On Offline Evaluation of Vision-based Driving Models

Autonomous driving models should ideally be evaluated by deploying them on a fleet of physical vehicles in the real world. Unfortunately, this approach is not practical for the vast majority of researchers. An attractive alternative is to evaluate models offline, on a pre-collected validation dataset with ground truth annotation. In this paper, we investigate the relation between various online and offline metrics for evaluation of autonomous driving models. We find that offline prediction error is not necessarily correlated with driving quality, and two models with identical prediction error can differ dramatically in their driving performance. We show that the correlation of offline evaluation with driving quality can be significantly improved by selecting an appropriate validation dataset and suitable offline metrics. The supplementary video can be viewed at https://www.youtube.com/watch?v=P8K8Z-iF0cYComment: Published at the ECCV 2018 conferenc

H2B: Heartbeat-based Secret Key Generation Using Piezo Vibration Sensors

We present Heartbeats-2-Bits (H2B), which is a system for securely pairing wearable devices by generating a shared secret key from the skin vibrations caused by heartbeat. This work is motivated by potential power saving opportunity arising from the fact that heartbeat intervals can be detected energy-efficiently using inexpensive and power-efficient piezo sensors, which obviates the need to employ complex heartbeat monitors such as Electrocardiogram or Photoplethysmogram. Indeed, our experiments show that piezo sensors can measure heartbeat intervals on many different body locations including chest, wrist, waist, neck and ankle. Unfortunately, we also discover that the heartbeat interval signal captured by piezo vibration sensors has low Signal-to-Noise Ratio (SNR) because they are not designed as precision heartbeat monitors, which becomes the key challenge for H2B. To overcome this problem, we first apply a quantile function-based quantization method to fully extract the useful entropy from the noisy piezo measurements. We then propose a novel Compressive Sensing-based reconciliation method to correct the high bit mismatch rates between the two independently generated keys caused by low SNR. We prototype H2B using off-the-shelf piezo sensors and evaluate its performance on a dataset collected from different body positions of 23 participants. Our results show that H2B has an overwhelming pairing success rate of 95.6%. We also analyze and demonstrate H2B's robustness against three types of attacks. Finally, our power measurements show that H2B is very power-efficient

Adobe Flash as a medium for online experimentation: a test of reaction time measurement capabilities

Adobe Flash can be used to run complex psychological experiments over the Web. We examined the reliability of using Flash to measure reaction times (RTs) using a simple binary-choice task implemented both in Flash and in a Linux-based system known to record RTs with millisecond accuracy. Twenty-four participants were tested in the laboratory using both implementations; they also completed the Flash version on computers of their own choice outside the lab. RTs from the trials run on Flash outside the lab were approximately 20 msec slower than those from trials run on Flash in the lab, which in turn were approximately 10 msec slower than RTs from the trials run on the Linux-based system (baseline condition). RT SDs were similar in all conditions, suggesting that although Flash may overestimate RTs slightly, it does not appear to add significant noise to the data recorded

Spread spectrum mobile communication experiment using ETS-V satellite

The spread spectrum technique is attractive for application to mobile satellite communications, because of its random access capability, immunity to inter-system interference, and robustness to overloading. A novel direct sequence spread spectrum communication equipment is developed for land mobile satellite applications. The equipment is developed based on a matched filter technique to improve the initial acquisition performance. The data rate is 2.4 kilobits per sec. and the PN clock rate is 2.4552 mega-Hz. This equipment also has a function of measuring the multipath delay profile of land mobile satellite channel, making use of a correlation property of a PN code. This paper gives an outline of the equipment and the field test results with ETS-V satellite

Estimation from quantized Gaussian measurements: when and how to use dither

Subtractive dither is a powerful method for removing the signal dependence of quantization noise for coarsely quantized signals. However, estimation from dithered measurements often naively applies the sample mean or midrange, even when the total noise is not well described with a Gaussian or uniform distribution. We show that the generalized Gaussian distribution approximately describes subtractively dithered, quantized samples of a Gaussian signal. Furthermore, a generalized Gaussian fit leads to simple estimators based on order statistics that match the performance of more complicated maximum likelihood estimators requiring iterative solvers. The order statistics-based estimators outperform both the sample mean and midrange for nontrivial sums of Gaussian and uniform noise. Additional analysis of the generalized Gaussian approximation yields rules of thumb for determining when and how to apply dither to quantized measurements. Specifically, we find subtractive dither to be beneficial when the ratio between the Gaussian standard deviation and quantization interval length is roughly less than one-third. When that ratio is also greater than 0.822/K^0.930 for the number of measurements K > 20, estimators we present are more efficient than the midrange.https://arxiv.org/abs/1811.06856Accepted manuscrip

A Millimeter-scale Single Charged Particle Dosimeter for Cancer Radiotherapy

This paper presents a millimeter-scale CMOS 64$\times$64 single charged particle radiation detector system for external beam cancer radiotherapy. A 1$\times$1 $\mu m^2$ diode measures energy deposition by a single charged particle in the depletion region, and the array design provides a large detection area of 512$\times$512 $\mu m^2$. Instead of sensing the voltage drop caused by radiation, the proposed system measures the pulse width, i.e., the time it takes for the voltage to return to its baseline. This obviates the need for using power-hungry and large analog-to-digital converters. A prototype ASIC is fabricated in TSMC 65 nm LP CMOS process and consumes the average static power of 0.535 mW under 1.2 V analog and digital power supply. The functionality of the whole system is successfully verified in a clinical 67.5 MeV proton beam setting. To our' knowledge, this is the first work to demonstrate single charged particle detection for implantable in-vivo dosimetry