An End-to-End Fully Automatic Bay Parking Approach for Autonomous Vehicles

Author(s):  
Rui Li ◽  
Weitian Wang ◽  
Yi Chen ◽  
Srivatsan Srinivasan ◽  
Venkat N. Krovi

Fully automatic parking (FAP) is a key step towards the age of autonomous vehicle. Motivated by the contribution of human vision to human parking, in this paper, we propose a computer vision based FAP method for the autonomous vehicles. Based on the input images from a rear camera on the vehicle, a convolutional neural network (CNN) is trained to automatically output the steering and velocity commands for the vehicle controlling. The CNN is trained by Caffe deep learning framework. A 1/10th autonomous vehicle research platform (1/10-SAVRP), which configured with a vehicle controller unit, an automated driving processor, and a rear camera, is used for demonstrating the parking maneuver. The experimental results suggested that the proposed approach enabled the vehicle to gain the ability of parking independently without human input in different driving settings.

2021 ◽  
Vol 336 ◽  
pp. 07004
Author(s):  
Ruoyu Fang ◽  
Cheng Cai

Obstacle detection and target tracking are two major issues for intelligent autonomous vehicles. This paper proposes a new scheme to achieve target tracking and real-time obstacle detection of obstacles based on computer vision. ResNet-18 deep learning neural network is utilized for obstacle detection and Yolo-v3 deep learning neural network is employed for real-time target tracking. These two trained models can be deployed on an autonomous vehicle equipped with an NVIDIA Jetson Nano motherboard. The autonomous vehicle moves to avoid obstacles and follow tracked targets by camera. Adjusting the steering and movement of the autonomous vehicle according to the PID algorithm during the movement, therefore, will help the proposed vehicle achieve stable and precise tracking.


Author(s):  
Jay Rodge ◽  
Swati Jaiswal

Deep learning and Artificial intelligence (AI) have been trending these days due to the capability and state-of-the-art results that they provide. They have replaced some highly skilled professionals with neural network-powered AI, also known as deep learning algorithms. Deep learning majorly works on neural networks. This chapter discusses about the working of a neuron, which is a unit component of neural network. There are numerous techniques that can be incorporated while designing a neural network, such as activation functions, training, etc. to improve its features, which will be explained in detail. It has some challenges such as overfitting, which are difficult to neglect but can be overcome using proper techniques and steps that have been discussed. The chapter will help the academician, researchers, and practitioners to further investigate the associated area of deep learning and its applications in the autonomous vehicle industry.


Author(s):  
Di Zang ◽  
Zhihua Wei ◽  
Maomao Bao ◽  
Jiujun Cheng ◽  
Dongdong Zhang ◽  
...  

Being one of the key techniques for unmanned autonomous vehicle, traffic sign recognition is applied to assist autopilot. Colors are very important clues to identify traffic signs; however, color-based methods suffer performance degradation in the case of light variation. Convolutional neural network, as one of the deep learning methods, is able to hierarchically learn high-level features from the raw input. It has been proved that convolutional neural network–based approaches outperform the color-based ones. At present, inputs of convolutional neural networks are processed either as gray images or as three independent color channels; the learned color features are still not enough to represent traffic signs. Apart from colors, temporal constraint is also crucial to recognize video-based traffic signs. The characteristics of traffic signs in the time domain require further exploration. Quaternion numbers are able to encode multi-dimensional information, and they have been employed to describe color images. In this article, we are inspired to present a quaternion convolutional neural network–based approach to recognize traffic signs by fusing spatial and temporal features in a single framework. Experimental results illustrate that the proposed method can yield correct recognition results and obtain better performance when compared with the state-of-the-art work.


Author(s):  
Izhar Ahmed Khan ◽  
Nour Moustafa ◽  
Dechang Pi ◽  
Waqas Haider ◽  
Bentian Li ◽  
...  

2020 ◽  
Vol 19 (1) ◽  
pp. 85-88
Author(s):  
A. S. J. Cervera ◽  
F. J. Alonso ◽  
F. S. García ◽  
A. D. Alvarez

Roundabouts provide safe and fast circulation as well as many environmental advantages, but drivers adopting unsafe behaviours while circulating through them may cause safety issues, provoking accidents. In this paper we propose a way of training an autonomous vehicle in order to behave in a human and safe way when entering a roundabout. By placing a number of cameras in our vehicle and processing their video feeds through a series of algorithms, including Machine Learning, we can build a representation of the state of the surrounding environment. Then, we use another set of Deep Learning algorithms to analyze the data and determine the safest way of circulating through a roundabout given the current state of the environment, including nearby vehicles with their estimated positions, speeds and accelerations. By watching multiple attempts of a human entering a roundabout with both safe and unsafe behaviours, our second set of algorithms can learn to mimic the human’s good attempts and act in the same way as him, which is key to a safe implementation of autonomous vehicles. This work details the series of steps that we took, from building the representation of our environment to acting according to it in order to attain safe entry into single lane roundabouts.


2021 ◽  
Vol 9 (Suppl 3) ◽  
pp. A874-A874
Author(s):  
David Soong ◽  
David Soong ◽  
David Soong ◽  
Anantharaman Muthuswamy ◽  
Clifton Drew ◽  
...  

BackgroundRecent advances in machine learning and digital pathology have enabled a variety of applications including predicting tumor grade and genetic subtypes, quantifying the tumor microenvironment (TME), and identifying prognostic morphological features from H&E whole slide images (WSI). These supervised deep learning models require large quantities of images manually annotated with cellular- and tissue-level details by pathologists, which limits scale and generalizability across cancer types and imaging platforms. Here we propose a semi-supervised deep learning framework that automatically annotates biologically relevant image content from hundreds of solid tumor WSI with minimal pathologist intervention, thus improving quality and speed of analytical workflows aimed at deriving clinically relevant features.MethodsThe dataset consisted of >200 H&E images across >10 solid tumor types (e.g. breast, lung, colorectal, cervical, and urothelial cancers) from advanced disease patients. WSI were first partitioned into small tiles of 128μm for feature extraction using a 50-layer convolutional neural network pre-trained on the ImageNet database. Dimensionality reduction and unsupervised clustering were applied to the resultant embeddings and image clusters were identified with enriched histological and morphological characteristics. A random subset of representative tiles (<0.5% of whole slide tissue areas) from these distinct image clusters was manually reviewed by pathologists and assigned to eight histological and morphological categories: tumor, stroma/connective tissue, necrotic cells, lymphocytes, red blood cells, white blood cells, normal tissue and glass/background. This dataset allowed the development of a multi-label deep neural network to segment morphologically distinct regions and detect/quantify histopathological features in WSI.ResultsAs representative image tiles within each image cluster were morphologically similar, expert pathologists were able to assign annotations to multiple images in parallel, effectively at 150 images/hour. Five-fold cross-validation showed average prediction accuracy of 0.93 [0.8–1.0] and area under the curve of 0.90 [0.8–1.0] over the eight image categories. As an extension of this classifier framework, all whole slide H&E images were segmented and composite lymphocyte, stromal, and necrotic content per patient tumor was derived and correlated with estimates by pathologists (p<0.05).ConclusionsA novel and scalable deep learning framework for annotating and learning H&E features from a large unlabeled WSI dataset across tumor types was developed. This automated approach accurately identified distinct histomorphological features, with significantly reduced labeling time and effort required for pathologists. Further, this classifier framework was extended to annotate regions enriched in lymphocytes, stromal, and necrotic cells – important TME contexture with clinical relevance for patient prognosis and treatment decisions.


2019 ◽  
Vol 10 (1) ◽  
pp. 253 ◽  
Author(s):  
Donghoon Shin ◽  
Hyun-geun Kim ◽  
Kang-moon Park ◽  
Kyongsu Yi

This paper describes the development of deep learning based human-centered threat assessment for application to automated driving vehicle. To achieve naturalistic driver model that would feel natural while safe to a human driver, manual driving characteristics are investigated through real-world driving test data. A probabilistic threat assessment with predicted collision time and collision probability is conducted to evaluate driving situations. On the basis of collision risk analysis, two kinds of deep learning have been implemented to reflect human driving characteristics for automated driving. A deep neural network (DNN) and recurrent neural network (RNN) are designed by neural architecture search (NAS), and by learning from the sequential data, respectively. The NAS is used to automatically design the individual driver’s neural network for efficient and effortless design process while ensuring training performance. Sequential trends in the host vehicle’s state can be incorporated through hand-made RNN. It has been shown from human-centered risk assessment simulations that two successfully designed deep learning driver models can provide conservative and progressive driving behavior similar to a manual human driver in both acceleration and deceleration situations by preventing collision.


2020 ◽  
Vol 8 ◽  
Author(s):  
Adil Khadidos ◽  
Alaa O. Khadidos ◽  
Srihari Kannan ◽  
Yuvaraj Natarajan ◽  
Sachi Nandan Mohanty ◽  
...  

In this paper, a data mining model on a hybrid deep learning framework is designed to diagnose the medical conditions of patients infected with the coronavirus disease 2019 (COVID-19) virus. The hybrid deep learning model is designed as a combination of convolutional neural network (CNN) and recurrent neural network (RNN) and named as DeepSense method. It is designed as a series of layers to extract and classify the related features of COVID-19 infections from the lungs. The computerized tomography image is used as an input data, and hence, the classifier is designed to ease the process of classification on learning the multidimensional input data using the Expert Hidden layers. The validation of the model is conducted against the medical image datasets to predict the infections using deep learning classifiers. The results show that the DeepSense classifier offers accuracy in an improved manner than the conventional deep and machine learning classifiers. The proposed method is validated against three different datasets, where the training data are compared with 70%, 80%, and 90% training data. It specifically provides the quality of the diagnostic method adopted for the prediction of COVID-19 infections in a patient.


IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 129889-129898
Author(s):  
Xin Dong ◽  
Yizhao Zhou ◽  
Lantian Wang ◽  
Jingfeng Peng ◽  
Yanbo Lou ◽  
...  

Author(s):  
Keke Geng ◽  
Wei Zou ◽  
Guodong Yin ◽  
Yang Li ◽  
Zihao Zhou ◽  
...  

Environment perception is a basic and necessary technology for autonomous vehicles to ensure safety and reliable driving. A lot of studies have focused on the ideal environment, while much less work has been done on the perception of low-observable targets, features of which may not be obvious in a complex environment. However, it is inevitable for autonomous vehicles to drive in environmental conditions such as rain, snow and night-time, during which the features of the targets are not obvious and detection models trained by images with significant features fail to detect low-observable target. This article mainly studies the efficient and intelligent recognition algorithm of low-observable targets in complex environments, focuses on the development of engineering method to dual-modal image (color–infrared images) low-observable target recognition and explores the applications of infrared imaging and color imaging for an intelligent perception system in autonomous vehicles. A dual-modal deep neural network is established to fuse the color and infrared images and detect low-observable targets in dual-modal images. A manually labeled color–infrared image dataset of low-observable targets is built. The deep learning neural network is trained to optimize internal parameters to make the system capable for both pedestrians and vehicle recognition in complex environments. The experimental results indicate that the dual-modal deep neural network has a better performance on the low-observable target detection and recognition in complex environments than traditional methods.


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