Fast and Robust Object Detection Using Visual Subcategories

Object classes generally contain large intra-class varia-tion, which poses a challenge to object detection schemes. In this work, we study visual subcategorization as a means of capturing appearance variation. First, training data is clustered using color and gradient features. Second, the clustering is used to learn an ensemble of models that cap-ture visual variation due to varying orientation, truncation, and occlusion degree. Fast object detection is achieved with integral image features and pixel lookup features. The framework is studied in the context of vehicle detection on the challenging KITTI dataset. 1

Integrating motion and appearance for overtaking vehicle detection

Abstract — The dynamic appearance of vehicles as they enter and exit a scene makes vehicle detection a difficult and compli-cated problem. Appearance based detectors generally provide good results when vehicles are in clear view, but have trouble in the scenes edges due to changes in the vehicles aspect ratio and partial occlusions. To compensate for some of these deficiencies, we propose incorporating motion cues from the scene. In this work, we focus on a overtaking vehicle detection in a freeway setting with front and rear facing monocular cameras. Motion cues are extracted from the scene, and leveraging the epipolar geometry of the monocular setup, motion compensation is performed. Spectral clustering is used to group similar motion vectors together, and after post-processing, vehicle detections candidates are produced. Finally, these candidates are combined with an appearance detector to remove any false positives, outputting the detections as a vehicle travels through the scene. I

Gaze-Based Human-Robot Interaction by the Brunswick Model

We present a new paradigm for human-robot interaction based on social signal processing, and in particular on the Brunswick model. Originally, the Brunswick model copes with face-to-face dyadic interaction, assuming that the interactants are communicating through a continuous exchange of non verbal social signals, in addition to the spoken messages. Social signals have to be interpreted, thanks to a proper recognition phase that considers visual and audio information. The Brunswick model allows to quantitatively evaluate the quality of the interaction using statistical tools which measure how effective is the recognition phase. In this paper we cast this theory when one of the interactants is a robot; in this case, the recognition phase performed by the robot and the human have to be revised w.r.t. the original model. The model is applied to Berrick, a recent open-source low-cost robotic head platform, where the gazing is the social signal to be considered

"Enriching 360-degree technologies through human-computer interaction: psychometric validation of two memory tasks"

This doctoral dissertation explores the domain of neuropsychological assessment, with the objective of gaining a comprehensive understanding of an individual's cognitive functioning and detecting possible impairments. Traditional assessment tools, while possessing inherent value, frequently exhibit a deficiency in ecological validity when evaluating memory, as they predominantly concentrate on short-term, regulated tasks. To overcome this constraint, immersive technologies, specifically virtual reality and 360° videos, have surfaced as promising instruments for augmenting the ecological validity of cognitive assessments. This work examines the potential advantages of immersive technologies, particularly 360° videos, in enhancing memory evaluation. First, a comprehensive overview of contemporary virtual reality tools employed in the assessment of memory, as well as their convergence with conventional assessment measures has been provided. Then, the present study utilizes cluster and network analysis techniques to categorize 360° videos according to their content and applications, thereby offering significant insights into the potential of this nascent medium. The study introduces then a novel platform, Mindscape, that aims to address the existing technological disparity, thereby enhancing the accessibility of clinicians and researchers in developing cognitive tasks within immersive environments. The conclusion of the thesis encompasses the psychometric validation of two memory tasks, which have been specifically developed with Mindscape to assess episodic and spatial memory. The findings demonstrate disparities in cognitive performance between individuals diagnosed with Mild Cognitive Impairment and those without cognitive impairments, underscoring the interrelated nature of cognitive processes and the promising prospects of virtual reality technology in improving the authenticity of real-world experiences. Overall, this dissertation aims to respond to the demand for practical and ecologically valid neuropsychological assessments within the dynamic field of neuropsychology. It achieves this by integrating user-friendly platforms and immersive cognitive tasks into its methodology. By highlighting a shift in the field of neuropsychology towards prioritizing functional and practical assessments over theoretical frameworks, this work indicates a changing perspective within the discipline. This study highlights the potential of comprehensive and purpose-oriented assessment methods in cognitive evaluations, emphasizing the ongoing significance of research in fully comprehending the capabilities of immersive technologies

Multi-task near-field perception for autonomous driving using surround-view fisheye cameras

Die Bildung der Augen führte zum Urknall der Evolution. Die Dynamik änderte sich von einem primitiven Organismus, der auf den Kontakt mit der Nahrung wartete, zu einem Organismus, der durch visuelle Sensoren gesucht wurde. Das menschliche Auge ist eine der raffiniertesten Entwicklungen der Evolution, aber es hat immer noch Mängel. Der Mensch hat über Millionen von Jahren einen biologischen Wahrnehmungsalgorithmus entwickelt, der in der Lage ist, Autos zu fahren, Maschinen zu bedienen, Flugzeuge zu steuern und Schiffe zu navigieren. Die Automatisierung dieser Fähigkeiten für Computer ist entscheidend für verschiedene Anwendungen, darunter selbstfahrende Autos, Augmented Realität und architektonische Vermessung. Die visuelle Nahfeldwahrnehmung im Kontext von selbstfahrenden Autos kann die Umgebung in einem Bereich von 0 - 10 Metern und 360° Abdeckung um das Fahrzeug herum wahrnehmen. Sie ist eine entscheidende Entscheidungskomponente bei der Entwicklung eines sichereren automatisierten Fahrens. Jüngste Fortschritte im Bereich Computer Vision und Deep Learning in Verbindung mit hochwertigen Sensoren wie Kameras und LiDARs haben ausgereifte Lösungen für die visuelle Wahrnehmung hervorgebracht. Bisher stand die Fernfeldwahrnehmung im Vordergrund. Ein weiteres wichtiges Problem ist die begrenzte Rechenleistung, die für die Entwicklung von Echtzeit-Anwendungen zur Verfügung steht. Aufgrund dieses Engpasses kommt es häufig zu einem Kompromiss zwischen Leistung und Laufzeiteffizienz. Wir konzentrieren uns auf die folgenden Themen, um diese anzugehen: 1) Entwicklung von Nahfeld-Wahrnehmungsalgorithmen mit hoher Leistung und geringer Rechenkomplexität für verschiedene visuelle Wahrnehmungsaufgaben wie geometrische und semantische Aufgaben unter Verwendung von faltbaren neuronalen Netzen. 2) Verwendung von Multi-Task-Learning zur Überwindung von Rechenengpässen durch die gemeinsame Nutzung von initialen Faltungsschichten zwischen den Aufgaben und die Entwicklung von Optimierungsstrategien, die die Aufgaben ausbalancieren.The formation of eyes led to the big bang of evolution. The dynamics changed from a primitive organism waiting for the food to come into contact for eating food being sought after by visual sensors. The human eye is one of the most sophisticated developments of evolution, but it still has defects. Humans have evolved a biological perception algorithm capable of driving cars, operating machinery, piloting aircraft, and navigating ships over millions of years. Automating these capabilities for computers is critical for various applications, including self-driving cars, augmented reality, and architectural surveying. Near-field visual perception in the context of self-driving cars can perceive the environment in a range of 0 - 10 meters and 360° coverage around the vehicle. It is a critical decision-making component in the development of safer automated driving. Recent advances in computer vision and deep learning, in conjunction with high-quality sensors such as cameras and LiDARs, have fueled mature visual perception solutions. Until now, far-field perception has been the primary focus. Another significant issue is the limited processing power available for developing real-time applications. Because of this bottleneck, there is frequently a trade-off between performance and run-time efficiency. We concentrate on the following issues in order to address them: 1) Developing near-field perception algorithms with high performance and low computational complexity for various visual perception tasks such as geometric and semantic tasks using convolutional neural networks. 2) Using Multi-Task Learning to overcome computational bottlenecks by sharing initial convolutional layers between tasks and developing optimization strategies that balance tasks

Semantic location extraction from crowdsourced data

Crowdsourced Data (CSD) has recently received increased attention in many application areas including disaster management. Convenience of production and use, data currency and abundancy are some of the key reasons for attracting this high interest. Conversely, quality issues like incompleteness, credibility and relevancy prevent the direct use of such data in important applications like disaster management. Moreover, location information availability of CSD is problematic as it remains very low in many crowd sourced platforms such as Twitter. Also, this recorded location is mostly related to the mobile device or user location and often does not represent the event location. In CSD, event location is discussed descriptively in the comments in addition to the recorded location (which is generated by means of mobile device's GPS or mobile communication network). This study attempts to semantically extract the CSD location information with the help of an ontological Gazetteer and other available resources. 2011 Queensland flood tweets and Ushahidi Crowd Map data were semantically analysed to extract the location information with the support of Queensland Gazetteer which is converted to an ontological gazetteer and a global gazetteer. Some preliminary results show that the use of ontologies and semantics can improve the accuracy of place name identification of CSD and the process of location information extraction

Network and Content Intelligence for 360 Degree Video Streaming Optimization

In recent years, 360° videos, a.k.a. spherical frames, became popular among users creating an immersive streaming experience. Along with the advances in smart- phones and Head Mounted Devices (HMD) technology, many content providers have facilitated to host and stream 360° videos in both on-demand and live stream- ing modes. Therefore, many different applications have already arisen leveraging these immersive videos, especially to give viewers an impression of presence in a digital environment. For example, with 360° videos, now it is possible to connect people in a remote meeting in an interactive way which essentially increases the productivity of the meeting. Also, creating interactive learning materials using 360° videos for students will help deliver the learning outcomes effectively. However, streaming 360° videos is not an easy task due to several reasons. First, 360° video frames are 4–6 times larger than normal video frames to achieve the same quality as a normal video. Therefore, delivering these videos demands higher bandwidth in the network. Second, processing relatively larger frames requires more computational resources at the end devices, particularly for end user devices with limited resources. This will impact not only the delivery of 360° videos but also many other applications running on shared resources. Third, these videos need to be streamed with very low latency requirements due their interactive nature. Inability to satisfy these requirements can result in poor Quality of Experience (QoE) for the user. For example, insufficient bandwidth incurs frequent rebuffer- ing and poor video quality. Also, inadequate computational capacity can cause faster battery draining and unnecessary heating of the device, causing discomfort to the user. Motion or cyber–sickness to the user will be prevalent if there is an unnecessary delay in streaming. These circumstances will hinder providing im- mersive streaming experiences to the much-needed communities, especially those who do not have enough network resources. To address the above challenges, we believe that enhancements to the three main components in video streaming pipeline, server, network and client, are essential. Starting from network, it is beneficial for network providers to identify 360° video flows as early as possible and understand their behaviour in the network to effec- tively allocate sufficient resources for this video delivery without compromising the quality of other services. Content servers, at one end of this streaming pipeline, re- quire efficient 360° video frame processing mechanisms to support adaptive video streaming mechanisms such as ABR (Adaptive Bit Rate) based streaming, VP aware streaming, a streaming paradigm unique to 360° videos that select only part of the larger video frame that fall within the user-visible region, etc. On the other end, the client can be combined with edge-assisted streaming to deliver 360° video content with reduced latency and higher quality. Following the above optimization strategies, in this thesis, first, we propose a mech- anism named 360NorVic to extract 360° video flows from encrypted video traffic and analyze their traffic characteristics. We propose Machine Learning (ML) mod- els to classify 360° and normal videos under different scenarios such as offline, near real-time, VP-aware streaming and Mobile Network Operator (MNO) level stream- ing. Having extracted 360° video traffic traces both in packet and flow level data at higher accuracy, we analyze and understand the differences between 360° and normal video patterns in the encrypted traffic domain that is beneficial for effec- tive resource optimization for enhancing 360° video delivery. Second, we present a WGAN (Wesserstien Generative Adversarial Network) based data generation mechanism (namely VideoTrain++) to synthesize encrypted network video traffic, taking minimal data. Leveraging synthetic data, we show improved performance in 360° video traffic analysis, especially in ML-based classification in 360NorVic. Thirdly, we propose an effective 360° video frame partitioning mechanism (namely VASTile) at the server side to support VP-aware 360° video streaming with dy- namic tiles (or variable tiles) of different sizes and locations on the frame. VASTile takes a visual attention map on the video frames as the input and applies a com- putational geometric approach to generate a non-overlapping tile configuration to cover the video frames adaptive to the visual attention. We present VASTile as a scalable approach for video frame processing at the servers and a method to re- duce bandwidth consumption in network data transmission. Finally, by applying VASTile to the individual user VP at the client side and utilizing cache storage of Multi Access Edge Computing (MEC) servers, we propose OpCASH, a mech- anism to personalize the 360° video streaming with dynamic tiles with the edge assistance. While proposing an ILP based solution to effectively select cached variable tiles from MEC servers that might not be identical to the requested VP tiles by user, but still effectively cover the same VP region, OpCASH maximize the cache utilization and reduce the number of requests to the content servers in congested core network. With this approach, we demonstrate the gain in latency and bandwidth saving and video quality improvement in personalized 360° video streaming

MediaSync: Handbook on Multimedia Synchronization

This book provides an approachable overview of the most recent advances in the fascinating field of media synchronization (mediasync), gathering contributions from the most representative and influential experts. Understanding the challenges of this field in the current multi-sensory, multi-device, and multi-protocol world is not an easy task. The book revisits the foundations of mediasync, including theoretical frameworks and models, highlights ongoing research efforts, like hybrid broadband broadcast (HBB) delivery and users' perception modeling (i.e., Quality of Experience or QoE), and paves the way for the future (e.g., towards the deployment of multi-sensory and ultra-realistic experiences). Although many advances around mediasync have been devised and deployed, this area of research is getting renewed attention to overcome remaining challenges in the next-generation (heterogeneous and ubiquitous) media ecosystem. Given the significant advances in this research area, its current relevance and the multiple disciplines it involves, the availability of a reference book on mediasync becomes necessary. This book fills the gap in this context. In particular, it addresses key aspects and reviews the most relevant contributions within the mediasync research space, from different perspectives. Mediasync: Handbook on Multimedia Synchronization is the perfect companion for scholars and practitioners that want to acquire strong knowledge about this research area, and also approach the challenges behind ensuring the best mediated experiences, by providing the adequate synchronization between the media elements that constitute these experiences

Lidar-based Obstacle Detection and Recognition for Autonomous Agricultural Vehicles

Today, agricultural vehicles are available that can drive autonomously and follow exact route plans more precisely than human operators. Combined with advancements in precision agriculture, autonomous agricultural robots can reduce manual labor, improve workflow, and optimize yield. However, as of today, human operators are still required for monitoring the environment and acting upon potential obstacles in front of the vehicle. To eliminate this need, safety must be ensured by accurate and reliable obstacle detection and avoidance systems.In this thesis, lidar-based obstacle detection and recognition in agricultural environments has been investigated. A rotating multi-beam lidar generating 3D point clouds was used for point-wise classification of agricultural scenes, while multi-modal fusion with cameras and radar was used to increase performance and robustness. Two research perception platforms were presented and used for data acquisition. The proposed methods were all evaluated on recorded datasets that represented a wide range of realistic agricultural environments and included both static and dynamic obstacles.For 3D point cloud classification, two methods were proposed for handling density variations during feature extraction. One method outperformed a frequently used generic 3D feature descriptor, whereas the other method showed promising preliminary results using deep learning on 2D range images. For multi-modal fusion, four methods were proposed for combining lidar with color camera, thermal camera, and radar. Gradual improvements in classification accuracy were seen, as spatial, temporal, and multi-modal relationships were introduced in the models. Finally, occupancy grid mapping was used to fuse and map detections globally, and runtime obstacle detection was applied on mapped detections along the vehicle path, thus simulating an actual traversal.The proposed methods serve as a first step towards full autonomy for agricultural vehicles. The study has thus shown that recent advancements in autonomous driving can be transferred to the agricultural domain, when accurate distinctions are made between obstacles and processable vegetation. Future research in the domain has further been facilitated with the release of the multi-modal obstacle dataset, FieldSAFE