New submissions for Thu, 30 Dec 21

[zhuhu00]

Keyword: SLAM

Efficient Belief Space Planning in High-Dimensional State Spaces using PIVOT: Predictive Incremental Variable Ordering Tactic

• Authors: Khen Elimelech, Vadim Indelman
• Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI)
• Arxiv link: https://arxiv.org/abs/2112.14428
• Pdf link: https://arxiv.org/pdf/2112.14428
• Abstract In this work, we examine the problem of online decision making under uncertainty, which we formulate as planning in the belief space. Maintaining beliefs (i.e., distributions) over high-dimensional states (e.g., entire trajectories) was not only shown to significantly improve accuracy, but also allows planning with information-theoretic objectives, as required for the tasks of active SLAM and information gathering. Nonetheless, planning under this "smoothing" paradigm holds a high computational complexity, which makes it challenging for online solution. Thus, we suggest the following idea: before planning, perform a standalone state variable reordering procedure on the initial belief, and "push forwards" all the predicted loop closing variables. Since the initial variable order determines which subset of them would be affected by incoming updates, such reordering allows us to minimize the total number of affected variables, and reduce the computational complexity of candidate evaluation during planning. We call this approach PIVOT: Predictive Incremental Variable Ordering Tactic. Applying this tactic can also improve the state inference efficiency; if we maintain the PIVOT order after the planning session, then we should similarly reduce the cost of loop closures, when they actually occur. To demonstrate its effectiveness, we applied PIVOT in a realistic active SLAM simulation, where we managed to significantly reduce the computation time of both the planning and inference sessions. The approach is applicable to general distributions, and induces no loss in accuracy.

  Keyword: Visual inertial

  There is no result

  Keyword: livox

  There is no result

  Keyword: loam

  There is no result

  Keyword: Visual inertial odometry

  There is no result

  Keyword: lidar

  Parallelized and Randomized Adversarial Imitation Learning for Safety-Critical Self-Driving Vehicles

• Authors: Won Joon Yun, MyungJae Shin, Soyi Jung, Sean Kwon, Joongheon Kim
• Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG)
• Arxiv link: https://arxiv.org/abs/2112.14710
• Pdf link: https://arxiv.org/pdf/2112.14710
• Abstract Self-driving cars and autonomous driving research has been receiving considerable attention as major promising prospects in modern artificial intelligence applications. According to the evolution of advanced driver assistance system (ADAS), the design of self-driving vehicle and autonomous driving systems becomes complicated and safety-critical. In general, the intelligent system simultaneously and efficiently activates ADAS functions. Therefore, it is essential to consider reliable ADAS function coordination to control the driving system, safely. In order to deal with this issue, this paper proposes a randomized adversarial imitation learning (RAIL) algorithm. The RAIL is a novel derivative-free imitation learning method for autonomous driving with various ADAS functions coordination; and thus it imitates the operation of decision maker that controls autonomous driving with various ADAS functions. The proposed method is able to train the decision maker that deals with the LIDAR data and controls the autonomous driving in multi-lane complex highway environments. The simulation-based evaluation verifies that the proposed method achieves desired performance.

  Keyword: loop detection

  There is no result

  Keyword: autonomous driving

  The Devil is in the Task: Exploiting Reciprocal Appearance-Localization Features for Monocular 3D Object Detection

• Authors: Zhikang Zou, Xiaoqing Ye, Liang Du, Xianhui Cheng, Xiao Tan, Li Zhang, Jianfeng Feng, Xiangyang Xue, Errui Ding
• Subjects: Computer Vision and Pattern Recognition (cs.CV)
• Arxiv link: https://arxiv.org/abs/2112.14023
• Pdf link: https://arxiv.org/pdf/2112.14023
• Abstract Low-cost monocular 3D object detection plays a fundamental role in autonomous driving, whereas its accuracy is still far from satisfactory. In this paper, we dig into the 3D object detection task and reformulate it as the sub-tasks of object localization and appearance perception, which benefits to a deep excavation of reciprocal information underlying the entire task. We introduce a Dynamic Feature Reflecting Network, named DFR-Net, which contains two novel standalone modules: (i) the Appearance-Localization Feature Reflecting module (ALFR) that first separates taskspecific features and then self-mutually reflects the reciprocal features; (ii) the Dynamic Intra-Trading module (DIT) that adaptively realigns the training processes of various sub-tasks via a self-learning manner. Extensive experiments on the challenging KITTI dataset demonstrate the effectiveness and generalization of DFR-Net. We rank 1st among all the monocular 3D object detectors in the KITTI test set (till March 16th, 2021). The proposed method is also easy to be plug-and-play in many cutting-edge 3D detection frameworks at negligible cost to boost performance. The code will be made publicly available.

  Multi-Adversarial Safety Analysis for Autonomous Vehicles

• Authors: Gilbert Bahati, Marsalis Gibson, Alexandre Bayen
• Subjects: Systems and Control (eess.SY); Robotics (cs.RO)
• Arxiv link: https://arxiv.org/abs/2112.14344
• Pdf link: https://arxiv.org/pdf/2112.14344
• Abstract This work in progress considers reachability-based safety analysis in the domain of autonomous driving in multi-agent systems. We formulate the safety problem for a car following scenario as a differential game and study how different modelling strategies yield very different behaviors regardless of the validity of the strategies in other scenarios. Given the nature of real-life driving scenarios, we propose a modeling strategy in our formulation that accounts for subtle interactions between agents, and compare its Hamiltonian results to other baselines. Our formulation encourages reduction of conservativeness in Hamilton-Jacobi safety analysis to provide better safety guarantees during navigation.

  DDPG car-following model with real-world human driving experience in CARLA

• Authors: Dianzhao Li, Ostap Okhrin
• Subjects: Robotics (cs.RO); Machine Learning (cs.LG)
• Arxiv link: https://arxiv.org/abs/2112.14602
• Pdf link: https://arxiv.org/pdf/2112.14602
• Abstract In the autonomous driving field, the fusion of human knowledge into Deep Reinforcement Learning (DRL) is often based on the human demonstration recorded in the simulated environment. This limits the generalization and the feasibility of application in real-world traffic. We proposed a two-stage DRL method, that learns from real-world human driving to achieve performance that is superior to the pure DRL agent. Training a DRL agent is done within a framework for CARLA with Robot Operating System (ROS). For evaluation, we designed different real-world driving scenarios to compare the proposed two-stage DRL agent with the pure DRL agent. After extracting the 'good' behavior from the human driver, such as anticipation in a signalized intersection, the agent becomes more efficient and drives safer, which makes this autonomous agent more adapt to Human-Robot Interaction (HRI) traffic.

  Lane Change Decision-Making through Deep Reinforcement Learning

• Authors: Mukesh Ghimire, Malobika Roy Choudhury, Guna Sekhar Sai Harsha Lagudu
• Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG)
• Arxiv link: https://arxiv.org/abs/2112.14705
• Pdf link: https://arxiv.org/pdf/2112.14705
• Abstract Due to the complexity and volatility of the traffic environment, decision-making in autonomous driving is a significantly hard problem. In this project, we use a Deep Q-Network, along with rule-based constraints to make lane-changing decision. A safe and efficient lane change behavior may be obtained by combining high-level lateral decision-making with low-level rule-based trajectory monitoring. The agent is anticipated to perform appropriate lane-change maneuvers in a real-world-like udacity simulator after training it for a total of 100 episodes. The results shows that the rule-based DQN performs better than the DQN method. The rule-based DQN achieves a safety rate of 0.8 and average speed of 47 MPH

  Intersection focused Situation Coverage-based Verification and Validation Framework for Autonomous Vehicles Implemented in CARLA

• Authors: Zaid Tahir, Rob Alexander
• Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Multiagent Systems (cs.MA); Software Engineering (cs.SE)
• Arxiv link: https://arxiv.org/abs/2112.14706
• Pdf link: https://arxiv.org/pdf/2112.14706
• Abstract Autonomous Vehicles (AVs) i.e., self-driving cars, operate in a safety critical domain, since errors in the autonomous driving software can lead to huge losses. Statistically, road intersections which are a part of the AVs operational design domain (ODD), have some of the highest accident rates. Hence, testing AVs to the limits on road intersections and assuring their safety on road intersections is pertinent, and thus the focus of this paper. We present a situation coverage-based (SitCov) AV-testing framework for the verification and validation (V&V) and safety assurance of AVs, developed in an open-source AV simulator named CARLA. The SitCov AV-testing framework focuses on vehicle-to-vehicle interaction on a road intersection under different environmental and intersection configuration situations, using situation coverage criteria for automatic test suite generation for safety assurance of AVs. We have developed an ontology for intersection situations, and used it to generate a situation hyperspace i.e., the space of all possible situations arising from that ontology. For the evaluation of our SitCov AV-testing framework, we have seeded multiple faults in our ego AV, and compared situation coverage based and random situation generation. We have found that both generation methodologies trigger around the same number of seeded faults, but the situation coverage-based generation tells us a lot more about the weaknesses of the autonomous driving algorithm of our ego AV, especially in edge-cases. Our code is publicly available online, anyone can use our SitCov AV-testing framework and use it or build further on top of it. This paper aims to contribute to the domain of V&V and development of AVs, not only from a theoretical point of view, but also from the viewpoint of an open-source software contribution and releasing a flexible/effective tool for V&V and development of AVs.

  Parallelized and Randomized Adversarial Imitation Learning for Safety-Critical Self-Driving Vehicles

• Authors: Won Joon Yun, MyungJae Shin, Soyi Jung, Sean Kwon, Joongheon Kim
• Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG)
• Arxiv link: https://arxiv.org/abs/2112.14710
• Pdf link: https://arxiv.org/pdf/2112.14710
• Abstract Self-driving cars and autonomous driving research has been receiving considerable attention as major promising prospects in modern artificial intelligence applications. According to the evolution of advanced driver assistance system (ADAS), the design of self-driving vehicle and autonomous driving systems becomes complicated and safety-critical. In general, the intelligent system simultaneously and efficiently activates ADAS functions. Therefore, it is essential to consider reliable ADAS function coordination to control the driving system, safely. In order to deal with this issue, this paper proposes a randomized adversarial imitation learning (RAIL) algorithm. The RAIL is a novel derivative-free imitation learning method for autonomous driving with various ADAS functions coordination; and thus it imitates the operation of decision maker that controls autonomous driving with various ADAS functions. The proposed method is able to train the decision maker that deals with the LIDAR data and controls the autonomous driving in multi-lane complex highway environments. The simulation-based evaluation verifies that the proposed method achieves desired performance.

  Keyword: mapping

  360° Optical Flow using Tangent Images

• Authors: Mingze Yuan, Christian Richardt
• Subjects: Computer Vision and Pattern Recognition (cs.CV)
• Arxiv link: https://arxiv.org/abs/2112.14331
• Pdf link: https://arxiv.org/pdf/2112.14331
• Abstract Omnidirectional 360{\deg} images have found many promising and exciting applications in computer vision, robotics and other fields, thanks to their increasing affordability, portability and their 360{\deg} field of view. The most common format for storing, processing and visualising 360{\deg} images is equirectangular projection (ERP). However, the distortion introduced by the nonlinear mapping from 360{\deg} image to ERP image is still a barrier that holds back ERP images from being used as easily as conventional perspective images. This is especially relevant when estimating 360{\deg} optical flow, as the distortions need to be mitigated appropriately. In this paper, we propose a 360{\deg} optical flow method based on tangent images. Our method leverages gnomonic projection to locally convert ERP images to perspective images, and uniformly samples the ERP image by projection to a cubemap and regular icosahedron vertices, to incrementally refine the estimated 360{\deg} flow fields even in the presence of large rotations. Our experiments demonstrate the benefits of our proposed method both quantitatively and qualitatively.

  Stochastic dynamic matching: A mixed graph-theory and linear-algebra approach

• Authors: Céline Comte (TU/e), Fabien Mathieu (LINCS), Ana Bušić (DI-ENS, LINCS)
• Subjects: Networking and Internet Architecture (cs.NI)
• Arxiv link: https://arxiv.org/abs/2112.14457
• Pdf link: https://arxiv.org/pdf/2112.14457
• Abstract The stochastic dynamic matching problem has recently drawn attention in the stochastic-modeling community due to its numerous applications, ranging from supply-chain management to kidney exchange programs. In this paper, we consider a matching problem in which items of different classes arrive according to independent Poisson processes. Unmatched items are stored in a queue, and compatibility constraints are described by a simple graph on the classes, so that two items can be matched if their classes are neighbors in the graph. We analyze the efficiency of matching policies, not only in terms of system stability, but also in terms of matching rates between different classes. Our results rely on the observation that, under any stable policy, the matching rates satisfy a conservation equation that equates the arrival and departure rates of each item class. Our main contributions are threefold. We first introduce a mapping between the dimension of the solution set of this conservation equation, the structure of the compatibility graph, and the existence of a stable policy. In particular, this allows us to derive a necessary and sufficient stability condition that is verifiable in polynomial time. Secondly, we describe the convex polytope of non-negative solutions of the conservation equation. When this polytope is reduced to a single point, we give a closed-form expression of the solution; in general, we characterize the vertices of this polytope using again the graph structure. Lastly, we show that greedy policies cannot, in general, achieve every point in the polytope. In contrast, non-greedy policies can reach any point of the interior of this polytope, and we give a condition for these policies to also reach the boundary of the polytope.

  Keyword: localization

  Multi-Band Wi-Fi Sensing with Matched Feature Granularity

• Authors: Jianyuan Yu, Pu (Perry)Wang, Toshiaki Koike-Akino, Ye Wang, Philip V. Orlik, R. Michael Buehrer
• Subjects: Networking and Internet Architecture (cs.NI); Computer Vision and Pattern Recognition (cs.CV); Human-Computer Interaction (cs.HC); Signal Processing (eess.SP)
• Arxiv link: https://arxiv.org/abs/2112.14006
• Pdf link: https://arxiv.org/pdf/2112.14006
• Abstract Complementary to the fine-grained channel state information (CSI) from the physical layer and coarse-grained received signal strength indicator (RSSI) measurements, the mid-grained spatial beam attributes (e.g., beam SNR) that are available at millimeter-wave (mmWave) bands during the mandatory beam training phase can be repurposed for Wi-Fi sensing applications. In this paper, we propose a multi-band Wi-Fi fusion method for Wi-Fi sensing that hierarchically fuses the features from both the fine-grained CSI at sub-6 GHz and the mid-grained beam SNR at 60 GHz in a granularity matching framework. The granularity matching is realized by pairing two feature maps from the CSI and beam SNR at different granularity levels and linearly combining all paired feature maps into a fused feature map with learnable weights. To further address the issue of limited labeled training data, we propose an autoencoder-based multi-band Wi-Fi fusion network that can be pre-trained in an unsupervised fashion. Once the autoencoder-based fusion network is pre-trained, we detach the decoders and append multi-task sensing heads to the fused feature map by fine-tuning the fusion block and re-training the multi-task heads from the scratch. The multi-band Wi-Fi fusion framework is thoroughly validated by in-house experimental Wi-Fi sensing datasets spanning three tasks: 1) pose recognition; 2) occupancy sensing; and 3) indoor localization. Comparison to four baseline methods (i.e., CSI-only, beam SNR-only, input fusion, and feature fusion) demonstrates the granularity matching improves the multi-task sensing performance. Quantitative performance is evaluated as a function of the number of labeled training data, latent space dimension, and fine-tuning learning rates.

  The Devil is in the Task: Exploiting Reciprocal Appearance-Localization Features for Monocular 3D Object Detection

• Authors: Zhikang Zou, Xiaoqing Ye, Liang Du, Xianhui Cheng, Xiao Tan, Li Zhang, Jianfeng Feng, Xiangyang Xue, Errui Ding
• Subjects: Computer Vision and Pattern Recognition (cs.CV)
• Arxiv link: https://arxiv.org/abs/2112.14023
• Pdf link: https://arxiv.org/pdf/2112.14023
• Abstract Low-cost monocular 3D object detection plays a fundamental role in autonomous driving, whereas its accuracy is still far from satisfactory. In this paper, we dig into the 3D object detection task and reformulate it as the sub-tasks of object localization and appearance perception, which benefits to a deep excavation of reciprocal information underlying the entire task. We introduce a Dynamic Feature Reflecting Network, named DFR-Net, which contains two novel standalone modules: (i) the Appearance-Localization Feature Reflecting module (ALFR) that first separates taskspecific features and then self-mutually reflects the reciprocal features; (ii) the Dynamic Intra-Trading module (DIT) that adaptively realigns the training processes of various sub-tasks via a self-learning manner. Extensive experiments on the challenging KITTI dataset demonstrate the effectiveness and generalization of DFR-Net. We rank 1st among all the monocular 3D object detectors in the KITTI test set (till March 16th, 2021). The proposed method is also easy to be plug-and-play in many cutting-edge 3D detection frameworks at negligible cost to boost performance. The code will be made publicly available.

  Fast Changeset-based Bug Localization with BERT

• Authors: Agnieszka Ciborowska, Kostadin Damevski
• Subjects: Software Engineering (cs.SE)
• Arxiv link: https://arxiv.org/abs/2112.14169
• Pdf link: https://arxiv.org/pdf/2112.14169
• Abstract Automatically localizing software bugs to the changesets that induced them has the potential to improve software developer efficiency and to positively affect software quality. To facilitate this automation, a bug report has to be effectively matched with source code changes, even when a significant lexical gap exists between natural language used to describe the bug and identifier naming practices used by developers. To bridge this gap, we need techniques that are able to capture software engineering-specific and project-specific semantics in order to detect relatedness between the two types of documents that goes beyond exact term matching. Popular transformer-based deep learning architectures, such as BERT, excel at leveraging contextual information, hence appear to be a suitable candidate for the task. However, BERT-like models are computationally expensive, which precludes them from being used in an environment where response time is important. In this paper, we describe how BERT can be made fast enough to be applicable to changeset-based bug localization. We also explore several design decisions in using BERT for this purpose, including how best to encode changesets and how to match bug reports to individual changes for improved accuracy. We compare the accuracy and performance of our model to a non-contextual baseline (i.e., vector space model) and BERT-based architectures previously used in software engineering. Our evaluation results demonstrate advantages in using the proposed BERT model compared to the baselines, especially for bug reports that lack any hints about related code elements.

  Background-aware Classification Activation Map for Weakly Supervised Object Localization

• Authors: Lei Zhu, Qi She, Qian Chen, Xiangxi Meng, Mufeng Geng, Lujia Jin, Zhe Jiang, Bin Qiu, Yunfei You, Yibao Zhang, Qiushi Ren, Yanye Lu
• Subjects: Computer Vision and Pattern Recognition (cs.CV)
• Arxiv link: https://arxiv.org/abs/2112.14379
• Pdf link: https://arxiv.org/pdf/2112.14379
• Abstract Weakly supervised object localization (WSOL) relaxes the requirement of dense annotations for object localization by using image-level classification masks to supervise its learning process. However, current WSOL methods suffer from excessive activation of background locations and need post-processing to obtain the localization mask. This paper attributes these issues to the unawareness of background cues, and propose the background-aware classification activation map (B-CAM) to simultaneously learn localization scores of both object and background with only image-level labels. In our B-CAM, two image-level features, aggregated by pixel-level features of potential background and object locations, are used to purify the object feature from the object-related background and to represent the feature of the pure-background sample, respectively. Then based on these two features, both the object classifier and the background classifier are learned to determine the binary object localization mask. Our B-CAM can be trained in end-to-end manner based on a proposed stagger classification loss, which not only improves the objects localization but also suppresses the background activation. Experiments show that our B-CAM outperforms one-stage WSOL methods on the CUB-200, OpenImages and VOC2012 datasets.