic driving scenarios, with a total of 25 distinct action classes. It contains more than 15K full HD, 5s long videos acquired in various driving conditions, weathers, daytimes and environments, complemented with a common and realistic set of sensor measurements. This amounts to more than 2.25M frames, each annotated with an action label, corresponding to 600 samples per action class. We discuss our data acquisition strategy and the statistics of our dataset, and benchmark state-of-the-art action anticipation techniques, including a new multi-modal LSTM architecture with an effective loss function for action anticipation in driving scenarios.Comment: Accepted in ACCV 201

Incident detection using data from social media

This is an accepted manuscript of an article published by IEEE in 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC) on 15/03/2018, available online: https://ieeexplore.ieee.org/document/8317967/citations#citations The accepted version of the publication may differ from the final published version.© 2017 IEEE. Due to the rapid growth of population in the last 20 years, an increased number of instances of heavy recurrent traffic congestion has been observed in cities around the world. This rise in traffic has led to greater numbers of traffic incidents and subsequent growth of non-recurrent congestion. Existing incident detection techniques are limited to the use of sensors in the transportation network. In this paper, we analyze the potential of Twitter for supporting real-time incident detection in the United Kingdom (UK). We present a methodology for retrieving, processing, and classifying public tweets by combining Natural Language Processing (NLP) techniques with a Support Vector Machine algorithm (SVM) for text classification. Our approach can detect traffic related tweets with an accuracy of 88.27%.Published versio