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DeepBEV: A Conditional Adversarial Network for Bird’s Eye View Generation

Helmi Fraser, Sen Wang

Auto-TLDR; A Generative Adversarial Network for Semantic Object Representation in Autonomous Vehicles

Abstract Slides Poster

Obtaining a meaningful, interpretable yet compact representation of the immediate surroundings of an autonomous vehicle is paramount for effective operation as well as safety. This paper proposes a solution to this by representing semantically important objects from a top-down, ego-centric bird's eye view. The novelty in this work is from formulating this problem as an adversarial learning task, tasking a generator model to produce bird's eye view representations which are plausible enough to be mistaken as a ground truth sample. This is achieved by using a Wasserstein Generative Adversarial Network based model conditioned on object detections from monocular RGB images and the corresponding bounding boxes. Extensive experiments show our model is more robust to novel data compared to strictly supervised benchmark models, while being a fraction of the size of the next best.

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Future Urban Scenes Generation through Vehicles Synthesis

Alessandro Simoni, Luca Bergamini, Andrea Palazzi, Simone Calderara, Rita Cucchiara

Auto-TLDR; Predicting the Future of an Urban Scene with a Novel View Synthesis Paradigm

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In this work we propose a deep learning pipeline to predict the visual future appearance of an urban scene. Despite recent advances, generating the entire scene in an end-to-end fashion is still far from being achieved. Instead, here we follow a two stages approach, where interpretable information is included in the loop and each actor is modelled independently. We leverage a per-object novel view synthesis paradigm; i.e. generating a synthetic representation of an object undergoing a geometrical roto-translation in the 3D space. Our model can be easily conditioned with constraints (e.g. input trajectories) provided by state-of-the-art tracking methods or by the user itself. This allows us to generate a set of diverse realistic futures starting from the same input in a multi-modal fashion. We visually and quantitatively show the superiority of this approach over traditional end-to-end scene-generation methods on CityFlow, a challenging real world dataset.

Quantifying the Use of Domain Randomization

Mohammad Ani, Hector Basevi, Ales Leonardis

Auto-TLDR; Evaluating Domain Randomization for Synthetic Image Generation by directly measuring the difference between realistic and synthetic data distributions

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Synthetic image generation provides the ability to efficiently produce large quantities of labeled data, which addresses both the data volume requirements of state-of-the-art vision systems and the expense of manually labeling data. However, systems trained on synthetic data typically under-perform systems trained on realistic data due to mismatch between the synthetic and realistic data distributions. Domain Randomization (DR) is a method of broadening a synthetic data distribution to encompass a realistic data distribution, and so provide better performance, when the exact characteristics of the realistic data distribution are not known or cannot be simulated. However, there is no consensus in the literature on the best method of performing DR. We propose a novel method of ranking DR methods by directly measuring the difference between realistic and DR data distributions. This avoids the need to measure task-specific performance and the associated expense of training and evaluation. We compare different methods for measuring distribution differences including the Wasserstein, and Fr\'echet Inception distances. We also examine the effect of performing this evaluation directly on images, and on features generated by an image classification backbone. Finally, we show that the ranking generated by our method is reflected in actual task performance.

Vehicle Lane Merge Visual Benchmark

Kai Cordes, Hellward Broszio

Auto-TLDR; A Benchmark for Automated Cooperative Maneuvering Using Multi-view Video Streams and Ground Truth Vehicle Description

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Automated driving is regarded as the most promising technology for improving road safety in the future. In this context, connected vehicles have an important role regarding their ability to perform cooperative maneuvers for challenging traffic situations. We propose a benchmark for automated cooperative maneuvers. The targeted cooperative maneuver is the vehicle lane merge where a vehicle on the acceleration lane merges into the traffic of a motorway. The benchmark enables the evaluation of vehicle localization approaches as well as the study of cooperative maneuvers. It consists of temporally synchronized multi-view video streams, highly accurate camera calibration, and ground truth vehicle descriptions, including position, heading, speed, and shape. For benchmark generation, the lane merge maneuver is performed by human drivers on a test track, resulting in 120 lane merge data sets with various traffic situations and video recording conditions.

Manual-Label Free 3D Detection Via an Open-Source Simulator

Zhen Yang, Chi Zhang, Zhaoxiang Zhang, Huiming Guo

Auto-TLDR; DA-VoxelNet: A Novel Domain Adaptive VoxelNet for LIDAR-based 3D Object Detection

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LiDAR based 3D object detectors typically need a large amount of detailed-labeled point cloud data for training, but these detailed labels are commonly expensive to acquire. In this paper, we propose a manual-label free 3D detection algorithm that leverages the CARLA simulator to generate a large amount of self-labeled training samples and introduces a novel Domain Adaptive VoxelNet (DA-VoxelNet) that can cross the distribution gap from the synthetic data to the real scenario. The self-labeled training samples are generated by a set of high quality 3D models embedded in a CARLA simulator and a proposed LiDAR-guided sampling algorithm. Then a DA-VoxelNet that integrates both a sample-level DA module and an anchor-level DA module is proposed to enable the detector trained by the synthetic data to adapt to real scenario. Experimental results show that the proposed unsupervised DA 3D detector on KITTI evaluation set can achieve 76.66% and 56.64% mAP on BEV mode and 3D mode respectively. The results reveal a promising perspective of training a LIDAR-based 3D detector without any hand-tagged label.

Leveraging a Weakly Adversarial Paradigm for Joint Learning of Disparity and Confidence Estimation

Matteo Poggi, Fabio Tosi, Filippo Aleotti, Stefano Mattoccia

Auto-TLDR; Joint Training of Deep-Networks for Outlier Detection from Stereo Images

Abstract Slides Poster Similar

Deep architectures represent the state-of-the-art for perceiving depth from stereo images. Although these methods are highly accurate, it is crucial to effectively detect any outlier through confidence measures since a wrong perception of even small portions of the sensed scene might lead to catastrophic consequences, for instance, in autonomous driving. Purposely, state-of-the-art confidence estimation methods rely on deep-networks as well. In this paper, arguing that these tasks are two sides of the same coin, we propose a novel paradigm for their joint training. Specifically, inspired by the successful deployment of GANs in other fields, we design two deep architectures: a generator for disparity estimation and a discriminator for distinguishing correct assignments from outliers. The two networks are jointly trained in a new peculiar weakly adversarial manner pushing the former to fix the errors detected by the discriminator while keeping the correct prediction unchanged. Experimental results on standard stereo datasets prove that such joint training paradigm yields significant improvements. Moreover, an additional outcome of our proposal is the ability to detect outliers with better accuracy compared to the state-of-the-art.

Multiple Future Prediction Leveraging Synthetic Trajectories

Lorenzo Berlincioni, Federico Becattini, Lorenzo Seidenari, Alberto Del Bimbo

Auto-TLDR; Synthetic Trajectory Prediction using Markov Chains

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Trajectory prediction is an important task, especially in autonomous driving. The ability to forecast the position of other moving agents can yield to an effective planning, ensuring safety for the autonomous vehicle as well for the observed entities. In this work we propose a data driven approach based on Markov Chains to generate synthetic trajectories, which are useful for training a multiple future trajectory predictor. The advantages are twofold: on the one hand synthetic samples can be used to augment existing datasets and train more effective predictors; on the other hand, it allows to generate samples with multiple ground truths, corresponding to diverse equally likely outcomes of the observed trajectory. We define a trajectory prediction model and a loss that explicitly address the multimodality of the problem and we show that combining synthetic and real data leads to prediction improvements, obtaining state of the art results.

HPERL: 3D Human Pose Estimastion from RGB and LiDAR

Michael Fürst, Shriya T.P. Gupta, René Schuster, Oliver Wasenmüler, Didier Stricker

Auto-TLDR; 3D Human Pose Estimation Using RGB and LiDAR Using Weakly-Supervised Approach

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In-the-wild human pose estimation has a huge potential for various fields, ranging from animation and action recognition to intention recognition and prediction for autonomous driving. The current state-of-the-art is focused only on RGB and RGB-D approaches for predicting the 3D human pose. However, not using precise LiDAR depth information limits the performance and leads to very inaccurate absolute pose estimation. With LiDAR sensors becoming more affordable and common on robots and autonomous vehicle setups, we propose an end-to-end architecture using RGB and LiDAR to predict the absolute 3D human pose with unprecedented precision. Additionally, we introduce a weakly-supervised approach to generate 3D predictions using 2D pose annotations from PedX. This allows for many new opportunities in the field of 3D human pose estimation.

Extending Single Beam Lidar to Full Resolution by Fusing with Single Image Depth Estimation

Yawen Lu, Yuxing Wang, Devarth Parikh, Guoyu Lu

Auto-TLDR; Self-supervised LIDAR for Low-Cost Depth Estimation

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Depth estimation is playing an important role in indoor and outdoor scene understanding, autonomous driving, augmented reality and many other tasks. Vehicles and robotics are able to use active illumination sensors such as LIDAR to receive high precision depth estimation. However, high-resolution Lidars are usually too expensive, which limits its massive production on various applications. Though single beam LIDAR enjoys the benefits of low cost, one beam depth sensing is not usually sufficient to perceive the surrounding environment in many scenarios. In this paper, we propose a learning-based framework to explore to replicate similar or even higher performance as costly LIDARs with our designed self-supervised network and a low-cost single-beam LIDAR. After the accurate calibration with a visible camera, the single beam LIDAR can adjust the scale uncertainty of the depth map estimated by the visible camera. The adjusted depth map enjoys the benefits of high resolution and sensing accuracy as high beam LIDAR and maintains low-cost as single beam LIDAR. Thus we can achieve similar sensing effect of high beam LIDAR with more than a 50-100 times cheaper price (e.g., \$80000 Velodyne HDL-64E LIDAR v.s. \$1000 SICK TIM-781 2D LIDAR and normal camera). The proposed approach is verified on our collected dataset and public dataset with superior depth-sensing performance.

Local Facial Attribute Transfer through Inpainting

Ricard Durall, Franz-Josef Pfreundt, Janis Keuper

Auto-TLDR; Attribute Transfer Inpainting Generative Adversarial Network

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The term attribute transfer refers to the tasks of altering images in such a way, that the semantic interpretation of a given input image is shifted towards an intended direction, which is quantified by semantic attributes. Prominent example applications are photo realistic changes of facial features and expressions, like changing the hair color, adding a smile, enlarging the nose or altering the entire context of a scene, like transforming a summer landscape into a winter panorama. Recent advances in attribute transfer are mostly based on generative deep neural networks, using various techniques to manipulate images in the latent space of the generator. In this paper, we present a novel method for the common sub-task of local attribute transfers, where only parts of a face have to be altered in order to achieve semantic changes (e.g. removing a mustache). In contrast to previous methods, where such local changes have been implemented by generating new (global) images, we propose to formulate local attribute transfers as an inpainting problem. Removing and regenerating only parts of images, our Attribute Transfer Inpainting Generative Adversarial Network (ATI-GAN) is able to utilize local context information to focus on the attributes while keeping the background unmodified resulting in visually sound results.

Lane Detection Based on Object Detection and Image-To-Image Translation

Hiroyuki Komori, Kazunori Onoguchi

Auto-TLDR; Lane Marking and Road Boundary Detection from Monocular Camera Images using Inverse Perspective Mapping

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In this paper, we propose a method to detect various types of lane markings and road boundaries simultaneously from a monocular camera image. This method detects lane markings and road boundaries in IPM images obtained by the Inverse Perspective Mapping of input images. First, bounding boxes surrounding a lane marking or the road boundary are extracted by the object detection network. At the same time, these areas are labelled with a solid line, a dashed line, a zebra line, a curb, a grass, a sidewall and so on. Next, in each bounding box, lane marking boundaries or road boundaries are drawn by the image-to-image translation network. We use YOLOv3 for the object detection and pix2pix for the image translation. We create our own datasets including various types of lane markings and road boundaries and evaluate our approach using these datasets qualitatively and quantitatively.

PointDrop: Improving Object Detection from Sparse Point Clouds Via Adversarial Data Augmentation

Wenxin Ma, Jian Chen, Qing Du, Wei Jia

Auto-TLDR; PointDrop: Improving Robust 3D Object Detection to Sparse Point Clouds

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Current 3D object detection methods achieve accurate and efficient results on the standard point cloud dataset. However, in real-world applications, due to the expensive cost of obtaining the annotated 3D object detection data, we expect to directly apply the model trained on the standard dataset to real-world scenarios. This strategy may fail because the point cloud samples obtained in the real-world scenarios may be much sparser due to various reasons (occlusion, low reflectivity of objects and fewer laser beams) and existing methods do not consider the limitations of their models on sparse point clouds. To improve the robustness of an object detector to sparser point clouds, we propose PointDrop, which learns to drop the features of some key points in the point clouds to generate challenging sparse samples for data augmentation. Moreover, PointDrop is able to adjust the difficulty of the generated samples based on the capacity of the detector and thus progressively improve the performance of the detector. We create two sparse point clouds datasets from the KITTI dataset to evaluate our method, and the experimental results show that PointDrop significantly improves the robustness of the detector to sparse point clouds.

Leveraging Synthetic Subject Invariant EEG Signals for Zero Calibration BCI

Nik Khadijah Nik Aznan, Amir Atapour-Abarghouei, Stephen Bonner, Jason Connolly, Toby Breckon

Auto-TLDR; SIS-GAN: Subject Invariant SSVEP Generative Adversarial Network for Brain-Computer Interface

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Recently, substantial progress has been made in the area of Brain-Computer Interface (BCI) using modern machine learning techniques to decode and interpret brain signals. While Electroencephalography (EEG) has provided a non-invasive method of interfacing with a human brain, the acquired data is often heavily subject and session dependent. This makes seamless incorporation of such data into real-world applications intractable as the subject and session data variance can lead to long and tedious calibration requirements and cross-subject generalisation issues. Focusing on a Steady State Visual Evoked Potential (SSVEP) classification systems, we propose a novel means of generating highly-realistic synthetic EEG data invariant to any subject, session or other environmental conditions. Our approach, entitled the Subject Invariant SSVEP Generative Adversarial Network (SIS-GAN), produces synthetic EEG data from multiple SSVEP classes using a single network. Additionally, by taking advantage of a fixed-weight pre-trained subject classification network, we ensure that our generative model remains agnostic to subject-specific features and thus produces subject-invariant data that can be applied to new previously unseen subjects. Our extensive experimental evaluation demonstrates the efficacy of our synthetic data, leading to superior performance, with improvements of up to 16% in zero-calibration classification tasks when trained using our subject-invariant synthetic EEG signals.

Holistic Grid Fusion Based Stop Line Estimation

Runsheng Xu, Faezeh Tafazzoli, Li Zhang, Timo Rehfeld, Gunther Krehl, Arunava Seal

Auto-TLDR; Fused Multi-Sensory Data for Stop Lines Detection in Intersection Scenarios

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Intersection scenarios provide the most complex traffic situations in Autonomous Driving and Driving Assistance Systems. Knowing where to stop in advance in an intersection is an essential parameter in controlling the longitudinal velocity of the vehicle. Most of the existing methods in literature solely use cameras to detect stop lines, which is typically not sufficient in terms of detection range. To address this issue, we propose a method that takes advantage of fused multi-sensory data including stereo camera and lidar as input and utilizes a carefully designed convolutional neural network architecture to detect stop lines. Our experiments show that the proposed approach can improve detection range compared to camera data alone, works under heavy occlusion without observing the ground markings explicitly, is able to predict stop lines for all lanes and allows detection at a distance up to 50 meters.

Utilising Visual Attention Cues for Vehicle Detection and Tracking

Feiyan Hu, Venkatesh Gurram Munirathnam, Noel E O'Connor, Alan Smeaton, Suzanne Little

Auto-TLDR; Visual Attention for Object Detection and Tracking in Driver-Assistance Systems

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Advanced Driver-Assistance Systems (ADAS) have been attracting attention from many researchers. Vision based sensors are the closest way to emulate human driver visual behavior while driving. In this paper, we explore possible ways to use visual attention (saliency) for object detection and tracking. We investigate: 1) How a visual attention map such as a subjectness attention or saliency map and an objectness attention map can facilitate region proposal generation in a 2-stage object detector; 2) How a visual attention map can be used for tracking multiple objects. We propose a neural network that can simultaneously detect objects as and generate objectness and subjectness maps to save computational power. We further exploit the visual attention map during tracking using a sequential Monte Carlo probability hypothesis density (PHD) filter. The experiments are conducted on KITTI and DETRAC datasets. The use of visual attention and hierarchical features has shown a considerable improvement of≈8% in object detection which effectively increased tracking performance by≈4% on KITTI dataset.

P2D: A Self-Supervised Method for Depth Estimation from Polarimetry

Marc Blanchon, Desire Sidibe, Olivier Morel, Ralph Seulin, Daniel Braun, Fabrice Meriaudeau

Auto-TLDR; Polarimetric Regularization for Monocular Depth Estimation

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Monocular depth estimation is a recurring subject in the ﬁeld of computer vision. Its ability to describe scenes via a depth map while reducing the constraints related to the formulation of perspective geometry tends to favor its use. However, despite the constant improvement of algorithms, most methods exploit only colorimetric information. Consequently, robustness to events to which the modality is not sensitive to, like specularity or transparency, is neglected. In response to this phenomenon, we propose using polarimetry as an input for a self-supervised monodepth network. Therefore, we propose exploiting polarization cues to encourage accurate reconstruction of scenes. Furthermore, we include a term of polarimetric regularization to state-of-the-art method to take speciﬁc advantage of the data. Our method is evaluated both qualitatively and quantitatively demonstrating that the contribution of this new information as well as an enhanced loss function improves depth estimation results, especially for specular areas.

GAP: Quantifying the Generative Adversarial Set and Class Feature Applicability of Deep Neural Networks

Edward Collier, Supratik Mukhopadhyay

Auto-TLDR; Approximating Adversarial Learning in Deep Neural Networks Using Set and Class Adversaries

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Recent work in deep neural networks has sought to characterize the nature in which a network learns features and how applicable learnt features are to various problem sets. Deep neural network applicability can be split into three sub-problems; set applicability, class applicability, and instance applicability. In this work we seek to quantify the applicability of features learned during adversarial training, focusing specifically on set and class applicability. We apply techniques for measuring applicability to both generators and discriminators trained on various data sets to quantify applicability and better observe how both a generator and a discriminator, and generative models as a whole, learn features during adversarial training.

A Bayesian Approach to Reinforcement Learning of Vision-Based Vehicular Control

Zahra Gharaee, Karl Holmquist, Linbo He, Michael Felsberg

Auto-TLDR; Bayesian Reinforcement Learning for Autonomous Driving

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In this paper, we present a state-of-the-art reinforcement learning method for autonomous driving. Our approach employs temporal difference learning in a Bayesian framework to learn vehicle control signals from sensor data. The agent has access to images from a forward facing camera, which are pre-processed to generate semantic segmentation maps. We trained our system using both ground truth and estimated semantic segmentation input. Based on our observations from a large set of experiments, we conclude that training the system on ground truth input data leads to better performance than training the system on estimated input even if estimated input is used for evaluation. The system is trained and evaluated in a realistic simulated urban environment using the CARLA simulator. The simulator also contains a benchmark that allows for comparing to other systems and methods. The required training time of the system is shown to be lower and the performance on the benchmark superior to competing approaches.

Anomaly Detection, Localization and Classification for Railway Inspection

Riccardo Gasparini, Andrea D'Eusanio, Guido Borghi, Stefano Pini, Giuseppe Scaglione, Simone Calderara, Eugenio Fedeli, Rita Cucchiara

Auto-TLDR; Anomaly Detection and Localization using thermal images in the lowlight environment

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The ability to detect, localize and classify objects that are anomalies is a challenging task in the computer vision community. In this paper, we tackle these tasks developing a framework to automatically inspect the railway during the night. Specifically, it is able to predict the presence, the image coordinates and the class of obstacles. To deal with the lowlight environment, the framework is based on thermal images and consists of three different modules that address the problem of detecting anomalies, predicting their image coordinates and classifying them. Moreover, due to the absolute lack of publicly released datasets collected in the railway context for anomaly detection, we introduce a new multi-modal dataset, acquired from a rail drone, used to evaluate the proposed framework. Experimental results confirm the accuracy of the framework and its suitability, in terms of computational load, performance, and inference time, to be implemented on a self-powered inspection system.

Yolo+FPN: 2D and 3D Fused Object Detection with an RGB-D Camera

Ya Wang

Auto-TLDR; Yolo+FPN: Combining 2D and 3D Object Detection for Real-Time Object Detection

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In this paper we propose a new deep neural network system, called Yolo+FPN, which fuses both 2D and 3D object detection algorithms to achieve better real-time object detection results and faster inference speed, to be used on real robots. Finding an optimized fusion strategy to efficiently combine 3D object detection with 2D detection information is useful and challenging for both indoor and outdoor robots. In order to satisfy real-time requirements, a trade-off between accuracy and efficiency is needed. We not only have improved training and test accuracies and lower mean losses on the KITTI object detection benchmark, but also achieve better average precision on 3D detection of all classes in three levels of difficulty. Also, we implemented Yolo+FPN system using an RGB-D camera, and compared the speed of 2D and 3D object detection using different GPUs. For the real implementation of both indoor and outdoor scenes, we focus on person detection, which is the most challenging and important among the three classes.

SynDHN: Multi-Object Fish Tracker Trained on Synthetic Underwater Videos

Mygel Andrei Martija, Prospero Naval

Auto-TLDR; Underwater Multi-Object Tracking in the Wild with Deep Hungarian Network

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In this paper, we seek to extend multi-object tracking research on a relatively less explored domain, that of, underwater multi-object tracking in the wild. Multi-object fish tracking is an important task because it can provide fish monitoring systems with richer information (e.g. multiple views of the same fish) as compared to detections and it can be an invaluable input to fish behavior analysis. However, there is a lack of an annotated benchmark dataset with enough samples for this task. To circumvent the need for manual ground truth tracking annotation, we craft a synthetic dataset. Using this synthetic dataset, we train an integrated detector and tracker called SynDHN. SynDHN uses the Deep Hungarian Network (DHN), which is a differentiable approximation of the Hungarian assignment algorithm. We repurpose DHN to become the tracking component of our algorithm by performing the task of affinity estimation between detector predictions. We consider both spatial and appearance features for affinity estimation. Our results show that despite being trained on a synthetic dataset, SynDHN generalizes well to real underwater video tracking and performs better against our baseline algorithms.

Efficient Shadow Detection and Removal Using Synthetic Data with Domain Adaptation

Rui Guo, Babajide Ayinde, Hao Sun

Auto-TLDR; Shadow Detection and Removal with Domain Adaptation and Synthetic Image Database

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In recent years, learning based shadow detection and removal approaches have shown prospects and, in most cases, yielded state-of-the-art results. The performance of these approaches, however, relies heavily on the construction of training database of shadow images, shadow-free versions, and shadow maps as ground truth. This conventional data gathering method is time-consuming, expensive, or even practically intractable to realize especially for outdoor scenes with complicated shadow patterns, thus limiting the size of the data available for training. In this paper, we leverage on large high quality synthetic image database and domain adaptation to eliminate the bottlenecks resulting from insufficient training samples and domain bias. Specifically, our approach utilizes adversarial training to predict near-pixel-perfect shadow map from synthetic shadow image for downstream shadow removal steps. At inference time, we capitalize on domain adaptation via image style transfer to map the style of real- world scene to that of synthetic scene for the purpose of detecting and subsequently removing shadow. Comprehensive experiments indicate that our approach outperforms state-of-the-art methods on select benchmark datasets.

Robust Pedestrian Detection in Thermal Imagery Using Synthesized Images

My Kieu, Lorenzo Berlincioni, Leonardo Galteri, Marco Bertini, Andrew Bagdanov, Alberto Del Bimbo

Auto-TLDR; Improving Pedestrian Detection in the thermal domain using Generative Adversarial Network

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In this paper we propose a method for improving pedestrian detection in the thermal domain using two stages: first, a generative data augmentation approach is used, then a domain adaptation method using generated data adapts an RGB pedestrian detector. Our model, based on the Least-Squares Generative Adversarial Network, is trained to synthesize realistic thermal versions of input RGB images which are then used to augment the limited amount of labeled thermal pedestrian images available for training. We apply our generative data augmentation strategy in order to adapt a pretrained YOLOv3 pedestrian detector to detection in the thermal-only domain. Experimental results demonstrate the effectiveness of our approach: using less than 50% of available real thermal training data, and relying on synthesized data generated by our model in the domain adaptation phase, our detector achieves state-of-the-art results on the KAIST Multispectral Pedestrian Detection Benchmark; even if more real thermal data is available adding GAN generated images to the training data results in improved performance, thus showing that these images act as an effective form of data augmentation. To the best of our knowledge, our detector achieves the best single-modality detection results on KAIST with respect to the state-of-the-art.

The Role of Cycle Consistency for Generating Better Human Action Videos from a Single Frame

Runze Li, Bir Bhanu

Auto-TLDR; Generating Videos with Human Action Semantics using Cycle Constraints

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This paper addresses the challenging problem of generating videos with human action semantics. Unlike previous work which predict future frames in a single forward pass, this paper introduces the cycle constraints in both forward and backward passes in the generation of human actions. This is achieved by enforcing the appearance and motion consistency across a sequence of frames generated in the future. The approach consists of two stages. In the first stage, the pose of a human body is generated. In the second stage, an image generator is used to generate future frames by using (a) generated human poses in the future from the first stage, (b) the single observed human pose, and (c) the single corresponding future frame. The experiments are performed on three datasets: Weizmann dataset involving simple human actions, Penn Action dataset and UCF-101 dataset containing complicated human actions, especially in sports. The results from these experiments demonstrate the effectiveness of the proposed approach.

Position-Aware and Symmetry Enhanced GAN for Radial Distortion Correction

Yongjie Shi, Xin Tong, Jingsi Wen, He Zhao, Xianghua Ying, Jinshi Hongbin Zha

Auto-TLDR; Generative Adversarial Network for Radial Distorted Image Correction

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This paper presents a novel method based on the generative adversarial network for radial distortion correction. Instead of generating a corrected image, our generator predicts a pixel flow map to measure the pixel offset between the distorted and corrected image. The quality of the generated pixel flow map and the warped image are judged by the discriminator. As texture far away from the image center has strong distortion, we develop an Adaptive Inverted Foveal layer which can transform the deformation to the intensity of the image to exploit this property. Rotation symmetry enhanced convolution kernels are applied to extract geometric features of different orientations explicitly. These learned features are recalibrated using the Squeeze-and-Excitation block to assign different weights for different directions. Moreover, we construct a first real-world radial distorted image dataset RD600 annotated with ground truth to evaluate our proposed method. We conduct extensive experiments to validate the effectiveness of each part of our framework. The further experiment shows our approach outperforms previous methods in both synthetic and real-world datasets quantitatively and qualitatively.

UCCTGAN: Unsupervised Clothing Color Transformation Generative Adversarial Network

Shuming Sun, Xiaoqiang Li, Jide Li

Auto-TLDR; An Unsupervised Clothing Color Transformation Generative Adversarial Network

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Clothing color transformation refers to changing the clothes color in an original image to the clothes color in a target image. In this paper, we propose an Unsupervised Clothing Color Transformation Generative Adversarial Network (UCCTGAN) for the task. UCCTGAN adopts the color histogram of a target clothes as color guidance and an improved U-net architecture called AntennaNet is put forward to fuse the extracted color information with the original image. Meanwhile, to accomplish unsupervised learning, the loss function is carefully designed according to color moment, which evaluates the chromatic aberration between the target clothing and the generated clothing. Experimental results show that our network has the ability to generate convincing color transformation results.

NetCalib: A Novel Approach for LiDAR-Camera Auto-Calibration Based on Deep Learning

Shan Wu, Amnir Hadachi, Damien Vivet, Yadu Prabhakar

Auto-TLDR; Automatic Calibration of LiDAR and Cameras using Deep Neural Network

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A fusion of LiDAR and cameras have been widely used in many robotics applications such as classification, segmentation, object detection, and autonomous driving. It is essential that the LiDAR sensor can measure distances accurately, which is a good complement to the cameras. Hence, calibrating sensors before deployment is a mandatory step. The conventional methods include checkerboards, specific patterns, or human labeling, which is trivial and human-labor extensive if we do the same calibration process every time. The main propose of this research work is to build a deep neural network that is capable of automatically finding the geometric transformation between LiDAR and cameras. The results show that our model manages to find the transformations from randomly sampled artificial errors. Besides, our work is open-sourced for the community to fully utilize the advances of the methodology for developing more the approach, initiating collaboration, and innovation in the topic.

On the Evaluation of Generative Adversarial Networks by Discriminative Models

Amirsina Torfi, Mohammadreza Beyki, Edward Alan Fox

Auto-TLDR; Domain-agnostic GAN Evaluation with Siamese Neural Networks

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Generative Adversarial Networks (GANs) can accurately model complex multi-dimensional data and generate realistic samples. However, due to their implicit estimation of data distributions, their evaluation is a challenging task. The majority of research efforts associated with tackling this issue were validated by qualitative visual evaluation. Such approaches do not generalize well beyond the image domain. Since many of those evaluation metrics are proposed and bound to the vision domain, they are difficult to apply to other domains. Quantitative measures are necessary to better guide the training and comparison of different GANs models. In this work, we leverage Siamese neural networks to propose a domain-agnostic evaluation metric: (1) with a qualitative evaluation that is consistent with human evaluation, (2) that is robust relative to common GAN issues such as mode dropping and invention, and (3) does not require any pretrained classifier. The empirical results in this paper demonstrate the superiority of this method compared to the popular Inception Score and are competitive with the FID score.

Real-Time Monocular Depth Estimation with Extremely Light-Weight Neural Network

Mian Jhong Chiu, Wei-Chen Chiu, Hua-Tsung Chen, Jen-Hui Chuang

Auto-TLDR; Real-Time Light-Weight Depth Prediction for Obstacle Avoidance and Environment Sensing with Deep Learning-based CNN

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Obstacle avoidance and environment sensing are crucial applications in autonomous driving and robotics. Among all types of sensors, RGB camera is widely used in these applications as it can offer rich visual contents with relatively low-cost, and using a single image to perform depth estimation has become one of the main focuses in resent research works. However, prior works usually rely on highly complicated computation and power-consuming GPU to achieve such task; therefore, we focus on developing a real-time light-weight system for depth prediction in this paper. Based on the well-known encoder-decoder architecture, we propose a supervised learning-based CNN with detachable decoders that produce depth predictions with different scales. We also formulate a novel log-depth loss function that computes the difference of predicted depth map and ground truth depth map in log space, so as to increase the prediction accuracy for nearby locations. To train our model efficiently, we generate depth map and semantic segmentation with complex teacher models. Via a series of ablation studies and experiments, it is validated that our model can efficiently performs real-time depth prediction with only 0.32M parameters, with the best trained model outperforms previous works on KITTI dataset for various evaluation matrices.

Semantic-Guided Inpainting Network for Complex Urban Scenes Manipulation

Pierfrancesco Ardino, Yahui Liu, Elisa Ricci, Bruno Lepri, Marco De Nadai

Auto-TLDR; Semantic-Guided Inpainting of Complex Urban Scene Using Semantic Segmentation and Generation

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Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering the performance of inpainting models. Conventional techniques often rely on structural information such as object contours in multi-stage approaches that generate unreliable results and boundaries. In this work, we propose a novel deep learning model to alter a complex urban scene by removing a user-specified portion of the image and coherently inserting a new object (e.g. car or pedestrian) in that scene. Inspired by recent works on image inpainting, our proposed method leverages the semantic segmentation to model the content and structure of the image, and learn the best shape and location of the object to insert. To generate reliable results, we design a new decoder block that combines the semantic segmentation and generation task to guide better the generation of new objects and scenes, which have to be semantically consistent with the image. Our experiments, conducted on two large-scale datasets of urban scenes (Cityscapes and Indian Driving), show that our proposed approach successfully address the problem of semantically-guided inpainting of complex urban scene.

Combining GANs and AutoEncoders for Efficient Anomaly Detection

Fabio Carrara, Giuseppe Amato, Luca Brombin, Fabrizio Falchi, Claudio Gennaro

Auto-TLDR; CBIGAN: Anomaly Detection in Images with Consistency Constrained BiGAN

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In this work, we propose CBiGAN --- a novel method for anomaly detection in images, where a consistency constraint is introduced as a regularization term in both the encoder and decoder of a BiGAN. Our model exhibits fairly good modeling power and reconstruction consistency capability. We evaluate the proposed method on MVTec AD --- a real-world benchmark for unsupervised anomaly detection on high-resolution images --- and compare against standard baselines and state-of-the-art approaches. Experiments show that the proposed method improves the performance of BiGAN formulations by a large margin and performs comparably to expensive state-of-the-art iterative methods while reducing the computational cost. We also observe that our model is particularly effective in texture-type anomaly detection, as it sets a new state of the art in this category. The code will be publicly released.

Object Detection on Monocular Images with Two-Dimensional Canonical Correlation Analysis

Zifan Yu, Suya You

Auto-TLDR; Multi-Task Object Detection from Monocular Images Using Multimodal RGB and Depth Data

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Accurate and robust detection objects from monocular images is a fundamental vision task. This paper describes a novel approach of holistic scene understanding that can simultaneously achieve multiple tasks of scene reconstruction and object detection from a single monocular camera. Rather than pursuing an independent solution for each individual task as most existing work does, we seek a globally optimal solution that holistically resolves the multiple perception and reasoning tasks in an effective manner. The approach explores the complementary properties of multimodal RGB imagery and depth data to improve scene perception tasks. It uniquely combines the techniques of canonical correlation analysis and deep learning to learn the most correlated features to maximize the modal cross-correlation for improving the performance and robustness of object detection in complex environments. Extensive experiments have been conducted to evaluate and demonstrate the performances of the proposed approach.

Shape Consistent 2D Keypoint Estimation under Domain Shift

Levi Vasconcelos, Massimiliano Mancini, Davide Boscaini, Barbara Caputo, Elisa Ricci

Auto-TLDR; Deep Adaptation for Keypoint Prediction under Domain Shift

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Recent unsupervised domain adaptation methods based on deep architectures have shown remarkable performance not only in traditional classification tasks but also in more complex problems involving structured predictions (e.g. semantic segmentation, depth estimation). Following this trend, in this paper we present a novel deep adaptation framework for estimating keypoints under \textit{domain shift}, i.e. when the training (\textit{source}) and the test (\textit{target}) images significantly differ in terms of visual appearance. Our method seamlessly combines three different components: feature alignment, adversarial training and self-supervision. Specifically, our deep architecture leverages from domain-specific distribution alignment layers to perform target adaptation at the feature level. Furthermore, a novel loss is proposed which combines an adversarial term for ensuring aligned predictions in the output space and a geometric consistency term which guarantees coherent predictions between a target sample and its perturbed version. Our extensive experimental evaluation conducted on three publicly available benchmarks shows that our approach outperforms state-of-the-art domain adaptation methods in the 2D keypoint prediction task.

CardioGAN: An Attention-Based Generative Adversarial Network for Generation of Electrocardiograms

Subhrajyoti Dasgupta, Sudip Das, Ujjwal Bhattacharya

Auto-TLDR; CardioGAN: Generative Adversarial Network for Synthetic Electrocardiogram Signals

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Electrocardiogram (ECG) signal is studied to obtain crucial information about the condition of a patient's heart. Machine learning based automated medical diagnostic systems that may help to evaluate the condition of the heart from this signal are required to be trained using large volumes of labelled training samples and the same may increase the chance of compromising with the patients' privacy. To solve this issue, generation of synthetic electrocardiogram signals by learning only from the general distributions of the available real training samples have been attempted in the literature. However, these studies did not pay necessary attention to the specific vital details of these signals, such as the P wave, the QRS complex, and the T wave. This shortcoming often results in the generation of unrealistic synthetic signals, such as a signal which does not contain one or more of the above components. In the present study, a novel deep generative architecture, termed as CardioGAN, based on generative adversarial network and powered by the effective attention mechanism has been designed which is capable of learning the intricate inter-dependencies among the various parts of real samples leading to the generation of more realistic electrocardiogram signals. Also, it helps in reducing the risk of breaching the privacy of patients. Extensive experimentation performed by us establishes that the proposed method achieves a better performance in generating synthetic electrocardiogram signals in comparison to the existing methods. The source code will be made available on github.

Temporal Pulses Driven Spiking Neural Network for Time and Power Efficient Object Recognition in Autonomous Driving

Wei Wang, Shibo Zhou, Jingxi Li, Xiaohua Li, Junsong Yuan, Zhanpeng Jin

Auto-TLDR; Spiking Neural Network for Real-Time Object Recognition on Temporal LiDAR Pulses

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Accurate real-time object recognition from sensory data has long been a crucial and challenging task for autonomous driving. Even though deep neural networks (DNNs) have been widely applied in this area, their considerable processing latency, power consumption as well as computational complexity have been challenging issues for real-time autonomous driving applications. In this paper, we propose an approach to address the real-time object recognition problem utilizing spiking neural networks (SNNs). The proposed SNN model works directly with raw temporal LiDAR pulses without the pulse-to-point cloud preprocessing procedure, which can significantly reduce delay and power consumption. Being evaluated on various datasets derived from LiDAR and dynamic vision sensor (DVS), including Sim LiDAR, KITTI, and DVS-barrel, our proposed model has shown remarkable time and power efficiency, while achieving comparable recognition performance as the state-of-the-art methods. This paper highlights the SNN's great potentials in autonomous driving and related applications. To the best of our knowledge, this is the first attempt to use SNN to directly perform time and energy efficient object recognition on temporal LiDAR pulses in the setting of autonomous driving.

Small Object Detection by Generative and Discriminative Learning

Yi Gu, Jie Li, Chentao Wu, Weijia Jia, Jianping Chen

Auto-TLDR; Generative and Discriminative Learning for Small Object Detection

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With the development of deep convolutional neural networks (CNNs), the object detection accuracy has been greatly improved. But the performance of small object detection is still far from satisfactory, mainly because small objects are so tiny that the information contained in the feature map is limited. Existing methods focus on improving classification accuracy but still suffer from the limitation of bounding box prediction. To solve this issue, we propose a detection framework by generative and discriminative learning. First, a reconstruction generator network is designed to reconstruct the mapping from low frequency to high frequency for anchor box prediction. Then, a detector module extracts the regions of interest (ROIs) from generated results and implements a RoI-Head to predict object category and refine bounding box. In order to guide the reconstructed image related to the corresponding one, a discriminator module is adopted to tell from the generated result and the original image. Extensive evaluations on the challenging MS-COCO dataset demonstrate that our model outperforms most state-of-the-art models in detecting small objects, especially the reconstruction module improves the average precision for small object (APs) by 7.7%.

Novel View Synthesis from a 6-DoF Pose by Two-Stage Networks

Xiang Guo, Bo Li, Yuchao Dai, Tongxin Zhang, Hui Deng

Auto-TLDR; Novel View Synthesis from a 6-DoF Pose Using Generative Adversarial Network

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Novel view synthesis is a challenging problem in 3D vision and robotics. Different from the existing works, which need the reference images or 3D model, we propose a novel paradigm to this problem. That is, we synthesize the novel view from a 6-DoF pose directly. Although this setting is the most straightforward way, there are few works addressing it. While, our experiments demonstrate that, with a concise CNN, we could get a meaningful parametric model which could reconstruct the correct scenery images only from the 6-DoF pose. To this end, we propose a two-stage learning strategy, which consists of two consecutive CNNs: GenNet and RefineNet. The GenNet generates a coarse image from a camera pose. The RefineNet is a generative adversarial network that could refine the coarse image. In this way, we decouple the geometric relationship mapping and texture detail rendering. Extensive experiments conducted on the public datasets prove the effectiveness of our method. We believe this paradigm is of high research and application value and could be an important direction in novel view synthesis. We will share our code after the acceptance of this work.

CARRADA Dataset: Camera and Automotive Radar with Range-Angle-Doppler Annotations

Arthur Ouaknine, Alasdair Newson, Julien Rebut, Florence Tupin, Patrick Pérez

Auto-TLDR; CARRADA: A dataset of synchronized camera and radar recordings with range-angle-Doppler annotations for autonomous driving

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High quality perception is essential for autonomous driving (AD) systems. To reach the accuracy and robustness that are required by such systems, several types of sensors must be combined. Currently, mostly cameras and laser scanners (lidar) are deployed to build a representation of the world around the vehicle. While radar sensors have been used for a long time in the automotive industry, they are still under-used for AD despite their appealing characteristics (notably, their ability to measure the relative speed of obstacles and to operate even in adverse weather conditions). To a large extent, this situation is due to the relative lack of automotive datasets with real radar signals that are both raw and annotated. In this work, we introduce CARRADA, a dataset of synchronized camera and radar recordings with range-angle-Doppler annotations. We also present a semi-automatic annotation approach, which was used to annotate the dataset, and a radar semantic segmentation baseline, which we evaluate on several metrics. Both our code and dataset will be released.

Mutual Information Based Method for Unsupervised Disentanglement of Video Representation

Aditya Sreekar P, Ujjwal Tiwari, Anoop Namboodiri

Auto-TLDR; MIPAE: Mutual Information Predictive Auto-Encoder for Video Prediction

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Video Prediction is an interesting and challenging task of predicting future frames from a given set context frames that belong to a video sequence. Video prediction models have found prospective applications in Maneuver Planning, Health care, Autonomous Navigation and Simulation. One of the major challenges in future frame generation is due to the high dimensional nature of visual data. In this work, we propose Mutual Information Predictive Auto-Encoder (MIPAE) framework, that reduces the task of predicting high dimensional video frames by factorising video representations into content and low dimensional pose latent variables that are easy to predict. A standard LSTM network is used to predict these low dimensional pose representations. Content and the predicted pose representations are decoded to generate future frames. Our approach leverages the temporal structure of the latent generative factors of a video and a novel mutual information loss to learn disentangled video representations. We also propose a metric based on mutual information gap (MIG) to quantitatively access the effectiveness of disentanglement on DSprites and MPI3D-real datasets. MIG scores corroborate with the visual superiority of frames predicted by MIPAE. We also compare our method quantitatively on evaluation metrics LPIPS, SSIM and PSNR.

Reducing the Variance of Variational Estimates of Mutual Information by Limiting the Critic's Hypothesis Space to RKHS

Aditya Sreekar P, Ujjwal Tiwari, Anoop Namboodiri

Auto-TLDR; Mutual Information Estimation from Variational Lower Bounds Using a Critic's Hypothesis Space

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Mutual information (MI) is an information-theoretic measure of dependency between two random variables. Several methods to estimate MI, from samples of two random variables with unknown underlying probability distributions have been proposed in the literature. Recent methods realize parametric probability distributions or critic as a neural network to approximate unknown density ratios. The approximated density ratios are used to estimate different variational lower bounds of MI. While these methods provide reliable estimation when the true MI is low, they produce high variance estimates in cases of high MI. We argue that the high variance characteristic is due to the uncontrolled complexity of the critic's hypothesis space. In support of this argument, we use the data-driven Rademacher complexity of the hypothesis space associated with the critic's architecture to analyse generalization error bound of variational lower bound estimates of MI. In the proposed work, we show that it is possible to negate the high variance characteristics of these estimators by constraining the critic's hypothesis space to Reproducing Hilbert Kernel Space (RKHS), which corresponds to a kernel learned using Automated Spectral Kernel Learning (ASKL). By analysing the aforementioned generalization error bounds, we augment the overall optimisation objective with effective regularisation term. We empirically demonstrate the efficacy of this regularization in enforcing proper bias variance tradeoff on four variational lower bounds, namely NWJ, MINE, JS and SMILE.

Thermal Image Enhancement Using Generative Adversarial Network for Pedestrian Detection

Mohamed Amine Marnissi, Hajer Fradi, Anis Sahbani, Najoua Essoukri Ben Amara

Auto-TLDR; Improving Visual Quality of Infrared Images for Pedestrian Detection Using Generative Adversarial Network

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Infrared imaging has recently played an important role in a wide range of applications including surveillance, robotics and night vision. However, infrared cameras often suffer from some limitations, essentially about low-contrast and blurred details. These problems contribute to the loss of observation of target objects in infrared images, which could limit the feasibility of different infrared imaging applications. In this paper, we mainly focus on the problem of pedestrian detection on thermal images. Particularly, we emphasis the need for enhancing the visual quality of images beforehand performing the detection step. % to ensure effective results. To address that, we propose a novel thermal enhancement architecture based on Generative Adversarial Network, and composed of two modules contrast enhancement and denoising modules with a post-processing step for edge restoration in order to improve the overall quality. The effectiveness of the proposed architecture is assessed by means of visual quality metrics and better results are obtained compared to the original thermal images and to the obtained results by other existing enhancement methods. These results have been conduced on a subset of KAIST dataset. Using the same dataset, the impact of the proposed enhancement architecture has been demonstrated on the detection results by obtaining better performance with a significant margin using YOLOv3 detector.

Semi-Supervised Generative Adversarial Networks with a Pair of Complementary Generators for Retinopathy Screening

Yingpeng Xie, Qiwei Wan, Hai Xie, En-Leng Tan, Yanwu Xu, Baiying Lei

Auto-TLDR; Generative Adversarial Networks for Retinopathy Diagnosis via Fundus Images

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Several typical types of retinopathy are major causes of blindness. However, early detection of retinopathy is quite not easy since few symptoms are observable in the early stage, attributing to the development of non-mydriatic retinal camera. These camera produces high-resolution retinal fundus images provide the possibility of Computer-Aided-Diagnosis (CAD) via deep learning to assist diagnosing retinopathy. Deep learning algorithms usually rely on a great number of labelled images which are expensive and time-consuming to obtain in the medical imaging area. Moreover, the random distribution of various lesions which often vary greatly in size also brings significant challenges to learn discriminative information from high-resolution fundus image. In this paper, we present generative adversarial networks simultaneously equipped with "good" generator and "bad" generator (GBGANs) to make up for the incomplete data distribution provided by limited fundus images. To improve the generative feasibility of generator, we introduce into pre-trained feature extractor to acquire condensed feature for each fundus image in advance. Experimental results on integrated three public iChallenge datasets show that the proposed GBGANs could fully utilize the available fundus images to identify retinopathy with little label cost.

Foreground-Focused Domain Adaption for Object Detection

Yuchen Yang, Nilanjan Ray

Auto-TLDR; Unsupervised Domain Adaptation for Unsupervised Object Detection

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Object detectors suffer from accuracy loss caused by domain shift from a source to a target domain. Unsupervised domain adaptation (UDA) approaches mitigate this loss by training with unlabeled target domain images. A popular processing pipeline applies adversarial training that aligns the distributions of the features from the two domains. We advocate that aligning the full image level features is not ideal for UDA object detection due to the presence of varied background areas during inference. Thus, we propose a novel foreground-focused domain adaptation (FFDA) framework which mines the loss of the domain discriminators to concentrate on the backpropagation of foreground loss. We obtain mining masks by collecting target predictions and source labels to outline foreground regions, and apply the masks to image and instance level domain discriminators to allow backpropagation only on the mined regions. By reinforcing this foreground-focused adaptation throughout multiple layers in the detector model, we gain a significant accuracy boost on the target domain prediction. Compared to previous works, our method reaches the new state-of-the-art accuracy on adapting Cityscape to Foggy Cityscape dataset and demonstrates competitive accuracy on other datasets that include various scenarios for autonomous driving applications.

Data Augmentation Via Mixed Class Interpolation Using Cycle-Consistent Generative Adversarial Networks Applied to Cross-Domain Imagery

Hiroshi Sasaki, Chris G. Willcocks, Toby Breckon

Auto-TLDR; C2GMA: A Generative Domain Transfer Model for Non-visible Domain Classification

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Machine learning driven object detection and classification within non-visible imagery has an important role in many fields such as night vision, all-weather surveillance and aviation security. However, such applications often suffer due to the limited quantity and variety of non-visible spectral domain imagery, in contrast to the high data availability of visible-band imagery that readily enables contemporary deep learning driven detection and classification approaches. To address this problem, this paper proposes and evaluates a novel data augmentation approach that leverages the more readily available visible-band imagery via a generative domain transfer model. The model can synthesise large volumes of non-visible domain imagery by image-to-image (I2I) translation from the visible image domain. Furthermore, we show that the generation of interpolated mixed class (non-visible domain) image examples via our novel Conditional CycleGAN Mixup Augmentation (C2GMA) methodology can lead to a significant improvement in the quality of non-visible domain classification tasks that otherwise suffer due to limited data availability. Focusing on classification within the Synthetic Aperture Radar (SAR) domain, our approach is evaluated on a variation of the Statoil/C-CORE Iceberg Classifier Challenge dataset and achieves 75.4% accuracy, demonstrating a significant improvement when compared against traditional data augmentation strategies (Rotation, Mixup, and MixCycleGAN).

Attention Based Coupled Framework for Road and Pothole Segmentation

Shaik Masihullah, Ritu Garg, Prerana Mukherjee, Anupama Ray

Auto-TLDR; Few Shot Learning for Road and Pothole Segmentation on KITTI and IDD

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In this paper, we propose a novel attention based coupled framework for road and pothole segmentation. In many developing countries as well as in rural areas, the drivable areas are neither well-defined, nor well-maintained. Under such circumstances, an Advance Driver Assistant System (ADAS) is needed to assess the drivable area and alert about the potholes ahead to ensure vehicle safety. Moreover, this information can also be used in structured environments for assessment and maintenance of road health. We demonstrate few shot learning approach for pothole detection to leverage accuracy even with fewer training samples. We report the exhaustive experimental results for road segmentation on KITTI and IDD datasets. We also present pothole segmentation on IDD.

MagnifierNet: Learning Efficient Small-Scale Pedestrian Detector towards Multiple Dense Regions

Qi Cheng, Mingqin Chen, Yingjie Wu, Fei Chen, Shiping Lin

Auto-TLDR; MagnifierNet: A Simple but Effective Small-Scale Pedestrian Detection Towards Multiple Dense Regions

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Despite the success of pedestrian detection, there is still a significant gap in the performance of the detection of pedestrians at different scales. Detecting small-scale pedestrians is extremely challenging due to the low resolution of their convolution features which is essential for downstream classifiers. To address this issue, we observed pedestrian datasets and found that pedestrians often gather together in crowded public places. Then we propose MagnifierNet, a simple but effective small-scale pedestrian detector towards multiple dense regions. MagnifierNet uses our proposed sweep-line based grouping algorithm to find dense regions based on the number of pedestrians in the grouped region. And we adopt a new definition of small-scale pedestrians through grid search and KL-divergence. Besides, our grouping method can also be used as a new strategy for pedestrian data augmentation. The ablation study demonstrates that MagnifierNet improves the representation of small-scale pedestrians. We validate the effectiveness of MagnifierNet on CityPersons and KITTI datasets. Experimental results show that MagnifierNet achieves the best small-scale pedestrian detection performance on CityPersons benchmark without any external data, and also achieves competitive performance for detecting small-scale pedestrians on KITTI dataset without bells and whistles.

A Fine-Grained Dataset and Its Efficient Semantic Segmentation for Unstructured Driving Scenarios

Kai Andreas Metzger, Peter Mortimer, Hans J "Joe" Wuensche

Auto-TLDR; TAS500: A Semantic Segmentation Dataset for Autonomous Driving in Unstructured Environments

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Research in autonomous driving for unstructured environments suffers from a lack of semantically labeled datasets compared to its urban counterpart. Urban and unstructured outdoor environments are challenging due to the varying lighting and weather conditions during a day and across seasons. In this paper, we introduce TAS500, a novel semantic segmentation dataset for autonomous driving in unstructured environments. TAS500 offers fine-grained vegetation and terrain classes to learn drivable surfaces and natural obstacles in outdoor scenes effectively. We evaluate the performance of modern semantic segmentation models with an additional focus on their efficiency. Our experiments demonstrate the advantages of fine-grained semantic classes to improve the overall prediction accuracy, especially along the class boundaries. The dataset, code, and pretrained model are available online.

Unsupervised 3D Human Pose Estimation in Multi-view-multi-pose Video

Cheng Sun, Diego Thomas, Hiroshi Kawasaki

Auto-TLDR; Unsupervised 3D Human Pose Estimation from 2D Videos Using Generative Adversarial Network

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3D human pose estimation from a single 2D video is an extremely difficult task because computing 3D geometry from 2D images is an ill-posed problem. Recent popular solutions adopt fully-supervised learning strategy, which requires to train a deep network on a large-scale ground truth dataset of 3D poses and 2D images. However, such a large-scale dataset with natural images does not exist, which limits the usability of existing methods. While building a complete 3D dataset is tedious and expensive, abundant 2D in-the-wild data is already publicly available. As a consequence, there is a growing interest in the computer vision community to design efficient techniques that use the unsupervised learning strategy, which does not require any ground truth 3D data. Such methods can be trained with only natural 2D images of humans. In this paper we propose an unsupervised method for estimating 3D human pose in videos. The standard approach for unsupervised learning is to use the Generative Adversarial Network (GAN) framework. To improve the performance of 3D human pose estimation in videos, we propose a new GAN network that enforces body consistency over frames in a video. We evaluate the efficiency of our proposed method on a public 3D human body dataset.

A Joint Representation Learning and Feature Modeling Approach for One-Class Recognition

Pramuditha Perera, Vishal Patel

Auto-TLDR; Combining Generative Features and One-Class Classification for Effective One-class Recognition

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One-class recognition is traditionally approached either as a representation learning problem or a feature modelling problem. In this work, we argue that both of these approaches have their own limitations; and a more effective solution can be obtained by combining the two. The proposed approach is based on the combination of a generative framework and a one-class classification method. First, we learn generative features using the one-class data with a generative framework. We augment the learned features with the corresponding reconstruction errors to obtain augmented features. Then, we qualitatively identify a suitable feature distribution that reduces the redundancy in the chosen classifier space. Finally, we force the augmented features to take the form of this distribution using an adversarial framework. We test the effectiveness of the proposed method on three one-class classification tasks and obtain state-of-the-art results.