Pedestrian Environment Model for Automated Driving

Besides interacting correctly with other vehicles, automated vehicles should also be able to react in a safe manner to vulnerable road users like pedestrians or cyclists. For a safe interaction between pedestrians and automated vehicles, the vehicle must be able to interpret the pedestrian's behavior. Common environment models do not contain information like body poses used to understand the pedestrian's intent. In this work, we propose an environment model that includes the position of the pedestrians as well as their pose information. We only use images from a monocular camera and the vehicle's localization data as input to our pedestrian environment model. We extract the skeletal information with a neural network human pose estimator from the image. Furthermore, we track the skeletons with a simple tracking algorithm based on the Hungarian algorithm and an ego-motion compensation. To obtain the 3D information of the position, we aggregate the data from consecutive frames in conjunction with the vehicle position. We demonstrate our pedestrian environment model on data generated with the CARLA simulator and the nuScenes dataset. Overall, we reach a relative position error of around 16% on both datasets.Comment: Accepted for presentation at the 26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023), 24-28 September 2023, Bilbao, Bizkaia, Spai

Data-Free Backbone Fine-Tuning for Pruned Neural Networks

Model compression techniques reduce the computational load and memory consumption of deep neural networks. After the compression operation, e.g. parameter pruning, the model is normally fine-tuned on the original training dataset to recover from the performance drop caused by compression. However, the training data is not always available due to privacy issues or other factors. In this work, we present a data-free fine-tuning approach for pruning the backbone of deep neural networks. In particular, the pruned network backbone is trained with synthetically generated images, and our proposed intermediate supervision to mimic the unpruned backbone's output feature map. Afterwards, the pruned backbone can be combined with the original network head to make predictions. We generate synthetic images by back-propagating gradients to noise images while relying on L1-pruning for the backbone pruning. In our experiments, we show that our approach is task-independent due to pruning only the backbone. By evaluating our approach on 2D human pose estimation, object detection, and image classification, we demonstrate promising performance compared to the unpruned model. Our code is available at https://github.com/holzbock/dfbf.Comment: Accpeted for presentation at the 31st European Signal Processing Conference (EUSIPCO) 2023, September 4-8, 2023, Helsinki, Finlan

Automated Static Camera Calibration with Intelligent Vehicles

Connected and cooperative driving requires precise calibration of the roadside infrastructure for having a reliable perception system. To solve this requirement in an automated manner, we present a robust extrinsic calibration method for automated geo-referenced camera calibration. Our method requires a calibration vehicle equipped with a combined GNSS/RTK receiver and an inertial measurement unit (IMU) for self-localization. In order to remove any requirements for the target's appearance and the local traffic conditions, we propose a novel approach using hypothesis filtering. Our method does not require any human interaction with the information recorded by both the infrastructure and the vehicle. Furthermore, we do not limit road access for other road users during calibration. We demonstrate the feasibility and accuracy of our approach by evaluating our approach on synthetic datasets as well as a real-world connected intersection, and deploying the calibration on real infrastructure. Our source code is publicly available.Comment: 7 pages, 3 figures, accepted for presentation at the 34th IEEE Intelligent Vehicles Symposium (IV 2023), June 4 - June 7, 2023, Anchorage, Alaska, United States of Americ

Search for dark matter produced in association with bottom or top quarks in √s = 13 TeV pp collisions with the ATLAS detector

A search for weakly interacting massive particle dark matter produced in association with bottom or top quarks is presented. Final states containing third-generation quarks and miss- ing transverse momentum are considered. The analysis uses 36.1 fb−1 of proton–proton collision data recorded by the ATLAS experiment at √s = 13 TeV in 2015 and 2016. No significant excess of events above the estimated backgrounds is observed. The results are in- terpreted in the framework of simplified models of spin-0 dark-matter mediators. For colour- neutral spin-0 mediators produced in association with top quarks and decaying into a pair of dark-matter particles, mediator masses below 50 GeV are excluded assuming a dark-matter candidate mass of 1 GeV and unitary couplings. For scalar and pseudoscalar mediators produced in association with bottom quarks, the search sets limits on the production cross- section of 300 times the predicted rate for mediators with masses between 10 and 50 GeV and assuming a dark-matter mass of 1 GeV and unitary coupling. Constraints on colour- charged scalar simplified models are also presented. Assuming a dark-matter particle mass of 35 GeV, mediator particles with mass below 1.1 TeV are excluded for couplings yielding a dark-matter relic density consistent with measurements

Measurements of ttˉt\bar{t} differential cross-sections of highly boosted top quarks decaying to all-hadronic final states in pppp collisions at s=13 \sqrt{s}=13\, TeV using the ATLAS detector

Measurements are made of differential cross-sections of highly boosted pair-produced top quarks as a function of top-quark and $t\bar{t}$ system kinematic observables using proton--proton collisions at a center-of-mass energy of $\sqrt{s} = 13$ TeV. The data set corresponds to an integrated luminosity of $36.1$ fb$^{-1}$, recorded in 2015 and 2016 with the ATLAS detector at the CERN Large Hadron Collider. Events with two large-radius jets in the final state, one with transverse momentum $p_{\rm T} > 500$ GeV and a second with $p_{\rm T}>350$ GeV, are used for the measurement. The top-quark candidates are separated from the multijet background using jet substructure information and association with a $b$-tagged jet. The measured spectra are corrected for detector effects to a particle-level fiducial phase space and a parton-level limited phase space, and are compared to several Monte Carlo simulations by means of calculated $\chi^2$ values. The cross-section for $t\bar{t}$ production in the fiducial phase-space region is $292 \pm 7 \ \rm{(stat)} \pm 76 \rm{(syst)}$ fb, to be compared to the theoretical prediction of $384 \pm 36$ fb

Measurements of ttˉt\bar{t} differential cross-sections of highly boosted top quarks decaying to all-hadronic final states in pppp collisions at s=13 \sqrt{s}=13\, TeV using the ATLAS detector

Measurements are made of differential cross-sections of highly boosted pair-produced top quarks as a function of top-quark and $t\bar{t}$ system kinematic observables using proton--proton collisions at a center-of-mass energy of $\sqrt{s} = 13$ TeV. The data set corresponds to an integrated luminosity of $36.1$ fb$^{-1}$, recorded in 2015 and 2016 with the ATLAS detector at the CERN Large Hadron Collider. Events with two large-radius jets in the final state, one with transverse momentum $p_{\rm T} > 500$ GeV and a second with $p_{\rm T}>350$ GeV, are used for the measurement. The top-quark candidates are separated from the multijet background using jet substructure information and association with a $b$-tagged jet. The measured spectra are corrected for detector effects to a particle-level fiducial phase space and a parton-level limited phase space, and are compared to several Monte Carlo simulations by means of calculated $\chi^2$ values. The cross-section for $t\bar{t}$ production in the fiducial phase-space region is $292 \pm 7 \ \rm{(stat)} \pm 76 \rm{(syst)}$ fb, to be compared to the theoretical prediction of $384 \pm 36$ fb