People tracking and re-identification by face recognition for RGB-D camera networks

This paper describes a face recognition-based people tracking and re-identification system for RGB-D camera networks. The system tracks people and learns their faces online to keep track of their identities even if they move out from the camera's field of view once. For robust people re-identification, the system exploits the combination of a deep neural network- based face representation and a Bayesian inference-based face classification method. The system also provides a predefined people identification capability: it associates the online learned faces with predefined people face images and names to know the people's whereabouts, thus, allowing a rich human-system interaction. Through experiments, we validate the re-identification and the predefined people identification capabilities of the system and show an example of the integration of the system with a mobile robot. The overall system is built as a Robot Operating System (ROS) module. As a result, it simplifies the integration with the many existing robotic systems and algorithms which use such middleware. The code of this work has been released as open-source in order to provide a baseline for the future publications in this field

DeepIPC: Deeply Integrated Perception and Control for an Autonomous Vehicle in Real Environments

We propose DeepIPC, an end-to-end autonomous driving model that handles both perception and control tasks in driving a vehicle. The model consists of two main parts, perception and controller modules. The perception module takes an RGBD image to perform semantic segmentation and bird's eye view (BEV) semantic mapping along with providing their encoded features. Meanwhile, the controller module processes these features with the measurement of GNSS locations and angular speed to estimate waypoints that come with latent features. Then, two different agents are used to translate waypoints and latent features into a set of navigational controls to drive the vehicle. The model is evaluated by predicting driving records and performing automated driving under various conditions in real environments. The experimental results show that DeepIPC achieves the best drivability and multi-task performance even with fewer parameters compared to the other models. Codes are available at https://github.com/oskarnatan/DeepIPC

DeepIPCv2: LiDAR-powered Robust Environmental Perception and Navigational Control for Autonomous Vehicle

We present DeepIPCv2, an autonomous driving model that perceives the environment using a LiDAR sensor for more robust drivability, especially when driving under poor illumination conditions. DeepIPCv2 takes a set of LiDAR point clouds for its main perception input. As point clouds are not affected by illumination changes, they can provide a clear observation of the surroundings no matter what the condition is. This results in a better scene understanding and stable features provided by the perception module to support the controller module in estimating navigational control properly. To evaluate its performance, we conduct several tests by deploying the model to predict a set of driving records and perform real automated driving under three different conditions. We also conduct ablation and comparative studies with some recent models to justify its performance. Based on the experimental results, DeepIPCv2 shows a robust performance by achieving the best drivability in all conditions. Codes are available at https://github.com/oskarnatan/DeepIPCv

Preparation and Characterization of Ti(2)O(3) Films Deposited on Sapphire Substrate by Activated Reactive Evaporation Method

(001)-oriented Ti(2)O(3) films were epitaxially grown on a(001)-face of sapphire single-crystalline substrate by an activated reactive evaporation method. The formation ranges of stoichiometric and nonstoichiometric Ti(2)O(3) films were determined as a function of the substrate temperature (Ts), the oxygen pressure (Po(2)) and the deposition rate. Stoichiometric Ti(2)O(3) films were grown at Ts≧673K under Po(2)≧1.0×10(-4)Torr, which showed the metal-insulator transition with a sharp change in electrical resistivity from 3.5×10(-2) to 2.6×10(-3)Ωcm at 361K. Nonstoichiometric films prepared under less oxidized conditions did not exhibit the transition. The nonstoichiometry of the Ti(2)O(3)films was discussed in terms of excess Ti ions

A portable three-dimensional LIDAR-based system for long-term and wide-area people behavior measurement:

It is important to measure and analyze people behavior to design systems which interact with people. This article describes a portable people behavior measurement system using a three-dimensional LIDAR. In this system, an observer carries the system equipped with a three-dimensional Light Detection and Ranging (LIDAR) and follows persons to be measured while keeping them in the sensor view. The system estimates the sensor pose in a three-dimensional environmental map and tracks the target persons. It enables long-term and wide-area people behavior measurements which are hard for existing people tracking systems. As a field test, we recorded the behavior of professional caregivers attending elderly persons with dementia in a hospital. The preliminary analysis of the behavior reveals how the caregivers decide the attending position while checking the surrounding people and environment. Based on the analysis result, empirical rules to design the behavior of attendant robots are proposed

Multi-source Pseudo-label Learning of Semantic Segmentation for the Scene Recognition of Agricultural Mobile Robots

This paper describes a novel method of training a semantic segmentation model for environment recognition of agricultural mobile robots by unsupervised domain adaptation exploiting publicly available datasets of outdoor scenes that are different from our target environments i.e., greenhouses. In conventional semantic segmentation methods, the labels are given by manual annotation, which is a tedious and time-consuming task. A method to work around the necessity of the manual annotation is unsupervised domain adaptation (UDA) that transfer knowledge from labeled source datasets to unlabeled target datasets. Most of the UDA methods of semantic segmentation are validated by tasks of adaptation from non-photorealistic synthetic images of urban scenes to real ones. However, the effectiveness of the methods is not well studied in the case of adaptation to other types of environments, such as greenhouses. In addition, it is not always possible to prepare appropriate source datasets for such environments. In this paper, we adopt an existing training method of UDA to a task of training a model for greenhouse images. We propose to use multiple publicly available datasets of outdoor images as source datasets, and also propose a simple yet effective method of generating pseudo-labels by transferring knowledge from the source datasets that have different appearance and a label set from the target datasets. We demonstrate in experiments that by combining our proposed method of pseudo-label generation with the existing training method, the performance was improved by up to 14.3% of mIoU compared to the best score of the single-source training.Comment: 10 pages, 7 figures, submitted to Machine Vision And Application