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Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or the wheels themselves. Unsusceptible to challenging lighting and weather conditions, radar sensors are an obvious alternative. Usually, automotive radars return a sparse point cloud, representing the surroundings. Utilizing this information to motion estimation is challenging due to unstable and phantom measurements, which result in a high rate of outliers. We introduce a credible and robust probabilistic approach to estimate the ego-motion based on these challenging radar measurements; intended to be used within a loosely-coupled sensor fusion framework. Compared to existing solutions, evaluated on the popular nuScenes dataset and others, we show that our proposed algorithm is more credible while not depending on explicit correspondence calculation.

Real-time semantic segmentation has received considerable attention due to growing demands in many practical applications, such as autonomous vehicles, robotics, etc. Existing real-time segmentation approaches often utilize feature fusion to improve segmentation accuracy. However, they fail to fully consider the feature information at different resolutions and the receptive fields of the networks are relatively limited, thereby compromising the performance. To tackle this problem, we propose a light Cascaded Selective Resolution Network (CSRNet) to improve the performance of real-time segmentation through multiple context information embedding and enhanced feature aggregation. The proposed network builds a three-stage segmentation system, which integrates feature information from low resolution to high resolution and achieves feature refinement progressively. CSRNet contains two critical modules: the Shorted Pyramid Fusion Module (SPFM) and the Selective Resolution Module (SRM). The SPFM is a computationally efficient module to incorporate the global context information and significantly enlarge the receptive field at each stage. The SRM is designed to fuse multi-resolution feature maps with various receptive fields, which assigns soft channel attentions across the feature maps and helps to remedy the problem caused by multi-scale objects. Comprehensive experiments on two well-known datasets demonstrate that the proposed CSRNet effectively improves the performance for real-time segmentation.

We present a data-efficient framework for solving sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. The framework, called GenRL, trains deep policies by introducing an action latent variable such that the feed-forward policy search can be divided into two parts: (i) training a sub-policy that outputs a distribution over the action latent variable given a state of the system, and (ii) unsupervised training of a generative model that outputs a sequence of motor actions conditioned on the latent action variable. GenRL enables safe exploration and alleviates the data-inefficiency problem as it exploits prior knowledge about valid sequences of motor actions. Moreover, we provide a set of measures for evaluation of generative models such that we are able to predict the performance of the RL policy training prior to the actual training on a physical robot. We experimentally determine the characteristics of generative models that have most influence on the performance of the final policy training on two robotics tasks: shooting a hockey puck and throwing a basketball. Furthermore, we empirically demonstrate that GenRL is the only method which can safely and efficiently solve the robotics tasks compared to two state-of-the-art RL methods.

Nanodrone swarm is formulated by multiple light-weight and low-cost nanodrones to perform the tasks in very challenging environments. Therefore, it is essential to estimate the relative position of nanodrones in the swarm for accurate and safe platooning in inclement indoor environment. However, the vision and infrared sensors are constrained by the line-of-sight perception, and instrumenting extra motion sensors on drone's body is constrained by the nanodrone's form factor and energy-efficiency. This paper presents the design, implementation and evaluation of RFDrone, a system that can sense the relative position of nanodrone in the swarm using wireless signals, which can naturally identify each individual nanodrone. To do so, each light-weight nanodrone is attached with a RF sticker (i.e., called RFID tag), which will be localized by the external RFID reader in the inclement indoor environment. Instead of accurately localizing each RFID-tagged nanodrone, we propose to estimate the relative position of all the RFID-tagged nanodrones in the swarm based on the spatial-temporal phase profiling. We implement an end-to-end physical prototype of RFDrone. Our experimental results show that RFDrone can accurately estimate the relative position of nanodrones in the swarm with average relative localization accuracy of around 0.95 across x, y and z axis, and average accuracy of around 0.93 for nanodrone swarm's geometry estimation.

The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety performance of legged robots, existing solutions on observed and inferred risk can be incomplete and sampling inefficient. Some formal verification methods suffer from the model precision and other surrogate assumptions. In this paper, we propose a scenario sampling based testing framework that characterizes the overall safety performance of a legged robot by specifying (i) where (in terms of a set of states) the robot is potentially safe, and (ii) how safe the robot is within the specified set. The framework can also help certify the commercial deployment of the legged robot in real-world environment along with human and compare safety performance among legged robots with different mechanical structures and dynamic properties. The proposed framework is further deployed to evaluate a group of state-of-the-art legged robot locomotion controllers from various model-based, deep neural network involved, and reinforcement learning based methods in the literature. Among a series of intended work domains of the studied legged robots (e.g. tracking speed on sloped surface, with abrupt changes on demanded velocity, and against adversarial push-over disturbances), we show that the method can adequately capture the overall safety characterization and the subtle performance insights. Many of the observed safety outcomes, to the best of our knowledge, have never been reported by the existing work in the legged robot literature.

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds and images raises several challenges, such as constructing a mapping between points and pixels, and aggregating features between multiple views. Current methods require mesh reconstruction or specialized sensors to recover occlusions, and use heuristics to select and aggregate available images. In contrast, we propose an end-to-end trainable multi-view aggregation model leveraging the viewing conditions of 3D points to merge features from images taken at arbitrary positions. Our method can combine standard 2D and 3D networks and outperforms both 3D models operating on colorized point clouds and hybrid 2D/3D networks without requiring colorization, meshing, or true depth maps. We set a new state-of-the-art for large-scale indoor/outdoor semantic segmentation on S3DIS (74.7 mIoU 6-Fold) and on KITTI-360 (58.3 mIoU). Our full pipeline is accessible at //github.com/drprojects/DeepViewAgg, and only requires raw 3D scans and a set of images and poses.

Multi-camera vehicle tracking is one of the most complicated tasks in Computer Vision as it involves distinct tasks including Vehicle Detection, Tracking, and Re-identification. Despite the challenges, multi-camera vehicle tracking has immense potential in transportation applications including speed, volume, origin-destination (O-D), and routing data generation. Several recent works have addressed the multi-camera tracking problem. However, most of the effort has gone towards improving accuracy on high-quality benchmark datasets while disregarding lower camera resolutions, compression artifacts and the overwhelming amount of computational power and time needed to carry out this task on its edge and thus making it prohibitive for large-scale and real-time deployment. Therefore, in this work we shed light on practical issues that should be addressed for the design of a multi-camera tracking system to provide actionable and timely insights. Moreover, we propose a real-time city-scale multi-camera vehicle tracking system that compares favorably to computationally intensive alternatives and handles real-world, low-resolution CCTV instead of idealized and curated video streams. To show its effectiveness, in addition to integration into the Regional Integrated Transportation Information System (RITIS), we participated in the 2021 NVIDIA AI City multi-camera tracking challenge and our method is ranked among the top five performers on the public leaderboard.

Automotive radar provides reliable environmental perception in all-weather conditions with affordable cost, but it hardly supplies semantic and geometry information due to the sparsity of radar detection points. With the development of automotive radar technologies in recent years, instance segmentation becomes possible by using automotive radar. Its data contain contexts such as radar cross section and micro-Doppler effects, and sometimes can provide detection when the field of view is obscured. The outcome from instance segmentation could be potentially used as the input of trackers for tracking targets. The existing methods often utilize a clustering-based classification framework, which fits the need of real-time processing but has limited performance due to minimum information provided by sparse radar detection points. In this paper, we propose an efficient method based on clustering of estimated semantic information to achieve instance segmentation for the sparse radar detection points. In addition, we show that the performance of the proposed approach can be further enhanced by incorporating the visual multi-layer perceptron. The effectiveness of the proposed method is verified by experimental results on the popular RadarScenes dataset, achieving 89.53% mean coverage and 86.97% mean average precision with the IoU threshold of 0.5, which is superior to other approaches in the literature. More significantly, the consumed memory is around 1MB, and the inference time is less than 40ms, indicating that our proposed algorithm is storage and time efficient. These two criteria ensure the practicality of the proposed method in real-world systems.

Despite its great success, machine learning can have its limits when dealing with insufficient training data. A potential solution is the additional integration of prior knowledge into the training process which leads to the notion of informed machine learning. In this paper, we present a structured overview of various approaches in this field. We provide a definition and propose a concept for informed machine learning which illustrates its building blocks and distinguishes it from conventional machine learning. We introduce a taxonomy that serves as a classification framework for informed machine learning approaches. It considers the source of knowledge, its representation, and its integration into the machine learning pipeline. Based on this taxonomy, we survey related research and describe how different knowledge representations such as algebraic equations, logic rules, or simulation results can be used in learning systems. This evaluation of numerous papers on the basis of our taxonomy uncovers key methods in the field of informed machine learning.

Generative adversarial networks (GANs) have been extensively studied in the past few years. Arguably the revolutionary techniques are in the area of computer vision such as plausible image generation, image to image translation, facial attribute manipulation and similar domains. Despite the significant success achieved in computer vision field, applying GANs over real-world problems still have three main challenges: (1) High quality image generation; (2) Diverse image generation; and (3) Stable training. Considering numerous GAN-related research in the literature, we provide a study on the architecture-variants and loss-variants, which are proposed to handle these three challenges from two perspectives. We propose loss and architecture-variants for classifying most popular GANs, and discuss the potential improvements with focusing on these two aspects. While several reviews for GANs have been presented, there is no work focusing on the review of GAN-variants based on handling challenges mentioned above. In this paper, we review and critically discuss 7 architecture-variant GANs and 9 loss-variant GANs for remedying those three challenges. The objective of this review is to provide an insight on the footprint that current GANs research focuses on the performance improvement. Code related to GAN-variants studied in this work is summarized on //github.com/sheqi/GAN_Review.