Deep Lidar CNN to Understand the Dynamics of Moving Vehicles

Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions applied to the data of other sensors typically mounted on autonomous cars (e.g. lidars or radars) are not explored much. In this paper we propose a novel solution to understand the dynamics of moving vehicles of the scene from only lidar information. The main challenge of this problem stems from the fact that we need to disambiguate the proprio-motion of the 'observer' vehicle from that of the external 'observed' vehicles. For this purpose, we devise a CNN architecture which at testing time is fed with pairs of consecutive lidar scans. However, in order to properly learn the parameters of this network, during training we introduce a series of so-called pretext tasks which also leverage on image data. These tasks include semantic information about vehicleness and a novel lidar-flow feature which combines standard image-based optical flow with lidar scans. We obtain very promising results and show that including distilled image information only during training, allows improving the inference results of the network at test time, even when image data is no longer used.Comment: Presented in IEEE ICRA 2018. IEEE Copyrights: Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses. (V2 just corrected comments on arxiv submission

A Comparison of Visualisation Methods for Disambiguating Verbal Requests in Human-Robot Interaction

Picking up objects requested by a human user is a common task in human-robot interaction. When multiple objects match the user's verbal description, the robot needs to clarify which object the user is referring to before executing the action. Previous research has focused on perceiving user's multimodal behaviour to complement verbal commands or minimising the number of follow up questions to reduce task time. In this paper, we propose a system for reference disambiguation based on visualisation and compare three methods to disambiguate natural language instructions. In a controlled experiment with a YuMi robot, we investigated real-time augmentations of the workspace in three conditions -- mixed reality, augmented reality, and a monitor as the baseline -- using objective measures such as time and accuracy, and subjective measures like engagement, immersion, and display interference. Significant differences were found in accuracy and engagement between the conditions, but no differences were found in task time. Despite the higher error rates in the mixed reality condition, participants found that modality more engaging than the other two, but overall showed preference for the augmented reality condition over the monitor and mixed reality conditions

Disambiguating past events: accurate source memory for time and context depends on different retrieval processes

Participant payment was provided by the School of Psychology and Neuroscience ResPay scheme.Current animal models of episodic memory are usually based on demonstrating integrated memory for what happened, where it happened, and when an event took place. These models aim to capture the testable features of the definition of human episodic memory which stresses the temporal component of the memory as a unique piece of source information that allows us to disambiguate one memory from another. Recently though, it has been suggested that a more accurate model of human episodic memory would include contextual rather than temporal source information, as humans’ memory for time is relatively poor. Here, two experiments were carried out investigating human memory for temporal and contextual source information, along with the underlying dual process retrieval processes, using an immersive virtual environment paired with a ‘Remember-Know’ memory task. Experiment 1 (n = 28) showed that contextual information could only be retrieved accurately using recollection, while temporal information could be retrieved using either recollection or familiarity. Experiment 2 (n = 24), which used a more difficult task, resulting in reduced item recognition rates and therefore less potential for contamination by ceiling effects, replicated the pattern of results from Experiment 1. Dual process theory predicts that it should only be possible to retrieve source context from an event using recollection, and our results are consistent with this prediction. That temporal information can be retrieved using familiarity alone suggests that it may be incorrect to view temporal context as analogous to other typically used source contexts. This latter finding supports the alternative proposal that time since presentation may simply be reflected in the strength of memory trace at retrieval – a measure ideally suited to trace strength interrogation using familiarity, as is typically conceptualised within the dual process framework.PostprintPeer reviewe

Hybrid Bayesian Eigenobjects: Combining Linear Subspace and Deep Network Methods for 3D Robot Vision

We introduce Hybrid Bayesian Eigenobjects (HBEOs), a novel representation for 3D objects designed to allow a robot to jointly estimate the pose, class, and full 3D geometry of a novel object observed from a single viewpoint in a single practical framework. By combining both linear subspace methods and deep convolutional prediction, HBEOs efficiently learn nonlinear object representations without directly regressing into high-dimensional space. HBEOs also remove the onerous and generally impractical necessity of input data voxelization prior to inference. We experimentally evaluate the suitability of HBEOs to the challenging task of joint pose, class, and shape inference on novel objects and show that, compared to preceding work, HBEOs offer dramatically improved performance in all three tasks along with several orders of magnitude faster runtime performance.Comment: To appear in the International Conference on Intelligent Robots (IROS) - Madrid, 201