IEEE Transactions on Pattern Analysis and Machine Intelligence

斜向妥当化(Cross-Validation)の必要と方法

Perception techniques for autonomous driving should be adaptive to various environments. In the case of traffic line detection, an essential perception module, many condition should be considered, such as number of traffic lines and computing power of the target system. To address these problems, in this paper, we propose a traffic line detection method called Point Instance Network (PINet); the method is based on the key points estimation and instance segmentation approach. The PINet includes several stacked hourglass networks that are trained simultaneously. Therefore the size of the trained models can be chosen according to the computing power of the target environment. We cast a clustering problem of the predicted key points as an instance segmentation problem; the PINet can be trained regardless of the number of the traffic lines. The PINet achieves competitive accuracy and false positive on the TuSimple and Culane datasets, popular public datasets for lane detection. Our code is available at this https URL

Key Points Estimation and Point Instance Segmentation Approach for Lane Detection.

Lane detection, the process of identifying lane markings as approximated curves, is widely used for lane departure warning and adaptive cruise control in autonomous vehicles. The popular pipeline that solves it in two steps -- feature extraction plus post-processing, while useful, is too inefficient and flawed in learning the global context and lanes' long and thin structures. To tackle these issues, we propose an end-to-end method that directly outputs parameters of a lane shape model, using a network built with a transformer to learn richer structures and context. The lane shape model is formulated based on road structures and camera pose, providing physical interpretation for parameters of network output. The transformer models non-local interactions with a self-attention mechanism to capture slender structures and global context. The proposed method is validated on the TuSimple benchmark and shows state-of-the-art accuracy with the most lightweight model size and fastest speed. Additionally, our method shows excellent adaptability to a challenging self-collected lane detection dataset, showing its powerful deployment potential in real applications. Codes are available at this https URL

End-to-end Lane Shape Prediction with Transformers

The aggregation of a polypeptide chain into amyloid fibrils and their accumulation and deposition into insoluble plaques and intracellular inclusions is the hallmark of several misfolding diseases known as amyloidoses. Alzheimer′s, Parkinson′s and Huntington’s diseases are some of the approximately 50 amyloid diseases described to date. The identification and characterization of the molecular species critical for amyloid formation and disease development have been the focus of intense scrutiny. Methods such as X-ray and electron diffraction, solid-state nuclear magnetic resonance spectroscopy (ssNMR) and cryo-electron microscopy (cryo-EM) have been extensively used and they have contributed to shed a new light onto the structure of amyloid, revealing a multiplicity of polymorphic structures that generally fit the cross-β amyloid motif. The development of rational therapeutic approaches against these debilitating and increasingly frequent misfolding diseases requires a thorough understanding of the molecular mechanisms underlying the amyloid cascade. Here, we review the current knowledge on amyloid fibril formation for several proteins and peptides from a kinetic and thermodynamic point of view, the structure of the molecular species involved in the amyloidogenic process, and the origin of their cytotoxicity.

https://www.mdpi.com/1420-3049/25/5/1195/pdf

Structure and Aggregation Mechanisms in Amyloids.

Perception techniques for autonomous driving should be adaptive to various environments. In essential perception modules for traffic line detection, many conditions should be considered, such as a number of traffic lines and computing power of the target system. To address these problems, in this paper, we propose a traffic line detection method called Point Instance Network (PINet); the method is based on the key points estimation and instance segmentation approach. The PINet includes several hourglass models that are trained simultaneously with the same loss function. Therefore, the size of the trained models can be chosen according to the target environment's computing power. We cast a clustering problem of the predicted key points as an instance segmentation problem; the PINet can be trained regardless of the number of the traffic lines. The PINet achieves competitive accuracy and false positive on CULane and TuSimple datasets, popular public datasets for lane detection. Our code is available at https://github.com/koyeongmin/PINet_new

Key Points Estimation and Point Instance Segmentation Approach for Lane Detection

Self-driving cars have received a lot of attention in recent years and many stakeholders like Google, Uber, Tesla, and so forth have invested a lot in this area and developed their own autonomous driving car platforms. The challenge to make an autonomous car is not only the stringent performance but also the safety of the passengers and pedestrians. Even with the development of technologies, autonomous driving is still an active research area and still requires a lot of experimentations and making architecture entirely autonomous.The intriguing area of self-driving car motivates us to build an autonomous driving platform. In this paper, we discuss the architecture of the self-driving car and its software components that include localization, detection, motion planning and mission planning. We also highlight the hardware modules that are responsible for controlling the car. The autonomous driving is running state-of-the-art algorithms used in localization, detection, mission and motion planning.

Autonomous Vehicle: The Architecture Aspect of Self Driving Car

Transfer learning for vehicle detection using two cameras with different focal lengths

The sensibility and sensitivity of the environment play a decisive role in the safe and secure operation of autonomous vehicles. This perception of the surrounding is way similar to human visual representation. The human's brain perceives the environment by utilizing different sensory channels and develop a view-invariant representation model. Keeping in this context, different exteroceptive sensors are deployed on the autonomous vehicle for perceiving the environment. The most common exteroceptive sensors are camera, Lidar and radar for autonomous vehicle's perception. Despite being these sensors have illustrated their benefit in the visible spectrum domain yet in the adverse weather conditions, for instance, at night, they have limited operation capability, which may lead to fatal accidents. In this work, we explore thermal object detection to model a view-invariant model representation by employing the self-supervised contrastive learning approach. For this purpose, we have proposed a deep neural network Self Supervised Thermal Network (SSTN) for learning the feature embedding to maximize the information between visible and infrared spectrum domain by contrastive learning, and later employing these learned feature representation for the thermal object detection using multi-scale encoder-decoder transformer network. The proposed method is extensively evaluated on the two publicly available datasets: the FLIR-ADAS dataset and the KAIST Multi-Spectral dataset. The experimental results illustrate the efficacy of the proposed method.

Farzeen Munir

Papers

Key Points Estimation and Point Instance Segmentation Approach for Lane Detection.

Key Points Estimation and Point Instance Segmentation Approach for Lane Detection

Autonomous Vehicle: The Architecture Aspect of Self Driving Car

Transfer learning for vehicle detection using two cameras with different focal lengths

SSTN: Self-Supervised Domain Adaptation Thermal Object Detection for Autonomous Driving.