Distant Vehicle Detection Using Radar and Vision

For autonomous vehicles to be able to operate successfully they need to be aware of other vehicles with sufficient time to make safe, stable plans. Given the possible closing speeds between two vehicles, this necessitates the ability to accurately detect distant vehicles. Many current image-based object detectors using convolutional neural networks exhibit excellent performance on existing datasets such as KITTI. However, the performance of these networks falls when detecting small (distant) objects. We demonstrate that incorporating radar data can boost performance in these difficult situations. We also introduce an efficient automated method for training data generation using cameras of different focal lengths

Fully Convolutional Neural Networks for Dynamic Object Detection in Grid Maps

Grid maps are widely used in robotics to represent obstacles in the environment and differentiating dynamic objects from static infrastructure is essential for many practical applications. In this work, we present a methods that uses a deep convolutional neural network (CNN) to infer whether grid cells are covering a moving object or not. Compared to tracking approaches, that use e.g. a particle filter to estimate grid cell velocities and then make a decision for individual grid cells based on this estimate, our approach uses the entire grid map as input image for a CNN that inspects a larger area around each cell and thus takes the structural appearance in the grid map into account to make a decision. Compared to our reference method, our concept yields a performance increase from 83.9% to 97.2%. A runtime optimized version of our approach yields similar improvements with an execution time of just 10 milliseconds.Comment: This is a shorter version of the masters thesis of Florian Piewak and it was accapted at IV 201

Improving Hypernymy Extraction with Distributional Semantic Classes

In this paper, we show how distributionally-induced semantic classes can be helpful for extracting hypernyms. We present methods for inducing sense-aware semantic classes using distributional semantics and using these induced semantic classes for filtering noisy hypernymy relations. Denoising of hypernyms is performed by labeling each semantic class with its hypernyms. On the one hand, this allows us to filter out wrong extractions using the global structure of distributionally similar senses. On the other hand, we infer missing hypernyms via label propagation to cluster terms. We conduct a large-scale crowdsourcing study showing that processing of automatically extracted hypernyms using our approach improves the quality of the hypernymy extraction in terms of both precision and recall. Furthermore, we show the utility of our method in the domain taxonomy induction task, achieving the state-of-the-art results on a SemEval'16 task on taxonomy induction.Comment: In Proceedings of the 11th Conference on Language Resources and Evaluation (LREC 2018). Miyazaki, Japa