2,621 research outputs found
Controlling Steering Angle for Cooperative Self-driving Vehicles utilizing CNN and LSTM-based Deep Networks
A fundamental challenge in autonomous vehicles is adjusting the steering
angle at different road conditions. Recent state-of-the-art solutions
addressing this challenge include deep learning techniques as they provide
end-to-end solution to predict steering angles directly from the raw input
images with higher accuracy. Most of these works ignore the temporal
dependencies between the image frames. In this paper, we tackle the problem of
utilizing multiple sets of images shared between two autonomous vehicles to
improve the accuracy of controlling the steering angle by considering the
temporal dependencies between the image frames. This problem has not been
studied in the literature widely. We present and study a new deep architecture
to predict the steering angle automatically by using Long-Short-Term-Memory
(LSTM) in our deep architecture. Our deep architecture is an end-to-end network
that utilizes CNN, LSTM and fully connected (FC) layers and it uses both
present and futures images (shared by a vehicle ahead via Vehicle-to-Vehicle
(V2V) communication) as input to control the steering angle. Our model
demonstrates the lowest error when compared to the other existing approaches in
the literature.Comment: Accepted in IV 2019, 6 pages, 9 figure
Simple yet efficient real-time pose-based action recognition
Recognizing human actions is a core challenge for autonomous systems as they
directly share the same space with humans. Systems must be able to recognize
and assess human actions in real-time. In order to train corresponding
data-driven algorithms, a significant amount of annotated training data is
required. We demonstrated a pipeline to detect humans, estimate their pose,
track them over time and recognize their actions in real-time with standard
monocular camera sensors. For action recognition, we encode the human pose into
a new data format called Encoded Human Pose Image (EHPI) that can then be
classified using standard methods from the computer vision community. With this
simple procedure we achieve competitive state-of-the-art performance in
pose-based action detection and can ensure real-time performance. In addition,
we show a use case in the context of autonomous driving to demonstrate how such
a system can be trained to recognize human actions using simulation data.Comment: Submitted to IEEE Intelligent Transportation Systems Conference
(ITSC) 2019. Code will be available soon at
https://github.com/noboevbo/ehpi_action_recognitio
Systematic Review of Experimental Paradigms and Deep Neural Networks for Electroencephalography-Based Cognitive Workload Detection
This article summarizes a systematic review of the electroencephalography
(EEG)-based cognitive workload (CWL) estimation. The focus of the article is
twofold: identify the disparate experimental paradigms used for reliably
eliciting discreet and quantifiable levels of cognitive load and the specific
nature and representational structure of the commonly used input formulations
in deep neural networks (DNNs) used for signal classification. The analysis
revealed a number of studies using EEG signals in its native representation of
a two-dimensional matrix for offline classification of CWL. However, only a few
studies adopted an online or pseudo-online classification strategy for
real-time CWL estimation. Further, only a couple of interpretable DNNs and a
single generative model were employed for cognitive load detection till date
during this review. More often than not, researchers were using DNNs as
black-box type models. In conclusion, DNNs prove to be valuable tools for
classifying EEG signals, primarily due to the substantial modeling power
provided by the depth of their network architecture. It is further suggested
that interpretable and explainable DNN models must be employed for cognitive
workload estimation since existing methods are limited in the face of the
non-stationary nature of the signal.Comment: 10 Pages, 4 figure
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