Combining LiDAR Space Clustering and Convolutional Neural Networks for Pedestrian Detection

Pedestrian detection is an important component for safety of autonomous vehicles, as well as for traffic and street surveillance. There are extensive benchmarks on this topic and it has been shown to be a challenging problem when applied on real use-case scenarios. In purely image-based pedestrian detection approaches, the state-of-the-art results have been achieved with convolutional neural networks (CNN) and surprisingly few detection frameworks have been built upon multi-cue approaches. In this work, we develop a new pedestrian detector for autonomous vehicles that exploits LiDAR data, in addition to visual information. In the proposed approach, LiDAR data is utilized to generate region proposals by processing the three dimensional point cloud that it provides. These candidate regions are then further processed by a state-of-the-art CNN classifier that we have fine-tuned for pedestrian detection. We have extensively evaluated the proposed detection process on the KITTI dataset. The experimental results show that the proposed LiDAR space clustering approach provides a very efficient way of generating region proposals leading to higher recall rates and fewer misses for pedestrian detection. This indicates that LiDAR data can provide auxiliary information for CNN-based approaches

Spike Clustering and Neuron Tracking over Successive Time Windows

This paper introduces a new methodology for tracking signals from individual neurons over time in multiunit extracellular recordings. The core of our strategy relies upon an extension of a traditional mixture model approach, with parameter optimization via expectation-maximimization (EM), to incorporate clustering results from the preceding time period in a Bayesian manner. EM initialization is also achieved by utilizing these prior clustering results. After clustering, we match the current and prior clusters to track persisting neurons. Applications of this spike sorting method to recordings from macaque parietal cortex show that it provides significantly more consistent clustering and tracking results

Data-driven analysis of ultrasonic pressure tube inspection data

Pressure tubes are critical components of the CANDU reactors and other pressurized heavy water type reactors, as they contain the nuclear fuel and the coolant. Manufacturing flaws, as well as defects developed during the in-service operation, can lead to coolant leakage and can potentially damage the reactor. The current inspection process of these flaws is based on manually analyzing ultrasonic data received from multiple probes during planned, statutory outages. Recent advances on ultrasonic inspection tools enable the provision of high resolution data of significantly large volumes. This is highlighting the need for an efficient autonomous signal analysis process. Typically, the automation of ultrasonic inspection data analysis is approached by knowledge-based or supervised data-driven methods. This work proposes an unsupervised data-driven framework that requires no explicit rules, nor individually labeled signals. The framework follows a two-stage clustering procedure that utilizes the DBSCAN density-based clustering algorithm and aims to provide decision support for the assessment of potential defects in a robust and consistent way. Nevertheless, verified defect dimensions are essential in order to assess the results and train the framework for unseen defects. Initial results of the implementation are presented and discussed, with the method showing promise as a means of assessing ultrasonic inspection data

A Miniature Robot for Isolating and Tracking Neurons in Extracellular Cortical Recordings

This paper presents a miniature robot device and control algorithm that can autonomously position electrodes in cortical tissue for isolation and tracking of extracellular signals of individual neurons. Autonomous electrode positioning can significantly enhance the efficiency and quality of acute electrophysiolgical experiments aimed at basic understanding of the nervous system. Future miniaturized systems of this sort could also overcome some of the inherent difficulties in estabilishing long-lasting neural interfaces that are needed for practical realization of neural prostheses. The paper describes the robot's design and summarizes the overall structure of the control system that governs the electrode positioning process. We present a new sequential clustering algorithm that is key to improving our system's performance, and which may have other applications in robotics. Experimental results in macaque cortex demonstrate the validity of our approach

Assessment of the Employment Accessibility Benefits of Shared Autonomous Mobility Services

The goal of this study is to assess and quantify the potential employment accessibility benefits of Shared Autonomous Mobility Service (SAMS) commute modes across a large diverse metropolitan region considering heterogeneity in the working population. To meet this goal, this study employs a welfare-based (i.e. logsum-based) measure of accessibility, obtained via estimating a hierarchical work destination-commute mode choice model. The employment accessibility logsum measure incorporates the spatial distribution of worker residences and employment opportunities, the attributes of the available commute modes, and the characteristics of individual workers. This research further captures heterogeneity of workers using latent class analysis (LCA). The LCA model inputs include the socio-demographic characteristics of workers to subsequently account for different worker clusters valuing different types of employment opportunities differently. The accessibility analysis results indicate: (i) the accessibility benefit differences across latent classes are modest but young workers and low-income workers do see higher benefits than high- and middle-income workers; (ii) there are substantial spatial differences in accessibility benefits with workers living in lower density areas benefiting more than workers living in high-density areas; (iii) nearly all the accessibility benefits come from the SAMS-only mode as opposed to the SAMS+Transit mode; and (iv) the SAMS cost per mile assumption significantly impacts the magnitude of the overall employment accessibility benefits

A control algorithm for autonomous optimization of extracellular recordings

This paper develops a control algorithm that can autonomously position an electrode so as to find and then maintain an optimal extracellular recording position. The algorithm was developed and tested in a two-neuron computational model representative of the cells found in cerebral cortex. The algorithm is based on a stochastic optimization of a suitably defined signal quality metric and is shown capable of finding the optimal recording position along representative sampling directions, as well as maintaining the optimal signal quality in the face of modeled tissue movements. The application of the algorithm to acute neurophysiological recording experiments and its potential implications to chronic recording electrode arrays are discussed