Sangeeth Reddy, Minesh Mathew, Lluis Gomez, Marçal Rusiñol, Dimosthenis Karatzas, & C.V. Jawahar. (2020). RoadText-1K: Text Detection and Recognition Dataset for Driving Videos. In IEEE International Conference on Robotics and Automation.
Abstract: Perceiving text is crucial to understand semantics of outdoor scenes and hence is a critical requirement to build intelligent systems for driver assistance and self-driving. Most of the existing datasets for text detection and recognition comprise still images and are mostly compiled keeping text in mind. This paper introduces a new ”RoadText-1K” dataset for text in driving videos. The dataset is 20 times larger than the existing largest dataset for text in videos. Our dataset comprises 1000 video clips of driving without any bias towards text and with annotations for text bounding boxes and transcriptions in every frame. State of the art methods for text detection,
recognition and tracking are evaluated on the new dataset and the results signify the challenges in unconstrained driving videos compared to existing datasets. This suggests that RoadText-1K is suited for research and development of reading systems, robust enough to be incorporated into more complex downstream tasks like driver assistance and self-driving. The dataset can be found at http://cvit.iiit.ac.in/research/
projects/cvit-projects/roadtext-1k
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Jiaolong Xu, Peng Wang, Heng Yang, & Antonio Lopez. (2019). Training a Binary Weight Object Detector by Knowledge Transfer for Autonomous Driving. In IEEE International Conference on Robotics and Automation (pp. 2379–2384).
Abstract: Autonomous driving has harsh requirements of small model size and energy efficiency, in order to enable the embedded system to achieve real-time on-board object detection. Recent deep convolutional neural network based object detectors have achieved state-of-the-art accuracy. However, such models are trained with numerous parameters and their high computational costs and large storage prohibit the deployment to memory and computation resource limited systems. Low-precision neural networks are popular techniques for reducing the computation requirements and memory footprint. Among them, binary weight neural network (BWN) is the extreme case which quantizes the float-point into just bit. BWNs are difficult to train and suffer from accuracy deprecation due to the extreme low-bit representation. To address this problem, we propose a knowledge transfer (KT) method to aid the training of BWN using a full-precision teacher network. We built DarkNet-and MobileNet-based binary weight YOLO-v2 detectors and conduct experiments on KITTI benchmark for car, pedestrian and cyclist detection. The experimental results show that the proposed method maintains high detection accuracy while reducing the model size of DarkNet-YOLO from 257 MB to 8.8 MB and MobileNet-YOLO from 193 MB to 7.9 MB.
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Jiaolong Xu, David Vazquez, Krystian Mikolajczyk, & Antonio Lopez. (2016). Hierarchical online domain adaptation of deformable part-based models. In IEEE International Conference on Robotics and Automation (pp. 5536–5541).
Abstract: We propose an online domain adaptation method for the deformable part-based model (DPM). The online domain adaptation is based on a two-level hierarchical adaptation tree, which consists of instance detectors in the leaf nodes and a category detector at the root node. Moreover, combined with a multiple object tracking procedure (MOT), our proposal neither requires target-domain annotated data nor revisiting the source-domain data for performing the source-to-target domain adaptation of the DPM. From a practical point of view this means that, given a source-domain DPM and new video for training on a new domain without object annotations, our procedure outputs a new DPM adapted to the domain represented by the video. As proof-of-concept we apply our proposal to the challenging task of pedestrian detection. In this case, each instance detector is an exemplar classifier trained online with only one pedestrian per frame. The pedestrian instances are collected by MOT and the hierarchical model is constructed dynamically according to the pedestrian trajectories. Our experimental results show that the adapted detector achieves the accuracy of recent supervised domain adaptation methods (i.e., requiring manually annotated targetdomain data), and improves the source detector more than 10 percentage points.
Keywords: Domain Adaptation; Pedestrian Detection
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Hugo Berti, Angel Sappa, & Osvaldo Agamennoni. (2007). Autonomous robot navigation with a global and asymptotic convergence. In IEEE International Conference on Robotics and Automation (2712–2717).
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Felipe Codevilla, Matthias Muller, Antonio Lopez, Vladlen Koltun, & Alexey Dosovitskiy. (2018). End-to-end Driving via Conditional Imitation Learning. In IEEE International Conference on Robotics and Automation (pp. 4693–4700).
Abstract: Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate an expert cannot be guided to take a specific turn at an upcoming intersection. This limits the utility of such systems. We propose to condition imitation learning on high-level command input. At test time, the learned driving policy functions as a chauffeur that handles sensorimotor coordination but continues to respond to navigational commands. We evaluate different architectures for conditional imitation learning in vision-based driving. We conduct experiments in realistic three-dimensional simulations of urban driving and on a 1/5 scale robotic truck that is trained to drive in a residential area. Both systems drive based on visual input yet remain responsive to high-level navigational commands. The supplementary video can be viewed at this https URL
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Elvina Motard, Bogdan Raducanu, Viviane Cadenat, & Jordi Vitria. (2007). Incremental On-Line Topological Map Learning for A Visual Homing Application. In IEEE International Conference on Robotics and Automation (2049–2054).
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Bogdan Raducanu, & Fadi Dornaika. (2010). Dynamic Facial Expression Recognition Using Laplacian Eigenmaps-Based Manifold Learning. In IEEE International Conference on Robotics and Automation (156–161).
Abstract: In this paper, we propose an integrated framework for tracking, modelling and recognition of facial expressions. The main contributions are: (i) a view- and texture independent scheme that exploits facial action parameters estimated by an appearance-based 3D face tracker; (ii) the complexity of the non-linear facial expression space is modelled through a manifold, whose structure is learned using Laplacian Eigenmaps. The projected facial expressions are afterwards recognized based on Nearest Neighbor classifier; (iii) with the proposed approach, we developed an application for an AIBO robot, in which it mirrors the perceived facial expression.
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Angel Sappa. (2005). Efficient Closed Contour Extraction from Range Image Edge Points.
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