Waste detection in Pomerania: non-profit project for detecting waste in environment

Waste pollution is one of the most significant environmental issues in the modern world. The importance of recycling is well known, either for economic or ecological reasons, and the industry demands high efficiency. Our team conducted comprehensive research on Artificial Intelligence usage in waste detection and classification to fight the world's waste pollution problem. As a result an open-source framework that enables the detection and classification of litter was developed. The final pipeline consists of two neural networks: one that detects litter and a second responsible for litter classification. Waste is classified into seven categories: bio, glass, metal and plastic, non-recyclable, other, paper and unknown. Our approach achieves up to 70% of average precision in waste detection and around 75% of classification accuracy on the test dataset. The code used in the studies is publicly available online.Comment: Litter detection, Waste detection, Object detectio

ICARUS Training and Support System

The ICARUS unmanned tools act as gatherers, which acquire enormous amount of information. The management of all these data requires the careful consideration of an intelligent support system. This chapter discusses the High-Performance Computing (HPC) support tools, which were developed for rapid 3D data extraction, combination, fusion, segmentation, classification and rendering. These support tools were seamlessly connected to a training framework. Indeed, training is a key in the world of search and rescue. Search and rescue workers will never use tools on the field for which they have not been extensively trained beforehand. For this reason, a comprehensive serious gaming training framework was developed, supporting all ICARUS unmanned vehicles in realistic 3D-simulated (based on inputs from the support system) and real environments

Przegląd metod uczenia głębokiego w wykrywaniu małych i bardzo małych obiektów

In recent years, thanks to the development of Deep Learning methods, there has been significant progress in object detection and other computer vision tasks. While generic object detection is becoming less of an issue for modern algorithms, with the Average Precision for medium and large objects in the COCO dataset approaching 70 and 80 percent, respectively, small object detection still remains an unsolved problem. Limited appearance information, blurring, and low signal-to-noise ratio cause state-of-the-art general detectors to fail when applied to small objects. Traditional feature extractors rely on downsampling, which can cause the smallest objects to disappear, and standard anchor assignment methods have proven to be less effective when used to detect low-pixel instances. In this work, we perform an exhaustive review of the literature related to small and tiny object detection. We aggregate the definitions of small and tiny objects, distinguish between small absolute and small relative sizes, and highlight their challenges. We comprehensively discuss datasets, metrics, and methods dedicated to small and tiny objects, and finally, we make a quantitative comparison on three publicly available datasets.W ostatnich latach, dzięki rozwojowi metod uczenia głębokiego, dokonano znacznego postępu w detekcji obiektów i innych zadaniach widzenia maszynowego. Mimo że ogólne wykrywanie obiektów staje się coraz mniej problematyczne dla nowoczesnych algorytmów, a średnia precyzja dla średnich i dużych instancji w zbiorze COCO zbliża się odpowiednio do 70 i 80 procent, wykrywanie małych obiektów pozostaje nierozwiązanym problemem. Ograniczone informacje o wyglądzie, rozmycia i niski stosunek sygnału do szumu powodują, że najnowocześniejsze detektory zawodzą, gdy są stosowane do małych obiektów. Tradycyjne ekstraktory cech opierają się na próbkowaniu w dół, które może powodować zanikanie najmniejszych obiektów, a standardowe metody przypisania kotwic są mniej skuteczne w wykrywaniu instancji o małej liczbie pikseli. W niniejszej pracy dokonujemy wyczerpującego przeglądu literatury dotyczącej wykrywania małych i bardzo małych obiektów. Przedstawiamy definicje, rozróżniamy małe wymiary bezwzględne i względne oraz podkreślamy związane z nimi wyzwania. Kompleksowo omawiamy zbiory danych, metryki i metody, a na koniec dokonujemy porównania ilościowego na trzech publicznie dostępnych zbiorach danych

Intelligent mobile system for improving spatial design support and security inside buildings

This paper concerns the an intelligent mobile application for spatial design support and security domain. Mobility has two aspects in our research: The first one is the usage of mobile robots for 3D mapping of urban areas and for performing some specific tasks. The second mobility aspect is related with a novel Software as a Service system that allows access to robotic functionalities and data over the Ethernet, thus we demonstrate the use of the novel NVIDIA GRID technology allowing to virtualize the graphic processing unit. We introduce Complex Shape Histogram, a core component of our artificial intelligence engine, used for classifying 3D point clouds with a Support Vector Machine. We use Complex Shape Histograms also for loop closing detection in the simultaneous localization and mapping algorithm. Our intelligent mobile system is built on top of the Qualitative Spatio-Temporal Representation and Reasoning framework. This framework defines an ontology and a semantic model, which are used for building the intelligent mobile user interfaces. We show experiments demonstrating advantages of our approach. In addition, we test our prototypes in the field after the end-user case studies demonstrating a relevant contribution for future intelligent mobile systems that merge mobile robots with novel data centers

Chapter ICARUS Training and Support System

The ICARUS unmanned tools act as gatherers, which acquire enormous amount of information. The management of all these data requires the careful consideration of an intelligent support system. This chapter discusses the High-Performance Computing (HPC) support tools, which were developed for rapid 3D data extraction, combination, fusion, segmentation, classification and rendering. These support tools were seamlessly connected to a training framework. Indeed, training is a key in the world of search and rescue. Search and rescue workers will never use tools on the field for which they have not been extensively trained beforehand. For this reason, a comprehensive serious gaming training framework was developed, supporting all ICARUS unmanned vehicles in realistic 3D-simulated (based on inputs from the support system) and real environments

Intelligent Mobile System for Improving Spatial Design Support and Security Inside Buildings

This paper concerns the an intelligent mobile application for spatial design support and security domain. Mobility has two aspects in our research: The first one is the usage of mobile robots for 3D mapping of urban areas and for performing some specific tasks. The second mobility aspect is related with a novel Software as a Service system that allows access to robotic functionalities and data over the Ethernet, thus we demonstrate the use of the novel NVIDIA GRID technology allowing to virtualize the graphic processing unit. We introduce Complex Shape Histogram, a core component of our artificial intelligence engine, used for classifying 3D point clouds with a Support Vector Machine. We use Complex Shape Histograms also for loop closing detection in the simultaneous localization and mapping algorithm. Our intelligent mobile system is built on top of the Qualitative Spatio-Temporal Representation and Reasoning framework. This framework defines an ontology and a semantic model, which are used for building the intelligent mobile user interfaces. We show experiments demonstrating advantages of our approach. In addition, we test our prototypes in the field after the end-user case studies demonstrating a relevant contribution for future intelligent mobile systems that merge mobile robots with novel data centers