Multi-View 3D Object Detection Network for Autonomous Driving

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D bounding boxes. We encode the sparse 3D point cloud with a compact multi-view representation. The network is composed of two subnetworks: one for 3D object proposal generation and another for multi-view feature fusion. The proposal network generates 3D candidate boxes efficiently from the bird's eye view representation of 3D point cloud. We design a deep fusion scheme to combine region-wise features from multiple views and enable interactions between intermediate layers of different paths. Experiments on the challenging KITTI benchmark show that our approach outperforms the state-of-the-art by around 25% and 30% AP on the tasks of 3D localization and 3D detection. In addition, for 2D detection, our approach obtains 10.3% higher AP than the state-of-the-art on the hard data among the LIDAR-based methods.Comment: To appear in IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 201

Intergration of control chart and pattern recognizer for bivariate quality control

Monitoring and diagnosis of mean shifts in manufacturing processes become more challenging when involving two or more correlated variables. Unfortunately, most of the existing multivariate statistical process control schemes are only effective in rapid detection but suffer high false alarm. This is referred to as imbalanced performance monitoring. The problem becomes more complicated when dealing with small mean shift particularly in identifying the causable variables. In this research, a scheme that integrated the control charting and pattern recognition technique has been investigated toward improving the quality control (QC) performance. Design considerations involved extensive simulation experiments to select input representation based on raw data and statistical features, recognizer design structure based on individual and Statistical Features-ANN models, and monitoring-diagnosis approach based on single stage and two stages techniques. The study focuses on correlated process mean shifts for cross correlation function, ρ = 0.1, 0.5, 0.9, and mean shift, μ = ± 0.75 ~ 3.00 standard deviations. Among the investigated design, an Integrated Multivariate Exponentially Weighted Moving Average with Artificial Neural Network scheme provides superior performance, namely the Average Run Length for grand average ARL1 = 7.55 7.78 ( for out-of-control) and ARL0 = 491.03 (small mean shift) and 524.80 (large mean shift) in control process and the grand average for recognition accuracy (RA) = 96.36 98.74. This research has provided a new perspective in realizing balanced monitoring and accurate diagnosis of correlated process mean shifts

Novel system of pavement cracking detection algorithms using 1mm 3D surface data

Pavement cracking is one of the major concerns for pavement design and management. There have been rapid developments of automated pavement cracking detection in recent years. However, none of them has been widely accepted so far due to lack of capability of maintaining consistently high detection accuracy for various pavement surfaces. Using 1mm 3D data collected by WayLink Digital Highway Data Vehicle (DHDV), an entire system of algorithms, which consists of Fully Automated Cracking Detection Subsystem, Interactive Cracking Detection Subsystem and Noisy Pattern Detection Subsystem, is proposed in this study for improvements in adaptability, reliability and interactivity of pavement cracking detection.The Fully Automated Cracking Detection Subsystem utilizes 3D Shadow Simulation to find lower areas in local neighborhood, and then eliminates noises by subsequent noise suppressing procedures. The assumption behind 3D Shadow Simulation is that local lower areas will be shadowed under light with a certain projection angle. According to the Precision-Recall Analysis on two real pavement segments, the fully automated subsystem can achieve a high level of Precision and Recall on both pavement segments.The Interactive Cracking Detection Subsystem implements an interactive algorithm proposed in this study, which is capable of improving its detection accuracy by adjustments based on the operator's feedback, to provide a slower but more flexible as well as confident approach to pavement cracking detection. It is demonstrated in the case study that the interactive subsystem can retrieve almost 100 percent of cracks with nearly no noises.The Noisy Pattern Detection Subsystem is proposed to exclude pavement joints and grooves from cracking detection so that false-positive errors on rigid pavements can be reduced significantly. This subsystem applies Support Vector Machines (SVM) to train the classifiers for the recognition of transverse groove, transverse joint, longitudinal groove and longitudinal joint respectively. Based on the trained classifiers, pattern extraction procedures are developed to find the exact locations of pavement joints and grooves.Non-dominated Sorting Genetic Algorithm II (NSGA-II), which is one of multi objective genetic algorithms, is employed in this study to optimize parameters of the fully automated subsystem for the pursuing of high Precision and high Recall simultaneously. In addition to NSGA-II, an Auxiliary Prediction Model (APM) is proposed in this study to assist NSGA-II for faster convergence and better diversity.Finally, CPU-based and GPU-based Parallel Computing Techniques, including MultiGPU, GPU streaming, Multi-Core and Multi-Threading are combined in this study to increase the processing speed for all computational tasks that can be synchronous

Vision Algorithm for the Solar Aspect System of the HEROES Mission

This work covers the design and test of a machine vision algorithm for generating high-accuracy pitch and yaw pointing solutions relative to the sun for the High Energy Replicated Optics to Explore the Sun (HEROES) mission. It describes how images were constructed by focusing an image of the sun onto a plate printed with a pattern of small fiducial markers. Images of this plate were processed in real time to determine relative position of the balloon payload to the sun. The algorithm is broken into four problems: circle detection, fiducial detection, fiducial identification, and image registration. Circle detection is handled by an "Average Intersection" method, fiducial detection by a matched filter approach, identification with an ad-hoc method based on the spacing between fiducials, and image registration with a simple least squares fit. Performance is verified on a combination of artificially generated images, test data recorded on the ground, and images from the 2013 fligh

Energy-Efficient Event Detection by Participatory Sensing Under Budget Constraints

Dynamic event detection by using participatory sensing paradigms has received growing interests recently, where detection tasks are assigned to smart-device users who can potentially collect needed sensory data from device-equipped sensors. Typical applications include, but are not limited to, noise and air pollution detections, people gathering, even disaster prediction. Given this problem, although many existing centralized solutions are effective and widely used, they usually cause heavy communication overhead. Thus, it is strongly desired to design distributed solutions to reduce energy consumption, while achieving a high level of detection accuracy with limited sensing task budget. In this paper, we first present two novel centralized detection algorithms as the performance benchmark, which make use of the Minimum Cut theory and support vector machine (SVM)-based pattern recognition techniques. Then, we introduce a novel distributed and energy-efficient event detection framework under task budget constraint, where we formulate an optimization problem and derive an optimal utility function. Finally, based on a real trace-driven data set in an urban area of Beijing, extensive simulation results demonstrate the effectiveness of our proposed algorithms

Multi-class Multi-label Classification and Detection of Lumbar Intervertebral Disc Degeneration MR Images using Decision Tree Classifiers

Evidence-based medicine decision-making based on computer-aided methods is a new direction in modernhealthcare. Data Mining Techniques in Computer-Aided Diagnosis (CAD) are powerful and widely used toolsfor efficient and automated classification, retrieval, and pattern recognition of medical images. They becomehighly desirable for the healthcare providers because of the massive and increasing volume of intervertebral discdegeneration images. A fast and efficient classification and retrieval system using query images with high degreeof accuracy is vital. The method proposed in this paper for automatic detection and classification of lumbarintervertebral disc degeneration MRI-T2 images makes use of texture-based pattern recognition in data mining.A dataset of 181segmented ROIs, corresponding to 89 normal and 92 degenerated (narrowed) discs at differentvertebral level, was analyzed and textural features (contrast, entropy, and energy) were extracted from each disc-ROI. The extracted features were employed in the design of a pattern recognition system using C4.5 decisiontree classifier. The system achieved a classification accuracy of 93.33% in designing a Multi-class Multi-labelclassification system based on the affected disc position. This work combined with its higher accuracy isconsidered a valuable knowledge for orthopedists in their diagnosis of lumbar intervertebral disc degeneration inT2-weighted Magnetic Resonance sagittal Images and for automated annotation, archiving, and retrieval of theseimages for later on usage.Keywords: Data Mining, Image Processing, Lumbar Intervertebral Disc Degeneration, MRI-T2, Decision Trees,Multi-class Multi-label Classification