scholarly journals SLAM-OR: Simultaneous Localization, Mapping and Object Recognition Using Video Sensors Data in Open Environments from the Sparse Points Cloud

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4734
Author(s):  
Patryk Mazurek ◽  
Tomasz Hachaj
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Clustering Algorithm ◽  
State Of The Art ◽  
Point Clouds ◽  
Video Frame ◽  
Current Frame ◽  
Visual Sensors ◽  
Open Environments ◽  
Cloud Of Points

In this paper, we propose a novel approach that enables simultaneous localization, mapping (SLAM) and objects recognition using visual sensors data in open environments that is capable to work on sparse data point clouds. In the proposed algorithm the ORB-SLAM uses the current and previous monocular visual sensors video frame to determine observer position and to determine a cloud of points that represent objects in the environment, while the deep neural network uses the current frame to detect and recognize objects (OR). In the next step, the sparse point cloud returned from the SLAM algorithm is compared with the area recognized by the OR network. Because each point from the 3D map has its counterpart in the current frame, therefore the filtration of points matching the area recognized by the OR algorithm is performed. The clustering algorithm determines areas in which points are densely distributed in order to detect spatial positions of objects detected by OR. Then by using principal component analysis (PCA)—based heuristic we estimate bounding boxes of detected objects. The image processing pipeline that uses sparse point clouds generated by SLAM in order to determine positions of objects recognized by deep neural network and mentioned PCA heuristic are main novelties of our solution. In contrary to state-of-the-art approaches, our algorithm does not require any additional calculations like generation of dense point clouds for objects positioning, which highly simplifies the task. We have evaluated our research on large benchmark dataset using various state-of-the-art OR architectures (YOLO, MobileNet, RetinaNet) and clustering algorithms (DBSCAN and OPTICS) obtaining promising results. Both our source codes and evaluation data sets are available for download, so our results can be easily reproduced.

scholarly journals Fast Accurate and Automatic Brushstroke Extraction

2021 ◽  
Vol 17 (2) ◽  
pp. 1-24
Author(s):  
Yunfei Fu ◽  
Hongchuan Yu ◽  
Chih-Kuo Yeh ◽  
Tong-Yee Lee ◽  
Jian J. Zhang
Keyword(s):  
Neural Network ◽  
Efficient Algorithm ◽  
Deep Neural Network ◽  
High Efficiency ◽  
State Of The Art ◽  
High Reliability ◽  
The Other ◽  
Manual Annotation ◽  
Stroke Extraction ◽  
Art Research

Brushstrokes are viewed as the artist’s “handwriting” in a painting. In many applications such as style learning and transfer, mimicking painting, and painting authentication, it is highly desired to quantitatively and accurately identify brushstroke characteristics from old masters’ pieces using computer programs. However, due to the nature of hundreds or thousands of intermingling brushstrokes in the painting, it still remains challenging. This article proposes an efficient algorithm for brush Stroke extraction based on a Deep neural network, i.e., DStroke. Compared to the state-of-the-art research, the main merit of the proposed DStroke is to automatically and rapidly extract brushstrokes from a painting without manual annotation, while accurately approximating the real brushstrokes with high reliability. Herein, recovering the faithful soft transitions between brushstrokes is often ignored by the other methods. In fact, the details of brushstrokes in a master piece of painting (e.g., shapes, colors, texture, overlaps) are highly desired by artists since they hold promise to enhance and extend the artists’ powers, just like microscopes extend biologists’ powers. To demonstrate the high efficiency of the proposed DStroke, we perform it on a set of real scans of paintings and a set of synthetic paintings, respectively. Experiments show that the proposed DStroke is noticeably faster and more accurate at identifying and extracting brushstrokes, outperforming the other methods.

PI-Net: An End-to-End Deep Neural Network for Bidirectionally and Directly Fusing Point Clouds With Images

2021 ◽  
Vol 6 (4) ◽  
pp. 8647-8654
Author(s):  
Qi Wang ◽  
Jian Chen ◽  
Jianqiang Deng ◽  
Xinfang Zhang
Keyword(s):  
Neural Network ◽  
Deep Neural Network ◽  
Point Clouds ◽  
End To End

scholarly journals PedNet: A Spatio-Temporal Deep Convolutional Neural Network for Pedestrian Segmentation

2018 ◽  
Vol 4 (9) ◽  
pp. 107 ◽  
Author(s):  
Mohib Ullah ◽  
Ahmed Mohammed ◽  
Faouzi Alaya Cheikh
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Performance Metrics ◽  
State Of The Art ◽  
Temporal Information ◽  
Feature Maps ◽  
Current Frame ◽  
Low Level ◽  
Art Methods ◽  
Spatio Temporal

Articulation modeling, feature extraction, and classification are the important components of pedestrian segmentation. Usually, these components are modeled independently from each other and then combined in a sequential way. However, this approach is prone to poor segmentation if any individual component is weakly designed. To cope with this problem, we proposed a spatio-temporal convolutional neural network named PedNet which exploits temporal information for spatial segmentation. The backbone of the PedNet consists of an encoder–decoder network for downsampling and upsampling the feature maps, respectively. The input to the network is a set of three frames and the output is a binary mask of the segmented regions in the middle frame. Irrespective of classical deep models where the convolution layers are followed by a fully connected layer for classification, PedNet is a Fully Convolutional Network (FCN). It is trained end-to-end and the segmentation is achieved without the need of any pre- or post-processing. The main characteristic of PedNet is its unique design where it performs segmentation on a frame-by-frame basis but it uses the temporal information from the previous and the future frame for segmenting the pedestrian in the current frame. Moreover, to combine the low-level features with the high-level semantic information learned by the deeper layers, we used long-skip connections from the encoder to decoder network and concatenate the output of low-level layers with the higher level layers. This approach helps to get segmentation map with sharp boundaries. To show the potential benefits of temporal information, we also visualized different layers of the network. The visualization showed that the network learned different information from the consecutive frames and then combined the information optimally to segment the middle frame. We evaluated our approach on eight challenging datasets where humans are involved in different activities with severe articulation (football, road crossing, surveillance). The most common CamVid dataset which is used for calculating the performance of the segmentation algorithm is evaluated against seven state-of-the-art methods. The performance is shown on precision/recall, F 1 , F 2 , and mIoU. The qualitative and quantitative results show that PedNet achieves promising results against state-of-the-art methods with substantial improvement in terms of all the performance metrics.

scholarly journals An Efficient Method for Detection of DDoS Attacks on the Web Using Deep Learning Algorithms

2021 ◽  
Vol 10 (4) ◽  
pp. 2821-2829
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Deep Neural Network ◽  
State Of The Art ◽  
Ddos Attacks ◽  
Problem Statement ◽  
Neural Network Approach ◽  
Learning Techniques ◽  
Attack Data ◽  
Deep Learning Neural Network

Recently, DDoS attacks is the most significant threat in network security. Both industry and academia are currently debating how to detect and protect against DDoS attacks. Many studies are provided to detect these types of attacks. Deep learning techniques are the most suitable and efficient algorithm for categorizing normal and attack data. Hence, a deep neural network approach is proposed in this study to mitigate DDoS attacks effectively. We used a deep learning neural network to identify and classify traffic as benign or one of four different DDoS attacks. We will concentrate on four different DDoS types: Slowloris, Slowhttptest, DDoS Hulk, and GoldenEye. The rest of the paper is organized as follow: Firstly, we introduce the work, Section 2 defines the related works, Section 3 presents the problem statement, Section 4 describes the proposed methodology, Section 5 illustrate the results of the proposed methodology and shows how the proposed methodology outperforms state-of-the-art work and finally Section VI concludes the paper.

scholarly journals An Analysis of State-of-the-art Activation Functions For Supervised Deep Neural Network

2021 ◽  
Author(s):  
Anh Nguyen ◽  
Khoa Pham ◽  
Dat Ngo ◽  
Thanh Ngo ◽  
Lam Pham
Keyword(s):  
Neural Network ◽  
Supervised Classification ◽  
Deep Neural Network ◽  
State Of The Art ◽  
Network Architectures ◽  
Activation Functions ◽  
Scene Classification ◽  
Learning Network ◽  
Deep Learning Network

This paper provides an analysis of state-of-the-art activation functions with respect to supervised classification of deep neural network. These activation functions comprise of Rectified Linear Units (ReLU), Exponential Linear Unit (ELU), Scaled Exponential Linear Unit (SELU), Gaussian Error Linear Unit (GELU), and the Inverse Square Root Linear Unit (ISRLU). To evaluate, experiments over two deep learning network architectures integrating these activation functions are conducted. The first model, basing on Multilayer Perceptron (MLP), is evaluated with MNIST dataset to perform these activation functions.Meanwhile, the second model, likely VGGish-based architecture, is applied for Acoustic Scene Classification (ASC) Task 1A in DCASE 2018 challenge, thus evaluate whether these activation functions work well in different datasets as well as different network architectures.

scholarly journals Regularized Training and Tight Certification for Randomized Smoothed Classifier with Provable Robustness

2020 ◽  
Vol 34 (04) ◽  
pp. 3858-3865
Author(s):  
Huijie Feng ◽  
Chunpeng Wu ◽  
Guoyang Chen ◽  
Weifeng Zhang ◽  
Yang Ning
Keyword(s):  
Neural Network ◽  
High Probability ◽  
Deep Neural Network ◽  
State Of The Art ◽  
Computationally Efficient ◽  
Base Classifier ◽  
Training Scheme ◽  
Adversarial Training ◽  
Gaussian Perturbation ◽  
Probabilistic Robustness

Recently smoothing deep neural network based classifiers via isotropic Gaussian perturbation is shown to be an effective and scalable way to provide state-of-the-art probabilistic robustness guarantee against ℓ2 norm bounded adversarial perturbations. However, how to train a good base classifier that is accurate and robust when smoothed has not been fully investigated. In this work, we derive a new regularized risk, in which the regularizer can adaptively encourage the accuracy and robustness of the smoothed counterpart when training the base classifier. It is computationally efficient and can be implemented in parallel with other empirical defense methods. We discuss how to implement it under both standard (non-adversarial) and adversarial training scheme. At the same time, we also design a new certification algorithm, which can leverage the regularization effect to provide tighter robustness lower bound that holds with high probability. Our extensive experimentation demonstrates the effectiveness of the proposed training and certification approaches on CIFAR-10 and ImageNet datasets.

scholarly journals Covid-19 detection via deep neural network and occlusion sensitivity maps

2021 ◽  
Author(s):  
Noor Ahmad ◽  
Muhammad Aminu ◽  
Mohd Halim Mohd Noor
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Deep Neural Network ◽  
State Of The Art ◽  
Color Images ◽  
Fine Tuning ◽  
Training Dataset ◽  
Learning Approaches ◽  
Learning Models ◽  
Sensitivity Maps

Deep learning approaches have attracted a lot of attention in the automatic detection of Covid-19 and transfer learning is the most common approach. However, majority of the pre-trained models are trained on color images, which can cause inefficiencies when fine-tuning the models on Covid-19 images which are often grayscale. To address this issue, we propose a deep learning architecture called CovidNet which requires a relatively smaller number of parameters. CovidNet accepts grayscale images as inputs and is suitable for training with limited training dataset. Experimental results show that CovidNet outperforms other state-of-the-art deep learning models for Covid-19 detection.

scholarly journals Covid-19 detection via deep neural network and occlusion sensitivity maps

2021 ◽  
Author(s):  
Noor Ahmad ◽  
Muhammad Aminu ◽  
Mohd Halim Mohd Noor
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Deep Neural Network ◽  
State Of The Art ◽  
Color Images ◽  
Fine Tuning ◽  
Training Dataset ◽  
Learning Approaches ◽  
Learning Models ◽  
Sensitivity Maps

Deep learning approaches have attracted a lot of attention in the automatic detection of Covid-19 and transfer learning is the most common approach. However, majority of the pre-trained models are trained on color images, which can cause inefficiencies when fine-tuning the models on Covid-19 images which are often grayscale. To address this issue, we propose a deep learning architecture called CovidNet which requires a relatively smaller number of parameters. CovidNet accepts grayscale images as inputs and is suitable for training with limited training dataset. Experimental results show that CovidNet outperforms other state-of-the-art deep learning models for Covid-19 detection.

scholarly journals Temporal Motionless Analysis of Video using CNN in MPSoC

2020 ◽  
Author(s):  
Somdip Dey ◽  
Amit Singh ◽  
Dilip Kumar Prasad ◽  
Klaus D. Mcdonald-Maier
Keyword(s):  
Neural Network ◽  
Energy Consumption ◽  
Convolutional Neural Network ◽  
State Of The Art ◽  
Training Image ◽  
Experimental Results ◽  
Current Frame ◽  
Previous Image

<div><div><div><p>This paper proposes a novel human-inspired methodology called IRON-MAN (Integrated RatiONal prediction and Motionless ANalysis of videos) on mobile multi-processor systems-on-chips (MPSoCs). The methodology integrates analysis of the previous image frames of the video to represent the analysis of the current frame in order to perform Temporal Motionless Analysis of the Video (TMAV). This is the first work on TMAV using Convolutional Neural Network (CNN) for scene prediction in MPSoCs. Experimental results show that our methodology outperforms state-of-the-art. We also introduce a metric named, Energy Consumption per Training Image (ECTI) to assess the suitability of using a CNN model in mobile MPSoCs with a focus on energy consumption of the device.</p></div></div></div>

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