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Yi Xiao; Felipe Codevilla; Akhil Gurram; Onay Urfalioglu; Antonio Lopez |
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Title |
Multimodal end-to-end autonomous driving |
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2020 |
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IEEE Transactions on Intelligent Transportation Systems |
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TITS |
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1-11 |
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A crucial component of an autonomous vehicle (AV) is the artificial intelligence (AI) is able to drive towards a desired destination. Today, there are different paradigms addressing the development of AI drivers. On the one hand, we find modular pipelines, which divide the driving task into sub-tasks such as perception and maneuver planning and control. On the other hand, we find end-to-end driving approaches that try to learn a direct mapping from input raw sensor data to vehicle control signals. The later are relatively less studied, but are gaining popularity since they are less demanding in terms of sensor data annotation. This paper focuses on end-to-end autonomous driving. So far, most proposals relying on this paradigm assume RGB images as input sensor data. However, AVs will not be equipped only with cameras, but also with active sensors providing accurate depth information (e.g., LiDARs). Accordingly, this paper analyses whether combining RGB and depth modalities, i.e. using RGBD data, produces better end-to-end AI drivers than relying on a single modality. We consider multimodality based on early, mid and late fusion schemes, both in multisensory and single-sensor (monocular depth estimation) settings. Using the CARLA simulator and conditional imitation learning (CIL), we show how, indeed, early fusion multimodality outperforms single-modality. |
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ADAS |
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no |
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Admin @ si @ XCG2020 |
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3490 |
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Sudeep Katakol; Basem Elbarashy; Luis Herranz; Joost Van de Weijer; Antonio Lopez |
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Distributed Learning and Inference with Compressed Images |
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2021 |
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IEEE Transactions on Image Processing |
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TIP |
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30 |
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3069 - 3083 |
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Modern computer vision requires processing large amounts of data, both while training the model and/or during inference, once the model is deployed. Scenarios where images are captured and processed in physically separated locations are increasingly common (e.g. autonomous vehicles, cloud computing). In addition, many devices suffer from limited resources to store or transmit data (e.g. storage space, channel capacity). In these scenarios, lossy image compression plays a crucial role to effectively increase the number of images collected under such constraints. However, lossy compression entails some undesired degradation of the data that may harm the performance of the downstream analysis task at hand, since important semantic information may be lost in the process. Moreover, we may only have compressed images at training time but are able to use original images at inference time, or vice versa, and in such a case, the downstream model suffers from covariate shift. In this paper, we analyze this phenomenon, with a special focus on vision-based perception for autonomous driving as a paradigmatic scenario. We see that loss of semantic information and covariate shift do indeed exist, resulting in a drop in performance that depends on the compression rate. In order to address the problem, we propose dataset restoration, based on image restoration with generative adversarial networks (GANs). Our method is agnostic to both the particular image compression method and the downstream task; and has the advantage of not adding additional cost to the deployed models, which is particularly important in resource-limited devices. The presented experiments focus on semantic segmentation as a challenging use case, cover a broad range of compression rates and diverse datasets, and show how our method is able to significantly alleviate the negative effects of compression on the downstream visual task. |
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LAMP; ADAS; 600.120; 600.118;CIC |
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Admin @ si @ KEH2021 |
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3543 |
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Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan C. Moure |
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3D Perception With Slanted Stixels on GPU |
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2021 |
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IEEE Transactions on Parallel and Distributed Systems |
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TPDS |
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32 |
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10 |
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2434-2447 |
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Daniel Hernandez-Juarez; Antonio Espinosa; David Vazquez; Antonio M. Lopez; Juan C. Moure |
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This article presents a GPU-accelerated software design of the recently proposed model of Slanted Stixels, which represents the geometric and semantic information of a scene in a compact and accurate way. We reformulate the measurement depth model to reduce the computational complexity of the algorithm, relying on the confidence of the depth estimation and the identification of invalid values to handle outliers. The proposed massively parallel scheme and data layout for the irregular computation pattern that corresponds to a Dynamic Programming paradigm is described and carefully analyzed in performance terms. Performance is shown to scale gracefully on current generation embedded GPUs. We assess the proposed methods in terms of semantic and geometric accuracy as well as run-time performance on three publicly available benchmark datasets. Our approach achieves real-time performance with high accuracy for 2048 × 1024 image sizes and 4 × 4 Stixel resolution on the low-power embedded GPU of an NVIDIA Tegra Xavier. |
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ADAS; 600.124; 600.118 |
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no |
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Admin @ si @ HEV2021 |
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3561 |
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Jose Luis Gomez; Gabriel Villalonga; Antonio Lopez |
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Title |
Co-Training for Deep Object Detection: Comparing Single-Modal and Multi-Modal Approaches |
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2021 |
Publication |
Sensors |
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SENS |
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21 |
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9 |
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3185 |
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co-training; multi-modality; vision-based object detection; ADAS; self-driving |
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Top-performing computer vision models are powered by convolutional neural networks (CNNs). Training an accurate CNN highly depends on both the raw sensor data and their associated ground truth (GT). Collecting such GT is usually done through human labeling, which is time-consuming and does not scale as we wish. This data-labeling bottleneck may be intensified due to domain shifts among image sensors, which could force per-sensor data labeling. In this paper, we focus on the use of co-training, a semi-supervised learning (SSL) method, for obtaining self-labeled object bounding boxes (BBs), i.e., the GT to train deep object detectors. In particular, we assess the goodness of multi-modal co-training by relying on two different views of an image, namely, appearance (RGB) and estimated depth (D). Moreover, we compare appearance-based single-modal co-training with multi-modal. Our results suggest that in a standard SSL setting (no domain shift, a few human-labeled data) and under virtual-to-real domain shift (many virtual-world labeled data, no human-labeled data) multi-modal co-training outperforms single-modal. In the latter case, by performing GAN-based domain translation both co-training modalities are on par, at least when using an off-the-shelf depth estimation model not specifically trained on the translated images. |
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ADAS; 600.118 |
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no |
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Admin @ si @ GVL2021 |
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3562 |
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Author |
Hannes Mueller; Andre Groeger; Jonathan Hersh; Andrea Matranga; Joan Serrat |
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Title |
Monitoring war destruction from space using machine learning |
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Journal Article |
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Year |
2021 |
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Proceedings of the National Academy of Sciences of the United States of America |
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PNAS |
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118 |
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23 |
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e2025400118 |
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Existing data on building destruction in conflict zones rely on eyewitness reports or manual detection, which makes it generally scarce, incomplete, and potentially biased. This lack of reliable data imposes severe limitations for media reporting, humanitarian relief efforts, human-rights monitoring, reconstruction initiatives, and academic studies of violent conflict. This article introduces an automated method of measuring destruction in high-resolution satellite images using deep-learning techniques combined with label augmentation and spatial and temporal smoothing, which exploit the underlying spatial and temporal structure of destruction. As a proof of concept, we apply this method to the Syrian civil war and reconstruct the evolution of damage in major cities across the country. Our approach allows generating destruction data with unprecedented scope, resolution, and frequency—and makes use of the ever-higher frequency at which satellite imagery becomes available. |
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ADAS; 600.118 |
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no |
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Admin @ si @ MGH2021 |
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3584 |
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Author |
Javier Marin; Sergio Escalera |
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Title |
SSSGAN: Satellite Style and Structure Generative Adversarial Networks |
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Journal Article |
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Year |
2021 |
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Remote Sensing |
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13 |
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19 |
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3984 |
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This work presents Satellite Style and Structure Generative Adversarial Network (SSGAN), a generative model of high resolution satellite imagery to support image segmentation. Based on spatially adaptive denormalization modules (SPADE) that modulate the activations with respect to segmentation map structure, in addition to global descriptor vectors that capture the semantic information in a vector with respect to Open Street Maps (OSM) classes, this model is able to produce
consistent aerial imagery. By decoupling the generation of aerial images into a structure map and a carefully defined style vector, we were able to improve the realism and geodiversity of the synthesis with respect to the state-of-the-art baseline. Therefore, the proposed model allows us to control the generation not only with respect to the desired structure, but also with respect to a geographic area. |
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HUPBA; no proj;MILAB;ADAS |
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no |
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Admin @ si @ MaE2021 |
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3651 |
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Idoia Ruiz; Joan Serrat |
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Hierarchical Novelty Detection for Traffic Sign Recognition |
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Journal Article |
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2022 |
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Sensors |
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SENS |
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22 |
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12 |
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4389 |
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Novelty detection; hierarchical classification; deep learning; traffic sign recognition; autonomous driving; computer vision |
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Recent works have made significant progress in novelty detection, i.e., the problem of detecting samples of novel classes, never seen during training, while classifying those that belong to known classes. However, the only information this task provides about novel samples is that they are unknown. In this work, we leverage hierarchical taxonomies of classes to provide informative outputs for samples of novel classes. We predict their closest class in the taxonomy, i.e., its parent class. We address this problem, known as hierarchical novelty detection, by proposing a novel loss, namely Hierarchical Cosine Loss that is designed to learn class prototypes along with an embedding of discriminative features consistent with the taxonomy. We apply it to traffic sign recognition, where we predict the parent class semantics for new types of traffic signs. Our model beats state-of-the art approaches on two large scale traffic sign benchmarks, Mapillary Traffic Sign Dataset (MTSD) and Tsinghua-Tencent 100K (TT100K), and performs similarly on natural images benchmarks (AWA2, CUB). For TT100K and MTSD, our approach is able to detect novel samples at the correct nodes of the hierarchy with 81% and 36% of accuracy, respectively, at 80% known class accuracy. |
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ADAS; 600.154 |
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no |
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Admin @ si @ RuS2022 |
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3684 |
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Jose Luis Gomez; Gabriel Villalonga; Antonio Lopez |
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Co-Training for Unsupervised Domain Adaptation of Semantic Segmentation Models |
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2023 |
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Sensors – Special Issue on “Machine Learning for Autonomous Driving Perception and Prediction” |
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SENS |
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23 |
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2 |
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621 |
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Domain adaptation; semi-supervised learning; Semantic segmentation; Autonomous driving |
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Semantic image segmentation is a central and challenging task in autonomous driving, addressed by training deep models. Since this training draws to a curse of human-based image labeling, using synthetic images with automatically generated labels together with unlabeled real-world images is a promising alternative. This implies to address an unsupervised domain adaptation (UDA) problem. In this paper, we propose a new co-training procedure for synth-to-real UDA of semantic
segmentation models. It consists of a self-training stage, which provides two domain-adapted models, and a model collaboration loop for the mutual improvement of these two models. These models are then used to provide the final semantic segmentation labels (pseudo-labels) for the real-world images. The overall
procedure treats the deep models as black boxes and drives their collaboration at the level of pseudo-labeled target images, i.e., neither modifying loss functions is required, nor explicit feature alignment. We test our proposal on standard synthetic and real-world datasets for on-board semantic segmentation. Our
procedure shows improvements ranging from ∼13 to ∼26 mIoU points over baselines, so establishing new state-of-the-art results. |
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ADAS; no proj |
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Admin @ si @ GVL2023 |
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3705 |
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Gemma Rotger; Francesc Moreno-Noguer; Felipe Lumbreras; Antonio Agudo |
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Detailed 3D face reconstruction from a single RGB image |
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2019 |
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Journal of WSCG |
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JWSCG |
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27 |
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2 |
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103-112 |
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3D Wrinkle Reconstruction; Face Analysis, Optimization. |
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This paper introduces a method to obtain a detailed 3D reconstruction of facial skin from a single RGB image.
To this end, we propose the exclusive use of an input image without requiring any information about the observed material nor training data to model the wrinkle properties. They are detected and characterized directly from the image via a simple and effective parametric model, determining several features such as location, orientation, width, and height. With these ingredients, we propose to minimize a photometric error to retrieve the final detailed 3D map, which is initialized by current techniques based on deep learning. In contrast with other approaches, we only require estimating a depth parameter, making our approach fast and intuitive. Extensive experimental evaluation is presented in a wide variety of synthetic and real images, including different skin properties and facial
expressions. In all cases, our method outperforms the current approaches regarding 3D reconstruction accuracy, providing striking results for both large and fine wrinkles. |
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2019/11 |
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MSIAU; 600.086; 600.130; 600.122;ADAS |
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Admin @ si @ |
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3708 |
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Aura Hernandez-Sabate; Jose Elias Yauri; Pau Folch; Miquel Angel Piera; Debora Gil |
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Recognition of the Mental Workloads of Pilots in the Cockpit Using EEG Signals |
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2022 |
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Applied Sciences |
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APPLSCI |
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12 |
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5 |
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2298 |
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Cognitive states; Mental workload; EEG analysis; Neural networks; Multimodal data fusion |
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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. |
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February 2022 |
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IAM; ADAS; 600.139; 600.145; 600.118 |
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Admin @ si @ HYF2022 |
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3720 |
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