Humans perceive the three-dimensional structure of the world with apparent ease. However, despite all of the recent advances in computer vision research, the dream of having a computer interpret an image at the same level as a two-year old remains elusive. Why is computer vision such a challenging problem and what is the current state of the art? Computer Vision: Algorithms and Applications explores the variety of techniques commonly used to analyze and interpret images. It also describes challenging real-world applications where vision is being successfully used, both for specialized applications such as medical imaging, and for fun, consumer-level tasks such as image editing and stitching, which students can apply to their own personal photos and videos. More than just a source of recipes, this exceptionally authoritative and comprehensive textbook/reference also takes a scientific approach to basic vision problems, formulating physical models of the imaging process before inverting them to produce descriptions of a scene. These problems are also analyzed using statistical models and solved using rigorous engineering techniques Topics and features: structured to support active curricula and project-oriented courses, with tips in the Introduction for using the book in a variety of customized courses; presents exercises at the end of each chapter with a heavy emphasis on testing algorithms and containing numerous suggestions for small mid-term projects; provides additional material and more detailed mathematical topics in the Appendices, which cover linear algebra, numerical techniques, and Bayesian estimation theory; suggests additional reading at the end of each chapter, including the latest research in each sub-field, in addition to a full Bibliography at the end of the book; supplies supplementary course material for students at the associated website, http://szeliski.org/Book/. Suitable for an upper-level undergraduate or graduate-level course in computer science or engineering, this textbook focuses on basic techniques that work under real-world conditions and encourages students to push their creative boundaries. Its design and exposition also make it eminently suitable as a unique reference to the fundamental techniques and current research literature in computer vision.

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Computer Vision: Algorithms and Applications

In order to achieve autonomous operation of a vehicle in urban situations with unpredictable traffic, several realtime systems must interoperate, including environment perception, localization, planning, and control. In addition, a robust vehicle platform with appropriate sensors, computational hardware, networking, and software infrastructure is essential.

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Towards fully autonomous driving: Systems and algorithms

Intelligent vehicles have increased their capabilities for highly and, even fully, automated driving under controlled environments. Scene information is received using onboard sensors and communication network systems, i.e., infrastructure and other vehicles. Considering the available information, different motion planning and control techniques have been implemented to autonomously driving on complex environments. The main goal is focused on executing strategies to improve safety, comfort, and energy optimization. However, research challenges such as navigation in urban dynamic environments with obstacle avoidance capabilities, i.e., vulnerable road users (VRU) and vehicles, and cooperative maneuvers among automated and semi-automated vehicles still need further efforts for a real environment implementation. This paper presents a review of motion planning techniques implemented in the intelligent vehicles literature. A description of the technique used by research teams, their contributions in motion planning, and a comparison among these techniques is also presented. Relevant works in the overtaking and obstacle avoidance maneuvers are presented, allowing the understanding of the gaps and challenges to be addressed in the next years. Finally, an overview of future research direction and applications is given.

A Review of Motion Planning Techniques for Automated Vehicles

As deep nets are increasingly used in applications suited for mobile devices, a fundamental dilemma becomes apparent: the trend in deep learning is to grow models to absorb ever-increasing data set sizes; however mobile devices are designed with very little memory and cannot store such large models. We present a novel network architecture, HashedNets, that exploits inherent redundancy in neural networks to achieve drastic reductions in model sizes. HashedNets uses a low-cost hash function to randomly group connection weights into hash buckets, and all connections within the same hash bucket share a single parameter value. These parameters are tuned to adjust to the HashedNets weight sharing architecture with standard backprop during training. Our hashing procedure introduces no additional memory overhead, and we demonstrate on several benchmark data sets that HashedNets shrink the storage requirements of neural networks substantially while mostly preserving generalization performance.

Compressing Neural Networks with the Hashing Trick

Autonomous vehicles (AVs) should reduce traffic accidents, but they will sometimes have to choose between two evils, such as running over pedestrians or sacrificing themselves and their passenger to save the pedestrians. Defining the algorithms that will help AVs make these moral decisions is a formidable challenge. We found that participants in six Amazon Mechanical Turk studies approved of utilitarian AVs (that is, AVs that sacrifice their passengers for the greater good) and would like others to buy them, but they would themselves prefer to ride in AVs that protect their passengers at all costs. The study participants disapprove of enforcing utilitarian regulations for AVs and would be less willing to buy such an AV. Accordingly, regulating for utilitarian algorithms may paradoxically increase casualties by postponing the adoption of a safer technology.

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The social dilemma of autonomous vehicles

This article presents the architecture of Junior, a robotic vehicle capable of navigating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, U-turns, parking, and merging into moving traffic. The vehicle successfully finished and won second place in the DARPA Urban Challenge, a robot competition organized by the U.S. Government. © 2008 Wiley Periodicals, Inc.

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Junior: The Stanford entry in the Urban Challenge

This article presents the architecture of Junior, a robotic vehicle capable of navigating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, U-turns, parking, and merging into moving traffic. The vehicle successfully finished and won second place in the DARPA Urban Challenge, a robot competition organized by the U.S. Government.

Doug Johnston

Papers

Junior: The Stanford entry in the Urban Challenge

Junior: The Stanford Entry in the Urban Challenge.