Abstract: On the road to making self-driving cars a reality, academic and industrial researchers are working hard to continue to increase safety while meeting technical and regulatory constraints Understanding the surrounding environment is a fundamental task in self-driving cars. It requires combining complex computer vision algorithms. Although state-of-the-art algorithms achieve good accuracy, their implementations often require powerful computing platforms with high power consumption. In some cases, the processing speed does not meet real-time constraints. FPGA platforms are often used to implement a category of latency-critical algorithms that demand maximum performance and energy efficiency. Since self-driving car computer vision functions fall into this category, one could expect to see a wide adoption of FPGAs in autonomous cars. In this paper, we survey the computer vision FPGA-based works from the literature targeting automotive applications over the last decade. Based on the survey, we identify the strengths and weaknesses of FPGAs in this domain and future research opportunities and challenges.

Abstract: In class-incremental semantic segmentation, we have no access to the labeled data of previous tasks. Therefore, when incrementally learning new classes, deep neural networks suffer from catastrophic forgetting of previously learned knowledge. To address this problem, we propose to apply a self-training approach that leverages unlabeled data, which is used for rehearsal of previous knowledge. Specifically, we first learn a temporary model for the current task, and then, pseudo labels for the unlabeled data are computed by fusing information from the old model of the previous task and the current temporary model. In addition, conflict reduction is proposed to resolve the conflicts of pseudo labels generated from both the old and temporary models. We show that maximizing self-entropy can further improve results by smoothing the overconfident predictions. Interestingly, in the experiments, we show that the auxiliary data can be different from the training data and that even general-purpose, but diverse auxiliary data can lead to large performance gains. The experiments demonstrate the state-of-the-art results: obtaining a relative gain of up to 114% on Pascal-VOC 2012 and 8.5% on the more challenging ADE20K compared to previous state-of-the-art methods.

Abstract: The commercial flightdeck is a naturally multi-tasking work environment, one in which interruptions are frequent come in various forms, contributing in many cases to aviation incident reports. Automatic characterization of pilots’ workloads is essential to preventing these kind of incidents. In addition, minimizing the physiological sensor network as much as possible remains both a challenge and a requirement. Electroencephalogram (EEG) signals have shown high correlations with specific cognitive and mental states, such as workload. However, there is not enough evidence in the literature to validate how well models generalize in cases of new subjects performing tasks with workloads similar to the ones included during the model’s training. In this paper, we propose a convolutional neural network to classify EEG features across different mental workloads in a continuous performance task test that partly measures working memory and working memory capacity. Our model is valid at the general population level and it is able to transfer task learning to pilot mental workload recognition in a simulated operational environment.

Abstract: Recent self-supervised learning methods are able to learn high-quality image representations and are closing the gap with supervised approaches. However, these methods are unable to acquire new knowledge incrementally – they are, in fact, mostly used only as a pre-training phase over IID data. In this work we investigate self-supervised methods in continual learning regimes without any replay
mechanism. We show that naive functional regularization,also known as feature distillation, leads to lower plasticity and limits continual learning performance. Instead, we propose Projected Functional Regularization in which a separate temporal projection network ensures that the newly learned feature space preserves information of the previous one, while at the same time allowing for the learning of new features. This prevents forgetting while maintaining the plasticity of the learner. Comparison with other incremental learning approaches applied to self-supervision demonstrates that our method obtains competitive performance in
different scenarios and on multiple datasets.

Abstract: The mass irruption of Deep Convolutional Neural Networks (CNNs) in computer vision since 2012 led to a dominance of the image understanding paradigm consisting in an end-to-end fully supervised learning workflow over large-scale annotated datasets. This approach proved to be extremely useful at solving a myriad of classic and new computer vision tasks with unprecedented performance —often, surpassing that of humans—, at the expense of vast amounts of human-labeled data, extensive computational resources and the disposal of all of our prior knowledge on the task at hand. Even though simple transfer learning methods, such as fine-tuning, have achieved remarkable impact, their success when the amount of labeled data in the target domain is small is limited. Furthermore, the non-static nature of data generation sources will often derive in data distribution shifts that degrade the performance of deployed models. As a consequence, there is a growing demand for methods that can exploit elements of prior knowledge and sources of information other than the manually generated ground truth annotations of the images during the network training process, so that they can adapt to new domains that constitute, if not a small data regime, at least a small labeled data regime. This thesis targets such few or no labeled data scenario in three distinct image-to-image mapping learning problems. It contributes with various approaches that leverage our previous knowledge of different elements of the image formation process: We first present a data-efficient framework for both defocus and motion blur detection, based on a model able to produce realistic synthetic local degradations. The framework comprises a self-supervised, a weakly-supervised and a semi-supervised instantiation, depending on the absence or availability and the nature of human annotations, and outperforms fully-supervised counterparts in a variety of settings. Our knowledge on color image formation is then used to gather input and target ground truth image pairs for the RGB to hyperspectral image reconstruction task. We make use of a CNN to tackle this problem, which, for the first time, allows us to exploit spatial context and achieve state-of-the-art results given a limited hyperspectral image set. In our last contribution to the subfield of data-efficient image-to-image transformation problems, we present the novel semi-supervised task of zero-pair cross-view semantic segmentation: we consider the case of relocation of the camera in an end-to-end trained and deployed monocular, fixed-view semantic segmentation system often found in industry. Under the assumption that we are allowed to obtain an additional set of synchronized but unlabeled image pairs of new scenes from both original and new camera poses, we present ZPCVNet, a model and training procedure that enables the production of dense semantic predictions in either source or target views at inference time. The lack of existing suitable public datasets to develop this approach led us to the creation of MVMO, a large-scale Multi-View, Multi-Object path-traced dataset with per-view semantic segmentation annotations. We expect MVMO to propel future research in the exciting under-developed fields of cross-view and multi-view semantic segmentation. Last, in a piece of applied research of direct application in the context of process monitoring of an Electric Arc Furnace (EAF) in a steelmaking plant, we also consider the problem of simultaneously estimating the temperature and spectral emissivity of distant hot emissive samples. To that end, we design our own capturing device, which integrates three point spectrometers covering a wide range of the Ultra-Violet, visible, and Infra-Red spectra and is capable of registering the radiance signal incoming from an 8cm diameter spot located up to 20m away. We then define a physically accurate radiative transfer model that comprises the effects of atmospheric absorbance, of the optical system transfer function, and of the sample temperature and spectral emissivity themselves. We solve this inverse problem without the need for annotated data using a probabilistic programming-based Bayesian approach, which yields full posterior distribution estimates of the involved variables that are consistent with laboratory-grade measurements.

Abstract: Recently, deep convolutional neural networks (CNNs) have provided outstanding performance in single image super-resolution (SISR). Despite their remarkable performance, the lack of high-frequency information in the recovered images remains a core problem. Moreover, as the networks increase in depth and width, deep CNN-based SR methods are faced with the challenge of computational complexity in practice. A promising and under-explored solution is to adapt the amount of compute based on the different frequency bands of the input. To this end, we present a novel Frequency-based Enhancement Block (FEB) which explicitly enhances the information of high frequencies while forwarding low-frequencies to the output. In particular, this block efficiently decomposes features into low- and high-frequency and assigns more computation to high-frequency ones. Thus, it can help the network generate more discriminative representations by explicitly recovering finer details. Our FEB design is simple and generic and can be used as a direct replacement of commonly used SR blocks with no need to change network architectures. We experimentally show that when replacing SR blocks with FEB we consistently improve the reconstruction error, while reducing the number of parameters in the model. Moreover, we propose a lightweight SR model — Frequency-based Enhancement Network (FENet) — based on FEB that matches the performance of larger models. Extensive experiments demonstrate that our proposal performs favorably against the state-of-the-art SR algorithms in terms of visual quality, memory footprint, and inference time. The code is available at https://github.com/pbehjatii/FENet