scholarly journals INFLUENCE OF DOMAIN SHIFT FACTORS ON DEEP SEGMENTATION OF THE DRIVABLE PATH OF AN AUTONOMOUS VEHICLE

2018 ◽  
Vol XLII-2 ◽  
pp. 141-148
Author(s):  
R. P. A. Bormans ◽  
R. C. Lindenbergh ◽  
F. Karimi Nejadasl
Keyword(s):  
Autonomous Vehicles ◽  
Domain Adaptation ◽  
Autonomous Vehicle ◽  
Semantic Segmentation ◽  
Negative Influence ◽  
Target Domain ◽  
Real World Data ◽  
Horizon Line ◽  
Rgb Images ◽  
Weakly Supervised

One of the biggest challenges for an autonomous vehicle (and hence the WEpod) is to see the world as humans would see it. This understanding is the base for a successful and reliable future of autonomous vehicles. Real-world data and semantic segmentation generally are used to achieve full understanding of its surroundings. However, deploying a pretrained segmentation network to a new, previously unseen domain will not attain similar performance as it would on the domain where it is trained on due to the differences between the domains. Although research is done concerning the mitigation of this domain shift, the factors that cause these differences are not yet fully explored. We filled this gap with the investigation of several factors. A base network was created by a two-step finetuning procedure on a convolutional neural network (SegNet) which is pretrained on CityScapes (a dataset for semantic segmentation). The first tuning step is based on RobotCar (road scenery dataset recorded in Oxford, UK) while afterwards this network is fine-tuned for a second time but now on the KITTI (road scenery dataset recorded in Germany) dataset. With this base, experiments are used to obtain the importance of factors such as horizon line, colour and training order for a successful domain adaptation. In this case the domain adaptation is from the KITTI and RobotCar domain to the WEpod domain. For evaluation, groundtruth labels are created in a weakly-supervised setting. Negative influence was obtained for training on greyscale images instead of RGB images. This resulted in drops of IoU values up to 23.9 % for WEpod test images. The training order is a main contributor for domain adaptation with an increase in IoU of 4.7 %. This shows that the target domain (WEpod) is more closely related to RobotCar than to KITTI.

Vision-Based Navigation of Autonomous Vehicles in Roadway Environments with Unexpected Hazards

2019 ◽  
Vol 2673 (12) ◽  
pp. 494-507 ◽  
Author(s):  
Mhafuzul Islam ◽  
Mashrur Chowdhury ◽  
Hongda Li ◽  
Hongxin Hu
Keyword(s):  
Object Detection ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Semantic Segmentation ◽  
Steering Wheel ◽  
Potential Hazard ◽  
Driving System ◽  
Hazardous Object ◽  
Vision Based Navigation ◽  
Navigational System

Vision-based navigation of autonomous vehicles primarily depends on the deep neural network (DNN) based systems in which the controller obtains input from sensors/detectors, such as cameras, and produces a vehicle control output, such as a steering wheel angle to navigate the vehicle safely in a roadway traffic environment. Typically, these DNN-based systems in the autonomous vehicle are trained through supervised learning; however, recent studies show that a trained DNN-based system can be compromised by perturbation or adverse inputs. Similarly, this perturbation can be introduced into the DNN-based systems of autonomous vehicles by unexpected roadway hazards, such as debris or roadblocks. In this study, we first introduce a hazardous roadway environment that can compromise the DNN-based navigational system of an autonomous vehicle, and produce an incorrect steering wheel angle, which could cause crashes resulting in fatality or injury. Then, we develop a DNN-based autonomous vehicle driving system using object detection and semantic segmentation to mitigate the adverse effect of this type of hazard, which helps the autonomous vehicle to navigate safely around such hazards. We find that our developed DNN-based autonomous vehicle driving system, including hazardous object detection and semantic segmentation, improves the navigational ability of an autonomous vehicle to avoid a potential hazard by 21% compared with the traditional DNN-based autonomous vehicle driving system.

scholarly journals Domain Adaptation for Semantic Segmentation of Historical Panchromatic Orthomosaics in Central Africa

2021 ◽  
Vol 10 (8) ◽  
pp. 523
Author(s):  
Nicholus Mboga ◽  
Stefano D’Aronco ◽  
Tais Grippa ◽  
Charlotte Pelletier ◽  
Stefanos Georganos ◽  
...  
Keyword(s):  
Land Cover ◽  
Domain Adaptation ◽  
Central Africa ◽  
Semantic Segmentation ◽  
Target Domain ◽  
Convolutional Networks ◽  
Fully Convolutional Networks ◽  
The Cost ◽  
Performance Gains

Multitemporal environmental and urban studies are essential to guide policy making to ultimately improve human wellbeing in the Global South. Land-cover products derived from historical aerial orthomosaics acquired decades ago can provide important evidence to inform long-term studies. To reduce the manual labelling effort by human experts and to scale to large, meaningful regions, we investigate in this study how domain adaptation techniques and deep learning can help to efficiently map land cover in Central Africa. We propose and evaluate a methodology that is based on unsupervised adaptation to reduce the cost of generating reference data for several cities and across different dates. We present the first application of domain adaptation based on fully convolutional networks for semantic segmentation of a dataset of historical panchromatic orthomosaics for land-cover generation for two focus cities Goma-Gisenyi and Bukavu. Our experimental evaluation shows that the domain adaptation methods can reach an overall accuracy between 60% and 70% for different regions. If we add a small amount of labelled data from the target domain, too, further performance gains can be achieved.

scholarly journals USING SEMANTICALLY PAIRED IMAGES TO IMPROVE DOMAIN ADAPTATION FOR THE SEMANTIC SEGMENTATION OF AERIAL IMAGES

2020 ◽  
Vol V-2-2020 ◽  
pp. 483-492
Author(s):  
D. Gritzner ◽  
J. Ostermann
Keyword(s):  
Time Window ◽  
Domain Adaptation ◽  
Geographical Area ◽  
Model Performance ◽  
Ground Truth ◽  
Semantic Segmentation ◽  
Training Data ◽  
Aerial Images ◽  
Target Domain ◽  
Training Examples

Abstract. Modern machine learning, especially deep learning, which is used in a variety of applications, requires a lot of labelled data for model training. Having an insufficient amount of training examples leads to models which do not generalize well to new input instances. This is a particular significant problem for tasks involving aerial images: often training data is only available for a limited geographical area and a narrow time window, thus leading to models which perform poorly in different regions, at different times of day, or during different seasons. Domain adaptation can mitigate this issue by using labelled source domain training examples and unlabeled target domain images to train a model which performs well on both domains. Modern adversarial domain adaptation approaches use unpaired data. We propose using pairs of semantically similar images, i.e., whose segmentations are accurate predictions of each other, for improved model performance. In this paper we show that, as an upper limit based on ground truth, using semantically paired aerial images during training almost always increases model performance with an average improvement of 4.2% accuracy and .036 mean intersection-over-union (mIoU). Using a practical estimate of semantic similarity, we still achieve improvements in more than half of all cases, with average improvements of 2.5% accuracy and .017 mIoU in those cases.

scholarly journals Learning Discriminative Correlation Subspace for Heterogeneous Domain Adaptation

2017 ◽  
Author(s):  
Yuguang Yan ◽  
Wen Li ◽  
Michael Ng ◽  
Mingkui Tan ◽  
Hanrui Wu ◽  
...  
Keyword(s):  
Optimization Problem ◽  
Domain Adaptation ◽  
Data Sets ◽  
Target Domain ◽  
Real World Data ◽  
Discriminative Ability ◽  
Convex Optimization Problem ◽  
Alternating Direction ◽  
Feature Spaces ◽  
Target Data

Domain adaptation aims to reduce the effort on collecting and annotating target data by leveraging knowledge from a different source domain. The domain adaptation problem will become extremely challenging when the feature spaces of the source and target domains are different, which is also known as the heterogeneous domain adaptation (HDA) problem. In this paper, we propose a novel HDA method to find the optimal discriminative correlation subspace for the source and target data. The discriminative correlation subspace is inherited from the canonical correlation subspace between the source and target data, and is further optimized to maximize the discriminative ability for the target domain classifier. We formulate a joint objective in order to simultaneously learn the discriminative correlation subspace and the target domain classifier. We then apply an alternating direction method of multiplier (ADMM) algorithm to address the resulting non-convex optimization problem. Comprehensive experiments on two real-world data sets demonstrate the effectiveness of the proposed method compared to the state-of-the-art methods.

Comparative Analysis Between Recurrent Convolutional and Convolutional Neural Networks for Horizon Detection

2020 ◽  
Vol 17 (9) ◽  
pp. 4364-4367
Author(s):  
Shreya Srinarasi ◽  
Seema Jahagirdar ◽  
Charan Renganathan ◽  
H. Mallika
Keyword(s):  
Neural Networks ◽  
Convolutional Neural Networks ◽  
Autonomous Vehicles ◽  
Semantic Segmentation ◽  
Unmanned Vehicles ◽  
Obstacle Detection ◽  
Ground Vehicles ◽  
Safe Navigation ◽  
Horizon Line ◽  
Flight Parameters

The preliminary step in the navigation of Unmanned Vehicles is to detect and identify the horizon line. One method to locate the horizon and obstacles in an image is through a supervised learning, semantic segmentation algorithm using Neural Networks. Unmanned Aerial Vehicles (UAVs) are rapidly gaining prominence in military, commercial and civilian applications. For the safe navigation of UAVs, there poses a requirement for an accurate and efficient obstacle detection and avoidance. The position of the horizon and obstacles can also be used for adjusting flight parameters and estimating altitude. It can also be used for the navigation of Unmanned Ground Vehicles (UGV), by neglecting the part of the image above the horizon to reduce the processing time. Locating the horizon and identifying the various obstacles in an image can help in minimizing collisions and high costs due to failure of UAVs and UGVs. To achieve a robust and accurate system to aid navigation of autonomous vehicles, the efficiency and accuracy of Convolutional Neural Networks (CNN) and Recurrent-CNNs (RCNN) are analysed. It is observed via experimentation that the RCNN model classifies test images with higher accuracy.

scholarly journals Road Segmentation using Semantic Segmentation Networks for ADAS

2019 ◽  
Vol 8 (11) ◽  
pp. 1740-1743
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Warning System ◽  
Semantic Segmentation ◽  
Boundary Line ◽  
Segmentation Result ◽  
Safe Driving ◽  
The Road ◽  
Straight Line ◽  
Road Segmentation

In this paper, we propose a method to automatically segment the road area from the input road images to support safe driving of autonomous vehicles. In the proposed method, the semantic segmentation network (SSN) is trained by using the deep learning method and the road area is segmented by utilizing the SSN. The SSN uses the weights initialized from the VGC-16 network to create the SegNet network. In order to fast the learning time and to obtain results, the class is simplified and learned so that it can be divided into two classes as the road area and the non-road area in the trained SegNet CNN network. In order to improve the accuracy of the road segmentation result, the boundary line of the road region with the straight-line component is detected through the Hough transform and the result is shown by dividing the accurate road region by combining with the segmentation result of the SSN. The proposed method can be applied to safe driving support by autonomously driving the autonomous vehicle by automatically classifying the road area during operation and applying it to the road area departure warning system

scholarly journals Self-Ensembling Attention Networks: Addressing Domain Shift for Semantic Segmentation

2019 ◽  
Vol 33 ◽  
pp. 5581-5588 ◽  
Author(s):  
Yonghao Xu ◽  
Bo Du ◽  
Lefei Zhang ◽  
Qian Zhang ◽  
Guoli Wang ◽  
...  
Keyword(s):  
Domain Adaptation ◽  
State Of The Art ◽  
Semantic Segmentation ◽  
Great Success ◽  
Learning Models ◽  
Target Domain ◽  
Attention Networks ◽  
Source Domain ◽  
Benchmark Datasets ◽  
Different Levels

Recent years have witnessed the great success of deep learning models in semantic segmentation. Nevertheless, these models may not generalize well to unseen image domains due to the phenomenon of domain shift. Since pixel-level annotations are laborious to collect, developing algorithms which can adapt labeled data from source domain to target domain is of great significance. To this end, we propose self-ensembling attention networks to reduce the domain gap between different datasets. To the best of our knowledge, the proposed method is the first attempt to introduce selfensembling model to domain adaptation for semantic segmentation, which provides a different view on how to learn domain-invariant features. Besides, since different regions in the image usually correspond to different levels of domain gap, we introduce the attention mechanism into the proposed framework to generate attention-aware features, which are further utilized to guide the calculation of consistency loss in the target domain. Experiments on two benchmark datasets demonstrate that the proposed framework can yield competitive performance compared with the state of the art methods.

scholarly journals Unsupervised Domain Adaptation Using Generative Adversarial Networks for Semantic Segmentation of Aerial Images

2019 ◽  
Vol 11 (11) ◽  
pp. 1369 ◽  
Author(s):  
Bilel Benjdira ◽  
Yakoub Bazi ◽  
Anis Koubaa ◽  
Kais Ouni
Keyword(s):  
Urban Areas ◽  
Traffic Management ◽  
Domain Adaptation ◽  
Semantic Segmentation ◽  
Aerial Images ◽  
Generative Adversarial Networks ◽  
Target Domain ◽  
Adversarial Networks ◽  
Segmentation Accuracy ◽  
New City

Segmenting aerial images is of great potential in surveillance and scene understanding of urban areas. It provides a mean for automatic reporting of the different events that happen in inhabited areas. This remarkably promotes public safety and traffic management applications. After the wide adoption of convolutional neural networks methods, the accuracy of semantic segmentation algorithms could easily surpass 80% if a robust dataset is provided. Despite this success, the deployment of a pretrained segmentation model to survey a new city that is not included in the training set significantly decreases accuracy. This is due to the domain shift between the source dataset on which the model is trained and the new target domain of the new city images. In this paper, we address this issue and consider the challenge of domain adaptation in semantic segmentation of aerial images. We designed an algorithm that reduces the domain shift impact using generative adversarial networks (GANs). In the experiments, we tested the proposed methodology on the International Society for Photogrammetry and Remote Sensing (ISPRS) semantic segmentation dataset and found that our method improves overall accuracy from 35% to 52% when passing from the Potsdam domain (considered as source domain) to the Vaihingen domain (considered as target domain). In addition, the method allows efficiently recovering the inverted classes due to sensor variation. In particular, it improves the average segmentation accuracy of the inverted classes due to sensor variation from 14% to 61%.

scholarly journals Weakly Supervised Reinforcement Learning for Autonomous Highway Driving via Virtual Safety Cages

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2032
Author(s):  
Sampo Kuutti ◽  
Richard Bowden ◽  
Saber Fallah
Keyword(s):  
Reinforcement Learning ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Model Performance ◽  
Model Parameters ◽  
Safe Driving ◽  
Weak Supervision ◽  
Rule Based ◽  
Learning Agent ◽  
Weakly Supervised

The use of neural networks and reinforcement learning has become increasingly popular in autonomous vehicle control. However, the opaqueness of the resulting control policies presents a significant barrier to deploying neural network-based control in autonomous vehicles. In this paper, we present a reinforcement learning based approach to autonomous vehicle longitudinal control, where the rule-based safety cages provide enhanced safety for the vehicle as well as weak supervision to the reinforcement learning agent. By guiding the agent to meaningful states and actions, this weak supervision improves the convergence during training and enhances the safety of the final trained policy. This rule-based supervisory controller has the further advantage of being fully interpretable, thereby enabling traditional validation and verification approaches to ensure the safety of the vehicle. We compare models with and without safety cages, as well as models with optimal and constrained model parameters, and show that the weak supervision consistently improves the safety of exploration, speed of convergence, and model performance. Additionally, we show that when the model parameters are constrained or sub-optimal, the safety cages can enable a model to learn a safe driving policy even when the model could not be trained to drive through reinforcement learning alone.

Sign in / Sign up

Export Citation Format

Share Document