We survey research on self-driving cars published in the literature focusing on autonomous cars developed since the DARPA challenges, which are equipped with an autonomy system that can be categorized as SAE level 3 or higher. The architecture of the autonomy system of self-driving cars is typically organized into the perception system and the decision-making system. The perception system is generally divided into many subsystems responsible for tasks such as self-driving-car localization, static obstacles mapping, moving obstacles detection and tracking, road mapping, traffic signalization detection and recognition, among others. The decision-making system is commonly partitioned as well into many subsystems responsible for tasks such as route planning, path planning, behavior selection, motion planning, and control. In this survey, we present the typical architecture of the autonomy system of self-driving cars. We also review research on relevant methods for perception and decision making. Furthermore, we present a detailed description of the architecture of the autonomy system of the self-driving car developed at the Universidade Federal do Espirito Santo (UFES), named Intelligent Autonomous Robotics Automobile (IARA). Finally, we list prominent self-driving car research platforms developed by academia and technology companies, and reported in the media.

Self-driving cars: A survey

AI in health and medicine

Traffic sign recognition (TSR) is an important and challenging task for intelligent transportation systems. We describe the details of our model's architecture for TSR and suggest a hinge loss stochastic gradient descent (HLSGD) method to train convolutional neural networks (CNNs). Our CNN consists of three stages (70-110-180) with 1162 284 trainable parameters. The HLSGD is evaluated on the German Traffic Sign Recognition Benchmark, which offers a faster and more stable convergence and a state-of-the-art recognition rate of 99.65%. We write a graphics processing unit package to train several CNNs and establish the final classifier in an ensemble way.

Traffic Sign Recognition With Hinge Loss Trained Convolutional Neural Networks

The Augmented Reality (AR) technology enhances the human perception of the world by combining the real environment with the virtual space. With the explosive growth of powerful, less expensive mobile devices, and the emergence of sophisticated communication infrastructure, Mobile Augmented Reality (MAR) applications are gaining increased popularity. MAR allows users to run AR applications on mobile devices with greater mobility and at a lower cost. The emerging 5G communication technologies act as critical enablers for future MAR applications to achieve ultra-low latency and extremely high data rates while Multi-access Edge Computing (MEC) brings enhanced computational power closer to the users to complement MAR. This paper extensively discusses the landscape of MAR through the past and its future prospects with respect to the 5G systems and complementary technology MEC. The paper especially provides an informative analysis of the network formation of current and future MAR systems in terms of cloud, edge, localized, and hybrid architectural options. The paper discusses key application areas for MAR and their future with the advent of 5G technologies. The paper also discusses the requirements and limitations of MAR technical aspects such as communication, mobility management, energy management, service offloading and migration, security, and privacy and analyzes the role of 5G technologies.

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A Survey on Mobile Augmented Reality With 5G Mobile Edge Computing: Architectures, Applications, and Technical Aspects

In this paper, we propose a unified end-to-end trainable multi-task network that jointly handles lane and road marking detection and recognition that is guided by a vanishing point under adverse weather conditions. We tackle rainy and low illumination conditions, which have not been extensively studied until now due to clear challenges. For example, images taken under rainy days are subject to low illumination, while wet roads cause light reflection and distort the appearance of lane and road markings. At night, color distortion occurs under limited illumination. As a result, no benchmark dataset exists and only a few developed algorithms work under poor weather conditions. To address this shortcoming, we build up a lane and road marking benchmark which consists of about 20,000 images with 17 lane and road marking classes under four different scenarios: no rain, rain, heavy rain, and night. We train and evaluate several versions of the proposed multi-task network and validate the importance of each task. The resulting approach, VPGNet, can detect and classify lanes and road markings, and predict a vanishing point with a single forward pass. Experimental results show that our approach achieves high accuracy and robustness under various conditions in realtime (20 fps). The benchmark and the VPGNet model will be publicly available

VPGNet: Vanishing Point Guided Network for Lane and Road Marking Detection and Recognition

This paper proposes a novel system for the automatic detection and recognition of traffic signs. The proposed system detects candidate regions as maximally stable extremal regions (MSERs), which offers robustness to variations in lighting conditions. Recognition is based on a cascade of support vector machine (SVM) classifiers that were trained using histogram of oriented gradient (HOG) features. The training data are generated from synthetic template images that are freely available from an online database; thus, real footage road signs are not required as training data. The proposed system is accurate at high vehicle speeds, operates under a range of weather conditions, runs at an average speed of 20 frames per second, and recognizes all classes of ideogram-based (nontext) traffic symbols from an online road sign database. Comprehensive comparative results to illustrate the performance of the system are presented.

Real-Time Detection and Recognition of Road Traffic Signs

We propose a novel system for the automatic detection and recognition of text in traffic signs. Scene structure is used to define search regions within the image, in which traffic sign candidates are then found. Maximally stable extremal regions (MSERs) and hue, saturation, and value color thresholding are used to locate a large number of candidates, which are then reduced by applying constraints based on temporal and structural information. A recognition stage interprets the text contained within detected candidate regions. Individual text characters are detected as MSERs and are grouped into lines, before being interpreted using optical character recognition (OCR). Recognition accuracy is vastly improved through the temporal fusion of text results across consecutive frames. The method is comparatively evaluated and achieves an overall $F_{\rm measure}$ of 0.87.

Recognizing Text-Based Traffic Signs

Importance A high proportion of suspicious pigmented skin lesions referred for investigation are benign. Techniques to improve the accuracy of melanoma diagnoses throughout the patient pathway are needed to reduce the pressure on secondary care and pathology services. Objective To determine the accuracy of an artificial intelligence algorithm in identifying melanoma in dermoscopic images of lesions taken with smartphone and digital single-lens reflex (DSLR) cameras. Design, Setting, and Participants This prospective, multicenter, single-arm, masked diagnostic trial took place in dermatology and plastic surgery clinics in 7 UK hospitals. Dermoscopic images of suspicious and control skin lesions from 514 patients with at least 1 suspicious pigmented skin lesion scheduled for biopsy were captured on 3 different cameras. Data were collected from January 2017 to July 2018. Clinicians and the Deep Ensemble for Recognition of Malignancy, a deterministic artificial intelligence algorithm trained to identify melanoma in dermoscopic images of pigmented skin lesions using deep learning techniques, assessed the likelihood of melanoma. Initial data analysis was conducted in September 2018; further analysis was conducted from February 2019 to August 2019. Interventions Clinician and algorithmic assessment of melanoma. Main Outcomes and Measures Area under the receiver operating characteristic curve (AUROC), sensitivity, and specificity of the algorithmic and specialist assessment, determined using histopathology diagnosis as the criterion standard. Results The study population of 514 patients included 279 women (55.7%) and 484 white patients (96.8%), with a mean (SD) age of 52.1 (18.6) years. A total of 1550 images of skin lesions were included in the analysis (551 [35.6%] biopsied lesions; 999 [64.4%] control lesions); 286 images (18.6%) were used to train the algorithm, and a further 849 (54.8%) images were missing or unsuitable for analysis. Of the biopsied lesions that were assessed by the algorithm and specialists, 125 (22.7%) were diagnosed as melanoma. Of these, 77 (16.7%) were used for the primary analysis. The algorithm achieved an AUROC of 90.1% (95% CI, 86.3%-94.0%) for biopsied lesions and 95.8% (95% CI, 94.1%-97.6%) for all lesions using iPhone 6s images; an AUROC of 85.8% (95% CI, 81.0%-90.7%) for biopsied lesions and 93.8% (95% CI, 91.4%-96.2%) for all lesions using Galaxy S6 images; and an AUROC of 86.9% (95% CI, 80.8%-93.0%) for biopsied lesions and 91.8% (95% CI, 87.5%-96.1%) for all lesions using DSLR camera images. At 100% sensitivity, the algorithm achieved a specificity of 64.8% with iPhone 6s images. Specialists achieved an AUROC of 77.8% (95% CI, 72.5%-81.9%) and a specificity of 69.9%. Conclusions and Relevance In this study, the algorithm demonstrated an ability to identify melanoma from dermoscopic images of selected lesions with an accuracy similar to that of specialists.

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Assessment of Accuracy of an Artificial Intelligence Algorithm to Detect Melanoma in Images of Skin Lesions

We present a novel system for the real-time detection and recognition of traffic symbols. Candidate regions are detected as Maximally Stable Extremal Regions (MSER) from which Histogram of Oriented Gradients (HOG) features are derived, and recognition is then performed using Random Forests. The training data comprises a set of synthetically generated images, created by applying randomised distortions to graphical template images taken from an on-line database. This approach eliminates the need for real training images and makes it easy to include all possible signs. Our proposed method can operate under a range of weather conditions at an average speed of 20 fps and is accurate even at high vehicle speeds. Comprehensive comparative results are provided to illustrate the performance of the system.

Traffic sign recognition using MSER and Random Forests

Background: Malignant melanoma can most successfully be cured when diagnosed at an early stage in the natural history. However, there is controversy over screening programs and many advocate screening only for high-risk individuals.
Objectives: This study aimed to evaluate the accuracy of an artificial intelligence neural network (Deep Ensemble for Recognition of Melanoma [DERM]) to identify malignant melanoma from dermoscopic images of pigmented skin lesions and to show how this compared to doctors’ performance assessed by meta-analysis.
Methods: DERM was trained and tested using 7,102 dermoscopic images of both histologically confirmed melanoma (24%) and benign pigmented lesions (76%). A meta-analysis was conducted of studies examining the accuracy of naked-eye examination, with or without dermoscopy, by specialist and general physicians whose clinical diagnosis was compared to histopathology. The meta-analysis was based on evaluation of 32,226pigmented lesions including 3,277 histopathology-confirmed malignant melanoma cases. The receiver operating characteristic (ROC) curve was used to examine and compare the diagnostic accuracy.
Results: DERM achieved a ROC area under the curve (AUC) of 0.93 (95% confidence interval: 0.92-0.94), and sensitivity and specificity of 85.0% and 85.3%, respectively. Avoidance of false-negative results is essential, so different decision thresholds were examined. At 95% sensitivity DERM achieved a specificity of 64.1% and at 95% specificity the sensitivity was 67%. The meta-analysis showed primary care physicians (10 studies) achieve an AUC of 0.83 (95% confidence interval: 0.79-0.86), with sensitivity and specificity of 79.9% and 70.9%; and dermatologists (92 studies) 0.91 (0.88-0.93), 87.5%, and 81.4%, respectively.
Conclusions: DERM has the potential to be used as a decision support tool in primary care, by providing dermatologist-grade recommendation on the likelihood of malignant melanoma.

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Jack Greenhalgh

Papers

Real-Time Detection and Recognition of Road Traffic Signs

Recognizing Text-Based Traffic Signs

Assessment of Accuracy of an Artificial Intelligence Algorithm to Detect Melanoma in Images of Skin Lesions

Traffic sign recognition using MSER and Random Forests

Detection of Malignant Melanoma Using Artificial Intelligence: An Observational Study of Diagnostic Accuracy