6,399 research outputs found
Box-level Segmentation Supervised Deep Neural Networks for Accurate and Real-time Multispectral Pedestrian Detection
Effective fusion of complementary information captured by multi-modal sensors
(visible and infrared cameras) enables robust pedestrian detection under
various surveillance situations (e.g. daytime and nighttime). In this paper, we
present a novel box-level segmentation supervised learning framework for
accurate and real-time multispectral pedestrian detection by incorporating
features extracted in visible and infrared channels. Specifically, our method
takes pairs of aligned visible and infrared images with easily obtained
bounding box annotations as input and estimates accurate prediction maps to
highlight the existence of pedestrians. It offers two major advantages over the
existing anchor box based multispectral detection methods. Firstly, it
overcomes the hyperparameter setting problem occurred during the training phase
of anchor box based detectors and can obtain more accurate detection results,
especially for small and occluded pedestrian instances. Secondly, it is capable
of generating accurate detection results using small-size input images, leading
to improvement of computational efficiency for real-time autonomous driving
applications. Experimental results on KAIST multispectral dataset show that our
proposed method outperforms state-of-the-art approaches in terms of both
accuracy and speed
Pedestrian Prediction by Planning using Deep Neural Networks
Accurate traffic participant prediction is the prerequisite for collision
avoidance of autonomous vehicles. In this work, we predict pedestrians by
emulating their own motion planning. From online observations, we infer a
mixture density function for possible destinations. We use this result as the
goal states of a planning stage that performs motion prediction based on common
behavior patterns. The entire system is modeled as one monolithic neural
network and trained via inverse reinforcement learning. Experimental validation
on real world data shows the system's ability to predict both, destinations and
trajectories accurately
Learning to infer: RL-based search for DNN primitive selection on Heterogeneous Embedded Systems
Deep Learning is increasingly being adopted by industry for computer vision
applications running on embedded devices. While Convolutional Neural Networks'
accuracy has achieved a mature and remarkable state, inference latency and
throughput are a major concern especially when targeting low-cost and low-power
embedded platforms. CNNs' inference latency may become a bottleneck for Deep
Learning adoption by industry, as it is a crucial specification for many
real-time processes. Furthermore, deployment of CNNs across heterogeneous
platforms presents major compatibility issues due to vendor-specific technology
and acceleration libraries. In this work, we present QS-DNN, a fully automatic
search based on Reinforcement Learning which, combined with an inference engine
optimizer, efficiently explores through the design space and empirically finds
the optimal combinations of libraries and primitives to speed up the inference
of CNNs on heterogeneous embedded devices. We show that, an optimized
combination can achieve 45x speedup in inference latency on CPU compared to a
dependency-free baseline and 2x on average on GPGPU compared to the best vendor
library. Further, we demonstrate that, the quality of results and time
"to-solution" is much better than with Random Search and achieves up to 15x
better results for a short-time search
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