Accurate Single Stage Detector Using Recurrent Rolling Convolution

Most of the recent successful methods in accurate object detection and localization used some variants of R-CNN style two stage Convolutional Neural Networks (CNN) where plausible regions were proposed in the first stage then followed by a second stage for decision refinement. Despite the simplicity of training and the efficiency in deployment, the single stage detection methods have not been as competitive when evaluated in benchmarks consider mAP for high IoU thresholds. In this paper, we proposed a novel single stage end-to-end trainable object detection network to overcome this limitation. We achieved this by introducing Recurrent Rolling Convolution (RRC) architecture over multi-scale feature maps to construct object classifiers and bounding box regressors which are "deep in context". We evaluated our method in the challenging KITTI dataset which measures methods under IoU threshold of 0.7. We showed that with RRC, a single reduced VGG-16 based model already significantly outperformed all the previously published results. At the time this paper was written our models ranked the first in KITTI car detection (the hard level), the first in cyclist detection and the second in pedestrian detection. These results were not reached by the previous single stage methods. The code is publicly available.Comment: CVPR 201

SINet: A Scale-insensitive Convolutional Neural Network for Fast Vehicle Detection

Vision-based vehicle detection approaches achieve incredible success in recent years with the development of deep convolutional neural network (CNN). However, existing CNN based algorithms suffer from the problem that the convolutional features are scale-sensitive in object detection task but it is common that traffic images and videos contain vehicles with a large variance of scales. In this paper, we delve into the source of scale sensitivity, and reveal two key issues: 1) existing RoI pooling destroys the structure of small scale objects, 2) the large intra-class distance for a large variance of scales exceeds the representation capability of a single network. Based on these findings, we present a scale-insensitive convolutional neural network (SINet) for fast detecting vehicles with a large variance of scales. First, we present a context-aware RoI pooling to maintain the contextual information and original structure of small scale objects. Second, we present a multi-branch decision network to minimize the intra-class distance of features. These lightweight techniques bring zero extra time complexity but prominent detection accuracy improvement. The proposed techniques can be equipped with any deep network architectures and keep them trained end-to-end. Our SINet achieves state-of-the-art performance in terms of accuracy and speed (up to 37 FPS) on the KITTI benchmark and a new highway dataset, which contains a large variance of scales and extremely small objects.Comment: Accepted by IEEE Transactions on Intelligent Transportation Systems (T-ITS

Vehicle pose estimation using G-Net: multi-class localization and depth estimation

In this paper we present a new network architecture, called G-Net, for 3D pose estimation on RGB images which is trained in a weakly supervised manner. We introduce a two step pipeline based on region-based Convolutional neural networks (CNNs) for feature localization, bounding box refinement based on non-maximum-suppression and depth estimation. The G-Net is able to estimate the depth from single monocular images with a self-tuned loss function. The combination of this predicted depth and the presented two-step localization allows the extraction of the 3D pose of the object. We show in experiments that our method achieves good results compared to other state-of-the-art approaches which are trained in a fully supervised manner.Peer ReviewedPostprint (author's final draft

What Can Help Pedestrian Detection?

Aggregating extra features has been considered as an effective approach to boost traditional pedestrian detection methods. However, there is still a lack of studies on whether and how CNN-based pedestrian detectors can benefit from these extra features. The first contribution of this paper is exploring this issue by aggregating extra features into CNN-based pedestrian detection framework. Through extensive experiments, we evaluate the effects of different kinds of extra features quantitatively. Moreover, we propose a novel network architecture, namely HyperLearner, to jointly learn pedestrian detection as well as the given extra feature. By multi-task training, HyperLearner is able to utilize the information of given features and improve detection performance without extra inputs in inference. The experimental results on multiple pedestrian benchmarks validate the effectiveness of the proposed HyperLearner.Comment: Accepted to IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 201

Learning Finer-class Networks for Universal Representations

Many real-world visual recognition use-cases can not directly benefit from state-of-the-art CNN-based approaches because of the lack of many annotated data. The usual approach to deal with this is to transfer a representation pre-learned on a large annotated source-task onto a target-task of interest. This raises the question of how well the original representation is "universal", that is to say directly adapted to many different target-tasks. To improve such universality, the state-of-the-art consists in training networks on a diversified source problem, that is modified either by adding generic or specific categories to the initial set of categories. In this vein, we proposed a method that exploits finer-classes than the most specific ones existing, for which no annotation is available. We rely on unsupervised learning and a bottom-up split and merge strategy. We show that our method learns more universal representations than state-of-the-art, leading to significantly better results on 10 target-tasks from multiple domains, using several network architectures, either alone or combined with networks learned at a coarser semantic level.Comment: British Machine Vision Conference (BMVC) 201