Project accelerates pedestrian detection in self-driving cars using FPGA.
problem Improve pedestrian detection accuracy in self-driving vehicles.
method Training and tuning SSD, FPGA design for acceleration.
result 4x performance improvement with minimal accuracy loss.
Study finds object detection systems have higher error rates for darker-skinned pedestrians.
problem Predictive bias in object detection systems for pedestrians with different skin tones.
method Annotated a large dataset and compared performance between skin tone groups, investigating factors like time of day and occlusion.
result Predictive bias in object detection systems is not solely due to more difficult scenes for darker-skinned pedestrians.
Paper classifies pedestrians and vehicles detected by LiDAR.
problem Classifying objects from LiDAR data for self-driving cars.
method Used LiDAR-based object detector and Neural Networks classifier.
result Real-time object detection for self-driving vehicles.
State-of-the-art pedestrian detection models have achieved great success in many benchmarks. However, these models require lots of annotation information and the labeling process usually takes much time and efforts. In this paper, we propose a method to generate labeled pedestrian data and adapt them to support the tra…
Automated image annotation improves model training accuracy.
problem Training deep learning models with labeled data.
method Combining wireless localization and cameras for automatic image annotation.
result Demonstrated feasibility and benefits of automatic annotation.
A comparison of SLDS and LSTM for pedestrian behavior prediction shows SLDS works better with shorter sequences.
problem Time-critical pedestrian behavior prediction in autonomous vehicles.
method Comparison of a switching linear dynamical system (SLDS) and a three-layered bi-directional LSTM neural network.
result SLDS achieves higher accuracy with shorter sequences (10 samples) compared to LSTM's 80% accuracy with 100 samples.
This study uses ARM to analyze pedestrian crashes under different lighting conditions.
problem Identifying crash risk factors under varying lighting conditions.
method Applied Association Rules Mining to Louisiana pedestrian crash data.
result Daylight crashes are associated with children, seniors, and older drivers.
We present Sequential Attend, Infer, Repeat (SQAIR), an interpretable deep generative model for videos of moving objects. It can reliably discover and track objects throughout the sequence of frames, and can also generate future frames conditioning on the current frame, thereby simulating expected motion of objects. Th…
A novel pedestrian path-planning model using reinforcement learning.
problem Challenges in replicating natural pedestrian navigation behavior.
method Reinforcement learning for collision avoidance and path planning.
result Path planning by the agent closely resembles human pedestrian behavior.
Edge filters reduce video data transmission to datacenters.
problem Strain on wide area network infrastructure due to video camera deployments.
method FilterForward system with lightweight edge filters and microclassifiers.
result Reduces bandwidth use by an order of magnitude.
A deep learning model improves pedestrian tracking accuracy.
problem Pedestrian tracking accuracy is low, especially with inertial measurement unit.
method Deep learning model using IMU and LIDAR data, attention mechanism.
result Preliminary results show improved accuracy.
Improved pedestrian crossing prediction for AVs using contextual factors.
problem Accurate prediction of pedestrian crossing behavior for autonomous vehicles.
method Factored Latent-Dynamic Conditional Random Fields (FLDCRF) for multi-label sequence prediction and joint interaction modeling.
result Achieved at least 0.9 seconds earlier prediction accuracy for pedestrian crossing behavior compared to existing methods.
PIP-Net predicts pedestrian crossing intentions with up to 4-second lead.
problem Accurate pedestrian intention prediction for autonomous vehicles in real-world scenarios.
method Recurrent and temporal attention-based model using kinematic and spatial features.
result PIP-Net predicts pedestrian crossing intentions up to 4 seconds in advance.
Study quantifies pedestrian traffic patterns in NYC.
problem Understanding pedestrian traffic dynamics in urban areas.
method Publicly available traffic camera data in NYC, time series analysis.
result Pedestrian traffic exhibits diurnal patterns with weekday peaks and no peak on weekends.
Deep learning agent improves pedestrian navigation in urban environments.
problem Autonomous driving among pedestrians in urban areas.
method Multi-objective deep reinforcement learning using a deep Q-learning variant.
result The multi-objective DQN agent outperforms single-objective DQN in various environments.
Paper introduces a streaming compression method for monitoring pedestrian events on footbridges.
problem Storage and analysis of high-rate sensor data from instrumented infrastructure is computationally challenging.
method Develops a streaming feature-based compression method to preserve key patterns and features of pedestrian events.
result Demonstrates the trade-off between compression and accuracy during and between pedestrian events.
Proposes a new pedestrian prediction model using urban data.
problem Predicting future pedestrian behavior for safer autonomous vehicle navigation.
method Growing Hidden Markov Model (GHMM) extension using cost maps and Natural Vision principles.
result Predicts pedestrian positions more accurately over a longer horizon.
This paper presents a novel context-based approach for pedestrian motion prediction in crowded, urban intersections, with the additional flexibility of prediction in similar, but new, environments. Previously, Chen et. al. combined Markovian-based and clustering-based approaches to learn motion primitives in a grid-bas…
This paper compares deep learning and knowledge-based methods for pedestrian trajectory prediction.
problem Predicting pedestrian trajectories in crowded scenes is challenging due to external factors.
method Comprehensive comparison of deep learning and knowledge-based models.
result Deep learning models outperform knowledge-based models in local trajectory prediction.
TREP learns pedestrian trajectories efficiently without needing full datasets.
problem Learning fixed-length vector representations of variable-length trajectories.
method Actor-critic sequence-to-sequence autoencoder with spatial-aware objective function.
result TREP efficiently learns trajectory representations without needing full datasets.
Can machine learning predict pedestrian destinations from video data?
problem Determining pedestrian destinations from video data without direct observation.
method Used density heatmaps as input to train a Random Forest predictor.
result Motivated further analysis of the methodology.
Deep RL model optimizes pedestrian evacuation in multi-exit scenarios.
problem Optimizing pedestrian evacuation in multi-exit indoor environments.
method MultiExit-DRL using Deep Reinforcement Learning with DQN and DNN.
result MultiExit-DRL reduces evacuation frames and optimizes exit utilization.
GE finds failures in autonomous systems without domain heuristics.
problem Finding failures in autonomous systems without domain-specific heuristics.
method Adaptive stress testing using go-explore (GE) algorithm.
result GE finds failures in scenarios other RL techniques cannot solve.
This paper presents a novel framework for accurate pedestrian intent prediction at intersections. Given some prior knowledge of the curbside geometry, the presented framework can accurately predict pedestrian trajectories, even in new intersections that it has not been trained on. This is achieved by making use of the …
Novel RL method handles urban driving tasks including traffic lights.
problem Difficulties in reinforcement learning for complex urban driving tasks.
method Implicit affordances for model-free RL.
result Successfully handles urban driving tasks including traffic lights.
Mobile app uses CNN to help visually impaired cross streets.
problem Helping visually impaired cross streets safely.
method LytNetV2 deep learning model for pedestrian traffic light detection.
result 96% classification accuracy and 6.15 degree angle error.
Threshold tests have recently been proposed as a useful method for detecting bias in lending, hiring, and policing decisions. For example, in the case of credit extensions, these tests aim to estimate the bar for granting loans to white and minority applicants, with a higher inferred threshold for minorities indicative…
For the pedestrian observer, financial markets look completely random with erratic and uncontrollable behavior. To a large extend, this is correct. At first approximation the difference between real price changes and the random walk model is too small to be detected using traditional time series analysis. However, we s…
Paper tackles object detection in limited data scenarios.
problem Limited annotated data for object detection.
method Generative modeling with a novel unrolling mechanism to optimize both generation and detection.
result Improves object detection performance on NIH Chest X-ray dataset by 20%.
Improved semantic segmentation accuracy by addressing class imbalance.
problem Class imbalance in training data leads to misclassification of rare classes.
method Localized weighting of posterior class probabilities with pixel-wise priors.
result Significant improvement in recall and reduction of non-detection rate for rare classes.
We propose and document the evidence for an analogy between the dynamics of granular counter-flows in the presence of bottlenecks or restrictions and financial price formation processes. Using extensive simulations, we find that the counter-flows of simulated pedestrians through a door display many stylized facts obser…
SafeCritic predicts safe trajectories for pedestrians and cyclists avoiding collisions.
problem Predicting safe trajectories for pedestrians and cyclists in urban environments.
method Generative adversarial networks and reinforcement learning to generate safe trajectories, evaluated by a Discriminator.
result Significant improvement over state-of-the-art models in safety classification.
Deep Recurrent Q-Network improves autonomous driving in urban areas with pedestrians.
problem Challenges in urban autonomous driving due to complex road structures and unpredictable pedestrian behavior.
method Combines Deep Q-Network with LSTM for long-term memory, designed a 3-D state representation, and uses a reward function.
result The proposed DRQN-based approach outperforms rule-based methods in dense urban scenarios.
New approach learns traffic behavior from unlabelled video.
problem Learning from demonstration in settings with unlabelled raw video data.
method Calibrates camera, detects objects, tracks them, and uses trajectories for LfD.
result Can learn traffic behavior from raw video without additional expert knowledge.
This paper explains deep learning for pedestrians using CNNs.
problem Training deep neural networks with gradient descent.
method Backpropagation in Convolutional Neural Networks (CNNs).
result Conceptual clarity in vectorized backpropagation.
In this paper, we train a recurrent neural network to learn dynamics of a chaotic road environment and to project the future of the environment on an image. Future projection can be used to anticipate an unseen environment for example, in autonomous driving. Road environment is highly dynamic and complex due to the int…
End-to-end framework for static image generation from dynamic content.
problem Generating static images from dynamic content with occluded backgrounds.
method Conditional GAN for static image generation, convolutional network for dynamic object detection.
result Generated static images are realistic and can be used for augmented reality and robot localization.
This work improves safety validation of autonomous vehicles by finding interpretable failures.
problem Finding interpretable failures of autonomous systems in simulation.
method Signal temporal logic expressions optimized for high likelihood and human interpretability.
result Our methodology finds more interpretable failures with higher likelihood compared to baseline approaches.
Deep learning has become the state of the art approach in many machine learning problems such as classification. It has recently been shown that deep learning is highly vulnerable to adversarial perturbations. Taking the camera systems of self-driving cars as an example, small adversarial perturbations can cause the sy…
We consider the problem of efficient "on the fly" tuning of existing, or {\it legacy}, Artificial Intelligence (AI) systems. The legacy AI systems are allowed to be of arbitrary class, albeit the data they are using for computing interim or final decision responses should posses an underlying structure of a high-dimens…
Efficiently detects failures in autonomous systems using adaptive stress testing.
problem Identifying likely failure scenarios in autonomous systems.
method Employed a recurrent neural network to simulate initial conditions and detect failures.
result Solver can now find solutions for previously intractable problems.
Designing effective and efficient classifier for pattern analysis is a key problem in machine learning and computer vision. Many the solutions to the problem require to perform logic operations such as `and', `or', and `not'. Classification and regression tree (CART) include these operations explicitly. Other methods s…
Method learns attractive areas from agent motions to represent environments.
problem Representing environments based on moving agents' nonlinear motions.
method Switching model of velocity fields, parametric representation of attractive spots.
result Dynamic map of attractive areas for online learning.
Bayesian approach models match and non-match score distributions over continuous covariates.
problem Complex evaluation of model performance over continuous covariates in biometric verification.
method Generative model of score distributions, mixture models, local basis functions, Bayesian inference.
result Accurate and effective method for studying model performance over continuous covariates.
For the pedestrian observer, financial markets look completely random with erratic and uncontrollable behavior. To a large extend, this is correct. At first approximation the difference between real price changes and the random walk model is too small to be detected using traditional time series analysis. However, we s…
GMM uses mmWave radar to classify traffic modes in poor lighting.
problem Classifying traffic modes in poor lighting conditions.
method GMM on mmWave radar point clouds.
result Good segmentation performance in pedestrian and car classification.
This paper presents the recently published Cerema AWP (Adverse Weather Pedestrian) dataset for various machine learning tasks and its exports in machine learning friendly format. We explain why this dataset can be interesting (mainly because it is a greatly controlled and fully annotated image dataset) and present base…
This paper proposes IMU preintegrated features for efficient deep inertial odometry.
problem Efficient odometry from IMU data is challenging due to sensor imperfections and noise.
method Proposes IMU preintegrated features exploiting IMU motion model's manifold structure.
result Improves odometry performance and reduces computational burdens.