IEEE Transactions on Pattern Analysis and Machine Intelligence

Vehicle detection is one of the important applications of object detection in intelligent transportation systems. It aims to extract specific vehicle-type information from pictures or videos containing vehicles. To solve the problems of existing vehicle detection, such as the lack of vehicle-type recognition, low detection accuracy, and slow speed, a new vehicle detection model YOLOv2_Vehicle based on YOLOv2 is proposed in this paper. The k-means++ clustering algorithm was used to cluster the vehicle bounding boxes on the training dataset, and six anchor boxes with different sizes were selected. Considering that the different scales of the vehicles may influence the vehicle detection model, normalization was applied to improve the loss calculation method for length and width of bounding boxes. To improve the feature extraction ability of the network, the multi-layer feature fusion strategy was adopted, and the repeated convolution layers in high layers were removed. The experimental results on the Beijing Institute of Technology (BIT)-Vehicle validation dataset demonstrated that the mean Average Precision (mAP) could reach 94.78%. The proposed model also showed excellent generalization ability on the CompCars test dataset, where the “vehicle face” is quite different from the training dataset. With the comparison experiments, it was proven that the proposed method is effective for vehicle detection. In addition, with network visualization, the proposed model showed excellent feature extraction ability.

https://www.mdpi.com/1424-8220/18/12/4272/pdf

An Improved YOLOv2 for Vehicle Detection

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

With the proliferation of Internet of Things (IoT) and edge computing paradigms, billions of IoT devices are being networked to support data‐driven and real‐time decision making across numerous application domains, including smart homes, smart transport, and smart buildings. These ubiquitously distributed IoT devices send the raw data to their respective edge device (eg, IoT gateways) or the cloud directly. The wide spectrum of possible application use cases make the design and networking of IoT and edge computing layers a very tedious process due to the: (i) complexity and heterogeneity of end‐point networks (eg, Wi‐Fi, 4G, and Bluetooth); (ii) heterogeneity of edge and IoT hardware resources and software stack; (iv) mobility of IoT devices; and (iii) the complex interplay between the IoT and edge layers. Unlike cloud computing, where researchers and developers seeking to test capacity planning, resource selection, network configuration, computation placement, and security management strategies had access to public cloud infrastructure (eg, Amazon and Azure), establishing an IoT and edge computing testbed that offers a high degree of verisimilitude is not only complex, costly, and resource‐intensive but also time‐intensive. Moreover, testing in real IoT and edge computing environments is not feasible due to the high cost and diverse domain knowledge required in order to reason about their diversity, scalability, and usability. To support performance testing and validation of IoT and edge computing configurations and algorithms at scale, simulation frameworks should be developed. Hence, this article proposes a novel simulator IoTSim‐Edge, which captures the behavior of heterogeneous IoT and edge computing infrastructure and allows users to test their infrastructure and framework in an easy and configurable manner. IoTSim‐Edge extends the capability of CloudSim to incorporate the different features of edge and IoT devices. The effectiveness of IoTSim‐Edge is described using three test cases. Results show the varying capability of IoTSim‐Edge in terms of application composition, battery‐oriented modeling, heterogeneous protocols modeling, and mobility modeling along with the resources provisioning for IoT applications.

IoTSim‐Edge: A simulation framework for modeling the behavior of Internet of Things and edge computing environments

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

In recent years, category-level object detection has gained a lot of attention. In addition to object localization, estimation of the object pose has practical applications in intelligent transportation, autonomous driving and robotics. Parts based models have been used for pose estimation in recent years, but these models depend on manual supervision or require a complex algorithm to locate the object parts. In this work, we have used Convolutional Neural Network for the pose estimation of vehicle in an image. The advantage of multiple classifications of objects at the same time motivates us to choose the convolutional neural network. We make use of state-of-the-art implementation of convolution neural network named the Region Based Convolutional Neural Network(FASTER-RCNN) for estimating the pose of vehicle. We annotate the comprehensive cars dataset of Stanford, required for training the model and upon testing we have achieved good results with good accuracy.

Shoaib Azam

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

Vehicle pose detection using region based convolutional neural network