Wireless Localisation in WiFi Using Novel Deep Architectures

Peizheng Li, Han Cui, Aftab Khan, Usman Raza, Robert Piechocki, Angela Doufexi, Tim Farnham

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Auto-TLDR; Deep Neural Network for Indoor Localisation of WiFi Devices in Indoor Environments

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This paper studies the indoor localisation of WiFi devices based on a commodity chipset and standard channel sounding. First, we present a novel shallow neural network (SNN) in which features are extracted from the channel state information (CSI) corresponding to WiFi subcarriers received on different antennas and used to train the model. The single layer architecture of this localisation neural network makes it lightweight and easy-to-deploy on devices with stringent constraints on computational resources. We further investigate for localisation the use of deep learning models and design novel architectures for convolutional neural network (CNN) and long-short term memory (LSTM). We extensively evaluate these localisation algorithms for continuous tracking in indoor environments. Experimental results prove that even an SNN model, after a careful handcrafted feature extraction, can achieve accurate localisation. Meanwhile, using a well-organised architecture, the neural network models can be trained directly with raw data from the CSI and localisation features can be automatically extracted to achieve accurate position estimates. We also found that the performance of neural network-based methods are directly affected by the number of anchor access points (APs) regardless of their structure. With three APs, all neural network models proposed in this paper can obtain localisation accuracy of around 0.5 metres. In addition the proposed deep NN architecture reduces the data pre-processing time by 6.5 hours compared with a shallow NN using the data collected in our testbed. In the deployment phase, the inference time is also significantly reduced to 0.1 ms per sample. We also demonstrate the generalisation capability of the proposed method by evaluating models using different target movement characteristics to the ones in which they were trained.

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Translation Resilient Opportunistic WiFi Sensing

Mohammud Junaid Bocus, Wenda Li, Jonas Paulavičius, Ryan Mcconville, Raul Santos-Rodriguez, Kevin Chetty, Robert Piechocki

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Auto-TLDR; Activity Recognition using Fine-Grained WiFi Channel State Information using WiFi CSI

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Passive wireless sensing using WiFi signals has become a very active area of research over the past few years. Such techniques provide a cost-effective and non-intrusive solution for human activity sensing especially in healthcare applications. One of the main approaches used in wireless sensing is based on fine-grained WiFi Channel State Information (CSI) which can be extracted from commercial Network Interface Cards (NICs). In this paper, we present a new signal processing pipelines required for effective wireless sensing. An experiment involving five participants performing six different activities was carried out in an office space to evaluate the performance of activity recognition using WiFi CSI in different physical layouts. Experimental results show that the CSI system has the best detection performance when activities are performed half-way in between the transmitter and receiver in a line-of-sight (LoS) setting. In this case, an accuracy as high as 91% is achieved while the accuracy for the case where the transmitter and receiver are co-located is around 62%. As for the case when data from all layouts is combined, which better reflects the real-world scenario, the accuracy is around 67%. The results showed that the activity detection performance is dependent not only on the locations of the transmitter and receiver but also on the positioning of the person performing the activity.

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

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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.

Radar Image Reconstruction from Raw ADC Data Using Parametric Variational Autoencoder with Domain Adaptation

Michael Stephan, Thomas Stadelmayer, Avik Santra, Georg Fischer, Robert Weigel, Fabian Lurz

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Auto-TLDR; Parametric Variational Autoencoder-based Human Target Detection and Localization for Frequency Modulated Continuous Wave Radar

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This paper presents a parametric variational autoencoder-based human target detection and localization framework working directly with the raw analog-to-digital converter data from the frequency modulated continuous wave radar. We propose a parametrically constrained variational autoencoder, with residual and skip connections, capable of generating the clustered and localized target detections on the range-angle image. Furthermore, to circumvent the problem of training the proposed neural network on all possible scenarios using real radar data, we propose domain adaptation strategies whereby we first train the neural network using ray tracing based model data and then adapt the network to work on real sensor data. This strategy ensures better generalization and scalability of the proposed neural network even though it is trained with limited radar data. We demonstrate the superior detection and localization performance of our proposed solution compared to the conventional signal processing pipeline and earlier state-of-art deep U-Net architecture with range-doppler images as inputs.

Cross-People Mobile-Phone Based Airwriting Character Recognition

Yunzhe Li, Hui Zheng, He Zhu, Haojun Ai, Xiaowei Dong

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Auto-TLDR; Cross-People Airwriting Recognition via Motion Sensor Signal via Deep Neural Network

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Airwriting using mobile phones has many applications in human-computer interaction. However, the recognition of airwriting character needs a lot of training data from user, which brings great difficulties to the pratical application. The model learnt from a specific person often cannot yield satisfied results when used on another person. The data gap between people is mainly caused by the following factors: personal writing styles, mobile phone sensors, and ways to hold mobile phones. To address the cross-people problem, we propose a deep neural network(DNN) that combines convolutional neural network(CNN) and bilateral long short-term memory(BLSTM). In each layer of the network, we also add an AdaBN layer which is able to increase the generalization ability of the DNN. Different from the original AdaBN method, we explore the feasibility for semi-supervised learning. We implement it to our design and conduct comprehensive experiments. The evaluation results show that our system can achieve an accuracy of 99% for recognition and an improvement of 10% on average for transfer learning between various factors such as people, devices and postures. To the best of our knowledge, our work is the first to implement cross-people airwriting recognition via motion sensor signal, which is a fundamental step towards ubiquitous sensing.

Weight Estimation from an RGB-D Camera in Top-View Configuration

Marco Mameli, Marina Paolanti, Nicola Conci, Filippo Tessaro, Emanuele Frontoni, Primo Zingaretti

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Auto-TLDR; Top-View Weight Estimation using Deep Neural Networks

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The development of so-called soft-biometrics aims at providing information related to the physical and behavioural characteristics of a person. This paper focuses on bodyweight estimation based on the observation from a top-view RGB-D camera. In fact, the capability to estimate the weight of a person can be of help in many different applications, from health-related scenarios to business intelligence and retail analytics. To deal with this issue, a TVWE (Top-View Weight Estimation) framework is proposed with the aim of predicting the weight. The approach relies on the adoption of Deep Neural Networks (DNNs) that have been trained on depth data. Each network has also been modified in its top section to replace classification with prediction inference. The performance of five state-of-art DNNs has been compared, namely VGG16, ResNet, Inception, DenseNet and Efficient-Net. In addition, a convolutional auto-encoder has also been included for completeness. Considering the limited literature in this domain, the TVWE framework has been evaluated on a new publicly available dataset: “VRAI Weight estimation Dataset”, which also collects, for each subject, labels related to weight, gender, and height. The experimental results have demonstrated that the proposed methods are suitable for this task, bringing different and significant insights for the application of the solution in different domains.

Improving Gravitational Wave Detection with 2D Convolutional Neural Networks

Siyu Fan, Yisen Wang, Yuan Luo, Alexander Michael Schmitt, Shenghua Yu

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Auto-TLDR; Two-dimensional Convolutional Neural Networks for Gravitational Wave Detection from Time Series with Background Noise

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Sensitive gravitational wave (GW) detectors such as that of Laser Interferometer Gravitational-wave Observatory (LIGO) realize the direct observation of GW signals that confirm Einstein's general theory of relativity. However, it remains challenges to quickly detect faint GW signals from a large number of time series with background noise under unknown probability distributions. Traditional methods such as matched-filtering in general assume Additive White Gaussian Noise (AWGN) and are far from being real-time due to its high computational complexity. To avoid these weaknesses, one-dimensional (1D) Convolutional Neural Networks (CNNs) are introduced to achieve fast online detection in milliseconds but do not have enough consideration on the trade-off between the frequency and time features, which will be revisited in this paper through data pre-processing and subsequent two-dimensional (2D) CNNs during offline training to improve the online detection sensitivity. In this work, the input data is pre-processed to form a 2D spectrum by Short-time Fourier transform (STFT), where frequency features are extracted without learning. Then, carrying out two 1D convolutions across time and frequency axes respectively, and concatenating the time-amplitude and frequency-amplitude feature maps with equal proportion subsequently, the frequency and time features are treated equally as the input of our following two-dimensional CNNs. The simulation of our above ideas works on a generated data set with uniformly varying SNR (2-17), which combines the GW signal generated by PYCBC and the background noise sampled directly from LIGO. Satisfying the real-time online detection requirement without noise distribution assumption, the experiments of this paper demonstrate better performance in average compared to that of 1D CNNs, especially in the cases of lower SNR (4-9).

Air-Writing with Sparse Network of Radars Using Spatio-Temporal Learning

Muhammad Arsalan, Avik Santra, Kay Bierzynski, Vadim Issakov

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Auto-TLDR; An Air-writing System for Sparse Radars using Deep Convolutional Neural Networks

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Hand gesture and motion sensing offer an intuitive and natural form of human-machine interface. Air-writing systems allow users to draw alpha-numerical or linguistic characters in the virtual board in air through hand gestures. Traditionally, radar-based air-writing systems have been based on a network of radars, at least three, to localize the hand target through trilateration algorithm followed by tracking to extract the drawn trajectory, which is then followed by recognition of the drawn character by either Long-Short Term Memory (LSTM) utilizing the sensed trajectory or Deep Convolutional Neural Network (DCNN) utilizing a reconstructed 2D image from the trajectory. However, the practical deployments of such systems are limited since the detection of the finger or hand target by all three radars cannot be guaranteed leading to failure of the trilateration algorithm. Further placement of three or more radars for the air-writing solution is neither always physically plausible nor cost-effective. Furthermore, these solutions do not exploit the full potentials of deep neural networks, which are generally capable of learning features implicitly. In this paper, we propose an air-writing system based on a network of sparse radars, i.e. strictly less than three, using 1D DCNN-LSTM-1D transposed DCNN architecture to reconstruct and classify the drawn character utilizing only the range information from each radar. The paper employs real data using one and two 60 GHz milli-meter wave radar sensors to demonstrate the success of the proposed air-writing solution.

Holistic Grid Fusion Based Stop Line Estimation

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

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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.

Exploring Spatial-Temporal Representations for fNIRS-based Intimacy Detection via an Attention-enhanced Cascade Convolutional Recurrent Neural Network

Chao Li, Qian Zhang, Ziping Zhao

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Auto-TLDR; Intimate Relationship Prediction by Attention-enhanced Cascade Convolutional Recurrent Neural Network Using Functional Near-Infrared Spectroscopy

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The detection of intimacy plays a crucial role in the improvement of intimate relationship, which contributes to promote the family and social harmony. Previous studies have shown that different degrees of intimacy have significant differences in brain imaging. Recently, a few of work has emerged to recognise intimacy automatically by using machine learning technique. Moreover, considering the temporal dynamic characteristics of intimacy relationship on neural mechanism, how to model spatio-temporal dynamics for intimacy prediction effectively is still a challenge. In this paper, we propose a novel method to explore deep spatial-temporal representations for intimacy prediction by Attention-enhanced Cascade Convolutional Recurrent Neural Network (ACCRNN). Given the advantages of time-frequency resolution in complex neuronal activities analysis, this paper utilizes functional near-infrared spectroscopy (fNIRS) to analyse and infer to intimate relationship. We collect a fNIRS-based dataset for the analysis of intimate relationship. Forty-two-channel fNIRS signals are recorded from the 44 subjects' prefrontal cortex when they watched a total of 18 photos of lovers, friends and strangers for 30 seconds per photo. The experimental results show that our proposed method outperforms the others in terms of accuracy with the precision of 96.5%. To the best of our knowledge, this is the first time that such a hybrid deep architecture has been employed for fNIRS-based intimacy prediction.

RISEdb: A Novel Indoor Localization Dataset

Carlos Sanchez Belenguer, Erik Wolfart, Álvaro Casado Coscollá, Vitor Sequeira

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Auto-TLDR; Indoor Localization Using LiDAR SLAM and Smartphones: A Benchmarking Dataset

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In this paper we introduce a novel public dataset for developing and benchmarking indoor localization systems. We have selected and 3D mapped a set of representative indoor environments including a large office building, a conference room, a workshop, an exhibition area and a restaurant. Our acquisition pipeline is based on a portable LiDAR SLAM backpack to map the buildings and to accurately track the pose of the user as it moves freely inside them. We introduce the calibration procedures that enable us to acquire and geo-reference live data coming from different independent sensors rigidly attached to the backpack. This has allowed us to collect long sequences of spherical and stereo images, together with all the sensor readings coming from a consumer smartphone and locate them inside the map with centimetre accuracy. The dataset addresses many of the limitations of existing indoor localization datasets regarding the scale and diversity of the mapped buildings; the number of acquired sequences under varying conditions; the accuracy of the ground-truth trajectory; the availability of a detailed 3D model and the availability of different sensor types. It enables the benchmarking of existing and the development of new indoor localization approaches, in particular for deep learning based systems that require large amounts of labeled training data.

EEG-Based Cognitive State Assessment Using Deep Ensemble Model and Filter Bank Common Spatial Pattern

Debashis Das Chakladar, Shubhashis Dey, Partha Pratim Roy, Masakazu Iwamura

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Auto-TLDR; A Deep Ensemble Model for Cognitive State Assessment using EEG-based Cognitive State Analysis

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Electroencephalography (EEG) is the most used physiological measure to evaluate the cognitive state of a user efficiently. As EEG inherently suffers from a poor spatial resolution, features extracted from each EEG channel may not efficiently used for cognitive state assessment. In this paper, the EEG-based cognitive state assessment has been performed during the mental arithmetic experiment, which includes two cognitive states (task and rest) of a user. To obtain the temporal as well as spatial resolution of the EEG signal, we combined the Filter Bank Common Spatial Pattern (FBCSP) method and Long Short-Term Memory (LSTM)-based deep ensemble model for classifying the cognitive state of a user. Subject-wise data distribution has been performed due to the execution of a large volume of data in a low computing environment. In the FBCSP method, the input EEG is decomposed into multiple equal-sized frequency bands, and spatial features of each frequency bands are extracted using the Common Spatial Pattern (CSP) algorithm. Next, a feature selection algorithm has been applied to identify the most informative features for classification. The proposed deep ensemble model consists of multiple similar structured LSTM networks that work in parallel. The output of the ensemble model (i.e., the cognitive state of a user) is computed using the average weighted combination of individual model prediction. This proposed model achieves 87\% classification accuracy, and it can also effectively estimate the cognitive state of a user in a low computing environment.

Electroencephalography Signal Processing Based on Textural Features for Monitoring the Driver’s State by a Brain-Computer Interface

Giulia Orrù, Marco Micheletto, Fabio Terranova, Gian Luca Marcialis

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Auto-TLDR; One-dimensional Local Binary Pattern Algorithm for Estimating Driver Vigilance in a Brain-Computer Interface System

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In this study we investigate a textural processing method of electroencephalography (EEG) signal as an indicator to estimate the driver's vigilance in a hypothetical Brain-Computer Interface (BCI) system. The novelty of the solution proposed relies on employing the one-dimensional Local Binary Pattern (1D-LBP) algorithm for feature extraction from pre-processed EEG data. From the resulting feature vector, the classification is done according to three vigilance classes: awake, tired and drowsy. The claim is that the class transitions can be detected by describing the variations of the micro-patterns' occurrences along the EEG signal. The 1D-LBP is able to describe them by detecting mutual variations of the signal temporarily "close" as a short bit-code. Our analysis allows to conclude that the 1D-LBP adoption has led to significant performance improvement. Moreover, capturing the class transitions from the EEG signal is effective, although the overall performance is not yet good enough to develop a BCI for assessing the driver's vigilance in real environments.

Feature Engineering and Stacked Echo State Networks for Musical Onset Detection

Peter Steiner, Azarakhsh Jalalvand, Simon Stone, Peter Birkholz

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Auto-TLDR; Echo State Networks for Onset Detection in Music Analysis

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In music analysis, one of the most fundamental tasks is note onset detection - detecting the beginning of new note events. As the target function of onset detection is related to other tasks, such as beat tracking or tempo estimation, onset detection is the basis for such related tasks. Furthermore, it can help to improve Automatic Music Transcription (AMT). Typically, different approaches for onset detection follow a similar outline: An audio signal is transformed into an Onset Detection Function (ODF), which should have rather low values (i.e. close to zero) for most of the time but with pronounced peaks at onset times, which can then be extracted by applying peak picking algorithms on the ODF. In the recent years, several kinds of neural networks were used successfully to compute the ODF from feature vectors. Currently, Convolutional Neural Networks (CNNs) define the state of the art. In this paper, we build up on an alternative approach to obtain a ODF by Echo State Networks (ESNs), which have achieved comparable results to CNNs in several tasks, such as speech and image recognition. In contrast to the typical iterative training procedures of deep learning architectures, such as CNNs or networks consisting of Long-Short-Term Memory Cells (LSTMs), in ESNs only a very small part of the weights is easily trained in one shot using linear regression. By comparing the performance of several feature extraction methods, pre-processing steps and introducing a new way to stack ESNs, we expand our previous approach to achieve results that fall between a bidirectional LSTM network and a CNN with relative improvements of 1.8% and -1.4%, respectively. For the evaluation, we used exactly the same 8-fold cross validation setup as for the reference results.

Location Prediction in Real Homes of Older Adults based on K-Means in Low-Resolution Depth Videos

Simon Simonsson, Flávia Dias Casagrande, Evi Zouganeli

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Auto-TLDR; Semi-supervised Learning for Location Recognition and Prediction in Smart Homes using Depth Video Cameras

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In this paper we propose a novel method for location recognition and prediction in smart homes based on semi-supervised learning. We use data collected from low-resolution depth video cameras installed in four apartments with older adults over 70 years of age, and collected during a period of one to seven weeks. The location of the person in the depth images is detected by a person detection algorithm adapted from YOLO (You Only Look Once). The locations extracted from the videos are then clustered using K-means clustering. Sequence prediction algorithms are used to predict the next cluster (location) based on the previous clusters (locations). The accuracy of predicting the next location is up to 91%, a significant improvement compared to the case where binary sensors are placed in the apartment based on human intuition. The paper presents an analysis on the effect of the memory length (i.e. the number of previous clusters used to predict the next one), and on the amount of recorded data required to converge.

User-Independent Gaze Estimation by Extracting Pupil Parameter and Its Mapping to the Gaze Angle

Sang Yoon Han, Nam Ik Cho

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Auto-TLDR; Gaze Point Estimation using Pupil Shape for Generalization

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Since gaze estimation plays a crucial role in recognizing human intentions, it has been researched for a long time, and its accuracy is ever increasing. However, due to the wide variation in eye shapes and focusing abilities between the individuals, accuracies of most algorithms vary depending on each person in the test group, especially when the initial calibration is not well performed. To alleviate the user-dependency, we attempt to derive features that are general for most people and use them as the input to a deep network instead of using the images as the input. Specifically, we use the pupil shape as the core feature because it is directly related to the 3D eyeball rotation, and thus the gaze direction. While existing deep learning methods learn the gaze point by extracting various features from the image, we focus on the mapping function from the eyeball rotation to the gaze point by using the pupil shape as the input. It is shown that the accuracy of gaze point estimation also becomes robust for the uncalibrated points by following the characteristics of the mapping function. Also, our gaze network learns the gaze difference to facilitate the re-calibration process to fix the calibration-drift problem that typically occurs with glass-type or head-mount devices.

Transfer Learning with Graph Neural Networks for Short-Term Highway Traffic Forecasting

Tanwi Mallick, Prasanna Balaprakash, Eric Rask, Jane Macfarlane

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Auto-TLDR; Transfer Learning for Highway Traffic Forecasting on Unseen Traffic Networks

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Large-scale highway traffic forecasting approaches are critical for intelligent transportation systems. Recently, deep-learning-based traffic forecasting methods have emerged as promising approaches for a wide range of traffic forecasting tasks. However, these methods are specific to a given traffic network and consequently, they cannot be used for forecasting traffic on an unseen traffic network. Previous work has identified diffusion convolutional recurrent neural network (DCRNN), as a state-of-the-art method for highway traffic forecasting. It models the complex spatial and temporal dynamics of a highway network using a graph-based diffusion convolution operation within a recurrent neural network. Currently, DCRNN cannot perform transfer learning because it learns location-specific traffic patterns, which cannot be used for unseen regions of a network or new geographic locations. To that end, we develop TL-DCRNN, a new transfer learning approach for DCRNN, where a single model trained on a highway network can be used to forecast traffic on unseen highway networks. Given a traffic network with a large amount of traffic data, our approach consists of partitioning the traffic network into a number of subgraphs and using a new training scheme that utilizes subgraphs for the DCRNN to marginalize the location-specific information, thus learning the traffic as a function of network connectivity and temporal patterns alone. The resulting trained model can be used to forecast traffic on unseen networks. We demonstrate that TL-DCRNN can learn from San Francisco regional traffic data and forecast traffic on the Los Angeles region and vice versa.

AerialMPTNet: Multi-Pedestrian Tracking in Aerial Imagery Using Temporal and Graphical Features

Maximilian Kraus, Seyed Majid Azimi, Emec Ercelik, Reza Bahmanyar, Peter Reinartz, Alois Knoll

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Auto-TLDR; AerialMPTNet: A novel approach for multi-pedestrian tracking in geo-referenced aerial imagery by fusing appearance features

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Multi-pedestrian tracking in aerial imagery has several applications such as large-scale event monitoring, disaster management, search-and-rescue missions, and as input into predictive crowd dynamic models. Due to the challenges such as the large number and the tiny size of the pedestrians (e.g., 4 x 4 pixels) with their similar appearances as well as different scales and atmospheric conditions of the images with their extremely low frame rates (e.g., 2 fps), current state-of-the-art algorithms including the deep learning-based ones are unable to perform well. In this paper, we propose AerialMPTNet, a novel approach for multi-pedestrian tracking in geo-referenced aerial imagery by fusing appearance features from a Siamese Neural Network, movement predictions from a Long Short-Term Memory, and pedestrian interconnections from a GraphCNN. In addition, to address the lack of diverse aerial multi-pedestrian tracking datasets, we introduce the Aerial Multi-Pedestrian Tracking (AerialMPT) dataset consisting of 307 frames and 44,740 pedestrians annotated. To the best of our knowledge, AerialMPT is the largest and most diverse dataset to this date and will be released publicly. We evaluate AerialMPTNet on AerialMPT and KIT AIS, and benchmark with several state-of-the-art tracking methods. Results indicate that AerialMPTNet significantly outperforms other methods on accuracy and time-efficiency.

Multimodal End-To-End Learning for Autonomous Steering in Adverse Road and Weather Conditions

Jyri Sakari Maanpää, Josef Taher, Petri Manninen, Leo Pakola, Iaroslav Melekhov, Juha Hyyppä

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Auto-TLDR; End-to-End Learning for Autonomous Steering in Adverse Road and Weather Conditions with Lidar Data

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Autonomous driving is challenging in adverse road and weather conditions in which there might not be lane lines, the road might be covered in snow and the visibility might be poor. We extend the previous work on end-to-end learning for autonomous steering to operate in these adverse real-life conditions with multimodal data. We collected 28 hours of driving data in several road and weather conditions and trained convolutional neural networks to predict the car steering wheel angle from front-facing color camera images and lidar range and reflectance data. We compared the CNN model performances based on the different modalities and our results show that the lidar modality improves the performances of different multimodal sensor-fusion models. We also performed on-road tests with different models and they support this observation.

One-Shot Learning for Acoustic Identification of Bird Species in Non-Stationary Environments

Michelangelo Acconcjaioco, Stavros Ntalampiras

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Auto-TLDR; One-shot Learning in the Bioacoustics Domain using Siamese Neural Networks

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This work introduces the one-shot learning paradigm in the computational bioacoustics domain. Even though, most of the related literature assumes availability of data characterizing the entire class dictionary of the problem at hand, that is rarely true as a habitat's species composition is only known up to a certain extent. Thus, the problem needs to be addressed by methodologies able to cope with non-stationarity. To this end, we propose a framework able to detect changes in the class dictionary and incorporate new classes on the fly. We design an one-shot learning architecture composed of a Siamese Neural Network operating in the logMel spectrogram space. We extensively examine the proposed approach on two datasets of various bird species using suitable figures of merit. Interestingly, such a learning scheme exhibits state of the art performance, while taking into account extreme non-stationarity cases.

SPA: Stochastic Probability Adjustment for System Balance of Unsupervised SNNs

Xingyu Yang, Mingyuan Meng, Shanlin Xiao, Zhiyi Yu

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Auto-TLDR; Stochastic Probability Adjustment for Spiking Neural Networks

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Abstract—Spiking neural networks (SNNs) receive widespread attention because of their low-power hardware characteristic and brain-like signal response mechanism, but the performance of SNNs is still behind Artificial Neural Networks (ANNs) currently. We build an information theory-inspired system called Stochastic Probability Adjustment (SPA) system to reduce this gap. The SPA maps the synapses and neurons of SNNs into a probability space, where a neuron with all the pre-synapses connected to it is represented by a cluster， and the movement of the synaptic transmitter between different clusters is a Brownian-like stochastic process in which the transmitter distribution is adaptively adjusted at different firing phases. We tested various existing unsupervised SNN architectures and achieved good, consistent performance improvements, the classification accuracy improvements on the MNIST and EMNIST datasets have reached 1.99% and 6.29% respectively.

Edge-Aware Graph Attention Network for Ratio of Edge-User Estimation in Mobile Networks

Jiehui Deng, Sheng Wan, Xiang Wang, Enmei Tu, Xiaolin Huang, Jie Yang, Chen Gong

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Auto-TLDR; EAGAT: Edge-Aware Graph Attention Network for Automatic REU Estimation in Mobile Networks

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Estimating the Ratio of Edge-Users (REU) is an important issue in mobile networks, as it helps the subsequent adjustment of loads in different cells. However, existing approaches usually determine the REU manually, which are experience-dependent and labor-intensive, and thus the estimated REU might be imprecise. Considering the inherited graph structure of mobile networks, in this paper, we utilize a graph-based deep learning method for automatic REU estimation, where the practical cells are deemed as nodes and the load switchings among them constitute edges. Concretely, Graph Attention Network (GAT) is employed as the backbone of our method due to its impressive generalizability in dealing with networked data. Nevertheless, conventional GAT cannot make full use of the information in mobile networks, since it only incorporates node features to infer the pairwise importance and conduct graph convolutions, while the edge features that are actually critical in our problem are disregarded. To accommodate this issue, we propose an Edge-Aware Graph Attention Network (EAGAT), which is able to fuse the node features and edge features for REU estimation. Extensive experimental results on two real-world mobile network datasets demonstrate the superiority of our EAGAT approach to several state-of-the-art methods.

Hybrid Network for End-To-End Text-Independent Speaker Identification

Wajdi Ghezaiel, Luc Brun, Olivier Lezoray

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Auto-TLDR; Text-Independent Speaker Identification with Scattering Wavelet Network and Convolutional Neural Networks

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Deep learning has recently improved the performance of Speaker Identification (SI) systems. Promising results have been obtained with Convolutional Neural Networks (CNNs). This success are mostly driven by the advent of large datasets. However in the context of commercial applications, collection of large amount of training data is not always possible. In addition, robustness of a SI system is adversely effected by short utterances. SI with only a few and short utterances is a challenging problem. Therefore, in this paper, we propose a novel text-independent speaker identification system. The proposed system can identify speakers by learning from only few training short utterances examples. To achieve this, we combine CNN with Scattering Wavelet Network. We propose a two-stage feature extraction framework using a two-layer wavelet scattering network coupled with a CNN for SI system. The proposed architecture takes variable length speech segments. To evaluate the effectiveness of the proposed approach, Timit and Librispeech datasets are used in the experiments. These conducted experiments show that our hybrid architecture performs successfully for SI, even with a small number and short duration of training samples. In comparaison with related methods, the obtained results shows that an hybrid architecture achieve better performance.

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

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

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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.

RWF-2000: An Open Large Scale Video Database for Violence Detection

Ming Cheng, Kunjing Cai, Ming Li

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Auto-TLDR; Flow Gated Network for Violence Detection in Surveillance Cameras

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In recent years, surveillance cameras are widely deployed in public places, and the general crime rate has been reduced significantly due to these ubiquitous devices. Usually, these cameras provide cues and evidence after crimes were conducted, while they are rarely used to prevent or stop criminal activities in time. It is both time and labor consuming to manually monitor a large amount of video data from surveillance cameras. Therefore, automatically recognizing violent behaviors from video signals becomes essential. In this paper, we summarize several existing video datasets for violence detection and propose a new video dataset with 2,000 videos all captured by surveillance cameras in real-world scenes. Also, we present a new method that utilizes both the merits of 3D-CNNs and optical flow, namely Flow Gated Network. The proposed approach obtains an accuracy of 87.25% on the test set of our proposed RWF-2000 database. The proposed database and source codes of this paper are currently open to access.

Space-Time Domain Tensor Neural Networks: An Application on Human Pose Classification

Konstantinos Makantasis, Athanasios Voulodimos, Anastasios Doulamis, Nikolaos Doulamis, Nikolaos Bakalos

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Auto-TLDR; Tensor-Based Neural Network for Spatiotemporal Pose Classifiaction using Three-Dimensional Skeleton Data

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Recent advances in sensing technologies require the design and development of pattern recognition models capable of processing spatiotemporal data efficiently. In this study, we propose a spatially and temporally aware tensor-based neural network for human pose classifiaction using three-dimensional skeleton data. Our model employs three novel components. First, an input layer capable of constructing highly discriminative spatiotemporal features. Second, a tensor fusion operation that produces compact yet rich representations of the data, and third, a tensor-based neural network that processes data representations in their original tensor form. Our model is end-to-end trainable and characterized by a small number of trainable parameters making it suitable for problems where the annotated data is limited. Experimental evaluation of the proposed model indicates that it can achieve state-of-the-art performance.

The Application of Capsule Neural Network Based CNN for Speech Emotion Recognition

Xincheng Wen, Kunhong Liu

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Auto-TLDR; CapCNN: A Capsule Neural Network for Speech Emotion Recognition

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Moreover, the abstraction of audio features makes it impossible to fully use the inherent relationship among audio features. This paper proposes a model that combines a convolutional neural network(CNN) and a capsule neural network (CapsNet), named as CapCNN. The advantage of CapCNN lies in that it provides a solution to solve time sensitivity and focus on the overall characteristics. In this study, it is found that CapCNN can well handle the speech emotion recognition task. Compared with other state-of-art methods, our algorithm shows high performances on the CASIA and EMODB datasets. The detailed analysis confirms that our method provides balanced results on the various classes.

Spiking Neural Networks with Single-Spike Temporal-Coded Neurons for Network Intrusion Detection

Shibo Zhou, Xiaohua Li

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Auto-TLDR; Spiking Neural Network with Leaky Neurons

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Spiking neural network (SNN) is interesting due to its strong bio-plausibility and high energy efficiency. However, its performance is falling far behind conventional deep neural networks (DNNs). In this paper, considering a general class of single-spike temporal-coded integrate-and-fire neurons, we analyze the input-output expressions of both leaky and nonleaky neurons. We show that SNNs built with leaky neurons suffer from the overly-nonlinear and overly-complex input-output response, which is the major reason for their difficult training and low performance. This reason is more fundamental than the commonly believed problem of nondifferentiable spikes. To support this claim, we show that SNNs built with nonleaky neurons can have a less-complex and less-nonlinear input-output response. They can be easily trained and can have superior performance, which is demonstrated by experimenting with the SNNs over two popular network intrusion detection datasets, i.e., the NSL-KDD and the AWID datasets. Our experiment results show that the proposed SNNs outperform a comprehensive list of DNN models and classic machine learning models. This paper demonstrates that SNNs can be promising and competitive in contrast to common beliefs.

Fully Convolutional Neural Networks for Raw Eye Tracking Data Segmentation, Generation, and Reconstruction

Wolfgang Fuhl, Yao Rong, Enkelejda Kasneci

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Auto-TLDR; Semantic Segmentation of Eye Tracking Data with Fully Convolutional Neural Networks

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In this paper, we use fully convolutional neural networks for the semantic segmentation of eye tracking data. We also use these networks for reconstruction, and in conjunction with a variational auto-encoder to generate eye movement data. The first improvement of our approach is that no input window is necessary, due to the use of fully convolutional networks and therefore any input size can be processed directly. The second improvement is that the used and generated data is raw eye tracking data (position X, Y and time) without preprocessing. This is achieved by pre-initializing the filters in the first layer and by building the input tensor along the z axis. We evaluated our approach on three publicly available datasets and compare the results to the state of the art.

Appliance Identification Using a Histogram Post-Processing of 2D Local Binary Patterns for Smart Grid Applications

Yassine Himeur, Abdullah Alsalemi, Faycal Bensaali, Abbes Amira

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Auto-TLDR; LBP-BEVM based Local Binary Patterns for Appliances Identification in the Smart Grid

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Identifying domestic appliances in the smart grid leads to a better power usage management and further helps in detecting appliance-level abnormalities. An efficient identification can be achieved only if a robust feature extraction scheme is developed with a high ability to discriminate between different appliances on the smart grid. Accordingly, we propose in this paper a novel method to extract electrical power signatures after transforming the power signal to 2D space, which has more encoding possibilities. Following, an improved local binary patterns (LBP) is proposed that relies on improving the discriminative ability of conventional LBP using a post-processing stage. A binarized eigenvalue map (BEVM) is extracted from the 2D power matrix and then used to post-process the generated LBP representation. Next, two histograms are constructed, namely up and down histograms, and are then concatenated to form the global histogram. A comprehensive performance evaluation is performed on two different datasets, namely the GREEND and WITHED, in which power data were collected at 1 Hz and 44000 Hz sampling rates, respectively. The obtained results revealed the superiority of the proposed LBP-BEVM based system in terms of the identification performance versus other 2D descriptors and existing identification frameworks.

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

Yawen Lu, Yuxing Wang, Devarth Parikh, Guoyu Lu

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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.

Better Prior Knowledge Improves Human-Pose-Based Extrinsic Camera Calibration

Olivier Moliner, Sangxia Huang, Kalle Åström

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Auto-TLDR; Improving Human-pose-based Extrinsic Calibration for Multi-Camera Systems

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Accurate extrinsic calibration of wide baseline multi-camera systems enables better understanding of 3D scenes for many applications and is of great practical importance. Classical Structure-from-Motion calibration methods require special calibration equipment so that accurate point correspondences can be detected between different views. In addition, an operator with some training is usually needed to ensure that data is collected in a way that leads to good calibration accuracy. This limits the ease of adoption of such technologies. Recently, methods have been proposed to use human pose estimation models to establish point correspondences, thus removing the need for any special equipment. The challenge with this approach is that human pose estimation algorithms typically produce much less accurate feature points compared to classical patch-based methods. Another problem is that ambient human motion might not be optimal for calibration. We build upon prior works and introduce several novel ideas to improve the accuracy of human-pose-based extrinsic calibration. Our first contribution is a robust reprojection loss based on a better understanding of the sources of pose estimation error. Our second contribution is a 3D human pose likelihood model learned from motion capture data. We demonstrate significant improvements in calibration accuracy by evaluating our method on four publicly available datasets.

Smart Inference for Multidigit Convolutional Neural Network Based Barcode Decoding

Duy-Thao Do, Tolcha Yalew, Tae Joon Jun, Daeyoung Kim

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Auto-TLDR; Smart Inference for Barcode Decoding using Deep Convolutional Neural Network

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Barcodes are ubiquitous and have been used in most of critical daily activities for decades. However, most of traditional decoders require well-founded barcode under a relatively standard condition. While wilder conditioned barcodes such as underexposed, occluded, blurry, wrinkled and rotated are commonly captured in reality, those traditional decoders show weakness of recognizing. Several works attempted to solve those challenging barcodes, but many limitations still exist. This work aims to solve the decoding problem using deep convolutional neural network with the possibility of running on portable devices. Firstly, we proposed a special modification of inference based on the feature of having checksum and test-time augmentation, named as Smart Inference (SI) in prediction phase of a trained model. SI considerably boosts accuracy and reduces the false prediction for trained models. Secondly, we have created a large practical evaluation dataset of real captured 1D barcode under various challenging conditions to test our methods vigorously, which is publicly available for other researchers. The experiments' results demonstrated the SI effectiveness with the highest accuracy of 95.85% which outperformed many existing decoders on the evaluation set. Finally, we successfully minimized the best model by knowledge distillation to a shallow model which is shown to have high accuracy (90.85%) with good inference speed of 34.2 ms per image on a real edge device.

Deep Learning on Active Sonar Data Using Bayesian Optimization for Hyperparameter Tuning

Henrik Berg, Karl Thomas Hjelmervik

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Auto-TLDR; Bayesian Optimization for Sonar Operations in Littoral Environments

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Sonar operations in littoral environments may be challenging due to an increased probability of false alarms. Machine learning can be used to train classifiers that are able to filter out most of the false alarms automatically, however, this is a time consuming process, with many hyperparameters that need to be tuned in order to yield useful results. In this paper, Bayesian optimization is used to search for good values for some of the hyperparameters, like topology and training parameters, resulting in performance superior to earlier trial-and-error based training. Additionally, we analyze some of the parameters involved in the Bayesian optimization, as well as the resulting hyperparameter values.

Distilling Spikes: Knowledge Distillation in Spiking Neural Networks

Ravi Kumar Kushawaha, Saurabh Kumar, Biplab Banerjee, Rajbabu Velmurugan

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Auto-TLDR; Knowledge Distillation in Spiking Neural Networks for Image Classification

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Spiking Neural Networks (SNN) are energy-efficient computing architectures that exchange spikes for processing information, unlike classical Artificial Neural Networks (ANN). Due to this, SNNs are better suited for real-life deployments. However, similar to ANNs, SNNs also benefit from deeper architectures to obtain improved performance. Furthermore, like the deep ANNs, the memory, compute and power requirements of SNNs also increase with model size, and model compression becomes a necessity. Knowledge distillation is a model com- pression technique that enables transferring the learning of a large machine learning model to a smaller model with minimal loss in performance. In this paper, we propose techniques for knowledge distillation in spiking neural networks for the task of image classification. We present ways to distill spikes from a larger SNN, also called the teacher network, to a smaller one, also called the student network, while minimally impacting the classification accuracy. We demonstrate the effectiveness of the proposed method with detailed experiments on three standard datasets while proposing novel distillation methodologies and loss functions. We also present a multi-stage knowledge distillation technique for SNNs using an intermediate network to obtain higher performance from the student network. Our approach is expected to open up new avenues for deploying high performing large SNN models on resource-constrained hardware platforms.

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

Shan Wu, Amnir Hadachi, Damien Vivet, Yadu Prabhakar

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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.

Real-Time Drone Detection and Tracking with Visible, Thermal and Acoustic Sensors

Fredrik Svanström, Cristofer Englund, Fernando Alonso-Fernandez

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Auto-TLDR; Automatic multi-sensor drone detection using sensor fusion

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This paper explores the process of designing an automatic multi-sensor drone detection system. Besides the common video and audio sensors, the system also includes a thermal infrared camera, which is shown to be a feasible solution to the drone detection task. Even with slightly lower resolution, the performance is just as good as a camera in visible range. The detector performance as a function of the sensor-to-target distance is also investigated. In addition, using sensor fusion, the system is made more robust than the individual sensors, helping to reduce false detections. To counteract the lack of public datasets, a novel video dataset containing 650 annotated infrared and visible videos of drones, birds, airplanes and helicopters is also presented. The database is complemented with an audio dataset of the classes drones, helicopters and background noise.

Detecting Manipulated Facial Videos: A Time Series Solution

Zhang Zhewei, Ma Can, Gao Meilin, Ding Bowen

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Auto-TLDR; Face-Alignment Based Bi-LSTM for Fake Video Detection

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We propose a new method to expose fake videos based on a time series solution. The method is based on bidirectional long short-term memory (Bi-LSTM) backbone architecture with two different types of features: {Face-Alignment} and {Dense-Face-Alignment}, in which both of them are physiological signals that can be distinguished between fake and original videos. We choose 68 landmark points as the feature of {Face-Alignment} and Pose Adaptive Feature (PAF) for {Dense-Face-Alignment}. Based on these two facial features, we designed two deep networks. In addition, we optimize our network by adding an attention mechanism that improves detection precision. Our method is tested over benchmarks of Face Forensics/Face Forensics++ dataset and show a promising performance on inference speed while maintaining accuracy with state-of art solutions that deal against DeepFake.

Trainable Spectrally Initializable Matrix Transformations in Convolutional Neural Networks

Michele Alberti, Angela Botros, Schuetz Narayan, Rolf Ingold, Marcus Liwicki, Mathias Seuret

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Auto-TLDR; Trainable and Spectrally Initializable Matrix Transformations for Neural Networks

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In this work, we introduce a new architectural component to Neural Networks (NN), i.e., trainable and spectrally initializable matrix transformations on feature maps. While previous literature has already demonstrated the possibility of adding static spectral transformations as feature processors, our focus is on more general trainable transforms. We study the transforms in various architectural configurations on four datasets of different nature: from medical (ColorectalHist, HAM10000) and natural (Flowers) images to historical documents (CB55). With rigorous experiments that control for the number of parameters and randomness, we show that networks utilizing the introduced matrix transformations outperform vanilla neural networks. The observed accuracy increases appreciably across all datasets. In addition, we show that the benefit of spectral initialization leads to significantly faster convergence, as opposed to randomly initialized matrix transformations. The transformations are implemented as auto-differentiable PyTorch modules that can be incorporated into any neural network architecture. The entire code base is open-source.

What and How? Jointly Forecasting Human Action and Pose

Yanjun Zhu, Yanxia Zhang, Qiong Liu, Andreas Girgensohn

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Auto-TLDR; Forecasting Human Actions and Motion Trajectories with Joint Action Classification and Pose Regression

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Forecasting human actions and motion trajectories addresses the problem of predicting what a person is going to do next and how they will perform it. This is crucial in a wide range of applications such as assisted living and future co-robotic settings. We propose to simultaneously learn actions and action-related human motion dynamics, while existing works perform them independently. In this paper, we present a method to jointly forecast categories of human action and the pose of skeletal joints in the hope that the two tasks can help each other. As a result, our system can predict not only the future actions but also the motion trajectories that will result. To achieve this, we define a task of joint action classification and pose regression. We employ a sequence to sequence encoder-decoder model combined with multi-task learning to forecast future actions and poses progressively before the action happens. Experimental results on two public datasets, IkeaDB and OAD, demonstrate the effectiveness of the proposed method.

Road Network Metric Learning for Estimated Time of Arrival

Yiwen Sun, Kun Fu, Zheng Wang, Changshui Zhang, Jieping Ye

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Auto-TLDR; Road Network Metric Learning for Estimated Time of Arrival (RNML-ETA)

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Recently, deep learning have achieved promising results in Estimated Time of Arrival (ETA), which is considered as predicting the travel time from the origin to the destination along a given path. One of the key techniques is to use embedding vectors to represent the elements of road network, such as the links (road segments). However, the embedding suffers from the data sparsity problem that many links in the road network are traversed by too few floating cars even in large ride-hailing platforms like Uber and DiDi. Insufficient data makes the embedding vectors in an under-fitting status, which undermines the accuracy of ETA prediction. To address the data sparsity problem, we propose the Road Network Metric Learning framework for ETA (RNML ETA). It consists of two components: (1) a main regression task to predict the travel time, and (2) an auxiliary metric learning task to improve the quality of link embedding vectors. We further propose the triangle loss, a novel loss function to improve the efficiency of metric learning. We validated the effectiveness of RNML-ETA on large scale real-world datasets, by showing that our method outperforms the state-of-the-art model and the promotion concentrates on the cold links with few data.

Map-Based Temporally Consistent Geolocalization through Learning Motion Trajectories

Bing Zha, Alper Yilmaz

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Auto-TLDR; Exploiting Motion Trajectories for Geolocalization of Object on Topological Map using Recurrent Neural Network

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In this paper, we propose a novel trajectory learning method that exploits motion trajectories on topological map using recurrent neural network for temporally consistent geolocalization of object. Inspired by human's ability to both be aware of distance and direction of self-motion in navigation, our trajectory learning method learns a pattern representation of trajectories encoded as a sequence of distances and turning angles to assist self-localization. We pose the learning process as a conditional sequence prediction problem in which each output locates the object on a traversable edge in a map. Considering the prediction sequence ought to be topologically connected in the graph-structured map, we adopt two different hypotheses generation and elimination strategies to eliminate disconnected sequence prediction. We demonstrate our approach on the KITTI stereo visual odometry dataset which is a city-scale environment. The key benefits of our approach to geolocalization are that 1) we take advantage of powerful sequence modeling ability of recurrent neural network and its robustness to noisy input, 2) only require a map in the form of a graph and 3) simply use an affordable sensor that generates motion trajectory. The experiments show that the motion trajectories can be learned by training an recurrent neural network, and temporally consistent geolocation can be predicted with both of the proposed strategies.

Neuron-Based Network Pruning Based on Majority Voting

Ali Alqahtani, Xianghua Xie, Ehab Essa, Mark W. Jones

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Auto-TLDR; Large-Scale Neural Network Pruning using Majority Voting

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The achievement of neural networks in a variety of applications is accompanied by a dramatic increase in computational costs and memory requirements. In this paper, we propose an efficient method to simultaneously identify the critical neurons and prune the model during training without involving any pre-training or fine-tuning procedures. Unlike existing methods, which accomplish this task in a greedy fashion, we propose a majority voting technique to compare the activation values among neurons and assign a voting score to quantitatively evaluate their importance.This mechanism helps to effectively reduce model complexity by eliminating the less influential neurons and aims to determine a subset of the whole model that can represent the reference model with much fewer parameters within the training process. Experimental results show that majority voting efficiently compresses the network with no drop in model accuracy, pruning more than 79\% of the original model parameters on CIFAR10 and more than 91\% of the original parameters on MNIST. Moreover, we show that with our proposed method, sparse models can be further pruned into even smaller models by removing more than 60\% of the parameters, whilst preserving the reference model accuracy.

Variational Information Bottleneck Model for Accurate Indoor Position Recognition

Weizhu Qian, Franck Gechter

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Auto-TLDR; Variational Information Bottleneck for Indoor Positioning with WiFi Fingerprints

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Recognizing user location with WiFi fingerprints is a popular method for accurate indoor positioning problems. In this work, we want to interpret WiFi fingerprints into actual user locations. However, the WiFi fingerprint data can be very high dimensional, we need to find a good representation of the input data for the learning task at first. Otherwise, the neural networks will suffer from sever overfitting problems. In this work, we solve this problem by combining the Information Bottleneck method and Variational Inference. Based on these two approaches, we propose a Variational Information Bottleneck model for accurate indoor positioning. The proposed model consists of an encoder structure and a predictor structure. The encoder is to find a good representation in the input data for the learning task. The predictor is to use the latent representation to predict the final output. To enhance the generalization of our model, we also adopt the Dropout technique for the each hidden layer of the decoder. We conduct the validation experiments on a real world dataset. We also compared the proposed model to other existing methods so as to quantify the performances of our method.

Real-Time End-To-End Lane ID Estimation Using Recurrent Networks

Ibrahim Halfaoui, Fahd Bouzaraa, Onay Urfalioglu

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Auto-TLDR; Real-Time, Vision-Only Lane Identification Using Monocular Camera

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Acquiring information about the road lane structure is a crucial step for autonomous navigation. To this end, several approaches tackle this task from different perspectives such as lane marking detection or semantic lane segmentation.However, to the best of our knowledge, there is yet no purely vision based end-to-end solution to answer the precise question: How to estimate the relative number or "ID" of the current driven lane within a multi-lane road or a highway? In this work, we propose a real-time, vision-only (i.e. monocular camera) solution to the problem based on a dual left-right convention. We interpret this task as a classification problem by limiting the maximum number of lane candidates to eight. Our approach is designed to meet low-complexity specifications and limited runtime requirements. It harnesses the temporal dimension inherent to the input sequences to improve upon high complexity state-of-the-art models. We achieve more than 95% accuracy on a challenging test set with extreme conditions and different routes.

Personalized Models in Human Activity Recognition Using Deep Learning

Hamza Amrani, Daniela Micucci, Paolo Napoletano

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Auto-TLDR; Incremental Learning for Personalized Human Activity Recognition

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Current sensor-based human activity recognition techniques that rely on a user-independent model struggle to generalize to new users and on to changes that a person may make over time to his or her way of carrying out activities. Incremental learning is a technique that allows to obtain personalized models which may improve the performance on the classifiers thanks to a continuous learning based on user data. Finally, deep learning techniques have been proven to be more effective with respect to traditional ones in the generation of user-independent models. The aim of our work is therefore to put together deep learning techniques with incremental learning in order to obtain personalized models that perform better with respect to user-independent model and personalized model obtained using traditional machine learning techniques. The experimentation was done by comparing the results obtained by a technique in the state of the art with those obtained by two neural networks (ResNet and a simplified CNN) on three datasets. The experimentation showed that neural networks adapt faster to a new user than the baseline.

Exploring Seismocardiogram Biometrics with Wavelet Transform

Po-Ya Hsu, Po-Han Hsu, Hsin-Li Liu

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Auto-TLDR; Seismocardiogram Biometric Matching Using Wavelet Transform and Deep Learning Models

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Seismocardiogram (SCG) has become easily accessible in the past decade owing to the advance of sensor technology. However, SCG biometric has not been widely explored. In this paper, we propose combining wavelet transform together with deep learning models, machine learning classifiers, or structural similarity metric to perform SCG biometric matching tasks. We validate the proposed methods on the publicly available dataset from PhysioNet database. The dataset contains one hour long electrocardiogram, breathing, and SCG data of 20 subjects. We train the models on the first five minute SCG and conduct identification on the last five minute SCG. We evaluate the identification and authentication performance with recognition rate and equal error rate, respectively. Based on the results, we show that wavelet transformed SCG biometric can achieve state-of-the-art performance when combined with deep learning models, machine learning classifiers, or structural similarity.

Improving Robotic Grasping on Monocular Images Via Multi-Task Learning and Positional Loss

William Prew, Toby Breckon, Magnus Bordewich, Ulrik Beierholm

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Auto-TLDR; Improving grasping performance from monocularcolour images in an end-to-end CNN architecture with multi-task learning

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In this paper we introduce two methods of improv-ing real-time objecting grasping performance from monocularcolour images in an end-to-end CNN architecture. The first isthe addition of an auxiliary task during model training (multi-task learning). Our multi-task CNN model improves graspingperformance from a baseline average of 72.04% to 78.14% onthe large Jacquard grasping dataset when performing a supple-mentary depth reconstruction task. The second is introducinga positional loss function that emphasises loss per pixel forsecondary parameters (gripper angle and width) only on points ofan object where a successful grasp can take place. This increasesperformance from a baseline average of 72.04% to 78.92% aswell as reducing the number of training epochs required. Thesemethods can be also performed in tandem resulting in a furtherperformance increase to 79.12%, while maintaining sufficientinference speed to enable processing at 50FPS

EasiECG: A Novel Inter-Patient Arrhythmia Classification Method Using ECG Waves

Chuanqi Han, Ruoran Huang, Fang Yu, Xi Huang, Li Cui

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Auto-TLDR; EasiECG: Attention-based Convolution Factorization Machines for Arrhythmia Classification

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Abstract—In an ECG record, the PQRST waves are of important medical significance which provide ample information reflecting heartbeat activities. In this paper, we propose a novel arrhythmia classification method namely EasiECG, characterized by simplicity and accuracy. Compared with other works, the EasiECG takes the configuration of these five key waves into account and does not require complicated feature engineering. Meanwhile, an additional encoding of the extracted features makes the EasiECG applicable even on samples with missing waves. To automatically capture interactions that contribute to the classification among the processed features, a novel adapted classification model named Attention-based Convolution Factorization Machines (ACFM) is proposed. In detail, the ACFM can learn both linear and high-order interactions from linear regression and convolution on outer-product feature interaction maps, respectively. After that, an attention mechanism implemented in the model can further assign different importance of these interactions when predicting certain types of heartbeats. To validate the effectiveness and practicability of our EasiECG, extensive experiments of inter-patient paradigm on the benchmark MIT-BIH arrhythmia database are conducted. To tackle the imbalanced sample problem in this dataset, an ingenious loss function: focal loss is adopted when training. The experiment results show that our method is competitive compared with other state-of-the-arts, especially in classifying the Supraventricular ectopic beats. Besides, the EasiECG achieves an overall accuracy of 87.6% on samples with a missing wave in the related experiment, demonstrating the robustness of our proposed method.