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Accurate and efficient pedestrian detection is crucial for the intelligent transportation system regarding pedestrian safety and mobility, e.g., Advanced Driver Assistance Systems, and smart pedestrian crosswalk systems. Among all pedestrian detection methods, vision-based detection method is demonstrated to be the most effective in previous studies. However, the existing vision-based pedestrian detection algorithms still have two limitations that restrict their implementations, those being real-time performance as well as the resistance to the impacts of environmental factors, e.g., low illumination conditions. To address these issues, this study proposes a lightweight Illumination and Temperature-aware Multispectral Network (IT-MN) for accurate and efficient pedestrian detection. The proposed IT-MN is an efficient one-stage detector. For accommodating the impacts of environmental factors and enhancing the sensing accuracy, thermal image data is fused by the proposed IT-MN with visual images to enrich useful information when visual image quality is limited. In addition, an innovative and effective late fusion strategy is also developed to optimize the image fusion performance. To make the proposed model implementable for edge computing, the model quantization is applied to reduce the model size by 75% while shortening the inference time significantly. The proposed algorithm is evaluated by comparing with the selected state-of-the-art algorithms using a public dataset collected by in-vehicle cameras. The results show that the proposed algorithm achieves a low miss rate and inference time at 14.19% and 0.03 seconds per image pair on GPU. Besides, the quantized IT-MN achieves an inference time of 0.21 seconds per image pair on the edge device, which also demonstrates the potentiality of deploying the proposed model on edge devices as a highly efficient pedestrian detection algorithm.

An ML model based on precomputed per-channel SCI is proposed. Due to its superior accuracy over closed-form GN, an average SNR gain of 1.1 dB in an end-to-end link optimization and a 40% reduction in required lightpaths to meet traffic requests in a network planning scenario are shown.

Recently, data-driven single-view reconstruction methods have shown great progress in modeling 3D dressed humans. However, such methods suffer heavily from depth ambiguities and occlusions inherent to single view inputs. In this paper, we tackle this problem by considering a small set of input views and investigate the best strategy to suitably exploit information from these views. We propose a data-driven end-to-end approach that reconstructs an implicit 3D representation of dressed humans from sparse camera views. Specifically, we introduce three key components: first a spatially consistent reconstruction that allows for arbitrary placement of the person in the input views using a perspective camera model; second an attention-based fusion layer that learns to aggregate visual information from several viewpoints; and third a mechanism that encodes local 3D patterns under the multi-view context. In the experiments, we show the proposed approach outperforms the state of the art on standard data both quantitatively and qualitatively. To demonstrate the spatially consistent reconstruction, we apply our approach to dynamic scenes. Additionally, we apply our method on real data acquired with a multi-camera platform and demonstrate our approach can obtain results comparable to multi-view stereo with dramatically less views.

While the 3D human reconstruction methods using Pixel-aligned implicit function (PIFu) develop fast, we observe that the quality of reconstructed details is still not satisfactory. Flat facial surfaces frequently occur in the PIFu-based reconstruction results. To this end, we propose a two-scale PIFu representation to enhance the quality of the reconstructed facial details. Specifically, we utilize two MLPs to separately represent the PIFus for the face and human body. An MLP dedicated to the reconstruction of 3D faces can increase the network capacity and reduce the difficulty of the reconstruction of facial details as in the previous one-scale PIFu representation. To remedy the topology error, we leverage 3 RGBD sensors to capture multiview RGBD data as the input to the network, a sparse, lightweight capture setting. Since the depth noise severely influences the reconstruction results, we design a depth refinement module to reduce the noise of the raw depths under the guidance of the input RGB images. We also propose an adaptive fusion scheme to fuse the predicted occupancy field of the body and face to eliminate the discontinuity artifact at their boundaries. Experiments demonstrate the effectiveness of our approach in reconstructing vivid facial details and deforming body shapes, and verify its superiority over state-of-the-art methods.

Recently simulation methods have been developed for optical tactile sensors to enable the Sim2Real learning, i.e., firstly training models in simulation before deploying them on the real robot. However, some artefacts in the real objects are unpredictable, such as imperfections caused by fabrication processes, or scratches by the natural wear and tear, and thus cannot be represented in the simulation, resulting in a significant gap between the simulated and real tactile images. To address this Sim2Real gap, we propose a novel texture generation network that maps the simulated images into photorealistic tactile images that resemble a real sensor contacting a real imperfect object. Each simulated tactile image is first divided into two types of regions: areas that are in contact with the object and areas that are not. The former is applied with generated textures learned from real textures in the real tactile images, whereas the latter maintains its appearance as when the sensor is not in contact with any object. This makes sure that the artefacts are only applied to the deformed regions of the sensor. Our extensive experiments show that the proposed texture generation network can generate these realistic artefacts on the deformed regions of the sensor, while avoiding leaking the textures into areas of no contact. Quantitative experiments further reveal that when using the adapted images generated by our proposed network for a Sim2Real classification task, the drop in accuracy caused by the Sim2Real gap is reduced from 38.43% to merely 0.81%. As such, this work has the potential to accelerate the Sim2Real learning for robotic tasks requiring tactile sensing.

PageRank is a fundamental property of graph and there have been plenty of PageRank algorithms. Generally, we consider undirected graph as a complicated directed graph. However, some properties of undirected graph, such as symmetry, are ignored when computing PageRank by existing algorithms. In this paper, we propose a parallel PageRank algorithm which is specially for undirected graph. We first demonstrate that the PageRank vector can be viewed as a linear combination of eigenvectors of probability transition matrix and the corresponding coefficients are the functions of eigenvalues. Then we introduce the Chebyshev polynomial approximation by which PageRank vector can be computed iteratively. Finally, we propose the parallel PageRank algorithm as the Chebyshev polynomial approximating algorithm(CPAA). Experimental results show that CPAA only takes 60% of iteration rounds of the power method and is at least 4 times faster than the power method.

Convolutions on monocular dash cam videos capture spatial invariances in the image plane but do not explicitly reason about distances and depth. We propose a simple transformation of observations into a bird's eye view, also known as plan view, for end-to-end control. We detect vehicles and pedestrians in the first person view and project them into an overhead plan view. This representation provides an abstraction of the environment from which a deep network can easily deduce the positions and directions of entities. Additionally, the plan view enables us to leverage advances in 3D object detection in conjunction with deep policy learning. We evaluate our monocular plan view network on the photo-realistic Grand Theft Auto V simulator. A network using both a plan view and front view causes less than half as many collisions as previous detection-based methods and an order of magnitude fewer collisions than pure pixel-based policies.

Lots of learning tasks require dealing with graph data which contains rich relation information among elements. Modeling physics system, learning molecular fingerprints, predicting protein interface, and classifying diseases require that a model learns from graph inputs. In other domains such as learning from non-structural data like texts and images, reasoning on extracted structures, like the dependency tree of sentences and the scene graph of images, is an important research topic which also needs graph reasoning models. Graph neural networks (GNNs) are connectionist models that capture the dependence of graphs via message passing between the nodes of graphs. Unlike standard neural networks, graph neural networks retain a state that can represent information from its neighborhood with arbitrary depth. Although the primitive GNNs have been found difficult to train for a fixed point, recent advances in network architectures, optimization techniques, and parallel computation have enabled successful learning with them. In recent years, systems based on graph convolutional network (GCN) and gated graph neural network (GGNN) have demonstrated ground-breaking performance on many tasks mentioned above. In this survey, we provide a detailed review over existing graph neural network models, systematically categorize the applications, and propose four open problems for future research.

Deep reinforcement learning suggests the promise of fully automated learning of robotic control policies that directly map sensory inputs to low-level actions. However, applying deep reinforcement learning methods on real-world robots is exceptionally difficult, due both to the sample complexity and, just as importantly, the sensitivity of such methods to hyperparameters. While hyperparameter tuning can be performed in parallel in simulated domains, it is usually impractical to tune hyperparameters directly on real-world robotic platforms, especially legged platforms like quadrupedal robots that can be damaged through extensive trial-and-error learning. In this paper, we develop a stable variant of the soft actor-critic deep reinforcement learning algorithm that requires minimal hyperparameter tuning, while also requiring only a modest number of trials to learn multilayer neural network policies. This algorithm is based on the framework of maximum entropy reinforcement learning, and automatically trades off exploration against exploitation by dynamically and automatically tuning a temperature parameter that determines the stochasticity of the policy. We show that this method achieves state-of-the-art performance on four standard benchmark environments. We then demonstrate that it can be used to learn quadrupedal locomotion gaits on a real-world Minitaur robot, learning to walk from scratch directly in the real world in two hours of training.

Monocular cameras are one of the most commonly used sensors in the automotive industry for autonomous vehicles. One major drawback using a monocular camera is that it only makes observations in the two dimensional image plane and can not directly measure the distance to objects. In this paper, we aim at filling this gap by developing a multi-object tracking algorithm that takes an image as input and produces trajectories of detected objects in a world coordinate system. We solve this by using a deep neural network trained to detect and estimate the distance to objects from a single input image. The detections from a sequence of images are fed in to a state-of-the art Poisson multi-Bernoulli mixture tracking filter. The combination of the learned detector and the PMBM filter results in an algorithm that achieves 3D tracking using only mono-camera images as input. The performance of the algorithm is evaluated both in 3D world coordinates, and 2D image coordinates, using the publicly available KITTI object tracking dataset. The algorithm shows the ability to accurately track objects, correctly handle data associations, even when there is a big overlap of the objects in the image, and is one of the top performing algorithms on the KITTI object tracking benchmark. Furthermore, the algorithm is efficient, running on average close to 20 frames per second.