Fast, Accurate Thin-Structure Obstacle Detection for Autonomous Mobile Robots

Safety is paramount for mobile robotic platforms such as self-driving cars and unmanned aerial vehicles. This work is devoted to a task that is indispensable for safety yet was largely overlooked in the past -- detecting obstacles that are of very thin structures, such as wires, cables and tree branches. This is a challenging problem, as thin objects can be problematic for active sensors such as lidar and sonar and even for stereo cameras. In this work, we propose to use video sequences for thin obstacle detection. We represent obstacles with edges in the video frames, and reconstruct them in 3D using efficient edge-based visual odometry techniques. We provide both a monocular camera solution and a stereo camera solution. The former incorporates Inertial Measurement Unit (IMU) data to solve scale ambiguity, while the latter enjoys a novel, purely vision-based solution. Experiments demonstrated that the proposed methods are fast and able to detect thin obstacles robustly and accurately under various conditions.Comment: Appeared at IEEE CVPR 2017 Workshop on Embedded Visio

Detection of Mines in Acoustic Images using Higher Order Spectral Features

A new pattern-recognition algorithm detects approximately 90% of the mines hidden in the Coastal Systems Station Sonar0, 1, and 3 databases of cluttered acoustic images, with about 10% false alarms. Similar to other approaches, the algorithm presented here includes processing the images with an adaptive Wiener filter (the degree of smoothing depends on the signal strength in a local neighborhood) to remove noise without destroying the structural information in the mine shapes, followed by a two-dimensional FIR filter designed to suppress noise and clutter, while enhancing the target signature. A double peak pattern is produced as the FIR filter passes over mine highlight and shadow regions. Although the location, size, and orientation of this pattern within a region of the image can vary, features derived from higher order spectra (HOS) are invariant to translation, rotation, and scaling, while capturing the spatial correlations of mine-like objects. Classification accuracy is improved by combining features based on geometrical properties of the filter output with features based on HOS. The highest accuracy is obtained by fusing classification based on bispectral features with classification based on trispectral features

Practical classification of different moving targets using automotive radar and deep neural networks

In this work, the authors present results for classification of different classes of targets (car, single and multiple people, bicycle) using automotive radar data and different neural networks. A fast implementation of radar algorithms for detection, tracking, and micro-Doppler extraction is proposed in conjunction with the automotive radar transceiver TEF810X and microcontroller unit SR32R274 manufactured by NXP Semiconductors. Three different types of neural networks are considered, namely a classic convolutional network, a residual network, and a combination of convolutional and recurrent network, for different classification problems across the four classes of targets recorded. Considerable accuracy (close to 100% in some cases) and low latency of the radar pre-processing prior to classification (∼0.55 s to produce a 0.5 s long spectrogram) are demonstrated in this study, and possible shortcomings and outstanding issues are discussed

Deployment characterization of a floatable tidal energy converter on a tidal channel, Ria Formosa, Portugal

This paper presents the results of a pilot experiment with an existing tidal energy converter (TEC), Evopod 1 kW floatable prototype, in a real test case scenario (Faro Channel, Ria Formosa, Portugal). A baseline marine geophysical, hydrodynamic and ecological study based on the experience collected on the test site is presented. The collected data was used to validate a hydro-morphodynamic model, allowing the selection of the installation area based on both operational and environmental constraints. Operational results related to the description of power generation capacity, energy capture area and proportion of energy flux are presented and discussed, including the failures occurring during the experimental setup. The data is now available to the scientific community and to TEC industry developers, enhancing the operational knowledge of TEC technology concerning efficiency, environmental effects, and interactions (i.e. device/environment). The results can be used by developers on the licensing process, on overcoming the commercial deployment barriers, on offering extra assurance and confidence to investors, who traditionally have seen environmental concerns as a barrier, and on providing the foundations whereupon similar deployment areas can be considered around the world for marine tidal energy extraction.Acknowledgements The paper is a contribution to the SCORE project, funded by the Portuguese Foundation for Science and Technology (FCT e PTDC/ AAG-TEC/1710/2014). Andre Pacheco was supported by the Portu- guese Foundation for Science and Technology under the Portuguese Researchers' Programme 2014 entitled “Exploring new concepts for extracting energy from tides” (IF/00286/2014/CP1234). Eduardo GGorbena has received funding for the OpTiCA project from the ~ Marie Skłodowska-Curie Actions of the European Union's H2020- MSCA-IF-EF-RI-2016/under REA grant agreement n [748747]. The authors would like to thank to the Portuguese Maritime Authorities and Sofareia SA for their help on the deployment.info:eu-repo/semantics/publishedVersio

Spectral Embedding Norm: Looking Deep into the Spectrum of the Graph Laplacian

The extraction of clusters from a dataset which includes multiple clusters and a significant background component is a non-trivial task of practical importance. In image analysis this manifests for example in anomaly detection and target detection. The traditional spectral clustering algorithm, which relies on the leading $K$ eigenvectors to detect $K$ clusters, fails in such cases. In this paper we propose the {\it spectral embedding norm} which sums the squared values of the first $I$ normalized eigenvectors, where $I$ can be significantly larger than $K$. We prove that this quantity can be used to separate clusters from the background in unbalanced settings, including extreme cases such as outlier detection. The performance of the algorithm is not sensitive to the choice of $I$, and we demonstrate its application on synthetic and real-world remote sensing and neuroimaging datasets

Efficient Computation in Adaptive Artificial Spiking Neural Networks

Artificial Neural Networks (ANNs) are bio-inspired models of neural computation that have proven highly effective. Still, ANNs lack a natural notion of time, and neural units in ANNs exchange analog values in a frame-based manner, a computationally and energetically inefficient form of communication. This contrasts sharply with biological neurons that communicate sparingly and efficiently using binary spikes. While artificial Spiking Neural Networks (SNNs) can be constructed by replacing the units of an ANN with spiking neurons, the current performance is far from that of deep ANNs on hard benchmarks and these SNNs use much higher firing rates compared to their biological counterparts, limiting their efficiency. Here we show how spiking neurons that employ an efficient form of neural coding can be used to construct SNNs that match high-performance ANNs and exceed state-of-the-art in SNNs on important benchmarks, while requiring much lower average firing rates. For this, we use spike-time coding based on the firing rate limiting adaptation phenomenon observed in biological spiking neurons. This phenomenon can be captured in adapting spiking neuron models, for which we derive the effective transfer function. Neural units in ANNs trained with this transfer function can be substituted directly with adaptive spiking neurons, and the resulting Adaptive SNNs (AdSNNs) can carry out inference in deep neural networks using up to an order of magnitude fewer spikes compared to previous SNNs. Adaptive spike-time coding additionally allows for the dynamic control of neural coding precision: we show how a simple model of arousal in AdSNNs further halves the average required firing rate and this notion naturally extends to other forms of attention. AdSNNs thus hold promise as a novel and efficient model for neural computation that naturally fits to temporally continuous and asynchronous applications