scholarly journals Single-Stage Rotation-Decoupled Detector for Oriented Object

2020 ◽  
Vol 12 (19) ◽  
pp. 3262
Author(s):  
Bo Zhong ◽  
Kai Ao
Keyword(s):  
Main Idea ◽  
Ground Truth ◽  
Detection Accuracy ◽  
Bounding Box ◽  
New Strategy ◽  
Dense Distribution ◽  
Matching Strategy ◽  
Bounding Boxes ◽  
Oriented Object ◽  
Oriented Bounding Boxes

Oriented object detection has received extensive attention in recent years, especially for the task of detecting targets in aerial imagery. Traditional detectors locate objects by horizontal bounding boxes (HBBs), which may cause inaccuracies when detecting objects with arbitrary oriented angles, dense distribution and a large aspect ratio. Oriented bounding boxes (OBBs), which add different rotation angles to the horizontal bounding boxes, can better deal with the above problems. New problems arise with the introduction of oriented bounding boxes for rotation detectors, such as an increase in the number of anchors and the sensitivity of the intersection over union (IoU) to changes of angle. To overcome these shortcomings while taking advantage of the oriented bounding boxes, we propose a novel rotation detector which redesigns the matching strategy between oriented anchors and ground truth boxes. The main idea of the new strategy is to decouple the rotating bounding box into a horizontal bounding box during matching, thereby reducing the instability of the angle to the matching process. Extensive experiments on public remote sensing datasets including DOTA, HRSC2016 and UCAS-AOD demonstrate that the proposed approach achieves state-of-the-art detection accuracy with higher efficiency.

scholarly journals Improved Oriented Object Detection in Remote Sensing Images Based on a Three-Point Regression Method

2021 ◽  
Vol 13 (22) ◽  
pp. 4517
Author(s):  
Falin Wu ◽  
Jiaqi He ◽  
Guopeng Zhou ◽  
Haolun Li ◽  
Yushuang Liu ◽  
...  
Keyword(s):  
Remote Sensing ◽  
Object Detection ◽  
Poor Performance ◽  
Regression Method ◽  
Remote Sensing Images ◽  
Sensing Applications ◽  
Bounding Box ◽  
Bounding Boxes ◽  
Fully Connected ◽  
Oriented Object

Object detection in remote sensing images plays an important role in both military and civilian remote sensing applications. Objects in remote sensing images are different from those in natural images. They have the characteristics of scale diversity, arbitrary directivity, and dense arrangement, which causes difficulties in object detection. For objects with a large aspect ratio and that are oblique and densely arranged, using an oriented bounding box can help to avoid deleting some correct detection bounding boxes by mistake. The classic rotational region convolutional neural network (R2CNN) has advantages for text detection. However, R2CNN has poor performance in the detection of slender objects with arbitrary directivity in remote sensing images, and its fault tolerance rate is low. In order to solve this problem, this paper proposes an improved R2CNN based on a double detection head structure and a three-point regression method, namely, TPR-R2CNN. The proposed network modifies the original R2CNN network structure by applying a double fully connected (2-fc) detection head and classification fusion. One detection head is for classification and horizontal bounding box regression, the other is for classification and oriented bounding box regression. The three-point regression method (TPR) is proposed for oriented bounding box regression, which determines the positions of the oriented bounding box by regressing the coordinates of the center point and the first two vertices. The proposed network was validated on the DOTA-v1.5 and HRSC2016 datasets, and it achieved a mean average precision (mAP) of 3.90% and 15.27%, respectively, from feature pyramid network (FPN) baselines with a ResNet-50 backbone.

scholarly journals CarFree: Hassle-Free Object Detection Dataset Generation Using Carla Autonomous Driving Simulator

2021 ◽  
Vol 12 (1) ◽  
pp. 281
Author(s):  
Jaesung Jang ◽  
Hyeongyu Lee ◽  
Jong-Chan Kim
Keyword(s):  
Object Detection ◽  
Real World ◽  
Driving Simulator ◽  
Data Extraction ◽  
Ground Truth ◽  
Autonomous Driving ◽  
Relevant Information ◽  
Detection Accuracy ◽  
Daunting Task ◽  
Bounding Boxes

For safe autonomous driving, deep neural network (DNN)-based perception systems play essential roles, where a vast amount of driving images should be manually collected and labeled with ground truth (GT) for training and validation purposes. After observing the manual GT generation’s high cost and unavoidable human errors, this study presents an open-source automatic GT generation tool, CarFree, based on the Carla autonomous driving simulator. By that, we aim to democratize the daunting task of (in particular) object detection dataset generation, which was only possible by big companies or institutes due to its high cost. CarFree comprises (i) a data extraction client that automatically collects relevant information from the Carla simulator’s server and (ii) a post-processing software that produces precise 2D bounding boxes of vehicles and pedestrians on the gathered driving images. Our evaluation results show that CarFree can generate a considerable amount of realistic driving images along with their GTs in a reasonable time. Moreover, using the synthesized training images with artificially made unusual weather and lighting conditions, which are difficult to obtain in real-world driving scenarios, CarFree significantly improves the object detection accuracy in the real world, particularly in the case of harsh environments. With CarFree, we expect its users to generate a variety of object detection datasets in hassle-free ways.

scholarly journals YOLO MDE: Object Detection with Monocular Depth Estimation

Electronics ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 76
Author(s):  
Jongsub Yu ◽  
Hyukdoo Choi
Keyword(s):  
Risk Assessment ◽  
Object Detection ◽  
Network Architecture ◽  
Ground Truth ◽  
Depth Estimation ◽  
Autonomous Driving ◽  
Depth Prediction ◽  
Bounding Box ◽  
Monocular Depth ◽  
Bounding Boxes

This paper presents an object detector with depth estimation using monocular camera images. Previous detection studies have typically focused on detecting objects with 2D or 3D bounding boxes. A 3D bounding box consists of the center point, its size parameters, and heading information. However, predicting complex output compositions leads a model to have generally low performances, and it is not necessary for risk assessment for autonomous driving. We focused on predicting a single depth per object, which is essential for risk assessment for autonomous driving. Our network architecture is based on YOLO v4, which is a fast and accurate one-stage object detector. We added an additional channel to the output layer for depth estimation. To train depth prediction, we extract the closest depth from the 3D bounding box coordinates of ground truth labels in the dataset. Our model is compared with the latest studies on 3D object detection using the KITTI object detection benchmark. As a result, we show that our model achieves higher detection performance and detection speed than existing models with comparable depth accuracy.

scholarly journals Moment-to-Moment Continuous Attention Fluctuation Monitoring through Consumer-Grade EEG Device

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3419
Author(s):  
Shan Zhang ◽  
Zihan Yan ◽  
Shardul Sapkota ◽  
Shengdong Zhao ◽  
Wei Tsang Ooi
Keyword(s):  
Ground Truth ◽  
Detection Accuracy ◽  
Continuous Performance Task ◽  
Eeg Signals ◽  
Gradual Onset ◽  
Machine Learning Approach ◽  
A New Technique ◽  
Thought Probes ◽  
Labeling Method ◽  
Fluctuation Measurement

While numerous studies have explored using various sensing techniques to measure attention states, moment-to-moment attention fluctuation measurement is unavailable. To bridge this gap, we applied a novel paradigm in psychology, the gradual-onset continuous performance task (gradCPT), to collect the ground truth of attention states. GradCPT allows for the precise labeling of attention fluctuation on an 800 ms time scale. We then developed a new technique for measuring continuous attention fluctuation, based on a machine learning approach that uses the spectral properties of EEG signals as the main features. We demonstrated that, even using a consumer grade EEG device, the detection accuracy of moment-to-moment attention fluctuations was 73.49%. Next, we empirically validated our technique in a video learning scenario and found that our technique match with the classification obtained through thought probes, with an average F1 score of 0.77. Our results suggest the effectiveness of using gradCPT as a ground truth labeling method and the feasibility of using consumer-grade EEG devices for continuous attention fluctuation detection.

scholarly journals RobotP: A Benchmark Dataset for 6D Object Pose Estimation

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1299
Author(s):  
Honglin Yuan ◽  
Tim Hoogenkamp ◽  
Remco C. Veltkamp
Keyword(s):  
Pose Estimation ◽  
Ground Truth ◽  
3D Models ◽  
Depth Image ◽  
Great Success ◽  
Estimation Algorithms ◽  
Depth Images ◽  
Object Pose Estimation ◽  
Image Pairs ◽  
Bounding Boxes

Deep learning has achieved great success on robotic vision tasks. However, when compared with other vision-based tasks, it is difficult to collect a representative and sufficiently large training set for six-dimensional (6D) object pose estimation, due to the inherent difficulty of data collection. In this paper, we propose the RobotP dataset consisting of commonly used objects for benchmarking in 6D object pose estimation. To create the dataset, we apply a 3D reconstruction pipeline to produce high-quality depth images, ground truth poses, and 3D models for well-selected objects. Subsequently, based on the generated data, we produce object segmentation masks and two-dimensional (2D) bounding boxes automatically. To further enrich the data, we synthesize a large number of photo-realistic color-and-depth image pairs with ground truth 6D poses. Our dataset is freely distributed to research groups by the Shape Retrieval Challenge benchmark on 6D pose estimation. Based on our benchmark, different learning-based approaches are trained and tested by the unified dataset. The evaluation results indicate that there is considerable room for improvement in 6D object pose estimation, particularly for objects with dark colors, and photo-realistic images are helpful in increasing the performance of pose estimation algorithms.

scholarly journals Automatic Roadway Features Detection with Oriented Object Detection

2021 ◽  
Vol 11 (8) ◽  
pp. 3531
Author(s):  
Hesham M. Eraqi ◽  
Karim Soliman ◽  
Dalia Said ◽  
Omar R. Elezaby ◽  
Mohamed N. Moustafa ◽  
...  
Keyword(s):  
Object Detection ◽  
Safety Evaluation ◽  
Autonomous Driving ◽  
Detection Accuracy ◽  
The Road ◽  
Detection Model ◽  
Detection Approach ◽  
Roadway Safety ◽  
Safety Features ◽  
Oriented Object

Extensive research efforts have been devoted to identify and improve roadway features that impact safety. Maintaining roadway safety features relies on costly manual operations of regular road surveying and data analysis. This paper introduces an automatic roadway safety features detection approach, which harnesses the potential of artificial intelligence (AI) computer vision to make the process more efficient and less costly. Given a front-facing camera and a global positioning system (GPS) sensor, the proposed system automatically evaluates ten roadway safety features. The system is composed of an oriented (or rotated) object detection model, which solves an orientation encoding discontinuity problem to improve detection accuracy, and a rule-based roadway safety evaluation module. To train and validate the proposed model, a fully-annotated dataset for roadway safety features extraction was collected covering 473 km of roads. The proposed method baseline results are found encouraging when compared to the state-of-the-art models. Different oriented object detection strategies are presented and discussed, and the developed model resulted in improving the mean average precision (mAP) by 16.9% when compared with the literature. The roadway safety feature average prediction accuracy is 84.39% and ranges between 91.11% and 63.12%. The introduced model can pervasively enable/disable autonomous driving (AD) based on safety features of the road; and empower connected vehicles (CV) to send and receive estimated safety features, alerting drivers about black spots or relatively less-safe segments or roads.

scholarly journals A Set of Single YOLO Modalities to Detect Occluded Entities via Viewpoint Conversion

2021 ◽  
Vol 11 (13) ◽  
pp. 6016
Author(s):  
Jinsoo Kim ◽  
Jeongho Cho
Keyword(s):  
Object Detection ◽  
Autonomous Vehicles ◽  
Autonomous Driving ◽  
Detection Algorithm ◽  
Detection Accuracy ◽  
Cloud Data ◽  
Detection Techniques ◽  
Bounding Boxes ◽  
Partially Occluded ◽  
Rgb Image

For autonomous vehicles, it is critical to be aware of the driving environment to avoid collisions and drive safely. The recent evolution of convolutional neural networks has contributed significantly to accelerating the development of object detection techniques that enable autonomous vehicles to handle rapid changes in various driving environments. However, collisions in an autonomous driving environment can still occur due to undetected obstacles and various perception problems, particularly occlusion. Thus, we propose a robust object detection algorithm for environments in which objects are truncated or occluded by employing RGB image and light detection and ranging (LiDAR) bird’s eye view (BEV) representations. This structure combines independent detection results obtained in parallel through “you only look once” networks using an RGB image and a height map converted from the BEV representations of LiDAR’s point cloud data (PCD). The region proposal of an object is determined via non-maximum suppression, which suppresses the bounding boxes of adjacent regions. A performance evaluation of the proposed scheme was performed using the KITTI vision benchmark suite dataset. The results demonstrate the detection accuracy in the case of integration of PCD BEV representations is superior to when only an RGB camera is used. In addition, robustness is improved by significantly enhancing detection accuracy even when the target objects are partially occluded when viewed from the front, which demonstrates that the proposed algorithm outperforms the conventional RGB-based model.

scholarly journals Estimation of 6D Object Pose Using a 2D Bounding Box

Sensors ◽  
2021 ◽  
Vol 21 (9) ◽  
pp. 2939
Author(s):  
Yong Hong ◽  
Jin Liu ◽  
Zahid Jahangir ◽  
Sheng He ◽  
Qing Zhang
Keyword(s):  
Neural Network ◽  
Loss Function ◽  
Three Dimensional ◽  
Unit Vector ◽  
Prediction Algorithm ◽  
Computational Time ◽  
Bounding Box ◽  
Dimensional Unit ◽  
Bounding Boxes ◽  
Rgb Image

This paper provides an efficient way of addressing the problem of detecting or estimating the 6-Dimensional (6D) pose of objects from an RGB image. A quaternion is used to define an object′s three-dimensional pose, but the pose represented by q and the pose represented by -q are equivalent, and the L2 loss between them is very large. Therefore, we define a new quaternion pose loss function to solve this problem. Based on this, we designed a new convolutional neural network named Q-Net to estimate an object’s pose. Considering that the quaternion′s output is a unit vector, a normalization layer is added in Q-Net to hold the output of pose on a four-dimensional unit sphere. We propose a new algorithm, called the Bounding Box Equation, to obtain 3D translation quickly and effectively from 2D bounding boxes. The algorithm uses an entirely new way of assessing the 3D rotation (R) and 3D translation rotation (t) in only one RGB image. This method can upgrade any traditional 2D-box prediction algorithm to a 3D prediction model. We evaluated our model using the LineMod dataset, and experiments have shown that our methodology is more acceptable and efficient in terms of L2 loss and computational time.

INTEGRATING FUZZY C-MEANS AND MAHALANOBIS METRIC CLASSIFICATION FOR EXUDATE DETECTION IN COLOR FUNDUS IMAGING

2015 ◽  
Vol 15 (05) ◽  
pp. 1550085 ◽  
Author(s):  
MADHURI TASGAONKAR ◽  
MADHURI KHAMBETE
Keyword(s):  
Diabetic Retinopathy ◽  
Early Detection ◽  
Ground Truth ◽  
Vital Role ◽  
Detection Accuracy ◽  
Fuzzy C Means ◽  
Fundus Imaging ◽  
Imaging Detection ◽  
Retinal Structure

Diabetes affects retinal structure of a diabetic patient by generating various lesions. Early detection of these lesions can avoid the loss of vision. Automation of detection process can be made easily feasible to masses by the use of fundus imaging. Detection of exudates is significant in diabetic retinopathy (DR) as they are earlier signs and can cause blindness. Finding the exact location as well as correct number of exudates play vital role in the overall treatment of a patient. This paper presents an algorithm for automatic detection of exudates for DR. The algorithm combines the advantages of supervised and unsupervised techniques. It uses fuzzy-C means (FCM) segmentation on coarse level and mahalanobis metric for finer classification of segmented pixels. Mahalanobis criterion gives significance to most relevant features and thus proves a better classifier. The results are validated using DIARETDB0 and DIARETDB1 databases and the ground truth provided with it. This evaluation provided 95.77% detection accuracy.

A Configurable Tilt License Plate Correction Method Based on Parallel Lines

2013 ◽  
Vol 385-386 ◽  
pp. 1429-1433 ◽  
Author(s):  
Zhong Yan Liang ◽  
San Yuan Zhang
Keyword(s):  
Recognition System ◽  
Correction Method ◽  
Selection Method ◽  
Experimental Results ◽  
License Plate ◽  
License Plate Recognition ◽  
Parallel Lines ◽  
Bounding Box ◽  
Bounding Boxes ◽  
Straight Lines

The tilt license plate correction is an important part of the license plate recognition system. Traditional correction methods are based on one theory. It is difficult to use the advantages of different approaches. We propose some methods to help improve the tile license plate correction: a bounding box selection method based on similar height and a mutual correction method based on fitted parallel straight lines. Moreover, we use wide bounding boxes to segment touched characters. If the method based on parallel lines fails, another method, such as PCA-based one, can be used for complement. Experimental results show the proposed method outperforms others.

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