Generation of Horizontally Curved Driving Lines for Autonomous Vehicles Using Mobile Laser Scanning Data

The development of autonomous vehicle desiderates tremendous advances in three-dimensional (3D) high-definition roadmaps. These roadmaps are capable of providing 3D positioning information with 10-to-20 cm accuracy. With the assistance of 3D high-definition roadmaps, the intractable autonomous driving problem is transformed into a solvable localization issue. The Mobile Laser Scanning (MLS) systems can collect accurate, high-density 3D point clouds in road environments for generating 3D high-definition roadmaps. However, few studies have been concentrated on the driving line generation from 3D MLS point clouds for highly autonomous driving, particularly for accident-prone horizontal curves with the problems of ambiguous traffic situations and unclear visual clues. This thesis attempts to develop an effective method for semi-automated generation of horizontally curved driving lines using MLS data. The framework of research methodology proposed in this thesis consists of three steps, including road surface extraction, road marking extraction, and driving line generation. Firstly, the points covering road surface are extracted using curb-based road surface extraction algorithms depending on both the elevation and slope differences. Then, road markings are identified and extracted according to a sequence of algorithms consisting of geo-referenced intensity image generation, multi-threshold road marking extraction, and statistical outlier removal. Finally, the conditional Euclidean clustering algorithm is employed followed by the nonlinear least-squares curve-fitting algorithm for generating horizontally curved driving lines. A total of six test datasets obtained in Xiamen, China by a RIEGL VMX-450 system were used to evaluate the performance and efficiency of the proposed methodology. The experimental results demonstrate that the proposed road marking extraction algorithms can achieve 90.89% in recall, 93.04% in precision and 91.95% in F1-score, respectively. Moreover, the unmanned aerial vehicle (UAV) imagery with 4 cm was used for validation of the proposed driving line generation algorithms. The validation results demonstrate that the horizontally curved driving lines can be effectively generated within 15 cm-level localization accuracy using MLS point clouds. Finally, a comparative study was conducted both visually and quantitatively to indicate the accuracy and reliability of the generated driving lines

Road Information Extraction from Mobile LiDAR Point Clouds using Deep Neural Networks

Urban roads, as one of the essential transportation infrastructures, provide considerable motivations for rapid urban sprawl and bring notable economic and social benefits. Accurate and efficient extraction of road information plays a significant role in the development of autonomous vehicles (AVs) and high-definition (HD) maps. Mobile laser scanning (MLS) systems have been widely used for many transportation-related studies and applications in road inventory, including road object detection, pavement inspection, road marking segmentation and classification, and road boundary extraction, benefiting from their large-scale data coverage, high surveying flexibility, high measurement accuracy, and reduced weather sensitivity. Road information from MLS point clouds is significant for road infrastructure planning and maintenance, and have an important impact on transportation-related policymaking, driving behaviour regulation, and traffic efficiency enhancement. Compared to the existing threshold-based and rule-based road information extraction methods, deep learning methods have demonstrated superior performance in 3D road object segmentation and classification tasks. However, three main challenges remain that impede deep learning methods for precisely and robustly extracting road information from MLS point clouds. (1) Point clouds obtained from MLS systems are always in large-volume and irregular formats, which has presented significant challenges for managing and processing such massive unstructured points. (2) Variations in point density and intensity are inevitable because of the profiling scanning mechanism of MLS systems. (3) Due to occlusions and the limited scanning range of onboard sensors, some road objects are incomplete, which considerably degrades the performance of threshold-based methods to extract road information. To deal with these challenges, this doctoral thesis proposes several deep neural networks that encode inherent point cloud features and extract road information. These novel deep learning models have been tested by several datasets to deliver robust and accurate road information extraction results compared to state-of-the-art deep learning methods in complex urban environments. First, an end-to-end feature extraction framework for 3D point cloud segmentation is proposed using dynamic point-wise convolutional operations at multiple scales. This framework is less sensitive to data distribution and computational power. Second, a capsule-based deep learning framework to extract and classify road markings is developed to update road information and support HD maps. It demonstrates the practical application of combining capsule networks with hierarchical feature encodings of georeferenced feature images. Third, a novel deep learning framework for road boundary completion is developed using MLS point clouds and satellite imagery, based on the U-shaped network and the conditional deep convolutional generative adversarial network (c-DCGAN). Empirical evidence obtained from experiments compared with state-of-the-art methods demonstrates the superior performance of the proposed models in road object semantic segmentation, road marking extraction and classification, and road boundary completion tasks

EpCAM Is an Endoderm-Specific Wnt Derepressor that Licenses Hepatic Development

SummaryMechanisms underlying cell-type-specific response to morphogens or signaling molecules during embryonic development are poorly understood. To learn how response to the liver-inductive Wnt2bb signal is achieved, we identify an endoderm-enriched, single transmembrane protein, epithelial-cell-adhesion-molecule (EpCAM), as an endoderm-specific Wnt derepressor in zebrafish. hi2151/epcam mutants exhibit defective liver development similar to prt/wnt2bb mutants. EpCAM directly binds to Kremen1 and disrupts the Kremen1-Dickkopf2 (Dkk2) interaction, which prevents Kremen1-Dkk2-mediated removal of Lipoprotein-receptor-related protein 6 (Lrp6) from the cell surface. These data lead to a model in which EpCAM derepresses Lrp6 and cooperates with Wnt ligand to activate Wnt signaling through stabilizing membrane Lrp6 and allowing Lrp6 clustering into active signalosomes. Thus, EpCAM cell autonomously licenses and cooperatively activates Wnt2bb signaling in endodermal cells. Our results identify EpCAM as the key molecule and its functional mechanism to confer endodermal cells the competence to respond to the liver-inductive Wnt2bb signal

Unsupervised Reference-Free Summary Quality Evaluation via Contrastive Learning

Evaluation of a document summarization system has been a critical factor to impact the success of the summarization task. Previous approaches, such as ROUGE, mainly consider the informativeness of the assessed summary and require human-generated references for each test summary. In this work, we propose to evaluate the summary qualities without reference summaries by unsupervised contrastive learning. Specifically, we design a new metric which covers both linguistic qualities and semantic informativeness based on BERT. To learn the metric, for each summary, we construct different types of negative samples with respect to different aspects of the summary qualities, and train our model with a ranking loss. Experiments on Newsroom and CNN/Daily Mail demonstrate that our new evaluation method outperforms other metrics even without reference summaries. Furthermore, we show that our method is general and transferable across datasets.Comment: Long Paper in EMNLP 202

AdaCCD: Adaptive Semantic Contrasts Discovery based Cross Lingual Adaptation for Code Clone Detection

Code Clone Detection, which aims to retrieve functionally similar programs from large code bases, has been attracting increasing attention. Modern software often involves a diverse range of programming languages. However, current code clone detection methods are generally limited to only a few popular programming languages due to insufficient annotated data as well as their own model design constraints. To address these issues, we present AdaCCD, a novel cross-lingual adaptation method that can detect cloned codes in a new language without any annotations in that language. AdaCCD leverages language-agnostic code representations from pre-trained programming language models and propose an Adaptively Refined Contrastive Learning framework to transfer knowledge from resource-rich languages to resource-poor languages. We evaluate the cross-lingual adaptation results of AdaCCD by constructing a multilingual code clone detection benchmark consisting of 5 programming languages. AdaCCD achieves significant improvements over other baselines, and it is even comparable to supervised fine-tuning.Comment: 10 page