Snowflake/Taylor multijurisdictional transportation plan : final report

abstract: This Plan under the ADOT Planning Assistance for Rural Areas (PARA) will seek to define an optimal multi-modal transportation network that balances local and regional multi-modal transportation needs with available investment funds, while addressing environmental and area goals. This Plan will provide a common direction for the community, agencies and funding partners towards implementation of safe and efficient multi-modal mobility elements. Ultimately, this guiding document will provide direction for future infrastructure investments in both Snowflake and Taylor

Spectral methods for multimodal data analysis

Spectral methods have proven themselves as an important and versatile tool in a wide range of problems in the fields of computer graphics, machine learning, pattern recognition, and computer vision, where many important problems boil down to constructing a Laplacian operator and finding a few of its eigenvalues and eigenfunctions. Classical examples include the computation of diffusion distances on manifolds in computer graphics, Laplacian eigenmaps, and spectral clustering in machine learning. In many cases, one has to deal with multiple data spaces simultaneously. For example, clustering multimedia data in machine learning applications involves various modalities or ``views'' (e.g., text and images), and finding correspondence between shapes in computer graphics problems is an operation performed between two or more modalities. In this thesis, we develop a generalization of spectral methods to deal with multiple data spaces and apply them to problems from the domains of computer graphics, machine learning, and image processing. Our main construction is based on simultaneous diagonalization of Laplacian operators. We present an efficient numerical technique for computing joint approximate eigenvectors of two or more Laplacians in challenging noisy scenarios, which also appears to be the first general non-smooth manifold optimization method. Finally, we use the relation between joint approximate diagonalizability and approximate commutativity of operators to define a structural similarity measure for images. We use this measure to perform structure-preserving color manipulations of a given image

TractorEYE: Vision-based Real-time Detection for Autonomous Vehicles in Agriculture

Agricultural vehicles such as tractors and harvesters have for decades been able to navigate automatically and more efficiently using commercially available products such as auto-steering and tractor-guidance systems. However, a human operator is still required inside the vehicle to ensure the safety of vehicle and especially surroundings such as humans and animals. To get fully autonomous vehicles certified for farming, computer vision algorithms and sensor technologies must detect obstacles with equivalent or better than human-level performance. Furthermore, detections must run in real-time to allow vehicles to actuate and avoid collision.This thesis proposes a detection system (TractorEYE), a dataset (FieldSAFE), and procedures to fuse information from multiple sensor technologies to improve detection of obstacles and to generate a map. TractorEYE is a multi-sensor detection system for autonomous vehicles in agriculture. The multi-sensor system consists of three hardware synchronized and registered sensors (stereo camera, thermal camera and multi-beam lidar) mounted on/in a ruggedized and water-resistant casing. Algorithms have been developed to run a total of six detection algorithms (four for rgb camera, one for thermal camera and one for a Multi-beam lidar) and fuse detection information in a common format using either 3D positions or Inverse Sensor Models. A GPU powered computational platform is able to run detection algorithms online. For the rgb camera, a deep learning algorithm is proposed DeepAnomaly to perform real-time anomaly detection of distant, heavy occluded and unknown obstacles in agriculture. DeepAnomaly is -- compared to a state-of-the-art object detector Faster R-CNN -- for an agricultural use-case able to detect humans better and at longer ranges (45-90m) using a smaller memory footprint and 7.3-times faster processing. Low memory footprint and fast processing makes DeepAnomaly suitable for real-time applications running on an embedded GPU. FieldSAFE is a multi-modal dataset for detection of static and moving obstacles in agriculture. The dataset includes synchronized recordings from a rgb camera, stereo camera, thermal camera, 360-degree camera, lidar and radar. Precise localization and pose is provided using IMU and GPS. Ground truth of static and moving obstacles (humans, mannequin dolls, barrels, buildings, vehicles, and vegetation) are available as an annotated orthophoto and GPS coordinates for moving obstacles. Detection information from multiple detection algorithms and sensors are fused into a map using Inverse Sensor Models and occupancy grid maps. This thesis presented many scientific contribution and state-of-the-art within perception for autonomous tractors; this includes a dataset, sensor platform, detection algorithms and procedures to perform multi-sensor fusion. Furthermore, important engineering contributions to autonomous farming vehicles are presented such as easily applicable, open-source software packages and algorithms that have been demonstrated in an end-to-end real-time detection system. The contributions of this thesis have demonstrated, addressed and solved critical issues to utilize camera-based perception systems that are essential to make autonomous vehicles in agriculture a reality

PV2TEA: Patching Visual Modality to Textual-Established Information Extraction

Information extraction, e.g., attribute value extraction, has been extensively studied and formulated based only on text. However, many attributes can benefit from image-based extraction, like color, shape, pattern, among others. The visual modality has long been underutilized, mainly due to multimodal annotation difficulty. In this paper, we aim to patch the visual modality to the textual-established attribute information extractor. The cross-modality integration faces several unique challenges: (C1) images and textual descriptions are loosely paired intra-sample and inter-samples; (C2) images usually contain rich backgrounds that can mislead the prediction; (C3) weakly supervised labels from textual-established extractors are biased for multimodal training. We present PV2TEA, an encoder-decoder architecture equipped with three bias reduction schemes: (S1) Augmented label-smoothed contrast to improve the cross-modality alignment for loosely-paired image and text; (S2) Attention-pruning that adaptively distinguishes the visual foreground; (S3) Two-level neighborhood regularization that mitigates the label textual bias via reliability estimation. Empirical results on real-world e-Commerce datasets demonstrate up to 11.74% absolute (20.97% relatively) F1 increase over unimodal baselines.Comment: ACL 2023 Finding

UniverCity Connections: Report From the Stakeholders

Outlines the development, vision, and community initiatives of UniverCity Connections, a collaboration between Colorado State University, Fort Collins, and others convened by the foundation. Describes the task groups' focus areas, goals, and strategies

Rio Verde Foothills area plan

abstract: It is important to note that the Rio Verde Foothills Area Plan is not a document that represents ultimate buildout as many municipal general plans typically do. Rather, it prepares for and accommodates growth over the next ten to fifteen years, but will be reexamined and updated periodically to reflect current conditions and changes. While not a complete solution, the Rio Verde Foothills Area Plan helps address the effects of growth and development by enhancing cooperation between government agencies, citizens, and other affected interests, and by considering regional implications.Issued as part of Maricopa County 2020 Eye to the Future, the Maricopa County General Plan

WiSARD: A Labeled Visual and Thermal Image Dataset for Wilderness Search and Rescue

Sensor-equipped unoccupied aerial vehicles (UAVs) have the potential to help reduce search times and alleviate safety risks for first responders carrying out Wilderness Search and Rescue (WiSAR) operations, the process of finding and rescuing person(s) lost in wilderness areas. Unfortunately, visual sensors alone do not address the need for robustness across all the possible terrains, weather, and lighting conditions that WiSAR operations can be conducted in. The use of multi-modal sensors, specifically visual-thermal cameras, is critical in enabling WiSAR UAVs to perform in diverse operating conditions. However, due to the unique challenges posed by the wilderness context, existing dataset benchmarks are inadequate for developing vision-based algorithms for autonomous WiSAR UAVs. To this end, we present WiSARD, a dataset with roughly 56,000 labeled visual and thermal images collected from UAV flights in various terrains, seasons, weather, and lighting conditions. To the best of our knowledge, WiSARD is the first large-scale dataset collected with multi-modal sensors for autonomous WiSAR operations. We envision that our dataset will provide researchers with a diverse and challenging benchmark that can test the robustness of their algorithms when applied to real-world (life-saving) applications